Furniture plate processing equipment control method

Abstract

The invention provides a furniture board processing equipment control method. The furniture board processing equipment control method comprises the steps that board cutting tasks received in a polling mode are distributed to processing equipment; calculating the total length of a processing track required by each device for completing a new task and not executing a task, and determining a priority by combining with a cutting feeding speed; path scheduling is sequentially carried out according to priorities, during scheduling, whether tool interference or path overlapping exists in machining schemes between adjacent cutting coordinate points or not is judged on the basis of equipment state information, including tool paths of tasks being executed and tool paths of tasks not being executed, and a next execution node is selected from adjacent points without conflicts, the equipment state information comprises cutter positions, time points and motion tracks, conflict detection is realized by calculating cutter spacing and motion route directions, and priorities are sequenced according to track length and task completion time estimated by speed. According to the method, the scheduling efficiency and the machining precision of furniture plate machining equipment can be improved, the tool interference risk is avoided, and optimization of multi-task parallel processing is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent manufacturing and numerical control machining, and more specifically, the present invention relates to a control method for furniture board processing equipment. Background Art

[0002] In the field of furniture board processing, with the continuous growth of market demand and the expansion of production scale, higher requirements are put forward for the automation and intelligence level of furniture board processing equipment. Traditional furniture board processing equipment usually adopts manual operation or simple automation control methods, which have many deficiencies in terms of processing efficiency, processing accuracy, and equipment utilization rate. For example, during manual operation, workers need to manually adjust the cutting path and parameters of the equipment according to the processing drawings, which is not only inefficient but also prone to processing errors due to human factors. Although simple automation control methods can achieve a certain degree of automated processing, they often lack an efficient scheduling and conflict detection mechanism for multiple processing tasks, resulting in problems such as tool interference and path overlap when the equipment processes multiple tasks, affecting processing quality and production efficiency.

[0003] In the process of implementing the embodiments of the present invention, the inventors found that there are at least the following problems or defects in the prior art: when the control method of existing furniture board processing equipment assigns tasks, it usually simply assigns tasks based on the idle state of the equipment, without fully considering the load balance of the equipment and the priority of tasks, resulting in some equipment being in a high-load state for a long time, while other equipment is idle, the equipment utilization rate is unbalanced, and the overall production efficiency is low. At the same time, the calculation of the processing trajectory in the prior art is not accurate enough, and it cannot fully consider the size, shape of the board and the complexity of the cutting task, resulting in redundant cutting paths, increasing processing time and energy consumption, and may also cause safety hazards such as equipment collisions due to unreasonable path planning.

[0004] In addition, the prior art has obvious deficiencies in conflict detection and cannot effectively identify and solve problems such as tool interference and path overlap, which not only affects processing accuracy but may also damage the equipment, increasing the equipment maintenance cost and downtime. The prior art also lacks dynamic scheduling capabilities and cannot flexibly adjust task allocation and execution order according to real-time task requirements and equipment status, restricting the optimal utilization of equipment resources and making it difficult to achieve the continuity and efficiency of the production process. Summary of the Invention

[0005] The present invention provides a control method for furniture board processing equipment, including: Assign the sheet cutting tasks received by polling to the processing equipment; Calculate the total length of the machining trajectories required for each processing device assigned with a new cutting task and / or a scheduled but unexecuted cutting task to complete the corresponding task, and determine the priority of each processing device based on the total length of the machining trajectories and the cutting feed rate of the processing device; Perform cutting path scheduling for each of the processing devices in order of priority; the path scheduling for one of the processing devices includes: obtaining device status information based on the tool movement trajectories of the cutting tasks in execution and the scheduled but unexecuted cutting tasks, determining whether there is a conflict in the machining plan for a cutting coordinate point to reach the next adjacent cutting coordinate point in the path scheduling based on the device status information, and determining the next execution node from the non-conflicting adjacent cutting coordinate points.

[0006] Further, the calculating the total length of the machining trajectories required for each processing device assigned with a new cutting task and / or a scheduled but unexecuted cutting task to complete the corresponding task includes: Updating the tool position status of each of the processing devices as the initial state of this path scheduling; Obtaining the total length of the machining trajectories required for each of the processing devices to complete the task based on the cutting coordinate points where the initial states of the processing devices are located and the assigned cutting tasks.

[0007] Further, the updating the tool position status of the processing device as the initial state of this path scheduling includes: For a processing device that undertakes a new cutting task and / or a scheduled but unexecuted cutting task and is executing a started cutting task, obtaining the cutting coordinate point and time point where the processing device is located after the current task is completed as the initial state of the device; For a processing device that has not started a cutting task, obtaining the cutting coordinate point where the device is located when the system receives a new cutting task as the initial state of the device.

[0008] Further, the total length of the machining trajectories is obtained through the following formula:

[0009] where, represents the total length value of the machining trajectories, represents the plate plane coordinates of the cutting coordinate point where the initial state of the processing device is located, represents the plate plane coordinates of the starting point of the th cutting task of the processing device, represents the plate plane coordinates of the ending point of the th cutting task of the processing device, represents the total number of tasks of the processing device.

[0010] Further, determining the priority of each processing device based on the total length of the processing trajectory and the cutting feed rate of the processing device includes: estimating the task completion time using the total length of the processing trajectory and the cutting feed rate in the processing device parameter matrix, and determining the priority of the processing device from high to low according to the length of the task completion time.

[0011] Further, the device status information includes the time point when the processing device starts and the cutting coordinate point, the time point when it reaches the end point and the cutting coordinate point, the tool movement trajectory, the cutting coordinate points passed through, and the time when it reaches each cutting coordinate point.

[0012] Further, the conflicts include tool interference and / or path overlap; determining whether there is tool interference in the processing plan for a cutting coordinate point to reach the next adjacent cutting coordinate point in path scheduling based on the device status information includes: Obtaining the cutting spacing between a cutting coordinate point and the next adjacent cutting coordinate point in the processing plan by the processing device, and the cutting feed rate, acceleration rate, and deceleration rate in the processing device parameter matrix, to obtain the cutting processing time period; Using the time points when each processing device starts, reaches the end point, and reaches each cutting coordinate point in the device status information to obtain the processing devices with tool movement trajectories in the device status information during the time period; Calculating the distance between the tool center points of the processing device and the processing devices with tool movement trajectories in the device status information for each time point during the time period; Using the maximum distance value from the tool center point to the cutting boundary of the device in the processing device parameter matrix to calculate the sum of the maximum distance values of the two processing devices; When the distance between the tool center points is less than or equal to the sum of the maximum distance values, it is considered that there is tool interference; Determining whether there is path overlap in the processing plan for a cutting coordinate point to reach the next adjacent cutting coordinate point in path scheduling based on the device status information includes: Obtaining the cutting movement route for the processing device to run from the current cutting coordinate point to the next coordinate point according to the processing plan and the cutting processing time period for running the route; Using the time points when each processing device starts, reaches the end point, and reaches each cutting coordinate point in the device status information to obtain the processing devices with tool movement trajectories in the device status information during the time period; Using the cutting coordinate point where the processing device starts, the cutting coordinate point where it reaches the end point, the tool movement trajectory, and the cutting coordinate points passed through in the device status information during the time period to obtain the cutting movement route for the processing device to run in the device status information; Determine whether the processing equipment in the equipment status information enters the same cutting movement route in the opposite direction within the said time period. If so, it is considered that there is path overlap.

[0013] Further, pre-model the plate processing area and processing equipment involved in the cutting task to obtain the plate plane distance matrix of the processing area and the processing equipment parameter matrix; the plate plane distance matrix includes the actual cutting path length between each cutting coordinate point; the processing equipment parameter matrix includes the number of the processing equipment, cutting feed speed, acceleration rate, deceleration rate, and the maximum distance value from the tool center point to the equipment cutting boundary.

[0014] Further, determining the next execution node from the non-conflicting adjacent cutting coordinate points includes: Calculate the cutting cost values of each non-conflicting adjacent cutting coordinate point. Select the point with the minimum cutting cost value as the next execution node; wherein, the cutting cost value represents the sum of the actual cutting length from the starting cutting coordinate point to the node and the estimated remaining cutting length from the node to the end point.

[0015] Further, the allocating the received sheet cutting tasks to the processing equipment by polling includes: Arrange the newly received sheet cutting tasks in the order of reception time, and allocate the tasks using the FIFO principle; count the cutting task loads of each processing equipment, and sequentially allocate the cutting tasks to the processing equipment with the minimum load; if there are multiple processing equipment with the minimum load at the same time, allocate them to the processing equipment with the smallest number.

[0016] According to the above embodiments of the present invention, there are at least the following beneficial effects: 1. Optimize the multi-device task allocation efficiency: By dynamically calculating the total length of the processing trajectories of each processing equipment and combining the cutting feed speed to determine the priority, realize the balanced allocation of task loads, avoid overloading or idling of a single equipment, and thus improve the overall processing efficiency, especially suitable for the sheet cutting scenario with multi-task parallelism.

[0017] 2. Avoid tool interference and path conflicts: Based on the equipment status information, real-time detect the tool movement trajectories of adjacent cutting coordinate points, judge the potential interference or overlap risks by calculating the tool spacing and movement directions, ensure the processing safety during multi-device collaborative operation, and reduce equipment damage or processing errors caused by collisions.

[0018] 3. Improve the accuracy of path planning: By combining the plate plane distance matrix and the processing equipment parameter matrix, dynamically calculate the cutting cost value (actual cutting length and estimated remaining length), and preferentially select the optimal execution node, make the tool movement path more reasonable, reduce the idle stroke rate, and improve the processing accuracy and material utilization rate. Brief Description of the Drawings

[0019] By referring to the following detailed description with reference to the accompanying drawings, the above and other objects, features, and advantages of the exemplary embodiments of the present invention will become readily understood. In the drawings, several embodiments of the present invention are shown in an exemplary rather than restrictive manner, wherein: Figure 1 It is a schematic flowchart of a control method for furniture board processing equipment provided by an embodiment of the present invention. Detailed Embodiments

[0020] The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are given only to enable those skilled in the art to better understand and implement the present invention, and do not limit the scope of the present invention in any way. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to convey the scope of the present invention fully to those skilled in the art.

[0021] Those skilled in the art know that the embodiments of the present invention can be implemented as a system, a device, a piece of equipment, a method, or a computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: completely hardware, completely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0022] It should be noted that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction and does not have any limiting meaning.

[0023] The following refers to Figure 1 , Figure 1 It is a schematic flowchart of a control method for furniture board processing equipment provided by an embodiment of the present invention. As Figure 1 shown, a control method for furniture board processing equipment includes: S1. Assign the polling-received board cutting task to the processing equipment; S2. Calculate the total length of the processing trajectories required for each processing equipment assigned with a new cutting task and / or the unexecuted cutting tasks scheduled, and determine the priority of each processing equipment based on the total length of the processing trajectories and the cutting feed speed of the processing equipment; S3. Schedule the cutting paths for each of the processing equipment in order of priority; the path scheduling for one of the processing equipment includes: obtaining the equipment status information based on the tool movement trajectories of the cutting tasks being executed and the unexecuted cutting tasks scheduled, determining whether there is a conflict in the processing plan for a cutting coordinate point to reach the next adjacent cutting coordinate point in the path scheduling, and determining the next execution node from the non-conflicting adjacent cutting coordinate points.

[0024] It should be noted that the core of the control method for the furniture board processing equipment of the present invention lies in reasonably allocating cutting tasks and optimizing the cutting path scheduling of the processing equipment to improve production efficiency and equipment utilization rate. Among them, polling the received board cutting tasks means that the system receives and processes the board cutting tasks from different sources in a certain order. The processing equipment here refers to an automated mechanical device for board cutting, usually including a cutting head, a tool, a drive system, and a control system, etc. The total length of the processing trajectory refers to the total moving distance of the tool from the starting point to the ending point when the equipment completes one or more cutting tasks. By calculating this length, the time and resource consumption required to complete the task can be evaluated. In addition, the priority refers to sorting the processing equipment according to factors such as the urgency of the task, the load condition of the equipment, and the task completion time to determine the execution order of the equipment. In this way, it can be ensured that the task allocation is more reasonable, and the equipment waiting time and conflicts are reduced.

[0025] Specifically, the polling of the received board cutting tasks mentioned in the present invention means that the system receives tasks in chronological order and stores them in the task queue. The tasks in the task queue are arranged in the order of reception time to ensure the fairness and timeliness of task processing. The processing equipment refers to a mechanical device with an automated cutting function, and its core components include a cutting head, a tool, a drive system, and a control system. The cutting head is used to perform the actual cutting operation, the tool is the execution component of the cutting head, the drive system provides power, and the control system is responsible for coordinating the actions of each component. When calculating the total length of the processing trajectory, it is necessary to consider the initial position of the equipment, the starting and ending coordinates of the task, and the number of tasks. The initial position refers to the position of the equipment before starting to execute the task, and the starting and ending coordinates of the task define the starting and ending points of the cutting path. The number of tasks refers to the total number of cutting tasks that the equipment needs to complete. Through these parameters, the total moving distance required for the equipment to complete the task can be calculated. The determination of the priority is based on the total length of the processing trajectory and the cutting feed speed of the equipment. The cutting feed speed refers to the moving speed of the tool during the cutting process, and the priority of the equipment is determined by estimating the task completion time.

[0026] Preferably, when implementing the control method of the present invention, the steps of task allocation and path scheduling can be further refined. For example, in the task allocation stage, tasks can be sorted according to the First-In-First-Out (FIFO) principle, and the device with the minimum load can be selected for task allocation based on the current load condition of the device. If there are multiple devices with the minimum load, the device with the smallest number is selected to ensure the fairness and efficiency of task allocation. In the path scheduling stage, the path planning can be optimized by constructing models of the sheet processing area and processing devices. Specifically, a sheet plane distance matrix and a processing device parameter matrix can be established in advance. The sheet plane distance matrix is used to store the actual cutting path lengths between each cutting coordinate point, while the processing device parameter matrix contains parameters such as the device number, cutting feed rate, acceleration rate, deceleration rate, and the maximum distance from the tool center point to the cutting boundary of the device. Through these models and parameters, the total length of the processing trajectory can be calculated more accurately, and the cutting path of the device can be optimized, thereby improving the operating efficiency and processing accuracy of the device.

[0027] In some embodiments, calculating the total length of the processing trajectory required for each processing device assigned with a new cutting task and / or a scheduled but unexecuted cutting task includes: Updating the tool position state of each of the processing devices as the initial state for this path scheduling; Based on the cutting coordinate points where the initial states of the processing devices are located and the assigned cutting tasks, obtaining the total length of the processing trajectory required for each of the processing devices to complete the tasks.

[0028] It should be noted that when calculating the total length of the processing trajectory required for a processing device to complete a cutting task in the present invention, special emphasis is placed on updating the tool position state of the processing device as the initial state for this path scheduling. This is because in the actual sheet processing process, the current state of the device, such as the tool position, directly affects the execution efficiency of subsequent tasks and the accuracy of path planning. By using the coordinate points and time points after the completion of the current task of the device as the initial state, it can be ensured that the starting point of path scheduling is accurate and up-to-date, thereby improving the rationality and efficiency of path planning. In addition, the update of the initial state also involves whether the device has started the cutting task, which determines the different ways of obtaining the initial state, further enhancing the flexibility and adaptability of task scheduling.

[0029] Specifically, updating the tool position status of the processing equipment as the initial state of this path scheduling means that before each path scheduling, the current actual position and status of the equipment are first determined. For the equipment that is executing a task, its initial state is the cutting coordinate point and time point where the equipment is located after the current task is completed. This means that it is necessary to monitor the operating status of the equipment in real time and record the exact time and position when it completes the current task. For the equipment that has not started a task, its initial state is the cutting coordinate point where the equipment is located when the system receives a new task. This distinction takes into account the different operating states of the equipment and ensures the accuracy and real-time nature of the initial state. In actual operation, the cutting coordinate point of the equipment can be obtained through sensors or the control system on the equipment, and the time point can be obtained through the time recording function of the system. The acquisition and update of these parameters are the basis for realizing precise path planning.

[0030] Preferably, when implementing this operation step, the update process of the initial state can be further refined. For example, for the equipment that is executing a task, the progress information of its current task, including the estimated completion time and the position coordinates of the current tool, can be obtained in real time through the control system of the equipment. These information can be obtained through the internal sensor network of the equipment or the communication interface with the control system. For the equipment that has not started a task, the acquisition of its initial state can be completed by the signal triggered by the system when receiving a new task, and the position coordinates of the equipment at that moment are recorded. In addition, after updating the initial state, the path planning can be further optimized in combination with the motion model of the equipment and the task requirements. For example, by analyzing the shortest path and time for the equipment to reach the task starting point from the initial state, the motion parameters of the equipment, such as speed and acceleration, can be adjusted in advance to ensure that the equipment can enter the task execution state efficiently, thereby further improving the efficiency and response speed of the entire processing system.

[0031] In some embodiments, updating the tool position status of the processing equipment as the initial state of this path scheduling includes: Obtaining the cutting coordinate point and time point where the processing equipment is located after the current task is completed as the initial state of the equipment for the processing equipment that undertakes a new cutting task and / or has a scheduled but unexecuted cutting task and is executing a started cutting task; Obtaining the cutting coordinate point where the processing equipment is located when the system receives a new cutting task as the initial state of the equipment for the processing equipment that has not started a cutting task.

[0032] It should be noted that taking the tool position state of updating the processing equipment in the present invention as the initial state of this path scheduling is to ensure the accuracy and real-time performance of the path scheduling. Specifically, for the equipment that is executing tasks, it is necessary to obtain its position and time point after the completion of the current task as the initial state, while for the equipment that has not started tasks, its position when the system receives a new task is obtained as the initial state. This distinction is based on the actual operating state of the equipment to ensure that the path planning can start from the real state of the equipment, thereby improving the rationality and efficiency of the path scheduling. In this way, problems such as incorrect path planning or low equipment operating efficiency caused by inaccurate initial states can be effectively avoided.

[0033] Specifically, for the processing equipment that undertakes new cutting tasks and / or has scheduled but unexecuted cutting tasks and is executing the started cutting tasks, its initial state refers to the cutting coordinate point and time point where the equipment is located after completing the current task. Here, the cutting coordinate point refers to the specific position of the equipment within the sheet processing area, which is usually obtained by the control system of the equipment through sensors or a positioning system. And the time point refers to the estimated time for the equipment to complete the current task, which can be calculated based on the operating speed and task progress of the equipment. For the processing equipment that has not started cutting tasks, its initial state refers to the cutting coordinate point where the equipment is located when the system receives a new task. This way of obtaining the initial state ensures that the starting point of the path planning is the real position of the equipment, whether it is running or in a standby state. In actual operation, the control system of the equipment needs to monitor the position and task progress of the equipment in real time and feedback this information to the path scheduling system to accurately update the initial state.

[0034] Preferably, when implementing this operation step, the update process of the initial state can be further refined in the following way. For the equipment that is executing tasks, the system can monitor its operating state in real time through the sensor network of the equipment, including the progress of the current task, the position coordinates of the tool, and the estimated completion time. These data can be collected and processed by the control system of the equipment and updated to the path scheduling system in real time. For the equipment that has not started tasks, when the system receives a new task, it can obtain its current position coordinates through the positioning system of the equipment and record them as the initial state. In addition, in order to improve the accuracy of the path planning, the initial state can be further optimized in combination with the motion model and task requirements of the equipment. For example, according to the acceleration and deceleration parameters of the equipment, calculate the optimal path and time for the equipment to reach the task starting point from the initial state, so as to ensure that the equipment can efficiently enter the task execution state and further improve the efficiency and response speed of the entire processing system.

[0035] In some embodiments, the total length of the processing trajectory is obtained by the following formula:

[0036] Among them, represents the total length value of the machining trajectory, represents the planar coordinates of the sheet at the cutting coordinate point where the machining equipment is in the initial state, represents the planar coordinates of the sheet at the starting point of the th cutting task of the machining equipment, represents the planar coordinates of the sheet at the ending point of the th cutting task of the machining equipment, represents the total number of tasks of the machining equipment.

[0037] It should be noted that the calculation of the total length of the machining trajectory is a key step in this invention for optimizing path scheduling and determining equipment priorities. By accurately calculating the total length of the machining trajectory required for each machining equipment to complete tasks, the task execution order of the equipment can be reasonably arranged, thereby improving the overall production efficiency. The calculation of the total length of the machining trajectory takes into account the complete path of the equipment from the initial state to the task ending point, including the coordinate information of the task starting point and ending point, as well as the total number of tasks. This calculation method can comprehensively reflect the moving distance required for the equipment to complete tasks, providing an important basis for subsequent path planning and conflict detection.

[0038] Specifically, the calculation of the total length of the machining trajectory involves multiple parameters, including the initial state coordinates of the equipment, the starting coordinates and ending coordinates of each task, and the total number of tasks. The initial state coordinates refer to the position of the equipment before starting to execute tasks, usually provided by the current position sensor of the equipment. The starting coordinates and ending coordinates of the task respectively represent the starting and ending positions of the equipment when executing each task, and these coordinates can be preset by the task planning system or dynamically adjusted according to actual requirements. The total number of tasks refers to the number of tasks assigned to the equipment, reflecting the workload of the equipment. During the calculation process, the distance from the initial position of the equipment to the starting point of the first task, the distance from the starting point to the ending point of each task, and the transition distance between adjacent tasks are all taken into account to ensure that the calculation result can accurately reflect the total moving distance of the equipment.

[0039] Preferably, in order to calculate the total length of the machining trajectory more precisely, the calculation process can be further refined. First, it is necessary to ensure the accuracy of the initial state coordinates of the equipment and the start and end coordinates of the task. These data can be obtained through a high-precision positioning system, such as a laser positioning or vision recognition system. Secondly, when calculating the path length of each task, the motion characteristics of the equipment, such as cutting speed, acceleration, and deceleration, can be considered to estimate the actual running time of the equipment on the path. In addition, for the transition path between adjacent tasks, an optimization algorithm can be used to reduce unnecessary moving distances. For example, the motion model of the equipment and the geometric information of the task can be input into the path planning algorithm, and the algorithm will calculate the optimal path from the end point of one task to the start point of the next task according to the motion parameters of the equipment and the coordinate information of the task. In this way, not only can the accuracy of calculating the total length of the machining trajectory be improved, but also the motion path of the equipment can be optimized, the idle running time of the equipment can be reduced, and the production efficiency can be further improved.

[0040] In some embodiments, determining the priorities of the processing devices based on the total length of the processing trajectory and the cutting feed rate of the processing device includes: estimating the task completion time by using the total length of the processing trajectory and the cutting feed rate in the processing device parameter matrix, and determining the priorities of the processing devices from high to low according to the length of the task completion time.

[0041] It should be noted that the determination of the priorities of the processing devices based on the total length of the processing trajectory and the cutting feed rate of the processing device in the present invention is achieved by estimating the time required for each device to complete the task. The core of this method lies in using these two key parameters, the total length of the processing trajectory and the cutting feed rate of the device, to evaluate the length of time for the device to complete the task, and accordingly sorting the devices by priority. The level of priority directly affects the task allocation order of the devices. Devices with higher priority will be preferentially allocated tasks, thereby ensuring the maximization of the efficiency of the entire processing system. This method is particularly applicable to complex processing environments with multiple tasks and multiple devices, and can effectively avoid conflicts and task backlogs between devices.

[0042] Specifically, the total length of the machining trajectory refers to the total moving distance required for the equipment to complete all assigned tasks. This parameter can be calculated by computing the starting and ending coordinates of the equipment's tasks and the number of tasks. The cutting feed rate refers to the moving speed of the cutting tool during the cutting process. This parameter is usually determined by the performance parameters of the equipment and can be obtained through the equipment's control system. When determining the priority, it is first necessary to estimate the time required for each equipment to complete the task using the total length of the machining trajectory and the cutting feed rate. This estimation process can be achieved through simple mathematical calculations, that is, dividing the total length of the machining trajectory by the cutting feed rate to obtain the time required for the equipment to complete the task. Then, the equipment is sorted according to the estimated time. The equipment with a longer time has a lower priority, and the equipment with a shorter time has a higher priority. This sorting method ensures that tasks can be assigned to the equipment that can complete the tasks faster, thereby improving the efficiency of the entire system.

[0043] Preferably, when implementing this operation step, the process of determining the equipment priority can be further refined. First, it is necessary to ensure the accuracy of the data on the total length of the machining trajectory and the cutting feed rate. The total length of the machining trajectory can be calculated by the equipment's path planning system, and the cutting feed rate can be obtained through the equipment's control system. When estimating the time required for the equipment to complete the task, the dynamic characteristics such as the acceleration and deceleration of the equipment can be considered to calculate the running time of the equipment more accurately. In addition, in order to further optimize the priority sorting of the equipment, the load condition of the equipment can be introduced as a reference factor. For example, when the completion times of two pieces of equipment are similar, the equipment with a lower load is preferably selected to achieve load balancing among the equipment. In this way, not only can the task assignment efficiency of the equipment be improved, but also the service life of the equipment can be extended, further enhancing the performance of the entire machining system.

[0044] In some embodiments, the equipment status information includes the time point and cutting coordinate point when the processing equipment starts, the time point and cutting coordinate point when it reaches the end point, the tool movement trajectory, the cutting coordinate points passed through, and the time when it reaches each cutting coordinate point.

[0045] It should be noted that the equipment status information is a key data set for path scheduling and conflict detection in the present invention. It covers various dynamic and static information of the processing equipment during the task execution process, including the time point and cutting coordinate point when the equipment starts, the time point and cutting coordinate point when it reaches the end point, the tool movement trajectory, the cutting coordinate points passed through, and the time when it reaches each cutting coordinate point, etc. This information can help the system monitor the running status of the equipment in real time and provide an accurate basis for path planning and conflict detection, thereby ensuring the safety and efficiency of the equipment during task execution.

[0046] Specifically, the starting time point and cutting coordinate points in the device status information refer to the specific time and position when the device starts to execute the task, and these data can be obtained through the device's control system and sensors. For example, the time point can be recorded by the system's clock module, while the cutting coordinate points can be determined by the positioning system on the device, such as laser positioning or an encoder. Similarly, the time point of reaching the end point and the cutting coordinate points refer to the time and position when the device completes the task, and these information can also be obtained through the control system and sensors. The tool movement trajectory refers to the path that the tool passes through during the execution of the task, which can be recorded by the device's motion control system. The cutting coordinate points passed through refer to all the key points that the tool passes through during the movement, and these points can be pre-calculated through a path planning algorithm or dynamically obtained by real-time monitoring of the device's motion state. Finally, the time of reaching each cutting coordinate point refers to the specific time when the device reaches each key point, and these times can be calculated by the device's control system in combination with its motion speed.

[0047] Preferably, when implementing the present invention, the acquisition and processing of the device status information can be further refined in the following manner. First, in order to ensure the accuracy and real-time nature of the device status information, high-precision sensors and control systems can be adopted. For example, use high-precision laser positioning sensors to obtain the cutting coordinate points of the device, and use high-precision clock modules to record the time points. Secondly, the processing of the device status information can be achieved by establishing a device motion model. This model can input the initial state of the device, the task path, and motion parameters such as speed and acceleration, and by simulating the device's motion process, the device status information can be updated in real time. In addition, in order to improve the efficiency of conflict detection, the device status information can be stored in a shared database for real-time access by the path planning and conflict detection modules. In this way, when the system detects a potential conflict, it can quickly adjust the device's motion path or task allocation, thereby avoiding collisions or path overlaps between devices and ensuring the smooth progress of the processing process.

[0048] In some embodiments, the conflict includes tool interference and / or path overlap; determining whether there is tool interference in the processing plan for a cutting coordinate point to reach the next adjacent cutting coordinate point in the path scheduling based on the device status information includes: Obtain the sheet cutting spacing between a cutting coordinate point and the next adjacent cutting coordinate point in the processing plan of the processing device and the cutting feed speed, acceleration rate, and deceleration rate in the processing device parameter matrix to obtain the cutting processing time period; Utilize the time points when each processing device starts, the time point of reaching the end point, and the time of reaching each cutting coordinate point in the device status information to obtain the processing devices with tool movement trajectories in the device status information during the time period; Calculate the distance between the tool center points of the processing equipment with tool movement trajectories in the processing equipment and the equipment status information at each time point within the time period; Calculate the sum of the maximum distance values of the two processing equipment by using the maximum distance value from the tool center point to the equipment cutting boundary in the processing equipment parameter matrix; When the distance between the tool center points is less than or equal to the sum of the maximum distance values, it is considered that tool interference exists; Based on the equipment status information, determine whether there is path overlap in the processing plan from one cutting coordinate point to the next adjacent cutting coordinate point in the path scheduling, including: Obtain the cutting movement route of the processing equipment running from the current cutting coordinate point to the next coordinate point according to the processing plan and the cutting processing time period for running the route; Use the start time point, end time point of each processing equipment in the equipment status information, and the time to reach each cutting coordinate point to obtain the processing equipment with tool movement trajectories in the equipment status information within the time period; Use the cutting coordinate points where the processing equipment starts within the time period in the equipment status information, the cutting coordinate points where it reaches the end point, the tool movement trajectories, and the cutting coordinate points passed through to obtain the cutting movement route of the processing equipment running in the equipment status information; Judge whether the processing equipment and the processing equipment in the equipment status information enter the same cutting movement route in opposite directions within the time period. If so, it is considered that there is path overlap.

[0049] It should be noted that the conflict detection mechanism mentioned in the present invention is a key step to ensure that the processing equipment avoids tool interference and path overlap during task execution. Conflict detection is based on equipment status information. By analyzing the movement trajectories and position relationships of equipment within a specific time period, it is judged whether there are potential collision risks or path conflicts. Tool interference refers to the overlap or collision of the tools of two or more devices in space, while path overlap refers to the coincidence of the movement paths of multiple devices in time and space, resulting in the abnormal operation of the devices. Through precise conflict detection, equipment damage and processing errors can be effectively avoided, and production efficiency and equipment safety can be improved.

[0050] Specifically, the device status information includes the time point when the device starts, cutting coordinate points, the time point when it reaches the end point, the tool movement trajectory, and the cutting coordinate points passed through, etc. These information are used to determine the position and movement status of the device within a specific time period. When detecting tool interference, it is necessary to obtain the sheet cutting spacing between the device from one cutting coordinate point to the next adjacent cutting coordinate point according to the processing plan, as well as parameters such as the cutting feed speed, acceleration rate, and deceleration rate of the device, so as to determine the cutting processing time period. Within this time period, by comparing the distance between the tool center points of the devices with the sum of the maximum distances from the tool center point to the cutting boundary in the device parameter matrix, it is judged whether there is tool interference. For the detection of path overlap, it is necessary to analyze the movement trajectory of the device within a specific time period to judge whether there is a situation of entering the same cutting movement route in the opposite direction. The acquisition of these parameters and information can be achieved through the device's sensor network and control system to ensure the accuracy and real-time nature of conflict detection.

[0051] Preferably, when implementing conflict detection, the detection process can be further refined. First, for the detection of tool interference, a device movement model can be established to simulate the movement trajectory of the device during the cutting processing time period. The model input parameters include the initial position of the device, the start and end coordinates of the cutting task, the cutting feed speed, acceleration rate, and deceleration rate, etc. By simulating the movement of the device, the position of the device at each time point is calculated and compared with the positions of other devices. If the distance between the tool center points of two devices is less than or equal to the sum of their maximum distance values, it is determined that there is tool interference. For the detection of path overlap, by analyzing the movement trajectory recorded in the device status information, it is judged whether the device enters the same cutting path within the same time period. If such a situation exists, it is necessary to adjust the task assignment or movement path of the device to avoid path overlap. In addition, in order to improve the efficiency of conflict detection, a real-time monitoring and early warning mechanism can be adopted. Once a potential conflict is detected, an alarm is immediately issued and the task scheduling is adjusted to ensure the safe operation of the device.

[0052] In some embodiments, the sheet processing area and processing equipment involved in the cutting task are modeled in advance to obtain the sheet plane distance matrix of the processing area and the processing equipment parameter matrix; the sheet plane distance matrix includes the actual cutting path length between each cutting coordinate point; the processing equipment parameter matrix includes the number of the processing equipment, the cutting feed speed, acceleration rate, deceleration rate, and the maximum distance value from the tool center point to the cutting boundary of the equipment.

[0053] It should be noted that in the present invention, the modeling of the sheet processing area and processing equipment involved in the cutting task is for more precisely planning the processing path and scheduling tasks. By establishing a sheet plane distance matrix and a processing equipment parameter matrix, the geometric information of the sheet processing area and the performance parameters of the equipment can be comprehensively understood, thereby providing accurate data support for path planning and conflict detection. This modeling method can effectively improve the efficiency and accuracy of path planning, while reducing potential conflicts between equipment and ensuring the smooth progress of the processing process.

[0054] Specifically, the sheet plane distance matrix refers to a data structure that contains the actual cutting path lengths between each cutting coordinate point in the sheet processing area. It reflects the geometric layout of the sheet processing area and is an important basis for path planning. The processing equipment parameter matrix contains parameters such as the equipment number, cutting feed speed, acceleration rate, deceleration rate, and the maximum distance from the tool center point to the cutting boundary of the equipment. These parameters are key indicators of equipment performance and directly affect the motion characteristics and processing capabilities of the equipment. During the modeling process, the geometric information of the sheet processing area needs to be obtained through measurement and calculation, and the performance parameters of the equipment need to be obtained through the equipment control system. These data are organized in matrix form for subsequent path planning and conflict detection algorithms to process.

[0055] Preferably, when implementing the modeling step, the construction process of the model can be further refined. First, for the construction of the sheet plane distance matrix, it can be completed by measuring the actual distances between each cutting coordinate point in the sheet processing area. These distances can be obtained through a laser rangefinder or other high-precision measurement equipment and stored in the matrix. For the construction of the processing equipment parameter matrix, the performance parameters of the equipment, such as the cutting feed speed, acceleration rate, and deceleration rate, can be obtained through the equipment control system. These parameters can be obtained from the equipment's factory data or actual tests and stored in the matrix. During the path planning and conflict detection process, these matrices can be used as input data, and the optimal cutting path and task scheduling scheme can be calculated through algorithms. For example, when calculating the total length of the processing trajectory, the distance data in the sheet plane distance matrix can be used in combination with the cutting feed speed in the equipment parameter matrix to estimate the time required for the equipment to complete the task. In this way, precise control and optimization of the processing process can be achieved, improving production efficiency and equipment utilization rate.

[0056] In some embodiments, determining the next execution node from adjacent cutting coordinate points without conflicts includes: Calculating the cutting cost values of each adjacent cutting coordinate point without conflicts; Select the point with the minimum cutting cost value as the next execution node; wherein, the cutting cost value represents the sum of the actual cutting length from the starting cutting coordinate point to the node and the estimated remaining cutting length from the node to the end point.

[0057] It should be noted that in the present invention, determining the next execution node from adjacent cutting coordinate points without conflict is achieved by calculating the cutting cost values of each adjacent cutting coordinate point. The cutting cost value is a comprehensive index used to evaluate the quality of the path from the current node to the next node. It takes into account the actual cutting length from the starting cutting coordinate point to the current node and the estimated remaining cutting length from the current node to the end point. By selecting the node with the minimum cutting cost value as the next execution node, it can ensure that the device selects the optimal path when performing tasks, thereby improving processing efficiency and reducing unnecessary movement.

[0058] Specifically, the calculation of the cutting cost value involves two key parameters: the actual cutting length and the estimated remaining cutting length. The actual cutting length refers to the path length that the device has traveled from the starting point to the current node, which can be calculated from the trajectory data recorded by the device's motion control system. The estimated remaining cutting length refers to the estimated path length from the current node to the end point, which can be pre-calculated by a path planning algorithm. When selecting the next execution node, the system will calculate the cutting cost values of all adjacent cutting coordinate points without conflict and select the smallest one. This selection method ensures that the device can select the shortest path when performing tasks, thereby reducing processing time and energy consumption. In addition, other factors such as the motion speed and acceleration of the device can also be considered in the calculation of the cutting cost value to further optimize the path selection.

[0059] Preferably, when implementing this operation step, the calculation process of the cutting cost value can be further refined. First, it is necessary to ensure that the device's motion control system can accurately record the actual cutting path of the device and update the path data in real time. Secondly, for the calculation of the estimated remaining cutting length, advanced path planning algorithms such as the A* algorithm or Dijkstra algorithm can be used. These algorithms can calculate the shortest path based on the current position of the device and the end point position, combined with the geometric information of the sheet processing area. When calculating the cutting cost value, the actual cutting length and the estimated remaining cutting length can be weighted and summed, and the weights can be adjusted according to actual needs. For example, if more attention is paid to reducing the movement time of the device, the weight of the estimated remaining cutting length can be increased; if more attention is paid to reducing the energy consumption of the device, the weight of the actual cutting length can be increased. In this way, the path selection strategy can be flexibly adjusted to meet different production requirements.

[0060] In some embodiments, the assigning the sheet cutting tasks received by polling to the processing equipment includes: Arrange the newly received sheet cutting tasks in the order of reception time, and allocate the tasks using the FIFO principle; count the cutting task loads of each processing device, and sequentially allocate the cutting tasks to the processing device with the lowest load; if there are multiple processing devices with the lowest load at the same time, allocate to the processing device with the smallest number.

[0061] It should be noted that the allocation of the polled received sheet cutting tasks to the processing devices in the present invention is a task allocation strategy based on the task reception order and device load balancing. The core of this strategy is to ensure that tasks can be fairly allocated to each device according to the reception order, and at the same time avoid excessive workload differences between devices through load balancing. Specifically, the tasks are sorted according to the FIFO principle, and are preferentially allocated to the device with the lowest load to improve the device utilization rate and production efficiency. If there are multiple devices with the same load, the device with the smallest number is selected. This rule aims to further optimize the fairness and efficiency of task allocation.

[0062] Specifically, the polled received sheet cutting tasks in the task allocation process refer to that the system sequentially receives and processes cutting tasks from different sources in a certain order. These tasks are stored in the task queue and arranged in the order of reception time. The management method of the task queue is usually based on the FIFO principle, that is, the tasks received first are allocated first. The processing device with the lowest load refers to the device with the least current task volume, and its load can be determined by counting the number of tasks already allocated to the device. If there are multiple devices with the same load, they are selected by the device number, and the device with the smallest number is preferentially allocated tasks. This allocation method not only considers the task reception order but also takes into account the load balance between devices, thus ensuring the efficient operation of the entire processing system.

[0063] Preferably, when implementing task allocation, the management of the task queue and the statistics of device load can be further refined. First, the task queue can be implemented by a priority queue. Each task is assigned a timestamp when received, and the queue is sorted according to the timestamp to ensure that tasks are allocated according to the reception order. Secondly, the device load can be counted by a real-time updated load counter. Whenever a task is allocated to a device, its load counter increases and decreases when the task is completed. When selecting a device, the system traverses the load counters of all devices and selects the device with the lowest load to allocate tasks. If there are multiple devices with the same load, they are selected by the device number, and the device with the smallest number is preferred. In addition, to further optimize the efficiency of task allocation, the priority of the device can be dynamically adjusted after task allocation. For example, according to the current task completion progress and expected completion time of the device, its priority in subsequent task allocation is dynamically adjusted. In this way, the fairness and efficiency of task allocation can be ensured, and at the same time, the device utilization rate and production efficiency can be improved.

[0064] The above-mentioned various embodiments of the present invention have the following beneficial effects: 1. It can optimize the multi-device task allocation efficiency: By dynamically calculating the total length of the processing trajectories of each processing device and combining the cutting feed speed to determine the priority, it realizes the balanced distribution of task loads, avoids overloading or idling of a single device, and thus improves the overall processing efficiency, especially suitable for the sheet cutting scenario with multi-task parallelism.

[0065] 2. It can avoid tool interference and path conflicts: Based on the device status information, it real-time detects the tool movement trajectories of adjacent cutting coordinate points, and judges the potential interference or overlap risks by calculating the tool spacing and movement directions, ensuring the processing safety during the collaborative operation of multiple devices, and reducing equipment damage or processing errors caused by collisions.

[0066] 3. It can improve the accuracy of path planning: By combining the plane distance matrix of the sheet and the processing device parameter matrix, it dynamically calculates the cutting cost value (actual cutting length and estimated remaining length), preferentially selects the optimal execution node, makes the tool movement path more reasonable, reduces the idle stroke rate, and improves the processing accuracy and material utilization rate.

[0067] Furthermore, the storage medium of the implementation manner of the present application stores program instructions that can implement all the above methods. Among them, the program instructions can be stored in the above storage medium in the form of a software product, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in various implementation manners of the present application. And the aforementioned storage medium includes: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs, or terminal devices such as computers, servers, mobile phones, and tablets.

[0068] The above description is only some preferred implementation manners of the present invention and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the implementation manners of the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features with similar functions disclosed in the implementation manners of the present invention.

Claims

1. A control method for furniture board processing equipment, characterized in that, Including the following steps: Allocating the sheet cutting tasks received by polling to the processing equipment; Calculating the total length of the processing trajectories required for each processing equipment assigned with new cutting tasks and / or the unexecuted cutting tasks that have been scheduled, and determining the priority of each processing equipment based on the total length of the processing trajectories and the cutting feed speed of the processing equipment; Performing cutting path scheduling for each of the processing equipment in order of priority; the path scheduling for one of the processing equipment includes: obtaining equipment status information based on the tool movement trajectories of the cutting tasks in execution and the unexecuted cutting tasks that have been scheduled, determining whether there is a conflict in the processing plan for a cutting coordinate point to reach the next adjacent cutting coordinate point in the path scheduling based on the equipment status information, and determining the next execution node from the adjacent cutting coordinate points without conflict.

2. The control method of the furniture board processing equipment according to claim 1, characterized in that, The calculating the total length of the processing trajectories required for each processing equipment assigned with new cutting tasks and / or the unexecuted cutting tasks that have been scheduled includes: Updating the tool position status of each of the processing equipment as the initial state of this path scheduling; Obtaining the total length of the processing trajectories required for each of the processing equipment to complete the tasks based on the cutting coordinate points where the initial states of each processing equipment are located and the assigned cutting tasks.

3. The control method of the furniture board processing equipment according to claim 2, characterized in that, The updating the tool position status of the processing equipment as the initial state of this path scheduling includes: For the processing equipment undertaking new cutting tasks and / or unexecuted cutting tasks that have been scheduled and is executing the started cutting tasks, obtaining the cutting coordinate point and time point where the processing equipment is located after the current task is completed as the initial state of the equipment; For the processing equipment that has not started cutting tasks, obtaining the cutting coordinate point where the processing equipment is located when the system receives the new cutting task as the initial state of the equipment.

4. The control method of the furniture board processing equipment according to claim 2 or 3, characterized in that The total length of the processing trajectories is obtained by the following formula: Among them, represents the total length value of the machining trajectory, represents the planar coordinates of the sheet at the cutting coordinate point where the machining equipment is in the initial state, represents the th starting point planar coordinates of the cutting task of the machining equipment on the sheet, represents the th ending point planar coordinates of the cutting task of the machining equipment on the sheet, represents the total number of tasks of the machining equipment.

5. The control method of the furniture board processing equipment according to claim 1, characterized in that, The determining the priority of each processing equipment based on the total length of the processing trajectories and the cutting feed speed of the processing equipment includes: estimating the task completion time using the total length of the processing trajectories and the cutting feed speed in the processing equipment parameter matrix, and determining the priority of the processing equipment from high to low according to the length of the task completion time.

6. The control method of the furniture board processing equipment according to claim 1, wherein, The equipment status information includes the time point and cutting coordinate point when the processing equipment starts, the time point and cutting coordinate point when it reaches the end point, the tool movement trajectory, the cutting coordinate points passed through, and the time when it reaches each cutting coordinate point.

7. The control method for furniture board processing equipment according to claim 6, characterized in that, The conflict includes tool interference and / or path overlap; determining whether there is tool interference in the processing plan for a cutting coordinate point to reach the next adjacent cutting coordinate point in the path scheduling based on the equipment status information includes: Obtaining the cutting processing time period by using the sheet cutting distance between a cutting coordinate point and the next adjacent cutting coordinate point in the processing plan and the cutting feed speed, acceleration rate, and deceleration rate in the processing equipment parameter matrix of the processing equipment; Obtaining the processing equipment with tool movement trajectories in the equipment status information during the time period by using the time point when each processing equipment starts, the time point when it reaches the end point, and the time when it reaches each cutting coordinate point in the equipment status information; Calculate the distance between the tool center points of the processing equipment with tool movement trajectories in the processing equipment and the equipment status information at each time point within the time period; Calculate the sum of the maximum distance values of two processing equipment using the maximum distance value from the tool center point to the equipment cutting boundary in the processing equipment parameter matrix; When the distance between the tool center points is less than or equal to the sum of the maximum distance values, it is considered that tool interference exists; Based on the equipment status information, determine whether there is path overlap in the processing plan for a cutting coordinate point to reach the next adjacent cutting coordinate point in the path scheduling, including: Obtain the cutting movement route of the processing equipment running from the current cutting coordinate point to the next coordinate point according to the processing plan and the cutting processing time period for running the route; Use the start time point, end time point, and the time to reach each cutting coordinate point of each processing equipment in the equipment status information to obtain the processing equipment with tool movement trajectories in the equipment status information within the time period; Use the cutting coordinate points where the processing equipment starts, the cutting coordinate points where it reaches the end, the tool movement trajectories, and the cutting coordinate points passed through in the equipment status information within the time period to obtain the cutting movement route of the processing equipment running in the equipment status information; Judge whether the processing equipment in the processing equipment and the equipment status information enter the same cutting movement route in the opposite direction within the time period. If so, it is considered that there is path overlap.

8. The control method for furniture board processing equipment according to any one of claims 1, 5 or 7, characterized in that, Pre-model the plate processing area and processing equipment involved in the cutting task in advance to obtain the plate plane distance matrix of the processing area and the processing equipment parameter matrix; the plate plane distance matrix includes the actual cutting path length between each cutting coordinate point; the processing equipment parameter matrix includes the number of the processing equipment, cutting feed speed, acceleration rate, deceleration rate, and the maximum distance value from the tool center point to the equipment cutting boundary.

9. The control method of the furniture board processing equipment according to claim 1, characterized in that, Determine the next execution node from the non-conflicting adjacent cutting coordinate points, including: Calculate the cutting cost values of each non-conflicting adjacent cutting coordinate point; Select the point with the minimum cutting cost value as the next execution node; where the cutting cost value represents the sum of the actual cutting length from the starting cutting coordinate point to the node and the estimated remaining cutting length from the node to the end point.

10. The control method of the furniture board processing equipment according to claim 1, characterized in that, Assign the polled plate cutting tasks to the processing equipment, including: Arrange the newly received plate cutting tasks in the order of receipt, and use the FIFO principle to assign the tasks; count the cutting task loads of each processing equipment, and assign the cutting tasks to the processing equipment with the minimum load in turn; if there are multiple processing equipment with the minimum load at the same time, assign them to the processing equipment with the smallest number.

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