Positioning method, device and storage medium of handwheel pulse generator

Abstract

The present application discloses a positioning method, device and storage medium for a handwheel pulse generator. The present application relates to the field of wireless communication network technology. The method includes: determining a first interval distance between the handwheel pulse generator and receiving a second interval distance fed back from a base station, wherein the second interval distance is the interval distance between the base station and the handwheel pulse generator. Then, based on the first interval distance and the second interval distance, the current position of the handwheel pulse generator is determined, and finally the current position is sent to the cloud background as the search instruction feedback information sent by the cloud background. The present application improves the management effect of the handwheel pulse generator and reduces the risk of losing the handwheel pulse generator by setting up a base station to monitor the current position of the handwheel pulse generator and outputting the current position to the user based on the cloud background.

Description

Technical Field

[0001] The present application relates to the field of wireless communication network technology, and in particular to a positioning method, device and storage medium for a handwheel pulse generator. Background Art

[0002] With the rapid development of CNC technology, the performance of manual pulse generator (MPG), as an indispensable human-machine interaction component in CNC machine tools and other precision mechanical equipment, directly affects the operating accuracy and efficiency of the equipment. At present, since workers usually put the handwheel pulse generator away after using it, it takes time to find the handwheel pulse generator when they need to use it next time, and the handwheel pulse generator is at risk of being lost due to random placement.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The present application provides a method, device and storage medium for locating a handwheel pulse generator, aiming to solve the problem of the risk of loss in the management of handwheel pulse generators in related solutions.

[0005] To achieve the above-mentioned purpose, the present application provides a method for positioning a handwheel pulse generator, which is applied to a main base station. The method for positioning the handwheel pulse generator comprises the following steps:

[0006] determining a first spacing distance from the handwheel pulse generator;

[0007] Receiving a second spacing distance fed back from the slave base station, wherein the second spacing distance is a spacing distance between the slave base station and the handwheel pulse generator;

[0008] Determining a current position of the handwheel pulse generator according to the first spacing distance and the second spacing distance;

[0009] The current location is sent to the cloud backend as search instruction feedback information sent by the cloud backend, so as to output the current location to the user through the cloud backend.

[0010] In one embodiment, the step of determining a first spacing distance from the handwheel pulse generator comprises:

[0011] When receiving the search instruction, sending an acquisition request to the handwheel pulse generator, wherein the acquisition request is used to trigger the handwheel pulse generator to send a signal to the main base station;

[0012] Receive the signal sent by the handwheel pulse generator, and determine the time difference between the sending time point and the receiving time point according to the sending time point in the signal and the receiving time point of the signal;

[0013] A first spacing distance from the hand wheel pulse generator is determined based on the time difference.

[0014] In one embodiment, after the step of determining the current position of the handwheel pulse generator according to the first spacing distance and the second spacing distance, the method further comprises:

[0015] Sending a pulse signal to a target base station disposed in a numerically controlled machine tool through the handwheel pulse generator, and receiving a feedback signal from the target base station;

[0016] A third spacing distance between the CNC machine tool and the handwheel pulse generator is determined according to the pulse signal and the feedback signal.

[0017] In one embodiment, after the step of determining the third spacing distance between the CNC machine tool and the handwheel pulse generator according to the pulse signal and the feedback signal, the method further comprises:

[0018] Monitoring the third interval distance between the CNC machine tool and the handwheel pulse generator;

[0019] In response to the change of the third spacing distance, an encoder signal corresponding to the change of the third spacing distance is determined, and the handwheel pulse generator sends the encoder signal to the CNC machine tool to control the CNC machine tool to perform an action corresponding to the encoder signal.

[0020] In one embodiment, after the step of determining the third spacing distance between the CNC machine tool and the handwheel pulse generator according to the pulse signal and the feedback signal, the method further comprises:

[0021] When the third interval distance is lower than a preset threshold, the handwheel pulse generator sends an emergency stop signal to the CNC machine tool to stop the operation of the CNC machine tool;

[0022] When the third interval distance is higher than the preset threshold, the handwheel pulse generator sends an emergency stop release signal to the CNC machine tool to resume operation of the CNC machine tool.

[0023] In one embodiment, after the step of using the current location as search instruction feedback information sent by the cloud backend, the method further includes:

[0024] After the cloud backend receives the current position, it is determined whether the handwheel pulse generator exceeds the fence area according to the current position, wherein the fence area is an area determined by the master base station and each of the slave base stations;

[0025] If so, a prompt message is fed back to the management terminal, wherein the prompt message includes a message for alerting the management terminal to prompt that the handwheel pulse generator is not within the fence area.

[0026] In one embodiment, after the step of sending the current location as search instruction feedback information sent by the cloud backend to the cloud backend, the step further includes:

[0027] Build a three-dimensional model based on the location of each base station;

[0028] The handwheel pulse generator and the CNC machine tool are marked in the three-dimensional model according to the current position of the handwheel pulse generator in the fence area and the position of the CNC machine tool.

[0029] In one embodiment, before the step of determining the first spacing distance from the handwheel pulse generator, the method further comprises:

[0030] Determine each base station, and determine the main base station through negotiation based on the priority of each base station;

[0031] Alternatively, the processing redundancy of each of the base stations is obtained, and the master base station is determined according to the processing redundancy negotiation.

[0032] In addition, to achieve the above-mentioned purpose, the present application also provides a positioning device for a handwheel pulse generator, and the positioning device for the handwheel pulse generator includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the positioning method for the handwheel pulse generator as described above.

[0033] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, the steps of the positioning method of the handwheel pulse generator as described above are implemented.

[0034] The present application provides a positioning method for a handwheel pulse generator, a positioning device for a handwheel pulse generator, and a storage medium. The method determines a first interval distance between the handwheel pulse generator and receives a second interval distance fed back from a base station, wherein the second interval distance is the interval distance between the base station and the handwheel pulse generator. The current position of the handwheel pulse generator is determined based on the first interval distance and the second interval distance. Finally, the current position is sent to the cloud backend as search instruction feedback information sent by the cloud backend, so as to output the current position to the user through the cloud backend. A base station is established to monitor the position of the handwheel pulse generator, thereby improving the management effect of the handwheel pulse generator and reducing the risk of losing the handwheel pulse generator. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0037] Figure 1 A schematic flow chart of a first embodiment of a method for positioning a handwheel pulse generator of the present application;

[0038] Figure 2 A schematic flow chart of a second embodiment of the method for positioning a handwheel pulse generator of the present application;

[0039] Figure 3 This is a flow chart of a third embodiment of the positioning method of a handwheel pulse generator of the present application;

[0040] Figure 4 This is a flow chart of a fourth embodiment of the positioning method of a handwheel pulse generator of the present application;

[0041] Figure 5 This is a flow chart of a fifth embodiment of the positioning method of a handwheel pulse generator of the present application;

[0042] Figure 6 This is a schematic diagram of the architecture of the hardware operating environment of the positioning device of the handwheel pulse generator involved in the embodiment of the present application.

[0043] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] In order to better understand the above technical solution, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0046] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0047] The main solution of the present application is: determining a first spacing distance from the handwheel pulse generator;

[0048] Receiving a second spacing distance fed back from the slave base station, wherein the second spacing distance is a spacing distance between the slave base station and the handwheel pulse generator;

[0049] Determining a current position of the handwheel pulse generator according to the first spacing distance and the second spacing distance;

[0050] The current location is sent to the cloud backend as search instruction feedback information sent by the cloud backend, so as to output the current location to the user through the cloud backend.

[0051] At present, in order to manage the storage of handwheel pulse generators in the workshop, the relevant solution is to set up a fixed place to store the handwheel pulse generator after use, so that it is convenient to go to the designated place to use it when needed. In actual application, after using the handwheel pulse generator, it is usually placed casually, which leads to the risk of loss in the management of the handwheel pulse generator in the relevant solution.

[0052] The present application determines a first interval distance between the handwheel pulse generator and then receives a second interval distance fed back from a base station, wherein the second interval distance is the interval distance between the base station and the handwheel pulse generator, and then determines the current position of the handwheel pulse generator based on the first interval distance and the second interval distance. Finally, the current position is sent to the cloud backend as search instruction feedback information sent by the cloud backend, so as to output the current position to the user through the cloud backend. By setting up a base station to monitor the position of the handwheel pulse generator, the management effect of the handwheel pulse generator is improved and the risk of losing the handwheel pulse generator is reduced.

[0053] Embodiment 1

[0054] Please refer to Figure 1 In a first embodiment, the positioning method of the handwheel pulse generator comprises the following steps:

[0055] Step S10: Determine a first spacing distance from the handwheel pulse generator.

[0056] In this embodiment, the processing action is performed by the main base station, and at least four base stations are set at the boundary of the movable range of the workshop, wherein the base station is a UWB (Ultra Wide Band) base station. The handwheel pulse generator is provided with a UWB tag, which can send signals to each of the base stations. After the main base station receives the signal, the time point of signal arrival is recorded, and then the first interval distance between the main base station and the handwheel pulse generator is calculated by the time difference and the signal transmission speed.

[0057] In addition, the UWB base station communicates by sending extremely short, low-power pulse signals across a very wide spectrum, which enables it to measure the flight time of the signal with high time resolution, thereby achieving centimeter-level positioning accuracy. The UWB base station functions similarly to the GPS (Global Positioning System), which can provide real-time, high-precision location information. It is usually used in conjunction with a positioning tag, namely a UWB tag (worn on personnel, assets or equipment), and the precise location of the tag is determined by calculating the signal arrival time difference (TDOA) or two-way flight time (TWR) algorithm. The UWB tag is a wireless communication and positioning device based on ultra-wideband technology. It is usually small and light, and is used to attach to personnel, assets or mobile devices to achieve high-precision real-time positioning and tracking. The UWB tag in this embodiment is attached to the handwheel pulse generator.

[0058] Optionally, in this embodiment, step S10 includes:

[0059] When the search instruction is received, an acquisition request is sent to the handwheel pulse generator, wherein the acquisition request is used to trigger the handwheel pulse generator to send a signal to the main base station; the signal sent by the handwheel pulse generator is received, and the time difference between the sending time point and the receiving time point is determined according to the sending time point in the signal and the receiving time point of the signal; and a first interval distance between the handwheel pulse generator and the handwheel pulse generator is determined based on the time difference.

[0060] Specifically, the number of base stations is at least 4, including a main base station and other slave base stations. When the location of the handwheel pulse generator needs to be determined, the cloud backend first sends a search instruction to the main base station. After receiving the search instruction, the main base station sends a request to the UWB tag in the handwheel pulse generator. The UWB tag will simultaneously send the same number of signals as the number of base stations to all base stations within the area. The main base station obtains the sending time point in the signal and the receiving time point of the signal based on the received signal, calculates the time difference based on the sending time point and the receiving time point, and then calculates the first interval distance based on the time difference and the signal propagation speed.

[0061] Furthermore, there is a start instruction in the cloud background, and after the start instruction is triggered, a preset time plan is obtained, wherein the preset time plan is used to send a target instruction to the main base station within a preset time length; when the preset time length in the preset time plan is reached, the target instruction is sent to the main base station. The start instruction can be automatically triggered, or it can be associated with a control on the front end, and when the control is triggered, the start instruction is issued. The preset time plan is set to automatically send a target instruction to the main base station within a certain time length. It can also be a script written and deployed in the cloud background, and the function of the script is to send the target instruction to the main base station every preset time length. The target instruction is used to start the operation process of each base station sending a signal to the handwheel pulse generator.

[0062] Optionally, in this embodiment, before step S10, the following steps are further included:

[0063] Determine each base station, and determine the main base station according to the priority negotiation of each base station; or obtain the processing redundancy of each base station, and determine the main base station according to the processing redundancy negotiation.

[0064] Specifically, each base station in the fenced area can be connected to the cloud backend, and the connection method can be WiFi or other communication connection. Before starting to locate the handwheel pulse generator, the priority is determined according to the time point when each base station receives the search instruction, that is, the base station with the highest priority that receives the search instruction first is determined as the main base station. Or the processing redundancy of each base station is obtained, and the base station with low processing redundancy is determined as the main base station. In the above manner, the problem of being unable to locate the handwheel pulse generator when the main base station is disconnected or fails can be avoided.

[0065] Step S20: receiving a second spacing distance fed back from the slave base station, wherein the second spacing distance is a spacing distance between the slave base station and the handwheel pulse generator.

[0066] In this embodiment, the method for determining the second interval distance from the slave base station is the same as the method for determining the first interval distance in the above step S10, both of which are calculated by the slave base station through the time difference between sending and receiving signals and the transmission speed.

[0067] Specifically, multiple base stations are set at the boundary of the workshop to form an area surrounded by the base stations, i.e., a fenced area. Then, the distance from the handwheel pulse generator to each base station is calculated according to the signal propagation speed and the time difference, i.e., the first interval distance and the second interval distance are determined.

[0068] Step S30: Determine the current position of the handwheel pulse generator according to the first spacing distance and the second spacing distance.

[0069] In this embodiment, the first interval distance is the distance between the master base station and the handwheel pulse generator, and the second interval distance is the distance between the handwheel pulse generator and each slave base station. The positional relationship between the master base station and each slave base station and the handwheel pulse generator is outlined in the fence area, so as to determine the current position of the handwheel pulse generator in the fence area.

[0070] As an optional implementation method for determining the current position of the handwheel pulse generator, the relative position of the handwheel pulse generator can be determined by multilateral positioning. For each base station in the fence area, a circle or sphere can be constructed based on the distance and signal propagation speed. That is, it is determined that the signal source (UWB tag) is located on a sphere with the midpoint of the base station connection line as the sphere center and the time difference corresponding to the distance difference. The intersection of the sphere constructed by all base station pairs in three-dimensional space is the position of the signal source (UWB tag).

[0071] As another optional implementation method for determining the current position of the handwheel pulse generator, the relative position of the handwheel pulse generator can also be determined by the maximum likelihood estimation method. First, a propagation model needs to be established based on the signal propagation speed and environmental parameters, and the environmental parameters are the parameters of the medium through which the signal is transmitted between the base station and the handwheel pulse generator. The propagation model is used to integrate the specific numerical values ​​of the influence of the environmental parameters on the propagation speed. Then, based on the time difference and the propagation model, a probability expression is established to describe the relationship between the time difference and the signal source position. Finally, a likelihood function is constructed, which expresses the probability density of observing the current TDOA data under given signal source position parameters. The value reflects the degree of consistency between the observed data and the assumed position. The position of the signal source is estimated by maximizing the likelihood function, that is, finding the parameter value that makes the likelihood function reach the maximum value, and the corresponding position is the relative position.

[0072] Step S40: sending the current location as search instruction feedback information sent by the cloud backend to the cloud backend, so as to output the current location to the user through the cloud backend.

[0073] In this embodiment, after determining the current position according to each base station in the fence area, the main base station sends the current position as feedback information of the search instruction to the cloud background. In addition, it is also necessary to monitor the current position of the handwheel pulse generator in real time and feed it back to the cloud background in real time, so as to output the current position to the user through the cloud background.

[0074] In the technical solution provided in this embodiment, a first interval distance between the handwheel pulse generator and the handwheel pulse generator is determined, and then a second interval distance fed back from a base station is received, wherein the second interval distance is the interval distance between the base station and the handwheel pulse generator, and then the current position of the handwheel pulse generator is determined according to the first interval distance and the second interval distance. Finally, the current position is sent to the cloud backend as the search instruction feedback information sent by the cloud backend, so as to output the current position to the user through the cloud backend, and a base station is established to monitor the position of the handwheel pulse generator, thereby improving the management effect of the handwheel pulse generator and reducing the risk of losing the handwheel pulse generator.

[0075] Embodiment 2

[0076] Please refer to Figure 2 In the second embodiment, after the step S30, the following steps are further included:

[0077] Step S50: sending a pulse signal to a target base station disposed in a numerically controlled machine tool through the handwheel pulse generator, and receiving a feedback signal from the target base station.

[0078] Step S60: determining a third spacing distance between the CNC machine tool and the handwheel pulse generator according to the pulse signal and the feedback signal.

[0079] In this embodiment, a target base station is provided in the CNC machine tool, and the third interval distance between the target base station and the UWB tag in the handwheel pulse generator is determined point-to-point, thereby determining the corresponding positional relationship. Before determining the third interval distance, the cloud backend will first send a corresponding instruction to the main base station, the main base station parses the instruction, determines the target base station to be sent, and then sends the instruction to the target base station and the UWB tag in the handwheel pulse generator, so that the handwheel pulse generator and the target base station perform a two-way ranging process, wherein the two-way ranging process is a process for determining the positional relationship. Finally, the relative position and the positional relationship are sent to the cloud backend through the WIFI signal of the main base station and based on the MQTT (Message Queuing Telemetry Transport) protocol.

[0080] Specifically, the UWB tag device set in the handwheel pulse generator will send a pulse signal to the target base station, wherein the target base station is set in the CNC machine tool. After receiving the pulse signal, the target base station sends a feedback signal to the handwheel pulse generator, and then calculates the round-trip propagation time of the target signal and the feedback signal to determine the distance between the two, so as to determine the positional relationship.

[0081] It should be understood that a position information report of the handwheel pulse generator can also be generated, and the position information report is used to count the position of each handwheel pulse generator in the fence area and the third interval distance from the CNC machine tool, and the position information report is generated by sorting, and the position information report is sent to the front end, and the position information report is displayed on the front end, so that the staff can better monitor the position information of the handwheel pulse generator. Among them, the cloud backend is connected to the front end through Ethernet WebSocket communication.

[0082] Exemplarily, first, the time of the target base station and the UWB tag is synchronized. When the ranging starts, the UWB tag device sends a UWB pulse signal to the target base station. The characteristics of this signal are ultra-short pulse width and wide bandwidth, which can provide better penetration and anti-interference capabilities in complex environments. After receiving the pulse signal, the target base station will add a timestamp to the pulse signal, record the receiving time, and immediately send a feedback signal to the tag, which also carries a timestamp. After the UWB tag receives the response signal from the base station, it will record a second timestamp, so that the total round-trip time of the signal from the tag to the base station and then back to the tag is obtained. Using half of the total round-trip time and the speed of electromagnetic waves in the transmission medium, the straight-line distance between the target base station and the UWB tag device is calculated. The formula can be expressed as: distance = (response signal timestamp-original signal timestamp) * electromagnetic wave speed distance / 2.

[0083] Optionally, in this embodiment, after step S60, the following further steps are included:

[0084] Monitor the third spacing distance between the CNC machine tool and the handwheel pulse generator; in response to changes in the third spacing distance, determine an encoder signal corresponding to the change in the third spacing distance, and the handwheel pulse generator sends the encoder signal to the CNC machine tool to control the CNC machine tool to perform an action corresponding to the encoder signal.

[0085] Specifically, the target base station set in the monitoring machine tool monitors the third interval distance between the CNC machine tool and the handwheel pulse generator in real time. When the change value of the third interval distance triggers the associated encoder signal, the handwheel pulse generator sends the encoder signal to the CNC machine tool to control the CNC machine tool to perform the action corresponding to the encoder signal. The change value can be set by sending data from the background to set the UWB threshold, or by setting the default value internally, or by adding a dial switch to the hand pulse to set the distance gear.

[0086] For example, when a worker slowly approaches the machine with a handwheel pulse generator, the corresponding distance data will be sent to the machine tool every 10ms to control the motor of the corresponding axis of the machine tool to rotate forward. When the worker slowly moves back with the handwheel pulse generator and leaves the CNC machine tool, the machine tool of the CNC machine tool slowly rotates in the opposite direction.

[0087] Furthermore, in this embodiment, after step S60, the following steps are further included:

[0088] When the third interval distance is lower than a preset threshold, the handwheel pulse generator sends an emergency stop signal to the CNC machine tool to stop the operation of the CNC machine tool; when the third interval distance is higher than the preset threshold, the handwheel pulse generator sends a release emergency stop signal to the CNC machine tool to resume the operation of the CNC machine tool.

[0089] Specifically, the preset threshold is the safe distance of the CNC machine tool during operation, which is set by the system. When the target base station detects that the third interval distance between the handwheel pulse generator and the CNC machine tool is less than the preset threshold, the handwheel pulse generator will send an emergency stop signal to the CNC machine tool to stop the operation of the CNC machine tool. Otherwise, the handwheel pulse generator will send a release emergency stop signal to the CNC machine tool to resume the operation of the CNC machine tool.

[0090] In the technical solution provided in this embodiment, a pulse signal is sent to the target base station arranged in the CNC machine tool by the handwheel pulse generator, and a feedback signal of the target base station is received, and then a third interval distance between the CNC machine tool and the handwheel pulse generator is determined according to the pulse signal and the feedback signal. By determining the distance between the handwheel pulse generator and the CNC machine tool, the corresponding signal can be compiled according to the distance, and the signal can be automatically sent according to the distance to control the operation of the CNC machine tool.

[0091] Embodiment 3

[0092] Please refer to Figure 3 In the third embodiment, after the step S30, the following steps are further included:

[0093] Step S70: After the cloud backend receives the current position, it is determined whether the handwheel pulse generator exceeds the fence area according to the current position, wherein the fence area is an area determined by the master base station and each of the slave base stations.

[0094] Step S80: If yes, feedback prompt information to the management terminal, wherein the prompt information includes an alarm to the management terminal to prompt that the handwheel pulse generator is not within the fence area.

[0095] In this embodiment, after the cloud backend receives the relative position, it determines whether the handwheel pulse generator is in the fence area according to the distance between the handwheel pulse generator and each base station in the relative position, and the fence area is an area surrounded by the base station. When the handwheel pulse generator is not in the fence area, the cloud backend feeds back prompt information to the management terminal, and the prompt information includes the identification of the handwheel pulse generator, which is used to warn the management terminal to prompt the handwheel pulse generator to leave the fence area. After receiving the prompt information, the management terminal checks the corresponding handwheel pulse generator according to the identification therein.

[0096] In the technical solution provided in this embodiment, after the cloud background receives the current position, it is determined whether the handwheel pulse generator exceeds the fence area based on the current position, wherein the fence area is an area determined by the main base station and each of the slave base stations. If so, prompt information is fed back to the management terminal, wherein the prompt information includes an alarm to the management terminal to prompt that the handwheel pulse generator is not within the fence area. By detecting whether the handwheel pulse generator is within the fence area and issuing an alarm after leaving, the management effect of the handwheel pulse generator is improved.

[0097] Embodiment 4

[0098] Please refer to Figure 4 In the fourth embodiment, after the step S30, the following steps are further included:

[0099] Step S90: constructing a three-dimensional model according to the positions of the base stations.

[0100] Step S100: marking the handwheel pulse generator and the CNC machine tool in the three-dimensional model according to the current position of the handwheel pulse generator in the fence area and the position of the handwheel pulse generator relative to the CNC machine tool.

[0101] In this embodiment, the processing action is performed by the cloud backend, and the construction method of the three-dimensional model also needs to be combined with the model of the factory building and the position of the base station, and the sub-models of the base station, the handwheel pulse generator and the CNC machine tool are created through corresponding software, and the three-dimensional model is constructed. After the three-dimensional model is constructed, according to the current position of the handwheel pulse generator in the fence area and the positional relationship with the CNC machine tool, the positions of the sub-models of the handwheel pulse generator and the CNC machine tool are marked in the three-dimensional model.

[0102] Optionally, in this embodiment, after the step of marking the handwheel pulse generator and the CNC machine tool in the three-dimensional model, the method further includes:

[0103] In response to the operation of the handwheel pulse generator on the CNC machine tool, the moving path of the CNC machine tool is monitored in real time according to the three-dimensional model; when the moving path triggers an alarm threshold, a corresponding alarm signal is sent to the management terminal, so that the management terminal controls the handwheel pulse generator to send an emergency stop signal to the CNC machine tool.

[0104] Specifically, when the handwheel pulse generator performs an operation on the CNC machine tool, the position of the handwheel pulse generator and the moving path of the CNC machine tool are obtained in real time through the base station. The alarm threshold is preset, including approaching the boundary of the dangerous area, exceeding the predetermined working range or too fast speed, and when the CNC machine tool is too close or too far from the handwheel pulse generator, the alarm threshold will be triggered. At this time, the cloud backend sends an alarm signal to the management terminal, and the management terminal controls the handwheel pulse generator to send an emergency stop signal to the CNC machine tool to stop the CNC machine tool from moving.

[0105] In the technical solution provided in this embodiment, a three-dimensional model is constructed according to the positions of each of the base stations, and then the handwheel pulse generator and the CNC machine tool are marked in the three-dimensional model according to the relative position of the handwheel pulse generator in the fence area and the positional relationship with the CNC machine tool. The position and relationship between the handwheel pulse generator and the CNC machine tool can be intuitively understood in the three-dimensional model, and operations with centimeter-level precision can be formulated to improve the accuracy of controlling the CNC machine tool.

[0106] Embodiment 5

[0107] Please refer to Figure 5 In the fifth embodiment, as Figure 5 As shown, taking the setting of four base stations as an example, the area formed by the four base stations is a fenced area. First, the cloud background sends a start instruction to the UWB base station 1 based on the MQTT protocol, and the UWB base station sends a request to the UWB tag of the handwheel pulse generator. After receiving the request, the UWB sends signals to the four base stations respectively, and the UWB base station determines the specific position of the handwheel pulse generator in the fenced area according to the received signal. Then, the UWB tag sends a pulse signal to the target base station set in the CNC machine tool, and receives a feedback signal to determine the positional relationship between the handwheel pulse generator and the CNC machine tool, and sends it to the UWB base station 1. The UWB base station 1 feeds back the received positional relationship and relative position to the cloud background based on the MQTT protocol, and the cloud background sends it to the WEB front end through Ethernet WebSocket communication for data monitoring and control.

[0108] Since the system introduced in the embodiment of the present application is a system used to implement the method of the embodiment of the present application, based on the method introduced in the embodiment of the present application, the person skilled in the art can understand the specific structure and deformation of the system, so it is not repeated here. All systems used in the method of the embodiment of the present application belong to the scope of protection of this application.

[0109] The present application provides a positioning device for a handwheel pulse generator, and the positioning device for the handwheel pulse generator includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the positioning method for the handwheel pulse generator in the above-mentioned embodiment one.

[0110] Reference below Figure 6 , which shows a schematic diagram of the structure of a positioning device for a handwheel pulse generator suitable for implementing an embodiment of the present application. The positioning device for the handwheel pulse generator in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The positioning device of the handwheel pulse generator shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0111] like Figure 6As shown, the positioning device of the handwheel pulse generator may include a processing device 1001 (such as a core processor, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the positioning device of the handwheel pulse generator are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the positioning device of the handwheel pulse generator to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows the positioning device of the handwheel pulse generator with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0112] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0113] The handwheel pulse generator positioning device provided by the present application adopts the handwheel pulse generator positioning method in the above embodiment, which can solve the technical problem that the management of the handwheel pulse generator in the related scheme has the risk of loss. Compared with the prior art, the beneficial effects of the handwheel pulse generator positioning device provided by the present application are the same as the beneficial effects of the handwheel pulse generator positioning method provided by the above embodiment, and the other technical features in the handwheel pulse generator positioning device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0114] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0115] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0116] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, the computer-readable program instructions being used to execute the positioning method of the handwheel pulse generator in the above-mentioned embodiment.

[0117] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0118] The computer-readable storage medium may be included in the positioning device of the handwheel pulse generator; or may exist independently without being assembled into the positioning device of the handwheel pulse generator.

[0119] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the positioning device of the handwheel pulse generator, the positioning device of the handwheel pulse generator: determines a first interval distance between the handwheel pulse generator and the handwheel pulse generator; receives a second interval distance fed back from a base station, wherein the second interval distance is the interval distance between the base station and the handwheel pulse generator; determines the current position of the handwheel pulse generator based on the first interval distance and the second interval distance; sends the current position to the cloud backend as search instruction feedback information sent by the cloud backend, so as to output the current position to the user through the cloud backend.

[0120] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0121] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0122] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0123] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for locating the handwheel pulse generator, and can solve the technical problem that the management of the handwheel pulse generator in the related scheme has the risk of loss. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the method for locating the handwheel pulse generator provided by the above-mentioned embodiment, and will not be elaborated here.

[0124] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the positioning method of the handwheel pulse generator as described above when the computer program is executed by a processor.

[0125] The computer program product provided by the present application can solve the technical problem that the management of the handwheel pulse generator in the related solutions has the risk of loss. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present application are the same as the beneficial effects of the positioning method of the handwheel pulse generator provided by the above embodiment, which will not be repeated here.

[0126] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A method for positioning a handwheel pulse generator, characterized in that: Applied to the main base station, the positioning method of the handwheel pulse generator includes the following steps: When receiving the search instruction, sending an acquisition request to the handwheel pulse generator, wherein the acquisition request is used to trigger the handwheel pulse generator to send a signal to the main base station; Receive the signal sent by the handwheel pulse generator, and determine the time difference between the sending time point and the receiving time point according to the sending time point in the signal and the receiving time point of the signal; determining a first spacing distance from the hand wheel pulse generator based on the time difference; Receiving a second spacing distance fed back from the slave base station, wherein the second spacing distance is a spacing distance between the slave base station and the handwheel pulse generator; Determining a current position of the handwheel pulse generator according to the first spacing distance and the second spacing distance; Sending a pulse signal to a target base station disposed in a numerically controlled machine tool through the handwheel pulse generator, and receiving a feedback signal from the target base station; Determine a third spacing distance between the CNC machine tool and the handwheel pulse generator according to the pulse signal and the feedback signal; Monitoring the third interval distance between the CNC machine tool and the handwheel pulse generator; In response to the change of the third spacing distance, an encoder signal corresponding to the change of the third spacing distance is determined, and the handwheel pulse generator sends the encoder signal to the CNC machine tool to control the CNC machine tool to perform an action corresponding to the encoder signal; When the third interval distance is lower than a preset threshold, the handwheel pulse generator sends an emergency stop signal to the CNC machine tool to stop the operation of the CNC machine tool; When the third interval distance is higher than the preset threshold, the handwheel pulse generator sends an emergency stop release signal to the CNC machine tool to resume operation of the CNC machine tool; Sending the current location as search instruction feedback information sent by the cloud backend to the cloud backend, so as to output the current location to the user through the cloud backend; The cloud backend builds a 3D model based on the location of each base station; The cloud backend marks the handwheel pulse generator and the CNC machine tool in the three-dimensional model according to the current position of the handwheel pulse generator in the fence area and the position of the CNC machine tool; The cloud backend responds to the operation of the CNC machine tool by the handwheel pulse generator and monitors the moving path of the CNC machine tool in real time according to the three-dimensional model; When the moving path triggers the alarm threshold, the cloud backend sends a corresponding alarm signal to the management terminal, so that the management terminal controls the handwheel pulse generator to send an emergency stop signal to the CNC machine tool. The alarm threshold is triggered when approaching the boundary of the dangerous area, exceeding the predetermined working range or the speed is too fast, and when the CNC machine tool is too close or too far from the handwheel pulse generator.

2. The method according to claim 1, characterized in that After the step of using the current location as the search instruction feedback information sent by the cloud backend, the method further includes: After the cloud backend receives the current position, it is determined whether the handwheel pulse generator exceeds the fence area according to the current position, wherein the fence area is an area determined by the master base station and each of the slave base stations; If so, a prompt message is fed back to the management terminal, wherein the prompt message includes a message for alerting the management terminal to prompt that the handwheel pulse generator is not within the fence area.

3. The method according to claim 1, characterized in that Before the step of sending a request to the handwheel pulse generator when receiving the search instruction, the method further comprises: Determine each base station, and determine the main base station through negotiation based on the priority of each base station; Alternatively, the processing redundancy of each of the base stations is obtained, and the master base station is determined according to the processing redundancy negotiation.

4. A positioning device for a handwheel pulse generator, characterized in that: The positioning device of the handwheel pulse generator includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the positioning method of the handwheel pulse generator as described in any one of claims 1 to 3.

5. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the positioning method of the handwheel pulse generator according to any one of claims 1 to 3 are implemented.

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