A device control method and system

Abstract

The application discloses a device control method and system, which is applied to the technical field of automatic control. The application can remotely configure any processing device by means of a terminal device, and an operator is not required to configure the processing device on a processing site. In addition, the terminal device sets processing track data and corresponding processing process parameters by referring to the three-dimensional structure of a product processed by the processing device, so that the processing track and the processing parameters are more suitable for the product processed by the processing device, and thus the processing precision can be improved. The terminal device remotely sends the processing track and the processing process to the processing device, so that the processing device can automatically complete the configuration and processing process, and the whole process does not require manual participation on the site, and therefore the manual error can be reduced, and the parameter configuration and processing efficiency are improved.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a device control method and system. Background Technology

[0002] Currently, the processing equipment used in production sites requires on-site configuration by operators. For example, operators set the motor operating points and corresponding processing parameters using a visual interface. However, some processing equipment does not support visual interface configuration and requires the motor operating points and corresponding processing parameters to be written into a script, which is then imported into the processing equipment. This necessitates operators learning scripting languages, placing higher demands on their skills and incurring significant learning costs. Furthermore, the types of processing equipment in production sites are numerous, and each type requires many complex parameters to be configured and debugged. Different types of processing equipment also require different parameters for configuration and debugging, resulting in inefficient and error-prone configuration processes. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide an equipment control method and system to improve the configuration efficiency and processing accuracy of processing equipment.

[0004] To address the aforementioned technical problems, this application provides a device control method applied to a terminal device, comprising:

[0005] Obtain a 3D model of the product to be processed corresponding to the processing equipment;

[0006] Based on the three-dimensional model of the product to be processed, the processing trajectory data is determined, and the processing process parameters corresponding to the processing trajectory data are determined.

[0007] The processing trajectory data and the processing parameters are sent to the processing equipment so that the processing equipment processes the product to be processed according to the processing trajectory data and the processing parameters.

[0008] This application also provides a device control method, applied to a server, including:

[0009] The terminal device acquires the processing trajectory data of the product to be processed corresponding to the processing equipment and the processing process parameters corresponding to the processing trajectory data; wherein, the processing trajectory data and the processing process parameters are determined by the terminal device based on the three-dimensional model of the product to be processed.

[0010] Store the machining trajectory data and the machining process parameters;

[0011] Receive the processing request sent by the processing equipment and extract the processing attribute information of the processing request;

[0012] Based on the processing attribute information, the corresponding processing trajectory data and processing parameters are sent to the processing equipment so that the processing equipment processes the product to be processed according to the processing trajectory data and processing parameters.

[0013] This application also provides a device control method, applied to processing equipment, including:

[0014] The terminal device or server obtains the processing trajectory data of the product to be processed and the corresponding processing technology parameters of the processing trajectory data; wherein, the processing trajectory data and the processing technology parameters are determined by the terminal device based on the three-dimensional model of the product to be processed.

[0015] The product to be processed is processed according to the processing trajectory data and the processing parameters.

[0016] This application also provides a control system, including: a terminal device and at least one processing device;

[0017] The terminal device is used to: acquire a three-dimensional model of the product to be processed corresponding to the processing equipment; determine processing trajectory data based on the three-dimensional model of the product to be processed, and determine the processing process parameters corresponding to the processing trajectory data; and send the processing trajectory data and the processing process parameters to the processing equipment.

[0018] The processing equipment is used to: receive the processing trajectory data and processing parameters sent by the terminal device, and process the product to be processed according to the processing trajectory data and the processing parameters.

[0019] This application also provides an electronic device, including a memory and a processor, wherein:

[0020] The memory is used to store computer programs;

[0021] The processor is used to execute the computer program to implement the device control method described above.

[0022] This application also provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the device control method described above.

[0023] The equipment control method provided in this application enables the configuration of any processing equipment via a terminal device. Furthermore, the configuration data is set based on the product to be processed by the equipment, thus ensuring the accuracy of the configuration data. Specifically, the terminal device can acquire a 3D model of the product to be processed corresponding to any processing equipment, then determine the processing trajectory data and the corresponding processing parameters based on the 3D model. The processing trajectory data and processing parameters are then sent to the processing equipment, enabling the equipment to process the product according to the specified parameters. This improves the configuration efficiency and processing accuracy of the processing equipment.

[0024] As can be seen, this application enables remote configuration of any processing equipment via a terminal device, eliminating the need for operators to configure the equipment on-site. Furthermore, the terminal device sets the processing trajectory data and corresponding processing parameters based on the three-dimensional structure of the product being processed, ensuring the processing trajectory and parameters are more closely aligned with the product, thereby improving processing accuracy. The terminal device remotely sends the processing trajectory and processing parameters to the processing equipment, enabling automated configuration and processing. The entire process requires no on-site human intervention, thus reducing human error and improving parameter configuration and processing efficiency.

[0025] In addition, this application also provides a device control system and other components that have the same beneficial effects as described above. Other components include: electronic devices, computer-readable storage media, etc. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0028] Figure 2 A flowchart of a device control method provided in an embodiment of this application;

[0029] Figure 3 This application provides a schematic diagram of the three-dimensional structure and processing trajectory of a processed product.

[0030] Figure 4 A flowchart of another device control method provided in this application embodiment;

[0031] Figure 5 A flowchart illustrating another device control method provided in this application embodiment;

[0032] Figure 6 This is a schematic diagram of the coordinate system of a three-axis motion machining device provided in an embodiment of this application;

[0033] Figure 7 This is a schematic diagram of the coordinate system of a five-axis motion machining equipment provided in an embodiment of this application;

[0034] Figure 8 This is a schematic diagram of a control system provided in an embodiment of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0036] The steps in this application can be performed by a specified electronic device, the form of which is not limited; for example, it can be a general-purpose computing device such as a computer or server. Please refer to... Figure 1 , Figure 1 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 100 may include a processor 101 and a memory 102, and may further include one or more of the following: a multimedia component 103, an information input / output (I / O) interface 104, and a communication component 105.

[0037] The processor 101 controls the overall operation of the electronic device 100 to complete all or part of the steps in the device control method described above. The memory 102 stores various types of data to support the operation of the electronic device 100. This data may include, for example, instructions for any application or method operating on the electronic device 100, as well as application-related data. The memory 102 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as one or more of Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0038] Multimedia component 103 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 102 or transmitted via communication component 105. The audio component also includes at least one speaker for outputting audio signals. I / O interface 104 provides an interface between processor 101 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 105 is used for wired or wireless communication between electronic device 100 and other devices. Wireless communication may include Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination of these. Therefore, the corresponding communication component 105 may include a Wi-Fi component, a Bluetooth component, and an NFC component.

[0039] The electronic device 100 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the device control method proposed in this application.

[0040] In this application, the aforementioned electronic device may be a terminal device, a processing device, or a server, and the terminal device, processing device, or server may execute the corresponding device control method provided in this application.

[0041] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating a device control method provided in an embodiment of this application. The method is applied to a terminal device, which may be a smartphone, tablet, laptop, or desktop computer, etc., and communicates remotely with the processing equipment.

[0042] The method provided in this application specifically includes:

[0043] S201. Obtain the three-dimensional model of the product to be processed corresponding to the processing equipment.

[0044] In this embodiment, the processing equipment can be welding equipment, cutting equipment, or dispensing equipment, etc.; correspondingly, the product to be processed can be a product that is welded, cut, or dispensed with glue; correspondingly, the three-dimensional model of the product to be processed can be a three-dimensional structural diagram of the welded product, the cut product, or the product dispensed with glue. It is evident that any type of processing equipment corresponds to a corresponding product to be processed. For example, Figure 3 The three-dimensional model of the product to be welded is processed by laser welding equipment. Figure 3 The processing parameters corresponding to the processing trajectory shown in region A can be laser intensity, etc.

[0045] S202. Determine the processing trajectory data based on the three-dimensional model of the product to be processed, and determine the processing process parameters corresponding to the processing trajectory data.

[0046] For example, the 3D model of the product to be processed can be as follows: Figure 3 As shown, Figure 3Area A on the surface of the 3D model shown is the processing area, and the lines in area A are the processing paths, or processing trajectories. It can be seen that processing trajectories can be marked on the 3D model of the product to be processed, allowing operators to observe the position and shape of the processing trajectories on the product through the 3D model.

[0047] In one implementation, the processing trajectory data is determined based on the three-dimensional model of the product to be processed, and the corresponding processing parameters are determined. This includes: acquiring the processing trajectory data and processing parameters already set in the three-dimensional model of the product to be processed; or projecting a two-dimensional image filled with the processing path onto the three-dimensional model of the product to be processed to obtain the processing trajectory data, and labeling the processing trajectory data with user-specified processing parameters; or performing spatial curve fitting in the three-dimensional model of the product to be processed according to the user-specified initial spatial points to obtain the processing trajectory data, and labeling the processing trajectory data with user-specified processing parameters.

[0048] As can be seen, the machining trajectory data and its corresponding machining process parameters can be referenced. Figure 3 Direct annotation in the 3D model can be performed at the following times and in the following ways: First, when designing the product structure, manually annotate the machining trajectory data and its corresponding machining process parameters in the 3D model; Second, after the product structure is designed, project the set machining path image onto the 3D model to automatically annotate the machining trajectory, and then manually specify the machining process parameters for the machining trajectory; Third, after the product structure is designed, manually select some points in the 3D model to automatically generate the machining trajectory on the 3D model through curve fitting, and manually specify the machining process parameters for the machining trajectory.

[0049] Based on the processing trajectory data and processing parameters determined in the aforementioned steps, the data can be directly sent to the processing equipment, or it can be processed to form a specific file, which is then sent to the processing equipment. Therefore, in one embodiment, the method further includes: generating a production file based on the processing trajectory data and processing parameters. Correspondingly, sending the processing trajectory data and processing parameters to the processing equipment so that the processing equipment processes the product to be processed according to the processing trajectory data and processing parameters includes: sending the production file to the processing equipment so that the processing equipment parses the production file to obtain the processing trajectory data and processing parameters, and then processes the product to be processed according to the processing trajectory data and processing parameters.

[0050] When generating production files based on processing trajectory data and processing parameters, the processing trajectory data, processing parameters, product dimensions, and other information can be recorded in a predetermined order according to preset rules to obtain the production files; alternatively, a 3D model labeled with processing trajectory data and processing parameters can be designated as the production file. Therefore, the production file can include not only processing trajectory data and processing parameters but also the 3D dimensions and structure of the product to be processed. In one embodiment, generating production files based on processing trajectory data and processing parameters includes: recording processing trajectory data and processing parameters according to preset rules to obtain the production file; or recording processing trajectory data, processing parameters, and the dimensions of the product to be processed according to preset rules to obtain the production file; or designating a 3D model of the product to be processed labeled with processing trajectory data and processing parameters as the production file. When the production file includes the 3D dimensions and structure of the product to be processed, operators at the processing site can use processing equipment to read the production file and have the equipment reconstruct and display the 3D model of the product to be processed based on the production file. The processing trajectory and processing parameters are displayed in the 3D model, making it easier to visually observe the processing trajectory and processing parameters to determine whether adjustments are needed. The processing trajectory supports various types, including spatial line segments, polylines, arcs, spline curves, and spirals.

[0051] When generating a production file according to preset rules, the data to be recorded can be partitioned and recorded in different locations within the production file. For example, one area of ​​the production file can be used to record trajectory data, another area can be used to record process parameters, and yet another area can be used to record dimensional information. Parameter numbers are recorded simultaneously with the trajectory data, allowing the determination of which trajectory uses which parameters based on the parameter numbers. The resulting production file is smaller than a standard XML file, which facilitates data transmission and makes it easier for processing equipment with limited computing resources to read the data. Therefore, in one implementation, recording processing trajectory data and processing parameters according to preset rules to obtain a production file includes: creating a blank file; dividing the blank file into a first area and a second area; recording the processing trajectory data and its corresponding parameter codes in the first area of ​​the blank file; and recording the parameter codes and values ​​of the processing parameters in the second area of ​​the blank file to obtain the production file. In one implementation, processing trajectory data, processing parameters, and dimensional information of the product to be processed are recorded according to preset rules to obtain a production file, including: creating a blank file, dividing the blank file into a first region, a second region, and a third region, recording the processing trajectory data and its corresponding parameter codes in the first region of the blank file, recording the parameter codes and parameter values ​​of the processing parameters in the second region of the blank file, and recording the dimensional information in the third region of the blank file to obtain a production file.

[0052] It should be noted that the terminal device can communicate directly with various types of processing equipment, or it can communicate with various types of processing equipment through a relay server. Therefore, in one embodiment, it further includes: storing processing trajectory data and processing parameters to the server; or storing production files to the server. In this embodiment, the server is the relay server, which can store processing trajectory data and processing parameters; or store production files including processing trajectory data and processing parameters. When the processing equipment sends a processing request to the server, the server then sends the processing trajectory data and processing parameters corresponding to the current processing equipment, or the production file, that it stores to the current processing equipment. One server can serve multiple processing equipment. To distinguish the processing data information (the aforementioned processing trajectory data, processing parameters, etc.) of different processing equipment, the terminal device can add a unique identifier to the processing data information of different processing equipment, such as using the equipment code of the processing equipment as the unique identifier of the processing data information of that processing equipment. Of course, the processing data information of different equipment can also be automatically encoded according to predetermined rules, as long as it is possible to distinguish the processing data information of different processing equipment. The terminal device, server, and processing equipment can communicate remotely.

[0053] S203. Send the processing trajectory data and processing parameters to the processing equipment so that the processing equipment can process the product to be processed according to the processing trajectory data and processing parameters.

[0054] In some embodiments, after the processing equipment processes the product to be processed according to the processing trajectory data and processing parameters, the processed product can be inspected by a detection device to determine whether the processing parameters used in this processing meet the requirements. The detection results of the detection device can be fed back to the terminal device, so that the terminal device can optimize and adjust the processing parameters according to the detection results, thereby enabling the processing equipment to process the next product according to more precise processing parameters. In one embodiment, the method further includes: receiving detection data of the processed product from the detection device; optimizing the processing parameters based on the detection data; and sending the processing trajectory data and the optimized processing parameters to the processing equipment, so that the processing equipment processes the next product to be processed according to the processing trajectory data and the optimized processing parameters.

[0055] Of course, if necessary, the inspection data can also include processing trajectory data and product size inspection results, so that the terminal equipment can optimize the processing trajectory data and product size according to the inspection data. It should be noted that the processing trajectory data and product size are determined only after repeated adjustments during the product design stage, so problems are unlikely to occur during product processing. Therefore, processing trajectory data and product size may not be inspected during product processing, or they may be inspected during product processing.

[0056] As can be seen, this embodiment enables remote configuration of any processing equipment via a terminal device. Furthermore, the configuration data is set based on the product being processed, thus ensuring the accuracy of the configuration data. Moreover, no operator is required to be on-site; the terminal device remotely sends the processing trajectory and process parameters to the processing equipment, allowing the equipment to automate the configuration and processing process. The entire process requires no on-site human intervention, thereby reducing human error and improving the configuration efficiency and processing accuracy of the equipment.

[0057] Please refer to Figure 4 , Figure 4 A flowchart illustrating another device control method provided in this application embodiment. This method is applied to a server, which may be a server or similar device, and communicates remotely with the terminal device and processing equipment described in the foregoing embodiments.

[0058] The method provided in this application specifically includes:

[0059] S401. Obtain the processing trajectory data of the product to be processed corresponding to the processing equipment and the processing process parameters corresponding to the processing trajectory data sent by the terminal equipment.

[0060] In this process, the processing trajectory data and processing parameters are determined by the terminal equipment based on the 3D model of the product to be processed. In one embodiment, the processing trajectory data and processing parameters are recorded in a production file or annotated in the 3D model of the product to be processed according to preset rules. The production file is obtained by recording the processing trajectory data and processing parameters in a predetermined order according to preset rules. If the processing trajectory data and processing parameters are annotated in the 3D model of the product to be processed, the timing and method of annotation may include: First: When designing the product structure, manually annotating the processing trajectory data and its corresponding processing parameters in the 3D model of the product to be processed; Second: After the product structure is designed, automatically annotating the processing trajectory by projecting the set processing path image onto the 3D model of the product to be processed, and then manually specifying the processing parameters for the processing trajectory; Third: After the product structure is designed, manually selecting some points in the 3D model of the product to be processed to automatically generate a processing trajectory on the 3D model of the product to be processed through curve fitting, and manually specifying the processing parameters for the processing trajectory.

[0061] In one example, the production file also includes the three-dimensional dimensions and structure of the product to be processed. In this case, the production file can be a three-dimensional model of the product to be processed that is labeled with processing trajectory data and processing parameters, or it can be a file in a specific format that records processing trajectory data, processing parameters, and the three-dimensional dimensions of the product to be processed according to established rules.

[0062] It should be noted that the processing trajectory data and processing parameters are stored on the server side regardless of whether they are annotated in the 3D model of the product to be processed, recorded in the production file according to established rules, or recorded in a table. Therefore, in one implementation, the terminal device can directly store the processing trajectory data and processing parameters on the server side, and can also store the production file on the server side.

[0063] When generating production files according to preset rules, the data that needs to be recorded can be partitioned and recorded in different locations within the file. For example, one area of ​​the production file can be used to record trajectory data, and another area can be used to record process parameters. When recording trajectory data, parameter numbers are also recorded. Based on the parameter numbers, it can be determined which trajectory is processed using which parameter. The resulting production file is smaller than a standard XML format file, which is beneficial for data transmission and also makes it easier for processing equipment with limited computing resources to read the data.

[0064] S402, Store machining trajectory data and machining process parameters.

[0065] S403. Receive the processing request sent by the processing equipment and extract the processing attribute information of the processing request.

[0066] In one embodiment, the processing attribute information of the processing request includes the device code of the processing equipment.

[0067] S404. Based on the processing attribute information, select the corresponding processing trajectory data and processing process parameters and send them to the processing equipment so that the processing equipment can process the product to be processed according to the processing trajectory data and processing process parameters.

[0068] After the processing equipment processes the product according to the processing trajectory data and processing parameters, the processed product can be inspected by a detection device. The detection device can then feed back the inspection results to the terminal device, allowing the terminal device to optimize and adjust the processing parameters accordingly. This enables the processing equipment to process the next product with more precise processing parameters. When the detection device feeds back the inspection results, it can communicate directly with the terminal device or through a server. If a server is used, it can store the inspection results.

[0069] Of course, after obtaining the corresponding test results, the testing equipment can send the results to the processing equipment, allowing the processing equipment to optimize its processing parameters. In other words, the processing equipment receives the test data from the testing equipment on the products it has processed; optimizes the processing parameters based on the test data; and processes the next product according to the processing trajectory data and the optimized processing parameters.

[0070] In one example, the testing equipment can send the testing data of the product processed by the processing equipment to the terminal equipment; or send the testing data to the server so that the server can forward the testing data to the terminal equipment.

[0071] After acquiring the detection data, the terminal device optimizes the processing parameters based on the data. It then sends the processing trajectory data and the optimized parameters to the processing equipment, enabling the equipment to process the next product according to these parameters. When the terminal device sends the processing trajectory data and optimized parameters, the processing equipment can communicate directly with the terminal device or via a server. The server can store the processing trajectory data and optimized parameters. It can either overwrite the data to delete historical data, or add timestamps to the currently sent data while retaining historical data. This allows the latest processing data to be distinguished based on the timestamps of the processing data from the same equipment.

[0072] In this embodiment, the server can be regarded as a data relay bridge between the terminal device and the processing equipment. The server also has data storage and processing triggering functions. When it receives a processing request from the processing equipment, it can send the processing trajectory data and processing parameters to the processing equipment, so that the processing equipment can process the product to be processed according to the processing trajectory data and processing parameters. Therefore, the server can serve various processing equipment.

[0073] As can be seen, in this embodiment, the server can remotely trigger the processing equipment, enabling it to process the product according to predetermined processing trajectory data and processing parameters. Since the processing trajectory data and processing parameters are determined based on the three-dimensional model of the product, their accuracy is guaranteed. Furthermore, the processing equipment can automatically complete the configuration and processing process without requiring operators to be on-site, reducing human error and improving the configuration efficiency and processing accuracy of the equipment.

[0074] Please refer to Figure 5 , Figure 5This is a flowchart illustrating another device control method provided in an embodiment of this application. The method is applied to processing equipment, which may be welding equipment, cutting equipment, or dispensing equipment, etc., and can remotely communicate with the server and terminal equipment mentioned in the foregoing embodiments.

[0075] The method provided in this application specifically includes:

[0076] S501. Obtain the processing trajectory data and processing process parameters corresponding to the product to be processed from the terminal device or server; wherein, the processing trajectory data and processing process parameters are determined by the terminal device based on the three-dimensional model of the product to be processed.

[0077] Since the terminal device may communicate with the processing equipment through a server or directly with the processing equipment, the processing equipment can obtain processing trajectory data and processing parameters from the terminal device or the server. Furthermore, since the processing trajectory data and processing parameters can be recorded in a production file or directly, in one embodiment, obtaining the processing trajectory data and corresponding processing parameters of the file to be processed from the terminal device or the server includes: obtaining the production file from the terminal device or the server; and reading data from different areas of the production file to obtain the processing trajectory data and processing parameters.

[0078] As can be seen from the foregoing embodiments, a portion of the production file is used to record trajectory data, and another portion is used to record process parameters. The processing equipment can obtain the processing trajectory data and processing parameters by reading the data in these portions respectively.

[0079] S502. Process the product to be processed according to the processing trajectory data and processing parameters.

[0080] The processing equipment includes components such as processing mechanisms and processing stations, and each processing mechanism requires different processing parameters. During the processing operation, the processing mechanisms generally move in tandem. In one embodiment, the product to be processed is processed according to processing trajectory data and processing parameters, including: converting the processing trajectory data into mechanism motion data; configuring the processing mechanisms in the processing equipment according to the processing parameters; and configuring the control mechanism to process the product to be processed according to the mechanism motion data and the processing parameters of the processing mechanism.

[0081] Generally, machining equipment can be divided into multi-axis motion machining equipment and single-axis motion machining equipment. Multi-axis motion machining equipment requires controlling not only the movement of the product to be processed but also the movement of the machining mechanism itself. Therefore, multiple machining mechanisms, machining stations, and the product to be processed must be relatively aligned at a given moment to perform the machining operation. This process can be solved using a kinematic model. Single-axis motion machining equipment, such as laser marking and welding equipment, does not require multi-axis solutions using kinematic models. The machining trajectory data and process parameters are directly sent to these machines, which then calculate the motor motion data based on the trajectory data and parameters to complete the subsequent machining operations.

[0082] For multi-axis motion machining equipment, the machining trajectory needs to be converted into motor motion data using the kinematic model corresponding to the equipment, and then the corresponding motor is controlled based on this motor motion data. In one embodiment, converting machining trajectory data into mechanism motion data includes: if the machining equipment is multi-axis, calibrating the equipment, constructing an equipment coordinate system, a product coordinate system, and a machining tool coordinate system, establishing a kinematic model of the equipment based on the relationship between the equipment coordinate system, the product coordinate system, and the machining tool coordinate system, and using the kinematic model to convert the machining trajectory data into mechanism motion data; if it is a single-axis motion machining equipment, the machining trajectory data is represented using the equipment coordinate system where the equipment is located to obtain the mechanism motion data. The conversion of machining trajectory data into mechanism motion data using the kinematic model includes: using the kinematic model to make the position of the machining trajectory data coincide with the position of the machining mechanism in the equipment coordinate system where the equipment is located, and obtaining the inverse kinematic solution to obtain the mechanism motion data.

[0083] It should be noted that the kinematic model corresponds to the structure of each processing equipment. The establishment and solution of the kinematic model will be explained below.

[0084] The first step in establishing a kinematic model is to create a suitable coordinate system and determine the relationships between them. For example... Figure 6As shown, for three-axis motion machining equipment, a kinematic model needs to be established based on the relationship between the equipment coordinate system, product coordinate system, and machining tool coordinate system. The machining tool is the machining mechanism. Based on the established kinematic model, the machining points in the product coordinate system are converted to points in the equipment coordinate system where the machining equipment is located, and then the machining execution data is obtained through inverse calculation. The equipment coordinate system is the reference coordinate system of the kinematic model, and its origin is located at the point where each axis of the machining equipment returns to zero, i.e., the origin of the machining equipment. The product coordinate system is a coordinate system determined based on the product itself, and its origin is located at the reference origin point after the product is placed in the machining station of the machining equipment. Its three-axis directions are the same as the equipment coordinate system. The machining tool coordinate system is a coordinate system based on the points on the machining path executed by the machining tool. Generally, the machining point is represented as (Q...). x Q y Q z ) T The direction vector of the machining tool is represented as (i, j, k). T .

[0085] Specifically, in multi-axis machining equipment, the machining point generated by the machining tool on the product is represented by a vector P relative to the equipment coordinate system, and its posture is described by a matrix R composed of three unit vectors, which is called the rotation matrix.

[0086] In one example, the vector P that moves the processing point from position A to position B can be represented as: The matrix R can be represented as: The general mathematical expression for mapping points between coordinate systems in space is called an operator, which includes translation, rotation, and combinations of both. In this example, the translation operator can be expressed as: , The rotation operator can be expressed as: , Accordingly, the coordinate system mapping is represented as: From this, we can conclude that: Therefore, rotation and translation transformations can be represented by a single matrix.

[0087] Among them, the joints of multi-axis machining equipment can be divided into two types: translation and rotation. The relative position between two joints can be represented by the inter-axis length 'a'. i-1 Joint rotation angle α i-1 Joint offset d i Joint angle θ i This indicates that the four sets of parameters between each moving joint are the parameters that need to be calibrated to build the model. Therefore, the transformation matrix of each motion mechanism can be expressed as: This matrix is ​​a combination of translation and rotation transformation matrices. Substituting the joint parameters into the calculation yields:

[0088] So the conversion matrix of the entire device N represents the number of axes. For multi-axis machining equipment, this means that within a given... In this case, the axis position θ corresponding to each machining point can be calculated. i and d i The value of .

[0089] Here, the kinematic chain t represents the machine tool coordinate system. The tool coordinate system, controlled by n cascaded kinematic pairs, has a relationship relative to the equipment coordinate system as follows: g mt (0) represents the initial state of the machining tool relative to the product coordinate system, and its expression is: .

[0090] The relationship between the product coordinate system and the equipment coordinate system can be determined below: g mv (0) represents the initial state of the machining tool relative to the equipment coordinate system, and its expression is: .

[0091] The relationship between the machining path data and the motion quantities of each axis of the equipment is determined below. The machining path data is the coordinates of the machining tool in the product coordinate system, that is: the origin of the tool coordinate system is known as (0,0,0). T In the product coordinate system, it is represented as (Q) x Q y Q z ) T Tool axis vector (0,0,1) T Represented in the product coordinate system as (i, j, k) T Since the kinematic chains t and w share the same reference coordinate system, they are also equal in the device coordinate system. During machining, the tool machining point and the product are always in contact; therefore, the position of the tool axis relative to the product coordinate system must also conform to the requirements of the machining path. Representing the tool machining point and axis vector using homogeneous coordinates yields the following equation: The fundamental formula for kinematic transformation is given by the tool machining point, the tool axis direction, and the parameters of the equipment. The motion of each axis can then be determined. This process is called inverse kinematics.

[0092] Please see Figure 7 The following solution uses a dual-turntable five-axis machine as an example, using (M) x M y M z () represents the vector from the origin of the device coordinate system to the origin of the A-axis coordinate system; (V) represents the vector from the origin of the device coordinate system to the origin of the A-axis coordinate system. x V y V z() represents the vector from the origin of the Z-axis coordinate system to the origin of the C-axis coordinate system; (L) represents the vector. x ,L y ,L z () represents the vector from the origin of the C-axis coordinate system to the origin of the product coordinate system; (D) represents the vector from the origin of the C-axis coordinate system to the origin of the product coordinate system. x D y D z The vector represents the distance from the origin of the equipment coordinate system to the origin of the machining tool coordinate system. These four vectors need to be obtained through equipment calibration.

[0093] Based on the above principles, the transformation relationship of the kinematic chain t is as follows: , The transformation relationship of the kinematic chain w is as follows: .in, , , ,Will After substituting, we get: Therefore, we can obtain:

[0094] ,

[0095] .

[0096] It is evident that for equipment that relies entirely on motor motion to complete the processing trajectory, the processing trajectory needs to be converted into motor position through inverse kinematics calculation. Then, the motor position data is used to control the multi-axis motion platform to perform interpolation motion, thereby achieving multi-axis processing functionality. However, for equipment such as laser surface treatment and welding that scans a specific processing area using a specific processing tool, it is only necessary to convert the product reference point into a motor position, and then move the processing tool to that position to achieve processing control.

[0097] After the processing equipment processes the product to be processed according to the processing trajectory data and processing parameters, the detection equipment can detect the detection data of the processed product and transmit the detected data to the terminal equipment. The terminal equipment can then optimize and adjust the processing parameters based on the detection data, thereby enabling the processing equipment to process the next product according to more precise processing parameters. In one embodiment, the detection equipment detects the detection data of the processed product; the detection data is sent to the terminal equipment so that the terminal equipment can optimize the processing parameters based on the detection data; processing trajectory data and optimized processing parameters are obtained from the terminal equipment or a server; and the next product to be processed is processed according to the processing trajectory data and optimized processing parameters. In one embodiment, sending the detection data to the terminal equipment includes: sending the detection data to a server so that the server forwards the detection data to the terminal equipment.

[0098] As can be seen, under the control of the server or terminal device, the processing equipment in this embodiment can automatically complete the parameter configuration and processing process based on the processing trajectory data and processing technology parameters, realizing the automated configuration and processing of the processing equipment. No operator is required to go to the processing site, reducing human error and improving the configuration efficiency and processing accuracy of the processing equipment.

[0099] The following describes a control system provided by an embodiment of this application. The control system described below can be referred to in correspondence with any of the embodiments described above.

[0100] Figure 8 This is a schematic diagram of a control system provided in an embodiment of this application. Please refer to it. Figure 8 The control system 600 includes a terminal device 601 and a processing device 602. The terminal device 601 is used to: acquire a three-dimensional model of the product to be processed corresponding to the processing device 602; determine processing trajectory data based on the three-dimensional model of the product to be processed, and determine the processing process parameters corresponding to the processing trajectory data; and send the processing trajectory data and processing process parameters to the processing device 602. The processing device 602 is used to: receive the processing trajectory data and processing process parameters sent by the terminal device 601, and process the product to be processed according to the processing trajectory data and processing process parameters.

[0101] In some embodiments, the terminal device 601 determines the processing trajectory data based on the three-dimensional model of the product to be processed, and determines the processing process parameters corresponding to the processing trajectory data, including: acquiring the processing trajectory data and processing process parameters already set in the three-dimensional model of the product to be processed; or projecting a two-dimensional image filled with the processing path onto the three-dimensional model of the product to be processed to obtain the processing trajectory data, and labeling the processing trajectory data with the processing process parameters specified by the user; or performing spatial curve fitting in the three-dimensional model of the product to be processed according to the initial spatial points specified by the user to obtain the processing trajectory data, and labeling the processing trajectory data with the processing process parameters specified by the user.

[0102] In one embodiment, the terminal device 601 is further configured to: generate a production document based on the machining trajectory data and machining process parameters. Correspondingly, the terminal device 601 sends the machining trajectory data and machining process parameters to the machining equipment 602, including: sending the production document to the machining equipment 602.

[0103] The processing equipment 602 is also used to receive production documents sent by the terminal equipment 601, parse the production documents to obtain processing trajectory data and processing parameters, and process the product to be processed according to the processing trajectory data and processing parameters.

[0104] In one embodiment, the terminal device 601 generates a production document based on the processing trajectory data and processing parameters, including: recording the processing trajectory data and processing parameters according to preset rules to obtain a production document; or recording the processing trajectory data, processing parameters and the size information of the product to be processed according to preset rules to obtain a production document; or determining the three-dimensional model of the product to be processed marked with processing trajectory data and processing parameters as the production document.

[0105] In one embodiment, the terminal device 601 is further configured to: receive detection data from the detection device on the product processed by the processing equipment 602; optimize the processing parameters based on the detection data; and send the processing trajectory data and the optimized processing parameters to the processing equipment 602.

[0106] The processing equipment 602 is also used to process the next product to be processed according to the processing trajectory data and the optimized processing parameters.

[0107] Please refer to Figure 8 The control system provided in this application embodiment further includes: a server 603; the server 603 is used to: obtain the processing trajectory data and corresponding processing parameters of the product to be processed corresponding to any processing device 602 sent by the terminal device 601, and store the processing trajectory data and processing parameters; or store the production file generated based on the processing trajectory data and processing parameters.

[0108] In one embodiment, the server 603 is further configured to: receive a processing request sent by the processing equipment 602, extract processing attribute information of the processing request; select corresponding processing trajectory data and processing parameters according to the processing attribute information and send them to the processing equipment 602; or select corresponding production files according to the processing attribute information and send them to the processing equipment 602.

[0109] In one implementation, the server 603 is further configured to: receive detection data from the detection equipment on the product processed by the processing equipment 602, and feed the detection data back to the terminal equipment 601.

[0110] In some embodiments, technicians can use terminal device 601 to obtain a production file in a unified format that includes product dimensions, processing trajectory, and processing parameters. This production file is stored via server 603 and sent to processing equipment 602. Processing equipment 602 receives and parses the production file to obtain the required processing data information and automatically processes the product to be processed based on the processing data information. Furthermore, the detection data of the product processed by processing equipment 602 can be detected by detection equipment and fed back to terminal device 601 so that terminal device 601 can change the processing parameters based on the detection results, thereby realizing a closed loop of design, production, and process debugging.

[0111] During product design, designers use terminal device 601 to annotate the processing trajectory data and corresponding processing parameters on the 3D model of the product to be processed, obtaining a production file describing the product dimensions and processing data. This standardized production file is independent of processing equipment 602, and its content can be set during the product design and development phase, such as when designing product dimensions using CAD software, simultaneously setting the processing trajectory and related process parameters. The server provides data collection, storage, and transmission management functions.

[0112] The standardized production file provided in this embodiment can be used by different types of automated processing equipment 602. The file is generated as follows: technicians import the product's 3D model file (such as STL, STEP, etc.) into the terminal device 601, and then use the software to design the processing trajectory and parameters. The remote development terminal can perform secondary development on common CAD software (such as UG, PRO / E, etc.).

[0113] Specifically, the machining trajectory can be hand-drawn or imported into the 3D model of the product to be processed from a DXF file containing trajectory data. The terminal device 601 projects the trajectory data from the DXF file onto the surface of the 3D model, and then uses a spatial projection algorithm to generate the machining trajectory data. When hand-drawing, several spatial points can be manually selected on the imported 3D model, and a machining path can be generated through a spatial curve fitting algorithm.

[0114] In some embodiments, the processing equipment 602 is also used to send a processing request to the server 603 and receive processing trajectory data and processing parameters sent by the server 603.

[0115] In one embodiment, the processing equipment 602 processes the product to be processed according to the processing trajectory data and processing parameters, including: converting the processing trajectory data into mechanism motion data; configuring the processing mechanism in the processing equipment 602 according to the processing parameters; and controlling the processing mechanism to process the product to be processed according to the mechanism motion data and the processing parameters of the processing mechanism.

[0116] In one embodiment, the processing equipment 602 converts processing trajectory data into mechanism motion data, including: if the processing equipment 602 is a multi-axis processing equipment, calibrating the processing equipment 602, constructing an equipment coordinate system, a product coordinate system, and a processing tool coordinate system, establishing a kinematic model of the processing equipment 602 based on the relationship between the equipment coordinate system, the product coordinate system, and the processing tool coordinate system, and using the kinematic model to convert the processing trajectory data into mechanism motion data; if the processing equipment 602 is a single-axis processing equipment, representing the processing trajectory data using the equipment coordinate system where the processing equipment is located, and obtaining the mechanism motion data. The conversion of processing trajectory data into mechanism motion data using the kinematic model includes: using the kinematic model to make the position of the processing trajectory data coincide with the position of the processing mechanism in the equipment coordinate system where the processing equipment is located, and obtaining the inverse kinematic solution to obtain the mechanism motion data.

[0117] In some embodiments, the processing equipment 602 can convert the processing trajectory data in the production file into motor position data executable by the processing tool. Generally, the automated processing equipment 602 performs processing work by translation and rotation. Since the trajectory data in the production file is defined in the product coordinate system, while the automated equipment has a device coordinate system defined according to the actual structure of the equipment and a tool coordinate system defined on the execution end of the processing tool, the processing equipment 602 needs to be calibrated in order to obtain the motor position data.

[0118] For the processing equipment 602, which relies entirely on motor motion to complete the processing trajectory, each trajectory point in the production file needs to be converted into motor position data through inverse kinematics calculation. This motor position data is then used to control the multi-axis motion platform to achieve multi-axis processing. For laser surface treatment and welding processing equipment 602, it is only necessary to convert the trajectory data in the production file into motor positions.

[0119] It can be seen that the processing execution mode of the automated processing equipment 602 is divided into two types: (1) After the equipment motion platform motor is moved to the processing position, the processing is carried out directly through the actuator, and the motion platform does not need to be moved again, such as laser marking and welding equipment. (2) The entire processing process is linked by multiple motors, and the processing trajectory needs to be interpolated by the platform motor, such as laser cutting and dispensing equipment.

[0120] After processing is completed, the testing equipment detects the test data of the product processed by processing equipment 602 and feeds the test results back to processing equipment 602. Processing equipment 602 automatically adjusts the processing parameters based on the test results to eliminate defects in product design and processing procedures. In other words, after processing, the product is inspected, and processing parameters are automatically adjusted based on the test results. If necessary, the processing data information for the next product is also adjusted.

[0121] As can be seen, this embodiment allows for the arrangement of product processing technology and trajectories during the product development and design phase, completely separating the creation and modification of equipment workflows and process parameters from on-site operators, eliminating the need for operators to perform debugging at the processing site. Furthermore, the server provides unified management of production files. It also offers parameter optimization functions, reducing the workload of operators in parameter tuning, minimizing the operational permissions of on-site operators, achieving a closed loop in product design and process debugging processes, and increasing the stability of equipment operation.

[0122] Furthermore, the embodiments of this application provide a unified control process for different types of automated processing equipment, which can control different types of automated processing equipment in batches, reduce the learning and usage costs for equipment operators, shorten equipment debugging time, and improve production and configuration efficiency.

[0123] The computer-readable storage medium provided in the embodiments of this application is described below. The computer-readable storage medium described below can be referred to in correspondence with the device control method described above.

[0124] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the device control method described above. The computer-readable storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0125] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0126] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0127] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0128] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "include," "contain," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0129] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A device control method, characterized in that, Terminal devices used for remote communication with processing equipment include: Obtain a 3D model of the product to be processed corresponding to the processing equipment; Based on the three-dimensional model of the product to be processed, the processing trajectory data is determined, and the processing process parameters corresponding to the processing trajectory data are determined; wherein, the processing trajectory data and its corresponding processing process parameters are marked in the three-dimensional model; The processing trajectory data and the processing parameters are sent to the processing equipment so that the processing equipment processes the product to be processed according to the processing trajectory data and the processing parameters, thereby realizing the automated configuration and processing of the processing equipment; Specifically, a blank file is created and divided into a first region and a second region; the processing trajectory data and its corresponding parameter codes are recorded in the first region of the blank file, and the parameter codes and values ​​of the processing technology parameters are recorded in the second region of the blank file to obtain a production file; the production file is sent to the processing equipment, so that the processing equipment parses the production file to obtain the processing trajectory data and the processing technology parameters, and then processes the product to be processed according to the processing trajectory data and the processing technology parameters.

2. The method according to claim 1, characterized in that, The process of determining the processing trajectory data based on the three-dimensional model of the product to be processed, and determining the processing technology parameters corresponding to the processing trajectory data, includes: Obtain the pre-set processing trajectory data and processing parameters from the 3D model of the product to be processed; or The two-dimensional image filled with the processing path is projected onto the three-dimensional model of the product to be processed to obtain the processing trajectory data, and the processing trajectory data is labeled with the processing process parameters specified by the user. or In the three-dimensional model of the product to be processed, a spatial curve is fitted according to the initial spatial points specified by the user to obtain the processing trajectory data, and the processing trajectory data is labeled with the processing process parameters specified by the user.

3. The method according to claim 1, characterized in that, Also includes: The production file is obtained by recording the processing trajectory data, the processing parameters, and the size information of the product to be processed according to preset rules. or The three-dimensional model labeled with the processing trajectory data and the processing parameters is identified as the production file.

4. The method according to claim 3, characterized in that, The production file is obtained by recording the processing trajectory data, processing parameters, and dimensional information of the product to be processed according to preset rules, including: A blank file is created and divided into a first region, a second region, and a third region. The machining trajectory data and its corresponding parameter codes are recorded in the first region of the blank file, the parameter codes and parameter values ​​of the machining process parameters are recorded in the second region of the blank file, and the dimensional information is recorded in the third region of the blank file to obtain the production file.

5. The method according to claim 3, characterized in that, Also includes: The processing trajectory data and the processing parameters are stored on the server. or The production files are stored on the server.

6. The method according to any one of claims 1 to 5, characterized in that, Also includes: Obtain test data of the product processed by the processing equipment using the testing equipment; Optimize the processing parameters based on the detection data; The processing trajectory data and optimized processing parameters are sent to the processing equipment so that the processing equipment processes the next product to be processed according to the processing trajectory data and optimized processing parameters.

7. A device control method, characterized in that, Applied to the server side, including: The system acquires processing trajectory data of the product to be processed corresponding to the processing equipment and processing process parameters corresponding to the processing trajectory data, sent by a terminal device that communicates remotely with the processing equipment; wherein, the processing trajectory data and the processing process parameters are determined by the terminal device based on a three-dimensional model of the product to be processed; the processing trajectory data and its corresponding processing process parameters are labeled in the three-dimensional model; Store the machining trajectory data and the machining process parameters; Receive the processing request sent by the processing equipment and extract the processing attribute information of the processing request; Based on the processing attribute information, the corresponding processing trajectory data and processing parameters are sent to the processing equipment, so that the processing equipment processes the product to be processed according to the processing trajectory data and processing parameters, thereby realizing the automated configuration and processing of the processing equipment; The terminal device creates a blank file and divides it into a first region and a second region. It records the processing trajectory data and its corresponding parameter codes in the first region of the blank file, and records the parameter codes and values ​​of the processing technology parameters in the second region of the blank file to obtain a production file. The production file is then sent to the processing equipment, which parses the production file to obtain the processing trajectory data and the processing technology parameters, and then processes the product to be processed according to the processing trajectory data and the processing technology parameters.

8. A device control method, characterized in that, Applied to processing equipment, including: The terminal device or server that communicates remotely with the processing equipment obtains the processing trajectory data of the product to be processed and the processing process parameters corresponding to the processing trajectory data; wherein, the processing trajectory data and the processing process parameters are determined by the terminal device based on the three-dimensional model of the product to be processed and marked in the three-dimensional model; The product to be processed is processed according to the processing trajectory data and the processing parameters, thereby realizing the automated configuration and processing of the processing equipment; The terminal device creates a blank file and divides it into a first region and a second region. It records the processing trajectory data and its corresponding parameter codes in the first region of the blank file, and records the parameter codes and values ​​of the processing technology parameters in the second region of the blank file to obtain a production file. The production file is then sent to the processing equipment, which parses the production file to obtain the processing trajectory data and the processing technology parameters, and then processes the product to be processed according to the processing trajectory data and the processing technology parameters.

9. The method according to claim 8, characterized in that, The process of processing the product to be processed according to the processing trajectory data and the processing parameters includes: The machining trajectory data is converted into mechanism motion data; Configure the processing mechanism in the processing equipment according to the aforementioned processing parameters; The processing mechanism is controlled to process the product to be processed according to the motion data of the mechanism and the process parameters of the processing mechanism.

10. The method according to claim 9, characterized in that, The step of converting the machining trajectory data into mechanism motion data includes: If the processing equipment is a multi-axis processing equipment, then the processing equipment is calibrated, and an equipment coordinate system, a product coordinate system, and a processing tool coordinate system are constructed. Based on the relationship between the equipment coordinate system, the product coordinate system, and the processing tool coordinate system, a kinematic model of the processing equipment is established, and the processing trajectory data is converted into mechanism motion data using the kinematic model. If the processing equipment is a single-axis processing equipment, the processing trajectory data is represented using the equipment coordinate system in which the processing equipment is located, and the mechanism motion data is obtained.

11. The method according to claim 10, characterized in that, The process of converting the machining trajectory data into mechanism motion data using the kinematic model includes: The kinematic model is used to make the machining trajectory data coincide with the position of the machining mechanism in the equipment coordinate system where the machining equipment is located, and the inverse kinematic solution is obtained to obtain the motion data of the mechanism.

12. The method according to any one of claims 9 to 11, characterized in that, The step of obtaining the processing trajectory data of the corresponding product to be processed and the processing technology parameters corresponding to the processing trajectory data from the terminal device or server includes: Obtain production files from terminal devices or servers; Data from different regions of the production file are read to obtain the processing trajectory data and the processing parameters.

13. A control system, characterized in that, include: A terminal device and at least one processing device that communicates remotely with the terminal device; The terminal device is used to: acquire a three-dimensional model of the product to be processed corresponding to the processing equipment; determine processing trajectory data based on the three-dimensional model of the product to be processed, and determine the processing process parameters corresponding to the processing trajectory data; and send the processing trajectory data and the processing process parameters to the processing equipment; wherein the processing trajectory data and its corresponding processing process parameters are marked in the three-dimensional model; The processing equipment is used to: receive the processing trajectory data and processing process parameters sent by the terminal device, and process the product to be processed according to the processing trajectory data and processing process parameters, thereby realizing the automated configuration and processing of the processing equipment; The terminal device is further configured to: create a blank file, divide the blank file into a first region and a second region; record the processing trajectory data and its corresponding parameter codes in the first region of the blank file, and record the parameter codes and parameter values ​​of the processing technology parameters in the second region of the blank file to obtain a production file; send the production file to the processing equipment, so that the processing equipment can parse the production file to obtain the processing trajectory data and the processing technology parameters, and then process the product to be processed according to the processing trajectory data and the processing technology parameters.

14. The control system according to claim 13, characterized in that, The terminal device determines the processing trajectory data based on the three-dimensional model of the product to be processed, and determines the processing process parameters corresponding to the processing trajectory data, including: Obtain the pre-set processing trajectory data and processing parameters from the 3D model of the product to be processed; or The two-dimensional image filled with the processing path is projected onto the three-dimensional model of the product to be processed to obtain the processing trajectory data, and the processing trajectory data is labeled with the processing process parameters specified by the user. or In the three-dimensional model of the product to be processed, a spatial curve is fitted according to the initial spatial points specified by the user to obtain the processing trajectory data, and the processing trajectory data is labeled with the processing process parameters specified by the user.

15. The control system according to claim 14, characterized in that, The processing equipment processes the product to be processed according to the processing trajectory data and the processing process parameters, including: The machining trajectory data is converted into mechanism motion data; Configure its own processing mechanism according to the aforementioned processing parameters; The processing mechanism is controlled to process the product to be processed according to the motion data of the mechanism and the process parameters of the processing mechanism.

16. The control system according to claim 14, characterized in that, Also includes: Server-side; The server is used to: store the processing trajectory data and the processing technology parameters; or store production files generated based on the processing trajectory data and the processing technology parameters; receive processing requests sent by the processing equipment, extract processing attribute information of the processing requests; and send the corresponding processing trajectory data and processing technology parameters to the processing equipment according to the processing attribute information. Alternatively, the relevant production documents can be sent to the processing equipment.

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