CN114815736A - Electronic cam curve generation method, system and computer readable storage medium - Google Patents

Abstract

Embodiments of the present invention disclose a method, system and computer-readable storage medium for generating an electronic cam curve. Wherein, the method includes: predetermining a plurality of line segments and discrete value points located between the line segments; converting each line segment in at least one line segment of the plurality of line segments into a plurality of discrete value points, and for the The line segment can be obtained when a plurality of discrete value points are interpolated; the curve between the line segments is obtained by interpolating all the discrete value points, and finally an electronic cam curve is formed. The technical solutions in the embodiments of the present invention can better generate the electronic cam curve.

Description

Electronic cam curve generation method, system and computer-readable storage medium

technical field

The invention relates to the field of electronic cam control, in particular to a method, system and computer-readable storage medium for generating an electronic cam curve.

Background technique

In the field of multi-axis synchronous motion control, the electronic cam control obtains the position of the main shaft, checks the electronic cam curve (that is, the corresponding relationship between the position of the main shaft and the slave shaft), and obtains the position of the slave shaft, thereby realizing the meshing motion of the main shaft and the slave shaft. At present, a method for generating an electronic cam curve is to use a piecewise interpolation method, that is, to predetermine some line segments and some discrete value points between the line segments, and then interpolate these discrete value points to obtain a curve between the line segments, and finally form Electronic cam curve. Wherein, the predetermined line segment is a line segment that needs an exact correspondence.

The current electronic cam curve generation method supports up to 50 line segments and 10,000 discrete value points. However, with the increasingly demanding and complex technical requirements, the electronic cam curve needs more and more line segments to realize.

Therefore, those skilled in the art are still striving to find other methods for realizing the electronic cam curve.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present invention provide a method for generating an electronic cam curve on the one hand, and an electronic cam curve generating system on the other hand, so as to better generate an electronic cam curve.

A method for generating an electronic cam curve proposed in an embodiment of the present invention includes: predetermining a plurality of line segments and discrete value points located between the line segments; converting each line segment in at least one line segment of the plurality of line segments is a plurality of discrete value points, and the line segment can be obtained by interpolating the plurality of discrete value points; the curve between the line segments is obtained by interpolating all the discrete value points, and finally an electronic cam curve is formed.

In one embodiment, the at least one line segment includes: at least one straight line segment; and the converting each line segment in the at least one line segment of the plurality of line segments into a plurality of discrete value points includes: converting the plurality of line segments Each straight line segment in at least one straight line segment is converted into four discrete value points, and the four discrete value points include: a first point corresponding to the starting point position of the straight line segment, located in the straight line segment The second point that meets the set proximity requirement with the first point, the third point corresponding to the end point of the straight line segment, is located on the straight line segment and meets the set proximity to the third point The fourth point requested.

In one embodiment, the set proximity requirement is an interval of a numerical minimum resolution.

In one embodiment, the at least one line segment includes at least one curve line segment; and the converting each line segment of the at least one line segment of the plurality of line segments into a plurality of discrete value points includes: for the plurality of line segments Each curve segment in the at least one curve segment is allocated the point resources available to the curve segment according to the remaining point resources; then the curve segment is converted into uniformly distributed on the curve segment according to the expression of the curve segment Multiple discrete value points that satisfy the available point resources.

In one embodiment, it further includes: judging whether the predetermined number N of the plurality of line segments exceeds a preset threshold value T; wherein, N and T are both positive integers; if so, the at least one line segment is: At least M line segments, where M=N-T.

In one embodiment, the set threshold value T is 50.

An electronic cam curve generation system proposed in the embodiment of the present invention includes: a pre-planning module for pre-determining a plurality of line segments and discrete value points located between the line segments; a line-segment replacement module for converting the plurality of line segments Each line segment in at least one line segment in the line segment is converted into a plurality of discrete value points, and the line segment can be obtained when the plurality of discrete value points are interpolated; the curve generation module is used for all discrete value points. The points are interpolated to obtain the curve between the line segments, and finally the electronic cam curve is formed.

In one embodiment, the at least one line segment includes: at least one straight line segment; the line segment replacement module converts each straight line segment of the at least one straight line segment in the plurality of line segments into four discrete value points, The four discrete value points include: a first point corresponding to the position of the starting point of the straight line segment, a second point located on the straight line segment and meeting the set proximity requirement with the first point, corresponding to the The third point at the end point position of the straight line segment is the fourth point located on the straight line segment and meeting the set proximity requirement with the third point.

In one embodiment, the set proximity requirement is an interval of a numerical minimum resolution.

In one embodiment, the at least one line segment includes at least one curved line segment; the line segment replacement module allocates the available curved line segment for each of the at least one curved line segment in the plurality of line segments according to the remaining point resources Then, according to the expression of the curve line segment, the curve line segment is converted into a plurality of discrete value points that satisfy the available point resources and are uniformly distributed on the curve line segment.

In one embodiment, it further includes: a judging module for judging whether the predetermined number N of the plurality of line segments exceeds a set threshold value T; if so, instructing the line segment replacement module to perform a line segment replacement operation; wherein , N and T are both positive integers; the line segment replacement module converts each line segment of at least M line segments in the plurality of line segments into a plurality of discrete value points; where M=N-T.

In one embodiment, the set threshold value T is 50.

Another electronic cam curve generation system proposed in the embodiment of the present invention includes: at least one memory and at least one processor, wherein: the at least one memory is used to store a computer program; the at least one processor is used to call the A computer program stored in at least one memory executes the method for generating an electronic cam curve according to any one of the above embodiments.

The computer-readable storage medium proposed in the embodiment of the present invention stores a computer program thereon; the computer program can be executed by a processor and realizes the method for generating an electronic cam curve according to any one of the above embodiments

It can be seen from the above solution that, in the embodiment of the present invention, each line segment in the partial line segments of the predetermined plurality of line segments used for generating the electronic cam curve is converted into a discrete value that can be obtained by interpolation calculation. point, can make full use of existing resources, and can realize the generation of electronic cam curve with more line segments.

Among them, the straight line segment can be converted into four discrete value points, the number of points required is less, and the straight line segment can be obtained by interpolation.

Description of drawings

The above-mentioned and other features and advantages of the present invention will be more apparent to those of ordinary skill in the art by describing the preferred embodiments of the present invention in detail below with reference to the accompanying drawings, in which:

FIG. 1 is an exemplary flowchart of a method for generating an electronic cam curve in an embodiment of the present invention.

FIG. 2A is a schematic diagram of an electronic cam curve in an example of the present invention.

FIG. 2B is a schematic diagram of discrete value point conversion performed on the second line segment in the electronic cam curve shown in FIG. 2A in an example of the present invention.

FIG. 3 is an exemplary structural diagram of an electronic cam curve generation system in an embodiment of the present invention.

FIG. 4 is an exemplary structural diagram of another electronic cam curve generation system in an embodiment of the present invention.

Among them, the reference numerals are as follows:

Detailed ways

In the embodiment of the present invention, considering that the electronic cam curve generation method in the prior art supports 10,000 discrete value points, and these 10,000 points usually do not reach the upper limit of the application, in order to realize the electronic cam curve of more line segments, it can be fully considered Using existing resources, some line segments are represented by discrete value points, and it is ensured that a line segment consistent with the line segment can be obtained when the discrete value point representing the line segment is interpolated.

In order to have a clearer understanding of the purpose, technical solutions and effects of the present invention, the specific embodiments of the present invention will now be described with reference to the accompanying drawings. The same reference numerals in each figure represent components with the same structure or similar structure but the same function.

As used herein, "exemplary" and "schematic" mean "serving as an example, instance, or illustration", and any illustration or implementation described herein as "exemplary" or "schematic" should not be construed as A more preferred or more advantageous technical solution.

In order to keep the drawings concise, the drawings only schematically show the parts related to the present invention, and they do not represent its actual structure as a product.

As used herein, "one" not only means "only one", but also "more than one". In this document, "first", "second", etc. are only used to distinguish each other, rather than indicating their importance and order.

FIG. 1 is an exemplary flowchart of a method for generating an electronic cam curve in an embodiment of the present invention. As shown in Figure 1, the method may include the following steps:

Step 101: Predetermine a plurality of line segments and discrete value points located between the line segments.

The process of determining line segments and discrete value points in this step can be consistent with existing methods.

Step 102: Convert each line segment in at least one line segment of the plurality of line segments into a plurality of discrete value points, and the line segment can be obtained by interpolating the plurality of discrete value points.

An example of an electronic cam curve is shown in FIG. 2A , wherein the abscissa is the main axis (Leadibg, L) which takes the value x, and the ordinate is the slave axis (Following, F) which takes the value f(x). As shown in FIG. 2A , the electronic cam curve has three line segments, the first line segment 21 , the second line segment 22 and the third line segment 23 and two transition lines Tr1 between the line segments obtained by interpolating discrete value points and Tr2. In this embodiment, the case where the line segment is a straight line segment is taken as an example. Among them, the starting point (Strat, S) of the first line segment 21 is (0.000000, 0.000000), and the ending point (End, E) is (50.000000, 0.000000); the starting point of the second line segment 22 is (90.000000, 50.000000), The end point is (190.000000, 300.000000); the start point of the third line segment 23 is (250.000000, 0.000000), and the end point is (360.000000, 0.000000). The starting point of the transition line Tr1 obtained by interpolation between the first line segment 21 and the second line segment 22 is (50.000000, 0.000000), and the end point is (90.000000, 50.000000); the interpolation between the second line segment 22 and the third line segment 23 is obtained. The starting point of the transition line Tr2 is (190.000000, 300.000000) and the ending point is (250.000000, 0.000000).

FIG. 2B shows a schematic diagram of discrete value point conversion performed on the second line segment 22 in the electronic cam curve shown in FIG. 2A in an example. In this embodiment, the straight line segment corresponding to the second line segment 22 is converted into four discrete value point representations in FIG. 2B (because there are two points close to each other, they are partially enlarged). Wherein, the four discrete value points include: a first point S1 (90.000000, 50.000000) corresponding to the position of the starting end point of the straight line segment, which is located on the straight line segment and is separated from the first point by a numerical minimum resolution The second point S2 (90.000010, 50.000025) of the rate (such as the minimum resolution of the floating point data type), and the third point S3 (190.000000, 300.000000) corresponding to the end point position of the straight line segment, located on the straight line segment and with The third point is separated by a fourth point S4 (189.9999990, 299.999975) with a numerical minimum resolution. That is, in this embodiment, the first point and the second point are infinitely close or the proximity degree meets a set proximity requirement, and the third point and the fourth point are infinitely close or the proximity degree meets a set proximity requirement. For example, the set proximity requirement may be the above-mentioned minimum resolution separated by one numerical value, or may be the minimum resolution separated by two numerical values (that is, twice the minimum resolution of the numerical value), or the like. In this embodiment, since the first point S1 and the second point S2 are very close, the first transition line T1 obtained by interpolation between them is almost a straight line, and the slope=Δy/Δx=0.000025/0.000010=2.5; the same Reason, the second transition line T2 obtained by interpolation between the fourth point S4 and the third point S3 is also almost a straight line, and the slope=Δy/Δx=0.000025/0.000010=2.5; The slope of the transition line T2 is the same. Therefore, the third transition line T3 between the second point S1 and the fourth point S4 will also remain as a straight line with a slope equal to 2.5, which can be obtained by interpolating the four discrete value points. The original second line segment 22 achieves the same effect as multiple line segments.

In addition, in this embodiment, discrete value point substitution can also be performed on non-straight line segments of some known formulas. For example, sine and cosine curves, polynomial curves, etc. are known to satisfy the y=f(x) (n0≤x≤n1) formula; when replacing them with discrete value points, the curve can be selected according to the remaining point resources of the system. The point resources available for line segment allocation are, for example, Si points, and then the curve line segment is converted into a plurality of discrete value points uniformly distributed on the curve line segment and satisfying the available point resources according to the expression of the curve line segment, such as Si discrete-valued points or Si-W discrete-valued points, where both Si and W are positive integers.

For example, assuming that a curve segment needs to be replaced by discrete value points, and assuming that the remaining resources of discrete value points are S points, the main axis position value x can be divided into S values from n0 to n1 equally, according to y = f(x) (n0≤x≤n1) calculates the y value corresponding to the S points, and the calculated S (x, y) master-slave position points can be used as discrete value points to replace the original curve. In this method, in the case of sufficient discrete resource point resources, the more points the better, the higher the degree of replacement and restoration of the curve. Of course, if the R curves need to be replaced with discrete value points, the remaining S points can be allocated according to the interval size of each curve, which is not limited here.

In this embodiment, during specific implementation, it can be further determined whether the predetermined number N of the plurality of line segments exceeds a set threshold T; if it exceeds, the at least one line segment can be at least M line segments, where M= N-T. In one example, the set threshold T may be 50.

Of course, in other embodiments, when the number N of the multiple line segments does not exceed the set threshold T, the present application does not exclude that some of the line segments may be replaced by discrete value points.

Step 103: Interpolate all discrete value points to obtain a curve between line segments, and finally form an electronic cam curve.

The method for generating an electronic cam curve in the embodiment of the present invention is described in detail above, and the system for generating an electronic cam curve in the embodiment of the present invention is described in detail below. The electronic cam curve generation system in the embodiment of the present invention can be used to implement the electronic cam curve generation method in the embodiment of the present invention. For details not disclosed in detail in the system embodiment of the present invention, please refer to the corresponding description in the method embodiment of the present invention.

FIG. 3 is an exemplary structural diagram of an electronic cam curve generation system in an embodiment of the present invention. As shown in FIG. 3 , the system may include: a pre-planning module 301 , a line segment replacement module 302 and a curve generation module 303 .

The pre-planning module 301 is used to predetermine a plurality of line segments and discrete value points located between the line segments.

The line segment replacement module 302 is configured to convert each line segment in at least one of the plurality of line segments into a plurality of discrete value points, and the line segment can be obtained by interpolating the plurality of discrete value points.

The curve generating module 303 is used for interpolating all discrete value points to obtain a curve between line segments, and finally forming an electronic cam curve.

In specific implementation, the at least one line segment may include at least one straight line segment; then the line segment replacement module 302 may convert each straight line segment in the at least one straight line segment of the plurality of line segments into four discrete value points, so The four discrete value points include: a first point corresponding to the position of the starting point of the straight line segment, a second point located on the straight line segment and meeting the set proximity requirement with the first point, corresponding to the The third point at the end point position of the straight line segment is the fourth point located on the straight line segment and meeting the set proximity requirement with the third point. In one embodiment, the set proximity requirement is an interval of a numerical minimum resolution.

In addition, the at least one line segment may include at least one curve line segment; then the line segment replacement module 302 may allocate available points for the curve line segment for each curve line segment in the at least one curve line segment among the plurality of line segments according to the remaining point resources resources; then, according to the expression of the curve segment, the curve segment is converted into a plurality of discrete value points that satisfy the available point resources and are uniformly distributed on the curve segment.

In addition, this embodiment may further include, as shown in the dotted line in FIG. 3 , further including: a judgment module 304 for judging whether the predetermined number N of the plurality of line segments exceeds a set threshold T; if yes , the line segment replacement module 302 is instructed to perform a line segment replacement operation; wherein, N and T are both positive integers. Correspondingly, the line segment replacement module 302 can convert each of the at least M line segments in the plurality of line segments into a plurality of discrete value points; where M=N-T. In one embodiment, the set threshold value T is 50.

FIG. 4 is a schematic structural diagram of another electronic cam curve generation system in an embodiment of the present invention. As shown in FIG. 4 , the system may include: at least one memory 41 and at least one processor 42 . In addition, some other components, such as communication ports, etc., may also be included. These components communicate via bus 43 .

Among them, at least one memory 41 is used to store computer programs. In one embodiment, the computer program can be understood as including each module of the electronic cam curve generation system shown in FIG. 3 . In addition, the at least one memory 41 may also store an operating system and the like. Operating systems include but are not limited to: Android operating system, Symbian operating system, Windows operating system, Linux operating system, and so on.

At least one processor 42 is configured to call a computer program stored in at least one memory 41 to execute the method for generating an electronic cam curve described in the embodiments of the present invention. The processor 42 may be a CPU, a processing unit/module, an ASIC, a logic module or a programmable gate array, or the like. It can receive and transmit data through the communication port.

It should be noted that not all steps and modules in the above-mentioned processes and structural diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of each step is not fixed and can be adjusted as required. The division of each module is only to facilitate the description of the functional division used. In actual implementation, a module can be implemented by multiple modules, and the functions of multiple modules can also be implemented by the same module. These modules can be located in the same device. , or in a different device.

It can be understood that the hardware modules in the above embodiments may be implemented in a mechanical manner or an electronic manner. For example, a hardware module may include specially designed permanent circuits or logic devices (eg, special purpose processors, such as FPGAs or ASICs) for performing specific operations. Hardware modules may also include programmable logic devices or circuits (eg, including general-purpose processors or other programmable processors) temporarily configured by software for performing particular operations. As for the specific use of a mechanical method, or a dedicated permanent circuit, or a temporarily configured circuit (for example, configured by software) to realize the hardware module, it can be decided according to cost and time considerations.

In addition, the embodiments of the present invention also provide a computer-readable storage medium on which a computer program is stored, and the computer program can be executed by a processor to implement the method for generating an electronic cam curve described in the embodiments of the present invention. Specifically, it is possible to provide a system or device equipped with a storage medium on which software program codes for realizing the functions of any one of the above-described embodiments are stored, and make the computer (or CPU or MPU of the system or device) ) to read and execute the program code stored in the storage medium. In addition, a part or all of the actual operation can also be completed by an operating system or the like operating on the computer based on the instructions of the program code. The program code read from the storage medium can also be written into the memory provided in the expansion board inserted into the computer or into the memory provided in the expansion unit connected to the computer, and then the instructions based on the program code make the device installed in the computer. The CPU on the expansion board or the expansion unit or the like performs part and all of the actual operations, so as to realize the functions of any one of the above-mentioned embodiments. Embodiments of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (eg, CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), Magnetic tapes, non-volatile memory cards and ROMs. Alternatively, the program code may be downloaded from a server computer over a communications network.

It can be seen from the above solution that, in the embodiment of the present invention, each line segment in the partial line segments of the predetermined plurality of line segments used for generating the electronic cam curve is converted into a discrete value that can be obtained by interpolation calculation. point, can make full use of existing resources, and can realize the generation of electronic cam curve with more line segments.

Among them, the straight line segment can be converted into four discrete value points, the number of points required is less, and the straight line segment can be obtained by interpolation.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (14)

1. An electronic cam curve generation method, comprising:

predetermining a plurality of line segments and discrete value points (101) positioned between the line segments;

converting each line segment of at least one line segment of the line segments into a plurality of discrete value points, and obtaining the line segment (102) when interpolating the discrete value points;

and (3) interpolating all the discrete value points to obtain curves among the line segments, and finally forming an electronic cam curve (103).

2. The electronic cam curve generating method according to claim 1, wherein the at least one line segment includes: at least one straight line segment;

the converting each of at least one of the plurality of line segments into a plurality of discrete value points comprises: converting each of at least one of the plurality of line segments into four discrete value points, the four discrete value points comprising: the first point corresponding to the starting end point position of the straight line segment, the second point which is positioned on the straight line segment and meets the set approaching requirement with the first point, the third point corresponding to the ending end point position of the straight line segment and the fourth point which is positioned on the straight line segment and meets the set approaching requirement with the third point.

3. The method of claim 2, wherein the set proximity requirement is a numerical minimum resolution apart.

4. The electronic cam curve generating method as claimed in claim 1, wherein the at least one line segment includes at least one curve line segment;

the converting each of the at least one of the plurality of line segments into a plurality of discrete value points comprises: distributing available point resources of at least one curve line segment of the plurality of line segments according to the remaining point resources; and then converting the curve line segment into a plurality of discrete value points which are uniformly distributed on the curve line segment and meet the available point resources according to the expression of the curve line segment.

5. The electronic cam curve generating method according to any one of claims 1 to 4, further comprising: judging whether the number N of the plurality of line segments determined in advance exceeds a set threshold value T or not; wherein N and T are both positive integers;

if yes, the at least one line segment is: at least M line segments, wherein M-N-T.

6. The electronic cam curve generating method according to claim 5, wherein the set threshold value T is 50.

7. An electronic cam curve generation system, comprising:

a pre-planning module (301) for predetermining a plurality of line segments and discrete value points located between the line segments;

a line segment replacement module (302) for converting each line segment of at least one line segment of the plurality of line segments into a plurality of discrete value points, and obtaining the line segment when interpolating the plurality of discrete value points;

and the curve generation module (303) is used for interpolating all the discrete value points to obtain curves among the line segments and finally forming an electronic cam curve.

8. The electronic cam curve generation system of claim 7, wherein the at least one line segment comprises: at least one straight line segment;

the segment replacement module (302) converts each of at least one of the plurality of segments into four discrete value points, the four discrete value points comprising: the first point corresponding to the starting end point position of the straight line segment, the second point which is positioned on the straight line segment and meets the set approaching requirement with the first point, the third point corresponding to the ending end point position of the straight line segment and the fourth point which is positioned on the straight line segment and meets the set approaching requirement with the third point.

9. The electronic cam curve generation system of claim 8, wherein the set proximity requirement is a numerical minimum resolution apart.

10. The electronic cam curve generation system of claim 7, wherein the at least one line segment comprises at least one curve line segment;

the line segment replacement module (302) allocates available point resources for each curve segment of at least one curve segment of the plurality of line segments according to the remaining point resources; and then converting the curve line segment into a plurality of discrete value points which are uniformly distributed on the curve line segment and meet the available point resources according to the expression of the curve line segment.

11. The electronic cam curve generating system according to any one of claims 7 to 10, further comprising: a judging module (304) for judging whether the number N of the predetermined line segments exceeds a set threshold T; if so, instructing the line segment replacement module to execute a line segment replacement operation; wherein N and T are both positive integers;

the line segment replacement module converts each line segment of at least M line segments of the plurality of line segments into a plurality of discrete value points; wherein M is N-T.

12. The electronic cam curve generating system according to claim 11, wherein the set threshold T is 50.

13. An electronic cam curve generation system, comprising: at least one memory (41) and at least one processor (42), wherein:

the at least one memory (41) is for storing a computer program;

the at least one processor (42) is configured to invoke a computer program stored in the at least one memory (41) to perform the electronic cam curve generation method according to any of claims 1 to 6.

14. A computer-readable storage medium having stored thereon a computer program; characterized in that said computer program is executable by a processor and implements the electronic cam curve generation method according to any one of claims 1 to 6.

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