Control method, control system, controller and cross-cutting machine

Abstract

The embodiment of the application provides a control method, a control system, a controller and a cross cutting machine. The control method comprises: acquiring a displacement value of a current plate strip recorded by each cross cutting machine in the same time, wherein the cross cutting machines are arranged in parallel; calculating a deviation value of the displacement value of one cross cutting machine and the displacement value of other cross cutting machines; and the other cross cutting machines correct their cutting coordinate system or cutting position according to the corresponding deviation value. The embodiment of the application makes any fault of any cross cutting machine not affect other cross cutting machines, and can switch to other cross cutting machines to continue the cutting task not completed by the fault machine without disturbance; and the cross cutting machines can be combined to perform joint cutting operation of different cutting positions of the same plate, thereby meeting the requirement of fine cutting task.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cutting machine control, and in particular to a control method, a control system, a controller and a cross cutting machine. BACKGROUND

[0002] The cross cutting machine is a device used for implementing dynamic cutting of a continuous glass strip at the end of a glass production line. Due to the process of float glass, the glass strip to be cut must be continuously fed, and the feeding speed is generally between several meters per minute and tens of meters per minute. The cutting process is a dynamic process, so it is also called "flying shear". When the system is working, the glass strip passes under the cross beam of the cross cutting machine. The cross cutting machine cuts the glass strip according to the set cutting length, and according to the width of the glass strip and the movement law of the specified cutter, to implement the cutting of the glass strip with a fixed length.

[0003] As the core equipment of the glass cold end production line, if only one cross cutting machine is provided, when the cross cutting machine fails, it will not be able to accurately cut according to the size given by the customer, and the glass strip will enter an emergency cutting state and be sent to the crushing system, greatly increasing the production cost. In addition, with the optimization and progress of cutting technology in recent years, it is often necessary to cut plates with a length of less than 300 mm. The use of a single cutter cycle cannot meet the requirements of fine cutting. Therefore, from the perspective of production stability or the perspective of the cutter cycle, multiple cross cutting machines need to be provided.

[0004] In the prior art, the redundant control method for multiple cutting machines usually adopts distributed gear synchronization between multiple cutting machines to achieve control. However, since the distributed gear synchronization has a master-slave relationship, once the master cutting machine fails, the slave cutting machine will also be unable to work. SUMMARY

[0005] In view of this, the present application provides a control method, a control system, a controller and a cross cutting machine, which are used to at least partially solve the above technical problems.

[0006] In a first aspect, an embodiment of the present application provides a control method, comprising:

[0007] A. obtaining a displacement value of a current plate strip recorded at the same time by each cross cutting machine in a plurality of cross cutting machines, wherein the plurality of cross cutting machines are arranged in parallel;

[0008] B. calculating a deviation value of the displacement value of one cross cutting machine and the displacement value of the other cross cutting machine in the plurality of cross cutting machines, respectively;

[0009] C. correcting the cutting coordinate system or the cutting position of the other cross cutting machine according to the corresponding deviation value.

[0010] In a possible implementation, the control method further includes:

[0011] Steps A to C are periodically performed until the cutting task for the current plate strip is completed.

[0012] In a possible implementation, the calculating of the deviation value of the displacement value of one cross-cutting machine from the displacement values of the other cross-cutting machines respectively further includes:

[0013] For each execution cycle, the cross-cutting machine that is first started among the plurality of cross-cutting machines is designated as a reference cross-cutting machine, and the deviation value of the displacement value of the reference cross-cutting machine from the displacement values of the other cross-cutting machines is calculated respectively.

[0014] In a possible implementation, before step A, the method further includes:

[0015] An initial cutting coordinate system is built for each cross-cutting machine, with the cutter origin of each cross-cutting machine as the coordinate system origin, the flow direction of the current plate strip as the Y axis, and the direction perpendicular to the flow direction of the plate as the X axis; and

[0016] After the other cross-cutting machines correct their cutting coordinate systems according to the corresponding deviation values, the method further includes:

[0017] The plurality of cross-cutting machines calculate cutting positions based on the corrected cutting coordinate systems; or

[0018] Before the other cross-cutting machines correct their cutting positions according to the corresponding deviation values, the method further includes:

[0019] The plurality of cross-cutting machines calculate their cutting positions based on their initial cutting coordinate systems.

[0020] In a second aspect, an embodiment of the present application provides a control system, which is characterized in that the control system includes a first controller and a plurality of second controllers, and the plurality of second controllers are used to build cutting coordinate systems or calculate cutting positions for a plurality of cross-cutting machines arranged in parallel one by one;

[0021] The first controller is configured to acquire the displacement value of a current plate strip recorded by each second controller in the plurality of second controllers at the same time, calculate the deviation value of the displacement value recorded by one second controller in the plurality of second controllers from the displacement values recorded by the other second controllers, and send the deviation value to the corresponding other second controllers.

[0022] Each of the other second controllers is configured to correct a built cutting coordinate system or a calculated cutting position according to the received deviation value.

[0023] In a possible implementation, the first controller is further configured to periodically send a pulse signal to each of the second controllers.

[0024] Each of the second controllers is further configured to, when receiving the pulse signal, record a displacement value of a current plate strip measured by a length encoder at a current time point using a measurement input with the pulse signal as a measurement input point.

[0025] The first controller is further configured to receive the displacement value of the current plate strip at the current time point corresponding to the pulse signal sent by each of the second controllers.

[0026] In a possible implementation, each of the second controllers is further configured to calculate a cutting position based on the corrected cutting coordinate system.

[0027] In a third aspect, an embodiment of the present application provides a controller, comprising:

[0028] An acquisition module configured to acquire a displacement value of a current plate strip recorded by each of a plurality of cross-cutting machines at a same time point, wherein the plurality of cross-cutting machines are arranged in parallel;

[0029] A correction module configured to respectively calculate a deviation value of the displacement value of one cross-cutting machine from the displacement values of other cross-cutting machines.

[0030] A sending module configured to send the deviation value to the other cross-cutting machines, so that the other cross-cutting machines correct their own cutting coordinate systems or cutting positions.

[0031] In a possible implementation, the acquisition module is further configured to periodically send a pulse signal to each of the cross-cutting machines, so that each of the cross-cutting machines records a displacement value of a current plate strip measured by a length encoder at a current time point using a measurement input with the pulse signal as a measurement input point.

[0032] The acquisition module is further configured to specify a cross-cutting machine that is first started among the plurality of cross-cutting machines as a reference cross-cutting machine, and the correction module is further configured to respectively calculate a deviation value of the displacement value of the reference cross-cutting machine from the displacement values of the other cross-cutting machines.

[0033] In a fourth aspect, an embodiment of the present application provides a cross-cutting machine, comprising:

[0034] a sending module configured to send a displacement value of the current plate strip recorded at the first time point;

[0035] a receiving module configured to receive a deviation value sent by the controller, the deviation value being calculated according to the displacement value of the current plate strip recorded at the first time point of the reference cross-cutting machine and the displacement value of the current cross-cutting machine, wherein the reference cross-cutting machine and the current cross-cutting machine are arranged in parallel;

[0036] a correction module configured to correct a cutting coordinate system or a cutting position of the cross-cutting machine by using the deviation value.

[0037] In a possible implementation, the correction module is further configured to calculate the cutting position based on the corrected cutting coordinate system, wherein the initial cutting coordinate system of each cross-cutting machine takes the tool origin of the cross-cutting machine as the origin, takes the direction of the current plate strip flow as the Y axis, and takes the direction perpendicular to the plate flow as the X axis.

[0038] In a possible implementation, the correction module is further configured to calculate the cutting position based on the initial cutting coordinate system of the cross-cutting machine, wherein the initial cutting coordinate system of each cross-cutting machine takes the tool origin of the cross-cutting machine as the origin, takes the direction of the current plate strip flow as the Y axis, and takes the direction perpendicular to the plate flow as the X axis.

[0039] Compared with the prior art, the embodiments of the present application have at least the following advantages:

[0040] In one aspect of the present application, for the current multiple cross-cutting machines, the cutting coordinate systems of the cross-cutting machines are corrected by using the deviation value of the displacement value recorded at the same time point, so that the coordinate systems of the multiple cross-cutting machines are completely consistent, and there is no master and standby among the multiple cross-cutting machines. If any one cross-cutting machine fails, it will not affect the other two cross-cutting machines, and the cutting task that has not been completed by the failed cross-cutting machine can be continued to be executed on any other cross-cutting machine without disturbance, realizing the disturbance-free switching of any cross-cutting machine in the dynamic cutting process. Meanwhile, since the coordinate systems of the multiple cross-cutting machines are completely consistent, the cross-cutting machines can be combined arbitrarily to perform joint cutting operation on different cutting positions of the same plate, thereby meeting the requirement of fine cutting task.

[0041] In another aspect of the present application, for the current multiple cross-cutting machines, the cutting positions of the cross-cutting machines are corrected by using the deviation value of the displacement value recorded at the same time point, so that the cutting positions of the multiple cross-cutting machines are the same, and there is no master and standby among the multiple cross-cutting machines. If any one cross-cutting machine fails, it can be switched to any other cross-cutting machine without disturbance to continue to execute the cutting task of the cutting position that has not been completed by the failed cross-cutting machine, realizing the disturbance-free switching of any cross-cutting machine in the dynamic cutting process, and the cross-cutting machines can be combined arbitrarily to perform joint cutting operation on different cutting positions of the same plate, thereby meeting the requirement of fine cutting task.

[0042] Further, periodically performing the above correction process can improve the reliability of the disturbance-free switching. Further, using the same pulse signal received as a measurement input point for the measurement input of the controller of each cutting machine to record the displacement value of the current plate strip at the same time for the plurality of cross cutting machines can avoid the displacement value recording error caused by the time delay of the system processing in different cross cutting machines, and improve the accuracy of the redundancy control. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a flowchart of the control method according to the first embodiment of the application.

[0044] Figure 2 is a structural diagram of the control system according to the second embodiment of the application.

[0045] LIST OF REFERENCE NUMERALS

[0046] 201-20N: a plurality of second controllers 211: a first controller

[0047] 212: a first length measuring encoder 213: a second length measuring encoder

[0048] 214: an encoder distributor DETAILED DESCRIPTION

[0049] To make the purposes, technical solutions, and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other technical solutions obtained by those skilled in the art belong to the scope of protection of the present application.

[0050] Figure 1 shows a flowchart of the control method of the first embodiment of the application. As shown in Figure 1 , the control method comprises:

[0051] Step S102: obtaining the displacement value (i.e. virtual axis position) of the current plate strip recorded at the same time for each cross cutting machine in the plurality of cross cutting machines, wherein the plurality of cross cutting machines are arranged in parallel to perform cutting operation on the current plate strip.

[0052] Specifically, when the cross-cutting machine is started, the virtual shaft and the length measuring encoder are electronically gear-synchronized; when the cross-cutting machine performs a cutting operation, the cutting tool and the virtual shaft are electronically gear-synchronized, that is, when the position of the virtual shaft reaches the set cutting position, the synchronization function is performed, and when the cutting tool runs to the set cutting position, the desynchronization function is performed, and after desynchronization, the cutting tool returns to the tool origin position through absolute positioning, and waits for the next cutting. In the present application, after each cross-cutting machine is started, the length measuring encoder starts to measure the displacement value of the current plate strip corresponding to the cross-cutting machine, that is, the displacement value of the current plate strip at the starting time of each cross-cuting machine is 0.

[0053] The foregoing step S102 has various implementation manners. Optionally, the step S102 can further include: sending a pulse signal to each cross-cutting machine; each cross-cutting machine records the displacement value of the current plate strip at the current time when receiving the pulse signal; and receiving the displacement value of the current plate strip at the current time corresponding to the pulse signal sent by each cross-cutting machine. Further, each cross-cutting machine can be configured with a measurement input module configured to use a high-speed input point to record the displacement value of the glass strip measured by the length measuring encoder and save a timestamp corresponding to each measurement time, and each cross-cutting machine can use the received pulse signal as an input point to record the displacement value of the current plate strip at the same timestamp time, for example, using a respective measurement input module. Recording the displacement value of the current plate strip at the same time using the measurement input module can avoid recording errors caused by different program execution periods or time delays of system processing, and can improve the correction accuracy of the system.

[0054] Further, optionally, the foregoing step S102 can further include: each cross-cutting machine is configured to periodically record the displacement value of the current plate strip at the same appointed time and broadcast or send; receiving the displacement value of the current plate strip at the same appointed time broadcast or sent by each cross-cutting machine.

[0055] Then, step S104 is entered: the displacement value of one cross-cutting machine in the plurality of cross-cutting machines and the displacement value of other cross-cutting machines are calculated respectively.

[0056] The "one cross-cutting machine in the plurality of cross-cutting machines" in step S104 can be understood as a reference cross-cutting machine. Optionally, the reference cross-cutting machine can be any one of the plurality of cross-cutting machines, or a pre-designated cross-cutting machine (for example, not limited to the first cross-cutting machine to start).

[0057] Then, step S106 is entered: the other cross-cutting machines calibrate their cutting coordinate systems or cutting positions according to the corresponding deviation values. It is to be noted that the corresponding deviation value of a cross-cutting machine in this step is the deviation value between the displacement value of the reference cross-cutting machine and the displacement value of the cross-cutting machine.

[0058] Optionally, the initial cutting coordinate system of each cross-cutting machine is constructed as follows: taking the tool origin of the cross-cutting machine as the coordinate system origin, taking the current plate strip flow direction as the Y axis, and taking the direction perpendicular to the plate strip flow direction as the X axis.

[0059] Optionally, the aforementioned step S106 is followed by the step of: each cross-cutting machine calculates the cutting position based on the corrected cutting coordinate system.

[0060] Optionally, the control method of the embodiment further comprises: periodically performing steps S102 to S106 until the cutting task for the current plate strip is completed.

[0061] In a preferred embodiment, the aforementioned step S102 further comprises: periodically obtaining the displacement value of the current plate strip recorded by each cross-cutting machine at the same time. For example, optionally, a pulse signal is periodically sent to each cross-cutting machine; each cross-cutting machine records the displacement value of the current plate strip at the current time when the pulse signal is received; the displacement value of the current plate strip at the current time sent by each cross-cutting machine corresponding to the pulse signal is received. For another example, optionally, each cross-cutting machine is configured to periodically record and broadcast or send the displacement value of the current plate strip at the same appointed time; the displacement value of the current plate strip at the current time corresponding to the same appointed time broadcast or sent by each cross-cutting machine is received.

[0062] In the aforementioned preferred embodiment, the pulse signal period T (hereinafter referred to as “pulse period”) can be manually set as needed, or can be automatically adjusted according to the feeding speed of the glass, for example, the pulse period T has a predetermined relationship with the feeding speed of the glass, and the value of the pulse period T can be automatically adjusted according to the predetermined relationship and the current feeding speed of the glass.

[0063] In the aforementioned preferred embodiment, for each pulse period, a cross-cutting machine is randomly designated as the reference cross-cutting machine of the current pulse period; or for each multiple pulse period, a cross-cutting machine is randomly designated as the reference cross-cutting machine of the current multiple pulse period. In addition, optionally, the reference cross-cutting machine can also be designated according to the start-up time, for example, the cross-cutting machine that starts up first is designated as the reference cross-cutting machine of the current pulse period or the current multiple pulse period for each pulse period or for each multiple pulse period, etc.

[0064] In the foregoing preferred embodiment, each of the cross-cutting machines corrects the cutting coordinate system thereof by using the deviation value of the current pulse cycle in each pulse cycle, and calculates the cutting position based on the corrected cutting coordinate system.

[0065] In Figure 1 In the illustrated embodiment, step S106 calibrates the cutting coordinate system of the other cross-cutting machines according to the received deviation value, so that the coordinate systems of the plurality of cross-cutting machines are completely consistent. Further, the plurality of cross-cutting machines can perform switching or joint cutting operations based on the consistent cutting coordinate system. For example, when any cross-cutting machine of the plurality of cutting machines fails, switching to any other cross-cutting machine, the any other cross-cutting machine performs the cutting task of the cutting position that the failed cross-cutting machine has not completed based on the corrected cutting coordinate system. For another example, any combination of cross-cutting machines of the plurality of cutting machines performs joint cutting operations of different cutting positions for the same board based on the corrected cutting coordinate system.

[0066] In Figure 1 In the illustrated embodiment, optionally, before step S106 calibrates the cutting position of the other cross-cutting machines according to the corresponding deviation value, each of the cross-cutting machines calculates the cutting position based on the previously constructed initial cutting coordinate system thereof; then, when step S106 calibrates the cutting position of the other cross-cutting machines according to the corresponding deviation value, the cutting positions of the plurality of cross-cutting machines are the same. Further, the plurality of cross-cutting machines can perform switching operations or perform joint cutting operations based on the same cutting position. For example, when any cross-cutting machine of the plurality of cutting machines fails, switching to any other cross-cutting machine, the any other cross-cutting machine performs the cutting task of the cutting position that the failed cross-cutting machine has not completed based on the corrected cutting position which is the same as that of the failed cross-cutting machine. For another example, any combination of cross-cutting machines of the plurality of cutting machines assigns (for example, odd-even assignment) cutting positions based on the corrected same cutting position to perform joint cutting operations of different cutting positions for the same board.

[0067] Figure 2 A structural schematic diagram of a control system of a second embodiment of the present application is shown. As Figure 2 shown, the control system includes a first controller 211 and a plurality of second controllers (201-20N), wherein the plurality of second controllers (201-20N) are used to one-to-one correspondingly construct cutting coordinate systems or calculate cutting positions for a plurality of cross-cutting machines arranged in parallel, and N is an integer greater than or equal to 2.

[0068] First, in Figure 2In the embodiment shown, the first controller 211 is configured to acquire the displacement value of the current sheet material recorded by each of the plurality of second controllers (201 to 20N) at the same time.

[0069] Optionally, such as Figure 2 As shown, each second controller is also connected to the first length measuring encoder 212 to acquire and record the displacement value of the current sheet material in the corresponding cross-cutting machine, as measured by the first length measuring encoder 212. For reliability, a spare second length measuring encoder 213 and encoder distributor 214 are added so that when the first encoder fails, the connection can be switched to the second length measuring encoder 213 via the encoder distributor 214. The first length measuring encoder 212 and the second length measuring encoder 213 measure the displacement value of the current sheet material in each cross-cutting machine by being mounted on a length measuring wheel, for example, pressing against the current sheet material.

[0070] The displacement value can be obtained in various ways. Optionally, the first controller 211 is configured to send a pulse signal to each of the second controllers; when each second controller receives the pulse signal, it records the displacement value of the current sheet material at the current moment and sends it to the first controller 211; the first controller 211 receives the displacement value of the current sheet material at the current moment corresponding to the pulse signal sent by each second controller. Further, each second controller can, for example, use its own measurement input to record the displacement value of the current sheet material at the same moment using the received pulse signal as an input point and send it to the first controller 211. Since the program execution cycles of the second controllers of different cross-cutting machines may be different, and the measurement input of the second controller uses a high-speed input point to capture the displacement value of the glass strip measured by the encoder (e.g., a length encoder), it is not affected by the different program execution cycles. Therefore, the displacement value recording error caused by the different program execution cycles can be avoided, and the system's correction accuracy can be improved.

[0071] Optionally, each of the second controllers is configured to record the displacement value of the current sheet material at the corresponding cross-cutting machine at the same agreed time and broadcast or send it to the first controller 211; the first controller 211 receives the displacement value of the current sheet material at the current time corresponding to the same agreed time broadcast or sent by each of the second controllers.

[0072] In a preferred embodiment, the first controller 211 can also be configured to periodically acquire the displacement value of the current plate strip recorded by each of the second controllers (201-20N) at the same time. For example, the first controller 211 periodically sends a pulse signal to each of the second controllers; each of the second controllers records the displacement value of the current plate strip at the current time when receiving the pulse signal and sends it to the first controller 211; and the first controller 211 receives the displacement value of the current plate strip at the current time sent by each of the second controllers corresponding to the pulse signal.

[0073] In the embodiment shown in the figure, the first controller 211 can also be configured to calculate the deviation value of the displacement value of one of the second controllers (i.e. the reference cross-cutting machine) from the displacement values of the other second controllers, and send the deviation value to the corresponding other second controllers.

[0074] In the embodiment shown in the figure, the first controller 211 can also be configured to calculate the deviation value of the displacement value of one of the second controllers (i.e. the reference cross-cutting machine) from the displacement values of the other second controllers, and send the deviation value to the corresponding other second controllers. Figure 2

[0075] Optionally, the reference cross-cutting machine can be any one of the plurality of cross-cutting machines, or a pre-designated cross-cutting machine. Further, a cross-cutting machine can be randomly designated as the reference cross-cutting machine for each pulse period; or a cross-cutting machine can be randomly designated as the reference cross-cutting machine for each plurality of pulse periods. In addition, the reference cross-cutting machine can also be designated according to the start-up time, for example, the first cross-cutting machine to start up is designated as the reference cross-cutting machine, etc.

[0076] In the embodiment shown in the figure, the first controller 211 can also be configured to calculate the deviation value of the displacement value of one of the second controllers (i.e. the reference cross-cutting machine) from the displacement values of the other second controllers, and send the deviation value to the corresponding other second controllers. Figure 2 ​In the illustrated embodiment, each of the other second controllers is configured to correct the constructed cutting coordinate system according to the received deviation value. Optionally, each of the plurality of second controllers (201-20N) is configured to correct the constructed cutting coordinate system according to the received deviation value. This makes the coordinate systems of the plurality of cross-cutting machines completely consistent, which can perform switching or joint cutting operations based on the consistent cutting coordinate system. For example, when any of the plurality of cutting machines fails, switch to any other cross-cutting machine, the second controller of the other cross-cutting machine calculates the cutting position based on the corrected cutting coordinate system for the cross-cutting machine to perform the cutting task of the cutting position that the failed cross-cutting machine has not completed. For another example, the second controllers of any combination of cross-cutting machines in the plurality of cutting machines calculate and assign cutting positions based on the corrected cutting coordinate system for the cross-cutting machine combination to perform joint cutting operations of different cutting positions on the same board.

[0077] Optionally, the second controller is further configured to pre-construct an initial cutting coordinate system for the corresponding cross-cutting machine in each second controller, wherein the initial cutting coordinate system takes the cross-cutting machine tool origin as the coordinate system origin, takes the current board strip flow direction as the Y axis, and takes the direction perpendicular to the board flow direction as the X axis. Further, each second controller corrects the cutting coordinate system of itself with the deviation value of the current pulse cycle in each pulse cycle, and calculates the cutting position based on the corrected cutting coordinate system.

[0078] In Figure 2In the illustrated embodiment, each of the other second controllers is configured to correct the calculated cutting position according to the received deviation value. Further optionally, each of the plurality of second controllers (201-20N) is configured to calculate a cutting position for a target cutting task based on the aforementioned initial cutting coordinate system constructed by itself, and correct the calculated cutting position according to the received deviation value. This makes the cutting positions of the plurality of cross cutting machines the same, and the plurality of cross cutting machines can perform switching operations or perform joint cutting operations based on the matching cutting positions. For example, when any cross cutting machine in the plurality of cross cutting machines fails, switching to any other cross cutting machine, which performs the cutting task of the cutting position not completed by the failed cross cutting machine based on the corrected cutting position matching the failed cross cutting machine. For another example, any combination of cross cutting machines in the plurality of cross cutting machines is assigned (for example, odd-even assignment) a cutting position to perform joint cutting operations of different cutting positions for the same plate based on the corrected same cutting position. This embodiment is explained and described taking the main line PLC and the controllers A, B and C respectively configured in the three cross cutting machines as an example: (1) the controllers A, B and C respectively transmit the state signals of the corresponding cross cutting machines to the main line PLC, the main line PLC records the serial number of the cross cutting machine that starts up first, and specifies the virtual axis of the cross cutting machine as the reference position for this calibration; (2) the main PLC sends a fixed period pulse signal, when the controllers A, B and C receive the pulse signal, the actual position of the glass ribbon in the current cross cutting machine is recorded using the measurement input, assuming A = 1000 mm, B = 2000 mm, C = 500 mm; (3) the three controllers A, B and C transmit the positions recorded by the measurement input to the main line PLC, the main line PLC calculates the position deviation between the three based on the pre-specified reference virtual axis position, assuming that the position recorded by the controller A is the reference position, then ΔB = A - B = -1000 mm; ΔC = A - C = 500 mm; (4) the main line PLC sends the calculated deviation value back to the controllers B and C, the cutting coordinate system of the controller B is subtracted by 1000 mm from the current position, which can ensure that the coordinate systems of the controllers B and A are completely consistent, and similarly, the cutting coordinate system of the controller C is added by 500 mm from the current position, which can ensure that the coordinate systems of the controllers C and A are completely consistent. It can be seen that there is no master cross cutting machine among the three cross cutting machines, and the failure of any one of the three cross cutting machines will not affect the other two, and the cutting task of the cutting position not completed by the failed machine can be continued to be performed by any one of the other two cross cutting machines without disturbance. At the same time, since the coordinate systems of the three cross cutting machines are completely consistent, the cross cutting machines can be combined arbitrarily to perform joint cutting operations of different cutting positions for the same plate, thereby meeting the requirements of fine cutting tasks.

[0079] The third embodiment of the present application provides a controller, which comprises an acquisition module, a correction module and a sending module.

[0080] The acquisition module is configured to acquire the displacement value of the current plate strip recorded by each of the plurality of cross-cutting machines at the same time, wherein the plurality of cross-cutting machines are arranged in parallel.

[0081] Optionally, the acquisition module is further configured to periodically acquire the displacement value of the current plate strip recorded by each of the plurality of cross-cutting machines at the same time. In an exemplary implementation, the acquisition module is further configured to periodically send a pulse signal to each of the aforementioned cross-cutting machines, and when receiving the pulse signal, the cross-cutting machine uses the pulse signal as a measurement input point to record the displacement value of the current plate strip at the current time using the measurement input and sends it to the acquisition module; the acquisition module receives the displacement value of the current plate strip at the current time corresponding to the pulse signal sent by each cross-cutting machine.

[0082] Further, the pulse period T of the pulse signal sent by the acquisition module to the cross-cutting machine can be manually set as needed, or can be automatically adjusted according to the feeding speed of the glass, for example, the pulse period T is in a positive proportional relationship with the feeding speed of the glass, and the acquisition module can automatically adjust the pulse period T according to the feeding speed of the glass and the positive proportional relationship.

[0083] The correction module is configured to calculate the deviation value of the displacement value received from one cross-cutting machine (i.e. the reference cross-cutting machine) among the plurality of cross-cutting machines and the displacement value of the other cross-cutting machines, respectively, and the sending module is configured to send the deviation value to the corresponding other cross-cutting machines for the other cross-cutting machines to correct their cutting coordinate system or cutting position.

[0084] Optionally, the reference cross-cutting machine can be any one of the plurality of cross-cutting machines or a pre-designated cross-cutting machine (e.g. the first cross-cutting machine to start). Further, one of the plurality of cross-cutting machines can be designated as the reference cross-cutting machine for each pulse period, and the reference cross-cutting machines for different pulse periods can be randomly designated; or one of the plurality of cross-cutting machines can be designated as the reference cross-cutting machine for each multiple pulse period; or the first cross-cutting machine to start among the plurality of cross-cutting machines can be designated as the reference cross-cutting machine for each pulse period; and the like.

[0085] It should be noted that the controller of the embodiment is completely identical in function to the first controller 211 in the second embodiment, and the function of the first controller 211 in the second embodiment is only realized or embodied by different functional modules in the embodiment, so all the technical details of the first controller 211 in the second embodiment are applicable to the embodiment, and for the sake of brevity, will not be repeated here.

[0086] The fourth embodiment of the application provides a cross-cutting machine, which comprises a sending module, a receiving module and a correction module. The sending module is configured to send a displacement value of a current plate strip recorded at a first time; the receiving module is configured to receive a deviation value sent by a controller, the deviation value being calculated according to a displacement value of a current plate strip recorded at the first time by a reference cross-cutting machine and the displacement value of the current cross-cutting machine, wherein the reference cross-cutting machine and the current cross-cutting machine are arranged in parallel; and the correction module is configured to calibrate a cutting coordinate system or a cutting position of itself by using the deviation value.

[0087] In an implementation manner, the correction module is further configured to calculate the cutting position based on the corrected cutting coordinate system, wherein the initial cutting coordinate system of each cross-cutting machine takes the tool origin of the cross-cutting machine as the origin, takes the direction of the current plate strip flow as the Y axis, and takes the direction perpendicular to the plate flow direction as the X axis. Further, the correction module is further configured to correct the cutting coordinate system of itself by using the deviation value first, and then calculate the cutting position based on the corrected cutting coordinate system; for example, the cutting coordinate system of itself is corrected by using the deviation value of the current pulse period in each pulse period, and the cutting position is calculated based on the corrected cutting coordinate system.

[0088] In another implementation manner, the correction module is further configured to calculate the cutting position based on the initial cutting coordinate system of itself for correction, wherein the initial cutting coordinate system of each cross-cutting machine takes the tool origin of the cross-cutting machine as the origin, takes the direction of the current plate strip flow as the Y axis, and takes the direction perpendicular to the plate flow direction as the X axis.

[0089] Optionally, the cross-cutting machine of the embodiment can be the cross-cutting machine of the first embodiment, and can be configured with the second controller of the second embodiment, so the various details of the cross-cutting machine of the first embodiment and the second controller of the second embodiment are applicable to the embodiment, and for the sake of brevity, will not be repeated here.

[0090] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting, unless the context clearly indicates so. It will be further understood that the terms "comprises" and / or "comprising," or "includes" and / or "including" when used herein, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. Moreover, it is understood that the word "or" has the same meaning as the Latin term "vel," that is, it is interpreted to mean either "et" or "aut" (both or either).

[0091] It is apparent that systems according to embodiments of the present application can be implemented in the form of software functioning as the aforesaid elements, with the program code of the software being stored in a machine-readable storage medium. The software can be implemented in a plurality of forms, including, but not limited to, program modules, routines, functions, and so on, and the like, which are executed in the computing device. It is understood that each of the modules or steps of the embodiments of the present specification described above can be implemented by general computing devices, and they can be concentrated on a single computing device or distributed on a network composed of a plurality of computing devices, and optionally, they can be implemented by program codes executable by computing devices, so that they can be stored in storage devices and executed by computing devices, and in some cases, the steps shown or described can be executed in different order from here, or they can be made into individual integrated circuit modules, or a plurality of modules or steps among them can be made into a single integrated circuit module. Thus, the embodiments of the present specification are not limited to any particular combination of hardware and software.

[0092] While the application has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive; the application is not limited to the disclosed embodiments.

[0093] The above detailed description has shown, described, and demonstrated embodiments of the application and, although certain embodiments have been specifically disclosed, numerous modifications and / or additions can be made without departing from the spirit or scope of the application.

Claims

1. A control method, characterized in that, include: A obtains the displacement value of the current sheet material recorded by each of multiple cross-cutting machines at the same time, wherein the multiple cross-cutting machines are set in parallel. B. Calculate the deviation of the displacement value of one of the multiple cross-cutting machines from the displacement values ​​of the other cross-cutting machines. C. The other cross-cutting machines correct their own cutting coordinate system according to the corresponding deviation value; when any of the multiple cross-cutting machines fails, the machine switches to any other cross-cutting machine, and the other cross-cutting machine performs the cutting task of the cutting position that the failed cross-cutting machine did not complete based on the corrected cutting coordinate system.

2. The control method according to claim 1, characterized in that, The control method further includes: Steps A through C are executed periodically until the cutting task for the current sheet material is completed.

3. The control method according to claim 2, characterized in that, The step of calculating the deviation of the displacement value of one of the multiple cross-cutting machines from the displacement values ​​of the other cross-cutting machines further includes: For each execution cycle, the first cross-cutting machine to be started among the multiple cross-cutting machines is designated as the reference cross-cutting machine, and the deviation between the displacement value of the reference cross-cutting machine and the displacement value of the other cross-cutting machines is calculated respectively.

4. The control method according to claim 3, characterized in that, Before step A, the following are also included: Using the origin of each cross-cutting machine's blade as the origin, the Y-axis is defined along the current material flow direction, and the X-axis is defined perpendicular to the material flow direction, thus constructing an initial cutting coordinate system for each cross-cutting machine; and... After the other cross-cutting machines correct their own cutting coordinate system according to the corresponding deviation value, the method further includes: The multiple horizontal cutting machines calculate the cutting position based on the corrected cutting coordinate system.

5. The control method according to claim 1, characterized in that, The control method further includes: The cross-cutting machines in any combination can perform joint cutting operations at different cutting positions on the same sheet material based on the corrected cutting coordinate system.

6. A control system, characterized in that, It includes a first controller (211) and multiple second controllers (201-20N), wherein the multiple second controllers (201-20N) are used to construct a cutting coordinate system for multiple parallel horizontal cutting machines in a one-to-one correspondence; The first controller (211) is configured to acquire the displacement value of the current sheet material recorded by each of the plurality of second controllers (201-20N) at the same time, calculate the deviation value of the displacement value recorded by one of the plurality of second controllers (201-20N) from the displacement value recorded by other second controllers, and send the deviation value to the corresponding other second controllers; Each of the other second controllers is configured to correct its own cutting coordinate system based on the received deviation value; When any of the multiple horizontal cutting machines fails, the system switches to any other horizontal cutting machine. The second controller corresponding to the other horizontal cutting machine is configured to perform the cutting task at the position that the failed horizontal cutting machine did not complete, based on the corrected cutting coordinate system.

7. The control system according to claim 6, characterized in that, The first controller (211) is also configured to periodically send pulse signals to each of the second controllers; Each of the second controllers is also configured to, upon receiving the pulse signal, use the high-speed input point of the measurement input to record the displacement value of the current sheet material measured by the length encoder at the current moment; The first controller (211) is also configured to receive the displacement value of the current sheet material at the current moment corresponding to the pulse signal sent by each of the second controllers.

8. The control system according to claim 6 or 7, characterized in that, Each of the second controllers is also configured to calculate the cutting position based on the corrected cutting coordinate system.

9. A controller, characterized in that, include: The acquisition module is configured to acquire the displacement value of the current sheet material recorded by each of a plurality of cross-cutting machines at the same time, wherein the plurality of cross-cutting machines are arranged in parallel. The correction module is configured to calculate the deviation of the displacement value of one of the plurality of cross-cutting machines from the displacement values ​​of the other cross-cutting machines. The sending module is configured to send the deviation value to the corresponding other cross-cutting machine so that the other cross-cutting machine can correct its own cutting coordinate system; The controller is also configured to switch to any other cross-cutting machine when any of the multiple cross-cutting machines fails, such that the controller corresponding to the other cross-cutting machine is configured to perform the cutting task at the unfinished cutting position of the failed cross-cutting machine based on the corrected cutting coordinate system.

10. The controller according to claim 9, characterized in that, The acquisition module is also configured to periodically send pulse signals to each of the cross-cutting machines, so that each of the cross-cutting machines uses the high-speed input point of the measurement input of its own controller to record the displacement value of the current sheet material measured by the length encoder at the current moment. The acquisition module is further configured to designate the first cross-cutting machine among the plurality of cross-cutting machines as the reference cross-cutting machine, and the correction module is further configured to calculate the deviation between the displacement value of the reference cross-cutting machine and the displacement value of the other cross-cutting machines.

11. A cross-cutting machine, characterized in that, include: The sending module is configured to send the displacement value of the current sheet material recorded at the first moment; The receiving module is configured to receive the deviation value sent by the controller. The deviation value is calculated based on the displacement value of the current sheet material recorded at the first moment of the reference cross-cutting machine and the displacement value of the current cross-cutting machine, wherein the reference cross-cutting machine and the current cross-cutting machine are set in parallel. The correction module is configured to correct its own cutting coordinate system using the deviation value; The transverse cutting machine is also configured to, when any one of the multiple transverse cutting machines including the transverse cutting machine fails and the task is switched to the transverse cutting machine to take over, perform the cutting task at the unfinished cutting position of the failed transverse cutting machine based on the corrected cutting coordinate system.

12. The cross-cutting machine according to claim 11, characterized in that, The correction module is also configured to calculate the cutting position based on the corrected cutting coordinate system, wherein the initial cutting coordinate system of each cross-cutting machine takes the origin of the cross-cutting machine tool as the origin, the Y-axis is along the current material flow direction of the sheet metal, and the X-axis is perpendicular to the material flow direction.

13. The cross-cutting machine according to claim 11, characterized in that, The correction module is also configured to calculate its own cutting position based on its own initial cutting coordinate system, wherein the initial cutting coordinate system of each cross-cutting machine takes the origin of the cross-cutting machine tool as the origin, the Y-axis along the current material flow direction of the sheet metal as the Y-axis, and the X-axis perpendicular to the material flow direction as the X-axis.

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