CN-122019957-A - Curve path self-adaptive planning method, system, three-coordinate measuring instrument and equipment

CN122019957ACN 122019957 ACN122019957 ACN 122019957ACN-122019957-A

Abstract

The application relates to a self-adaptive planning method, a self-adaptive planning system, a three-coordinate measuring instrument and computer equipment for a curve path, wherein the method comprises the steps of determining a curve measuring route, and sampling based on a maximum sampling distance to obtain a plurality of measuring points; and then carrying out iterative detection based on the interval between adjacent measuring points and the deflection angle, inserting newly added measuring points in the detection process so as to obtain a discrete measuring point sequence, and determining a curve path based on the measuring point sequence. Therefore, the change of the geometric characteristics of the curve can be adaptively matched, so that the measurement points are added in the key geometric characteristic area, the measurement accuracy is ensured, meanwhile, the deflection angle is used as an encryption criterion, the calculation complexity is effectively reduced, and the measurement efficiency is improved.

Inventors

CHEN BO
Xie Muxiong
MO JIANAN
Chang Lichao
ZHANG HEJUN

Assignees

深圳市中图仪器股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. The curve path self-adaptive planning method is characterized in that the curve path self-adaptive planning method is applied to a three-coordinate measuring instrument, the three-coordinate measuring instrument comprises a measuring machine with a measuring head and motion control equipment, the motion control equipment performs curve path planning and coordination control on the measuring machine based on acquired measuring points, the measuring head measures a workpiece to be measured along a set curve path, and the curve path self-adaptive planning method comprises the following steps: acquiring a curve measuring route on the workpiece to be measured; determining a plurality of measuring points from the curve measuring route based on a preset maximum sampling distance; performing iterative detection on a plurality of measurement points along the curve measurement route so as to obtain a discrete measurement point sequence; determining the curve path based on the sequence of measurement points; wherein the iterative detection comprises: Judging whether the interval between two adjacent measuring points is larger than a preset minimum sampling distance or not; If the deflection angle is larger than the minimum sampling distance, judging whether the deflection angle at the position where the two measuring points are located is larger than a preset angle threshold value; If the deflection angle is larger than the angle threshold, inserting a newly added measuring point in the area where the two measuring points are located; Repeating the steps until the interval between any adjacent measuring points is not larger than the minimum sampling distance or the deflection angle is not larger than the angle threshold.
2. The method according to claim 1, wherein the deflection angle is defined as a deflection angle between tangential directions at positions of two adjacent measuring points of the curve measuring route, or a deflection angle formed by connecting selected measuring points with measuring points on two adjacent sides, respectively.
3. The method of claim 1, wherein determining a plurality of the measurement points from the curvilinear measurement route based on a preset maximum sampling distance comprises determining a sampling step based on the maximum sampling distance to sample a plurality of the measurement points from the curvilinear measurement route.
4. A method according to claim 3, wherein a plurality of said measuring points are distributed along said curved measuring path with equal arc lengths.
5. The method of claim 1, wherein the area of the two measurement points comprises an area between each of the two measurement points and measurement points on adjacent sides.
6. The method of claim 5, wherein the spacing between adjacent measurement points is smoothly graded in the region where the newly added measurement point is inserted.
7. The method of claim 6, wherein the minimum allowed separation between adjacent measurement points is the minimum sampling distance.
8. The utility model provides a curve route self-adaptation planning system, its characterized in that, curve route self-adaptation planning system is applied to three-coordinate measuring apparatu, three-coordinate measuring apparatu is including measuring machine and the motion control equipment that have the gauge head, motion control equipment is based on the measurement point that obtains for the measuring machine carries out curve route planning and coordinated control, the gauge head is along setting for the curve route is measured the work piece that awaits measuring, curve route self-adaptation planning system includes: The curve determining unit is used for obtaining a measuring route on the workpiece to be measured; the sampling unit is used for determining a plurality of measuring points from the measuring route based on a preset maximum sampling distance; The self-adaptive iteration unit is configured to carry out iterative detection on a plurality of measurement points based on intervals and deflection angles between adjacent measurement points, and in the iterative detection process, newly added measurement points are inserted into a region where the measurement points with the intervals larger than a minimum sampling distance and the deflection angles larger than an angle threshold value are located until the intervals between any adjacent measurement points are not larger than the minimum sampling distance or the deflection angles are not larger than the angle threshold value, so that a discrete measurement point sequence is obtained; and the path planning unit is used for determining the curve path based on the measuring point sequence.
9. A three-coordinate measuring machine, characterized in that it comprises a measuring machine with a measuring head and a motion control device for performing a curve path planning for the measuring machine by a curve path adaptive planning method according to any one of claims 1 to 7, the motion control device controlling the measuring machine based on the curve path so that the measuring head measures a workpiece to be measured along the set curve path.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method according to any one of claims 1 to 7 when the computer program is executed.

Description

Curve path self-adaptive planning method, system, three-coordinate measuring instrument and equipment Technical Field The application relates to the technical field of workpiece measurement, in particular to a curve path self-adaptive planning method, a system, a three-coordinate measuring instrument and computer equipment. Background In the field of modern precision manufacturing, a three-dimensional measuring instrument (Coordinate Measuring Machine, CMM) is used as a core device for evaluating the dimension and form and position tolerance of a workpiece, and the measurement precision and efficiency of the three-dimensional measuring instrument directly influence the control of the quality of a product. Currently, for the measurement of complex workpieces, a theoretical CAD model is generally based, and is discretized into a series of dense measurement points, and the scanning measurement path of the probe is planned accordingly. However, in the acquisition process of the measurement point, the conventional sampling method mainly includes equidistant sampling and curvature-based adaptive sampling. The equidistant sampling method is simple to implement and high in calculation efficiency, but cannot take the difference of geometric characteristics of curves into consideration, and the density of points is difficult to adjust according to curvature change, so that sampling of a region with larger curvature is insufficient, sampling of a region with smaller curvature is redundant, and measurement accuracy and efficiency are affected. The curvature-based adaptive sampling method can dynamically adjust the point spacing according to the local bending degree of the curve, but relies on calculation of the second derivative of the curve, has high algorithm complexity, occupies more calculation resources in practical application, and has lower efficiency. Disclosure of Invention Based on this, it is necessary to provide a curve path adaptive planning method, system, three-coordinate measuring machine and computer device capable of realizing rapid and adaptive sampling and satisfying the requirement of high-precision measurement. The application provides a curve path self-adaptive planning method which is applied to a three-coordinate measuring instrument, the three-coordinate measuring instrument comprises a measuring machine with a measuring head and motion control equipment, the motion control equipment performs curve path planning and coordination control on the measuring machine based on the acquired measuring points, the measuring head measures a workpiece to be measured along the set curve path, the curve path self-adaptive planning method comprises the steps of acquiring a curve measuring route on the workpiece to be measured, determining a plurality of measuring points from the curve measuring route based on a preset maximum sampling distance, performing iterative detection on the plurality of measuring points along the curve measuring route so as to obtain a discrete measuring point sequence, and determining the curve path based on the measuring point sequence, wherein the iterative detection comprises the steps of judging whether the interval between two adjacent measuring points is larger than a preset minimum sampling distance, judging whether the deflection angle at the position of the two measuring points is larger than a preset angle threshold value if the deflection angle is larger than the minimum sampling distance, and repeating the measurement points are not inserted into the measuring point or not larger than the interval between the two measuring points if the deflection angle is larger than the preset angle. In one embodiment, the deflection angle is defined as a deflection angle between tangential directions at positions of two adjacent measurement points of the curve measurement route, or a deflection angle formed by connecting selected measurement points with measurement points of two adjacent sides respectively. In one embodiment, the determining the plurality of measurement points from the curve measurement route based on the preset maximum sampling distance includes determining a sampling step based on the maximum sampling distance to sample the plurality of measurement points from the curve measurement route. In one embodiment, a plurality of the measuring points are distributed along the curve measuring path with equal arc lengths. In one embodiment, the areas where the two measurement points are located include the areas between the two measurement points and the measurement points on the two adjacent sides. In one embodiment, in the area where the newly added measurement point is inserted, the interval between adjacent measurement points is smoothly graded. In one embodiment, the minimum allowed spacing between adjacent measurement points is the minimum sampling distance. The application further provides a curve path self-adaptive planning system which is applied to a three-coordinat