Machining status information fusion system based on spatial position

Abstract

A processing state information fusion system based on spatial position includes: a data source layer, a fusion layer and a display layer, wherein: the data source layer collects real-time position information and real-time sensor information at each timestamp online from the machine tool numerical control system and its sensors, the fusion layer performs structured aggregation on the information collected at each timestamp to obtain spatial position and sensor information data fusion and real-time tool posture transformation, and the display layer presents the workpiece, tool, cutting path of the fused processing state and processing state legend through four units. The present invention uses a digital twin model of the processing process to more intuitively and effectively obtain the interaction between the tool and the workpiece in real-time processing process monitoring, while providing more transparent and concrete information support, and comprehensively and systematically reproduces each link of the processing process in the processing history backtracking, thereby improving data readability.

Description

Technical Field

[0001] The present invention relates to a technology in the field of auxiliary mechanical processing, in particular to a processing state information fusion system based on spatial position. Background Art

[0002] CNC machining is a mechanical machining method that uses digital information to control the displacement of parts and tools. However, due to the closed nature of CNC machine tools and CNC systems, the visibility of the CNC machining process is very low, which limits a deeper understanding of the machining process. Existing visualization methods for the machining process include one-dimensional real-time numbers and two-dimensional real-time curves, which cannot provide an intuitive description of the machining process, which increases the technical threshold for understanding data and reduces the efficiency of data analysis. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention proposes a processing status information fusion system based on spatial position. Through the digital twin model of the processing process, the interaction between the tool and the workpiece can be obtained more intuitively and effectively in real-time processing process monitoring, while providing more transparent and concrete information support. At the same time, each link of the processing process can be comprehensively and systematically reproduced in the processing history backtracking, thereby improving data readability.

[0004] The present invention is achieved through the following technical solutions:

[0005] The present invention relates to a processing state information fusion system based on spatial position, comprising: a data source layer, a fusion layer and a display layer, wherein: the data source layer collects real-time position information and real-time sensor information at each time stamp online from a machine tool numerical control system and its sensor, the fusion layer performs structured aggregation on the collected information at each time stamp to obtain spatial position and sensor information data fusion and real-time tool posture transformation, and the display layer presents a workpiece, a tool, a cutting path of the fused processing state and a processing state legend through four units.

[0006] The real-time position information includes: tool tip point coordinates X, Y, Z and tool direction vectors A, B, C, wherein: the tool tip point coordinates are in the workpiece coordinate system.

[0007] The real-time sensing information includes: spindle load, spindle speed, feed rate, feed current, vibration signal, cutting force signal and acoustic emission signal.

[0008] The spatial position and sensor information data are fused to obtain a data structure based on the tool tip point coordinates in the real-time position information and the real-time sensor information.

[0009] The display layer includes: a workpiece display unit, a tool display unit, a cutting path display unit integrating processing status, and a processing status legend display unit.

[0010] Technical Effects

[0011] Compared with the traditional CNC machining process monitoring system which only uses data acquisition + two-dimensional oscilloscope, the present invention introduces a data fusion layer between acquisition and display to achieve the time alignment of spatial position and sensor information, and calculate the real-time tool posture transformation; in addition, the present invention applies three-dimensional data visualization technology in the display layer to display parts, tools, machining paths and sensor information in three-dimensional space, breaking the limitation that two-dimensional oscilloscope can only display timing information, and displaying the parts, tools, three-dimensional cutting paths, machining process status and other information of the CNC machining process in the form of three-dimensional animation, and the three-dimensional animation is completely driven by real-time data and is completely synchronized with the actual machining process, providing real-time virtual mapping of the machining process, and improving the data intuitiveness and machining transparency of CNC machining process monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the system of the present invention;

[0013] Figure 2 Schematic diagram of data structure of the embodiment;

[0014] Figure 3 This is a schematic diagram of the output effect of the display layer. DETAILED DESCRIPTION

[0015] like Figure 1 As shown, this embodiment involves a processing status information fusion system based on spatial position, including: a data source layer, a fusion layer and a display layer, wherein: the data source layer collects real-time position information and real-time sensor information at each timestamp online from the machine tool CNC system and its sensors, the fusion layer performs structured aggregation on the collected information at each timestamp to obtain spatial position and sensor information data fusion and real-time tool posture transformation, and the display layer presents the workpiece, tool, cutting path of the fused processing status and the processing status legend through four units.

[0016] The spatial position and sensor information data are fused, and the tool tip coordinates in the real-time position information and the real-time sensor information are fused to obtain the following: Figure 2 The data structure shown is a two-dimensional matrix, in which the timestamp is used as the data synchronization standard, the spatial information and the sensor information are aligned along the timestamp, and the timestamp is dynamically added as the processing proceeds.

[0017] The real-time tool posture transformation is obtained by spatial translation and rotation of the tool coordinates according to the real-time time information and the real-time position information. The specific implementation steps are divided into three steps: first, the tool coordinates are subtracted from the tool tip coordinates (X t-1 ,Yt-1 ,Z t-1 ), so that the tool tip point is translated to the origin; the second step is to calculate the tool direction vector (A t ,B t ,C t ) and the tool direction vector (A t-1 ,B t-1 ,C t-1 ) respectively obtain the rotation axis through the vector outer product and the rotation angle through the vector inner product, and perform the corresponding spatial rotation transformation on the tool coordinates; finally, the tool coordinates are compared with the tool tip coordinates at the current moment (X t ,Y t ,Z t ) are added and translated to the current position of the tool to complete the real-time tool posture transformation.

[0018] like Figure 3 As shown, the display layer includes: a workpiece display unit, a tool display unit, a cutting path display unit integrating the processing state, and a processing state legend display unit, wherein: the workpiece display unit defines the positioning information of the workpiece model according to the relative position of the workpiece in the CNC machine tool after clamping, and needs to translate and rotate the workpiece model to the specified position according to the positioning information before displaying, and the position of the workpiece model does not change during the processing; the tool display unit determines the position of the tool model according to the real-time position information and displays it as a transformed tool according to the original coordinates in the imported model, and records the initial tool tip point coordinates (X0, Y0, Z0) and the initial tool direction vector (A0, B0, C0); as the processing proceeds, the tool display unit determines the position of the tool model according to the real-time collected tool tip point coordinates (X0, Y0, Z0) t ,Y t ,Z t ) and the tool direction vector (A t ,B t ,C t), the tool posture transformation is realized through the three-step operation of translation-rotation-translation, and the relative posture of the virtual tool and the virtual workpiece is always guaranteed to be consistent with the relative posture of the physical tool and the physical workpiece in the actual processing process, that is, in the form of dynamic tool cutting animation, the interaction relationship between the tool and the workpiece in the actual processing is reproduced in the virtual space; the cutting path display unit of the fusion processing state displays the cutting path and additional sensor information in the processing process in the form of dynamic color three-dimensional curves and updates the color three-dimensional curves according to the cutting path of the real-time fusion processing state, and obtains a dynamic color three-dimensional curve that is continuously extended with the processing process, that is, the cutting path of the fusion processing state contains five-dimensional information such as one-dimensional time, three-dimensional space, and one-dimensional processing state. The processing state type can be switched as needed, but only one type of sensor information can be displayed at the same time; the processing state legend unit displays the mapping relationship between the color and sensor information data in the processing state, and intuitively obtains the spatial field of different types of processing states along the tool cutting path through the color changes at different spatial positions.

[0019] The workpiece display is a static model in the three-dimensional view of the machining process, and the triangular face information of the workpiece model is defined by .STL or other types of files.

[0020] The tool display is a dynamic model in the three-dimensional view of the machining process, and the triangular face information of the tool model is defined by .STL or other types of files.

[0021] The cutting path is defined by the tool tip coordinates X, Y, and Z collected in real time. The cutting path display unit will draw a three-dimensional line graph based on the spatial information matrix (3×n) containing the X, Y, and Z coordinates. The curve is consistent with the actual cutting history path of the tool.

[0022] The additional sensing information is defined by an additional sensing information vector. Taking the spindle load L as an example, since the alignment and synchronization work has been completed in the fusion layer, the spindle load vector (1×n) is equal in length to the spatial matrix and corresponds to the spatial position. Then, the vector will form a new matrix (4×n) containing spatial information and processing status information with the spatial matrix, where X, Y, and Z are used to draw the shape of the three-dimensional curve, and L is used to draw the color of the corresponding spatial point. The two work together to form a colored three-dimensional curve.

[0023] The chromatogram is preset before display, and the scalar range of the chromatogram is updated in real time according to the maximum and minimum values ​​of the real-time processing status data.

[0024] After specific practical experiments, under the processing conditions of a five-axis machining center and Siemens 840D CNC system, the finishing process of a standard blade was performed and the above system was run at a sampling interval of 50ms. The following results can be obtained: Figure 3As shown in the running effect, the running frame rate can be maintained at 20 frames per second, and the delay with the actual processing can be controlled within 10ms.

[0025] Compared with the prior art, the present invention introduces a fusion layer for aligning multi-source data and a display layer for supporting three-dimensional data visualization through a processing process monitoring method based on spatial position, breaking through the limitation of traditional method of only displaying two-dimensional time series data and being unable to effectively grasp the actual processing situation. The real-time cutting path of the three-dimensional tool is integrated with the two-dimensional time series sensor data, and five-dimensional information such as time, three-dimensional path of the tool, and processing status are displayed in the form of three-dimensional animation, providing real-time virtual mapping of the processing process, thereby improving the data intuitiveness and processing transparency of CNC processing process monitoring.

[0026] The above-mentioned specific implementation can be partially adjusted in different ways by those skilled in the art without departing from the principle and purpose of the present invention. The protection scope of the present invention shall be based on the claims and shall not be limited by the above-mentioned specific implementation. Each implementation scheme within its scope shall be subject to the constraints of the present invention.

Claims

1. A processing status information fusion system based on spatial position, characterized in that: include: Data source layer, fusion layer and display layer, where: the data source layer collects real-time position information and real-time sensor information at each timestamp online from the machine tool CNC system and its sensors; the fusion layer performs structured aggregation on the collected information at each timestamp to obtain spatial position and sensor information data fusion and real-time tool posture transformation; the display layer presents the workpiece, tool, cutting path of the fusion processing state and processing state legend through four units respectively; The real-time position information includes: tool tip coordinates X, Y, Z and tool direction vectors A, B, C, where: tool tip coordinates are in the workpiece coordinate system; The real-time sensing information includes: spindle load, spindle speed, feed rate, feed current, vibration signal, cutting force signal and acoustic emission signal; The spatial position and sensor information data are fused to obtain a data structure based on the tool tip coordinates in the real-time position information and the real-time sensor information. The display layer includes: a workpiece display unit, a tool display unit, a cutting path display unit integrating the processing status, and a processing status legend display unit, wherein: the workpiece display unit defines the positioning information of the workpiece model according to the relative position of the workpiece in the CNC machine tool after clamping, and needs to translate and rotate the workpiece model to the specified position according to the positioning information before displaying, and the position of the workpiece model does not change during the processing; the tool display unit determines the position of the tool model according to the real-time position information and displays it as a transformed tool according to the original coordinates in the imported model, and records the initial tool tip point coordinates (X0, Y0, Z0) and the initial tool direction vector (A0, B0, C0); the cutting path display unit integrating the processing state displays the cutting path and additional sensor information in the processing process in the form of a dynamic color three-dimensional curve and updates the color three-dimensional curve according to the cutting path integrating the processing state in real time, so as to obtain a dynamic color three-dimensional curve that is continuously extended with the processing process, that is, the cutting path integrating the processing state includes one-dimensional time, three-dimensional space, and one-dimensional processing state; the processing state legend unit displays the mapping relationship between the color and the sensor information data in the processing state, and intuitively obtains the spatial field of different types of processing states along the tool cutting path through the color changes at different spatial positions; The real-time tool posture transformation is obtained by spatially translating and rotating the tool coordinates according to the real-time time information and the real-time position information, and specifically includes: 1) Subtract the tool tip coordinates (X t-1 , Y t-1 , Z t-1 ) to make the tool tip point translate to the origin; 2) According to the current tool direction vector (A t , B t , C t ) and the tool direction vector (A t-1 , B t-1 ,C t-1 ) respectively obtain the rotation axis by the vector outer product and the rotation angle by the vector inner product, and perform the corresponding spatial rotation transformation on the tool coordinates; 3) Compare the tool coordinates with the tool tip coordinates (X t , Y t , Z t ) are added and translated to the current position of the tool to complete the real-time tool posture transformation.

2. The processing state information fusion system based on spatial position according to claim 1 is characterized in that: The workpiece display unit defines the positioning information of the workpiece model according to the relative position of the workpiece in the CNC machine tool after clamping, and translates and rotates the workpiece model to the specified position according to the positioning information before displaying, and the position of the workpiece model does not change during the processing; The tool display unit determines the position of the tool model according to the real-time position information and displays it as a transformed tool according to the original coordinates in the imported model, while recording the initial tool tip coordinates (X0, Y0, Z0) and the initial tool direction vector (A0, B0, C0); as the processing proceeds, the tool display unit t , Y t , Z t ) and the tool direction vector (A t , B t , C t ), the tool posture transformation is realized through the three-step operation of translation-rotation-translation, and the relative posture of the virtual tool and the virtual workpiece is always guaranteed to be consistent with the relative posture of the physical tool and the physical workpiece in the actual processing process, that is, in the form of dynamic tool cutting animation, the interaction relationship between the tool and the workpiece in the actual processing is reproduced in the virtual space; the cutting path display unit of the fusion processing state displays the cutting path and additional sensor information in the processing process in the form of dynamic color three-dimensional curves, and updates the color three-dimensional curves according to the cutting path of the real-time fusion processing state, and obtains the dynamic color three-dimensional curve that is continuously extended with the processing process, that is, the cutting path of the fusion processing state contains five-dimensional information of one-dimensional time, three-dimensional space, and one-dimensional processing state; the processing state legend unit displays the mapping relationship between color and sensor information data in the processing state, and intuitively obtains the spatial field of different types of processing states along the tool cutting path through the color changes at different spatial positions.

3. The processing state information fusion system based on spatial position according to claim 1 or 2, characterized in that: The workpiece display is a static model in the three-dimensional view of the machining process, and the triangular face information of the workpiece model is defined by .STL or other types of files; The tool display is a dynamic model in the three-dimensional view of the machining process, and the triangular face information of the tool model is defined by .STL or other types of files; The cutting path is defined by the tool tip coordinates X, Y, and Z collected in real time. The cutting path display unit will draw a three-dimensional line graph based on the spatial information matrix (3×n) containing the X, Y, and Z coordinates. The curve is consistent with the actual cutting history path of the tool.

4. The processing state information fusion system based on spatial position according to claim 2 is characterized in that: The additional sensing information is defined by an additional sensing information vector. Taking the spindle load L as an example, since the alignment and synchronization work has been completed in the fusion layer, the spindle load vector (1×n) is equal in length to the spatial matrix and corresponds to the spatial position. Then, the vector will form a new matrix (4×n) containing spatial information and processing status information with the spatial matrix, where X, Y, and Z are used to draw the shape of the three-dimensional curve, and L is used to draw the color of the corresponding spatial point. The two work together to form a colored three-dimensional curve.

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