Method of avoiding a machining path and machining system

Abstract

The application provides a machining path avoidance method and a machining system. By inserting a flag into an original machining path, an interference position of the flag and a suction cup of a support unit is determined, and a code instruction is inserted at the interference position to modify the original machining path, thereby generating a modified machining path. When a machining device executes the modified machining path, the support unit can successfully avoid a tool of the machining device.

Description

Technical Field

[0001] This invention relates to a method and system for avoiding machining paths, and particularly to a method and system for avoiding machining paths by modifying original machining paths. Background Technology

[0002] Composite materials are widely used in the automotive, aerospace, and shipbuilding industries due to their lightweight and high strength. Previously, composite parts were mostly processed using fixed molds for support. However, in a market with small-batch, high-variety, and large, thin-walled parts, molds not only need to be specially developed for each product, but the mold assembly and disassembly process is also cumbersome, and mold storage requires enormous space. This is especially true in the processing of large parts for shipbuilding and aerospace, where the fixtures are quite bulky, leading to high processing costs and insufficient production line flexibility.

[0003] Due to the shortcomings of fixed fixtures, flexible fixtures have gradually been developed, which can effectively improve the speed of workpiece changeover and reduce mold inventory costs.

[0004] However, if the space of the supporting equipment is not taken into account before the machining path is planned, the cutting tool of the machining equipment may interfere with and collide with the support unit of the supporting equipment during the machining process.

[0005] Therefore, how to avoid the cutting tool from interfering with or colliding with the support unit during the machining process will be one of the issues that the industry needs to address. Summary of the Invention

[0006] This invention provides a method and system for avoiding interference and collisions in a processing path. In order to avoid interference and collisions, in addition to considering the supporting equipment when planning the path, the processing path also needs to be modified. Therefore, increasing the integration of the supporting equipment and the processing equipment and the means of modifying the processing path are the objectives of this application.

[0007] The machining path avoidance method of the present invention includes: merging into a machining path; setting the suction cup range of at least one support unit of a support device; inserting flags at specific intervals along the machining path; determining each of the plurality of flags, and when a flag is inserted into the suction cup range of the at least one support unit, editing the coordinates of the flag and the descent command of the at least one support unit into the machining path, until another flag leaves the suction cup range of the at least one support unit, editing the coordinates of the flag and the ascent command of the at least one support unit into the machining path; confirming whether the machining path has been edited; and exporting the edited machining path.

[0008] The processing system of the present invention includes: a support device having at least one support unit; and a processing device that executes a modified processing path and is bidirectionally connected to the support device; wherein, when the processing device executes a descent command related to at least one support unit in the modified processing path, the at least one support unit executes the descent command through bidirectional communication, until the processing device executes an ascent command related to at least one support unit in the modified processing path, the at least one support unit executes an ascent command through bidirectional communication, thereby the at least one support unit completes the processing action of dodging the processing device.

[0009] To make the present invention more apparent and understandable, specific embodiments are described below, and detailed descriptions are provided in conjunction with the accompanying drawings. Attached Figure Description

[0010] The accompanying drawings are included to further illustrate the invention, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0011] Figure 1 This is a schematic diagram of the processing system of the present invention;

[0012] Figure 2A This is a flowchart of the processing path modification for the present invention;

[0013] Figure 2B This is a detailed flowchart of the processing path modification for the present invention;

[0014] Figure 3 This is a flowchart illustrating the operation of the processing system of the present invention.

[0015] Figure 4A This is a schematic diagram of multiple support units and processing paths of the support device of the present invention;

[0016] Figure 4B This is a schematic diagram of multiple support units of the support device of the present invention and the post-editing processing path;

[0017] Figure 4C This is a schematic diagram showing that the suction cup of the support unit of the present invention is square.

[0018] Explanation of icon numbers

[0019] 1: Processing system;

[0020] 11: Processing equipment;

[0021] 12: Supporting equipment;

[0022] 121: Support unit;

[0023] 13: Thin-walled curved surface workpieces;

[0024] 111: Processing control module;

[0025] 1a: Buffer;

[0026] 122: Support control module;

[0027] S101~S106, S201~S214, S220, S221, S301~S309: Steps;

[0028] 40: Processing path;

[0029] 411, 412, 413, 414, 415, 416, 417: Suction cups;

[0030] 418: Circumcircle;

[0031] 42: The area of ​​interference;

[0032] 43: The editing process;

[0033] 44: Solid line;

[0034] N1, N2, N3, N4: coordinates;

[0035] O: Center point;

[0036] r, r': radius. Detailed Implementation

[0037] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solutions of the present invention, but should not be construed as limiting the scope of protection of the present invention. Furthermore, the same reference numerals will be used to denote the same or similar components in all the drawings.

[0038] Figure 1 This is a schematic diagram of the processing system of the present invention. Please refer to [link / reference]. Figure 1 The processing system 1 in this embodiment includes a processing device 11 and a support device 12. The processing device 11 may be, for example, a robotic arm processing device, used to execute the processing path. The support device 12 has at least one support unit 121, for example, in this embodiment, there may be 2×3 supporting units, a total of 6 supporting units, arranged to form the support device 12. In addition, the hardware architecture of the processing system 1 also includes a thin curved surface workpiece 13.

[0039] This invention utilizes a method for modifying the original machining path, combined with a communication method between the machining equipment 11 and the support equipment 12, to enable the support unit 121 to dodge the cutting tool of the machining equipment 11. For the machining path modification, before executing the machining program, the original machining path program code is modified in advance. The interference points between the original machining path program code and the support unit 121 are identified. When the cutting tool of the machining equipment 11 enters the interference point, a descent command for the support unit 121 is inserted; and when the cutting tool leaves the interference point, an ascending command for the support unit 121 is inserted, thereby enabling the support unit 121 to dodge the cutting tool of the machining equipment 11. The machining path modification process will be further described below.

[0040] Please refer to the following: Figure 1 and pair Figure 2A , Figure 4A and Figure 4B . Figure 2A This is a flowchart of the processing path editing for the present invention. Figure 4A This is a schematic diagram of multiple support units and processing paths of the support device of the present invention. Figure 4B This is a schematic diagram of multiple support units and the modified processing path of the support device of the present invention. First, as in step S101, processing path 40 is imported, as follows... Figure 4A The dotted line portion serves as an example of the original processing path. Step S102 involves setting the suction cup range of at least one support unit 121 of the support device 12. In this embodiment, for example, [the range is set]. Figure 1 The suction cup range shown is for the 2×3 support units 121, which comprise a total of 6 units. The suction cups can be referenced as follows: Figure 4A The suction cups 411, 412, 413, 414, 415, and 416 shown refer to each circular area. This embodiment uses a circular suction cup as an example, but this is not a limitation. In step S103, flags are inserted at specific intervals along the processing path 40 to determine whether the flag has been inserted into the suction cup area during processing. The specific interval can be 5mm, but is not a limitation. In step S104, each of the multiple flags is judged; when a flag is inserted into the suction cup area of ​​at least one support unit 121, for example… Figure 4AThe flag is inserted into the range of the suction cup 411 of the support unit 121 (black dot). At this time, the coordinates of the flag and the descent command of the support unit 121 are edited into the machining path 40. When another flag leaves the range of the suction cup 411 of the support unit 121 (white dot), the coordinates of the other flag and the descent command of the support unit 121 are edited into the machining path 40. This allows the tool of the machining equipment 11 to smoothly avoid the suction cup 411 of the support unit 121 when the machining system 1 is officially executed. Step S105: Confirm whether the machining path 40 has been edited. In this embodiment, since there are still suction cups 412, 413 and 416 on the machining path 40 that need to be edited, after editing to suction cup 416, it will be determined whether the machining path 40 has been edited. The editing method of each suction cup is as shown in suction cup 411. Finally, step S106: Export the edited machining path 43, that is, as shown in step S105. Figure 4B As shown, the modified machining path program code is obtained, where the solid line 44 indicates that the modified machining path 43 has recorded the position of the suction cup.

[0041] In this embodiment, after setting the suction cup range of the support device 12 in step S102, the processing path 40 is separated into single sections to... Figure 4A In other words, they can be divided into N1 (coordinates X0 Y200 Z0), N2 (coordinates X800), N3 (coordinates Y800), and N4 (coordinates X1000 Y1000 Z0).

[0042] In step S104, the center coordinates of the suction cup of at least one support unit 121 are also set, for example, by... Figure 4A For example, the center of the suction cup 411 of the support unit 121 is O. When the distance between the coordinates of the flag and the center O of the suction cup of the support unit 121 is less than or equal to the radius r of the suction cup of the support unit 121, it is determined that the flag is inserted into the suction cup range of the support unit 121. When the distance between the coordinates of the flag and the center O of the suction cup of the support unit 121 is greater than the radius r of the suction cup of the support unit 121, it is determined that the flag has left the suction cup range of the support unit 121. In this embodiment, the radius of the suction cup of the support unit 121 is 50mm for example.

[0043] In some embodiments, the suction cup may actually be square, for example. Figure 4C The diagram shows a square suction cup for the support unit of the present invention. When the suction cup 417 is square, the radius r' of the circumcircle 418 can be obtained by planning the circumcircle 418, thereby determining whether the flag enters the circumcircle 418 of the suction cup 417. Therefore, regardless of the shape of the suction cup, this embodiment can be used to avoid the suction cup's range.

[0044] The following will be through Figure 2B Then combine Figure 4A, Figure 4B The processing path avoidance method of this embodiment will be explained in detail below. Please refer to [link / reference]. Figure 2BThis is a detailed flowchart of the processing path editing process of the present invention. First, in step S201, the processing path 40 is imported. In step S202, the position coordinates and ranges of the suction cups 411, 412, 413, 414, 415, and 416 of each support unit 121 are set. In step S203, the initialization flag value is set to 0. The flag is inserted into the processing path 40 to determine whether the current location is within or outside the suction cup range. If within the suction cup range, its value is 1; otherwise, it is 0. The flag value will be referred to as the flag value. In step S204, the processing path 40 is separated into individual sections, namely N1 (coordinates X0 Y200 Z0), N2 (coordinates X800), N3 (coordinates Y800), and N4 (coordinates X1000 Y1000 Z0). In step S205, flags are inserted at specific intervals. This involves fine-tuning the flags in a single section, such as N1, dividing it into several sections. The number of sections depends on the movement distance of each section. In step S206, interference is checked to determine if the flags are within the suction cup range. This is done by calculating whether the distance between the currently inserted section and the center of the suction cup of each support unit is less than or equal to the radius of the suction cup range. If the distance is less than the suction cup radius, the flag is considered to have entered the suction cup range, potentially causing interference, and the process proceeds to step S207. In step S207, the flag value is checked. If the flag value is 0, the process proceeds to step S208. If the flag value is 1, the process returns to the interval between steps S204 and S205, continuing from S205. This step uses flags to determine whether the previous inserted section is already within the suction cup range. When the flag value is 0, it means the previous inserted section is still outside the suction cup range. When the flag value is 1, it indicates that the previous fine insert segment is within the suction cup range. In this case, only the instant the flag moves from outside the suction cup range into or out of the suction cup range is considered. Therefore, if step S208 represents the instant the flag moves from outside the suction cup range into the suction cup range, the flag value is changed to 1. In step S209, the current fine insert segment is inserted into the original machining path 40. In step S210, a descent command is inserted into the support device 12. For example, a coded command (M-code) for commanding the support unit 121 of the support device 12 to descend is inserted into the original machining path 40. At this time, in step S220, it is determined whether the machining path 40 has been edited. If it has not been completed, the process returns to step S206. When the distance between all the fine insert segments and the suction cup center of each support unit is greater than the suction cup radius, it means that the tool of the current machining device 11 has not caused interference, and the process proceeds to step S211. In step S211, the flag value is determined. If the flag value is 1, proceed to step S212; if the flag value is 0, return to steps S204 and S205 and continue from S205.As described in step S212, this case only considers the moment the flag enters or leaves the suction cup range. Therefore, if step S212 represents the moment the flag leaves the suction cup range, the flag value is changed to 0. In step S213, the current fine insert is inserted into the original processing path 40. In step S214, the rise command is inserted into the support device 12. For example, the encoded command (M-code) that commands the support unit 121 of the support device 12 to rise is inserted into the original processing path 40. In step S220, it is determined whether the processing path 40 has been edited. If it has not been edited, the process returns to steps S204 and S205 and continues from S205. If it has been edited, the edited processing path 43 is exported as in step S221.

[0045] Please refer to the following: Figure 1 In this embodiment, the processing device 11 is used to execute the modified processing path 43 and is bidirectionally connected to the support device 12. Specifically, when the processing device 11 executes a descent command related to at least one support unit 121 in the modified processing path 43, the at least one support unit 121 executes the descent command via bidirectional communication. This continues until the processing device 11 executes an ascent command related to at least one support unit 121 in the modified processing path 43, at which point the at least one support unit 121 executes the ascent command via bidirectional communication. Thus, the at least one support unit 121 completes the tool-cutting action of the processing device 11.

[0046] In this embodiment, the processing equipment 11 also includes a processing control module 111, which, when the processing equipment 11 executes a descent or ascent command related to at least one support unit 121 in the edited processing path 43, logs the command information of the descent or ascent command into the temporary storage 1a and leaves the command information. In this embodiment, the support equipment 12 also includes a support control module 122, which receives and reads the command information from the temporary storage 1a, and logs the temporary storage 1a back into the temporary storage 1a to leave completion information when the command information is completed. Afterwards, after the support control module 122 completes the command information related to the ascent command in the temporary storage 1a, the information record in the temporary storage 1a is cleared.

[0047] The following will be through Figure 3 Then combine Figure 1 This section details the processing path for the above-mentioned editing procedure. Please refer to [link / reference]. Figure 3This is a flowchart illustrating the operation of the processing system of the present invention. The communication between the processing equipment 11 and the support equipment 12 is achieved through the input / output port (I / O port) between the two devices. The communication mainly includes the processing equipment 11 informing the support equipment 12 that a certain support unit needs to perform a dodge, the support equipment 12 informing the processing equipment 11 after the dodge is completed, and the processing equipment 11 informing the support equipment 12 that the support unit can be restored. In step S301, when the processing equipment 11 executes the modified processing path 43, when it executes the descent code instruction (M-code) for a certain support unit, the processing control module 111 of the processing equipment 11 logs into the temporary storage 1a to leave the descent instruction information in step S302. In step S303, the support control module 122 receives and reads the descent instruction information from the temporary storage 1a, causing the corresponding support unit of the support equipment 12 to perform a dodge. In step S304, after the support equipment 12 completes the corresponding support unit dodge action, the support control module 122 logs into the temporary storage 1a to leave the completion instruction information. In step S305, the machining control module 111 receives the avoidance completion instruction signal left by the support control module 122, and then continues to execute the modified machining path 43. In step S306, when the machining equipment 11 executes the encoding instruction (M-code) for the support unit to rise, the machining control module 111 of the machining equipment 11 logs the rise instruction information into the temporary storage 1a in step S307. In step S308, the support control module 122 receives and reads the rise instruction information from the temporary storage 1a, causing the support unit corresponding to the support equipment 12 to be restored. In step S309, the support unit restoration is completed, and the records related to the support control module 122 and the machining control module 111 in the temporary storage 1a are cleared.

[0048] In this embodiment, the number of temporary registers n depends on the number of support units m, and must satisfy: n > log2(m) + 2. n-2 temporary registers are used to represent the k-th support unit. One temporary register is used to inform the support control module 122 to read and execute the k-th support unit's dodging action, as in step S303. The other temporary register is used to inform the support control module 122 to read and execute the k-th support unit's restoration action, as in step S308.

[0049] The following section will describe the process of machining path editing and the operation of the machining system in detail again. Please refer to [link / reference needed]. Figure 4A , Figure 4B and paired Figure 1 .by Figure 4A In this context, processing path 40 is shown as a dashed line, and 411 to 416 represent the suction cups of the first to sixth support units 121, forming a circular area. 42 represents the area where processing path 40 interferes with suction cup 416; in this embodiment, there are four such areas: 411, 412, 413, and 416. Therefore, processing path 40 needs to be edited. Please refer to... Figure 2B In step S204, the single-segment separation step involves splitting each single segment, dividing the machining path 40 into N1 (X0 Y200 Z0), N2 (X800), N3 (Y800), and N4 (X1000 Y1000 Z0). In step S205, the single segments are fine-tuned. For example, the first machining path (N1, X0 Y200 Z0) is fine-tuned at a specific interval (e.g., 5mm). After fine-tuning, the single segments are: (G01 X0 Y0 Z0), (G01 X0 Y5 Z0)...(G01 X0 Y195 Z0), (G01 X0 Y200 Z0), where G01 represents a linear operation command. In step S206, interference judgment is performed on each thin insert segment, and it is calculated whether the distance between the current thin insert segment and the center O of the suction cup of each support unit 121 is less than or equal to the radius of the suction cup range (the radius is 50mm in this embodiment).

[0050] In section N1, all the fine insert sections are larger than the radius r of the suction cup range, so no editing is performed on the section. In section N2, the fine insert sections are: (G01 X0), (G01 X5)...(G01 X795), (G01 X800). In the fine insert section (G01 X150), the distance between the fine insert section and the center O of the suction cup 411 of the first support unit 121 is less than or equal to the radius r of the suction cup range, so step S207 is entered. Since the fine insert section enters the suction cup 411 range at the instant, the flag value is still 0, so step S208 is entered, and the flag value is set to 1, indicating that the flag inserted in the processing path 40 has entered the suction cup 411 range. In steps S209 and S210, the current fine insert segment and its corresponding support unit's descending code instruction (M-code) (in this embodiment, the descending M-code of the first support unit 121 is set to, for example, M100 or M103) are inserted into the processing path 40. In the fine insert segments (G01 X155 to G01 X245), interference is detected in step S206, but because the flag value is 1, they are all detected in step S207 and returned to step S205, without proceeding to steps S208 to S210 for any processing path modification. When the thin insert segment (G01 X250) is reached, it will be determined as non-interference in step S206, so the process proceeds to step S211. Since the thin insert segment (G01 X250) is at the moment it leaves the range of the suction cup 411, the flag value remains at 1, so the process proceeds to step S212, where the flag value is set back to 0, indicating that it has left the range of the suction cup 411. In steps S213 and S214, the current thin insert segment and its corresponding support unit's rising code instruction (M-code) (in this embodiment, the rising M-code of the first support unit 121 is set to, for example, M104) are inserted into the processing path 40. In step S220, it is determined whether the machining path 40 has been edited. If not, steps S203 to S214 are repeated to check whether there is still interference between the machining path 40 and the range of suction cups 411 to 416, and the machining path 40 is edited again. The method for determining whether the machining path 40 has been edited is to confirm whether the instruction G01 is G00 (rapid traverse instruction). If it is G00, it means that the editing is complete, and the edited machining path 43 is exported. In this embodiment, the edited machining path 43 is as follows: Figure 4BAs shown, the dashed line of the modified machining path 43 becomes the solid line 44. The modified machining path 43 is: (G01 G90 X0.Y200.Z0.), (X150.M100 M103), (X250.M104), (X449.994 M101 M103), (X549.994 M104), (X749.994 M100 M101 M103), (X800.), (Y250.M104), (Y550.M101 M102 M103), (Y650.M104), (Y800.), (X1000.Y1000.), where G90 is absolute coordinate programming, and M101 and M102 are just a set encoding instruction as mentioned above.

[0051] Please refer to the following: Figure 1 and paired Figure 3In practice, during the processing path 43 executed by the processing equipment 11 (robotic arm), if an encoded instruction such as M101 or M103 is encountered, the process proceeds from step S301 to step S302, and the instruction is entered into the temporary register 1a. In this embodiment, M101 represents the encoded instruction of the first support unit, and M103 represents the encoded instruction that notifies the execution of the dodge signal. When the encoded instruction M101 is executed, the robotic arm enters 0, 0, and 1 respectively at addresses R79.11 to R79.13 of its controller's temporary register 1a. When the encoded instruction M103 is executed, the robotic arm enters 1 at address R79.14 of its controller's temporary register 1a. The input / output ports (I / O ports) of the robotic arm and the support device 12 correspond to each other. Input points I100 to I102 of the support control module 122 of the support device 12 are respectively connected to addresses R79.11 to R79.13 of the temporary register 1a of the robotic arm, and input point I103 is connected to address R79.14. Therefore, in step S303, after receiving the dodge signal from the processing control module 111, input point I103 of the support control module 122 reads the signals from input points I100 to I102 and determines that the first support unit needs to perform a dodge action. In step S304, the support unit of the support device 12 completes the dodge action, and the dodge action is completed by logging output point O300, where output point O300 of the support control module 122 is connected to address R77.10 of the processing control module 111. Therefore, in step S305, the processing control module 111 receives the action of the support control module 122 completing the evasion and continues to execute the modified processing path 43. During the continued execution of the modified processing path 43 by the robotic arm, when it encounters the encoding instruction M104, i.e., step S306 proceeds to step S307, and registers in the temporary storage 1a. In this embodiment, M104 represents an encoding instruction to notify the support device 12 to execute the rise response signal. Executing the encoding instruction M104, the robotic arm registers address R79.15 of its controller's temporary storage 1a as 1. The input / output ports (I / O ports) of the robotic arm and the support device 12 correspond to each other, and input point I104 is connected to address R79.15. Therefore, in step S308, after receiving the restoration signal from the processing control module 111, the input point I104 of the support control module 122 reads the signals from input points I100 to I102 and determines that the first support unit needs to perform a restoration action. In step S309, after the support device 12 completes the recovery, i.e. the upward movement, the temporary records and output points O of the support control module 122 and the processing control module 111 are cleared, and the modified processing path 43 is executed, waiting for the next triggering of the dodge and recovery action.

[0052] In summary, this invention utilizes a machining path modification method, combined with a communication method between the machining equipment and the support equipment, to enable the support unit to avoid the cutting tool of the machining equipment. After obtaining the original machining path, the method of this invention can determine the points of interference and separation between the original machining path and the suction cup, and insert coded instructions for the support unit to descend at the interference points and for the support unit to ascend at the separation points. When the machining equipment executes the modified machining program, upon encountering a coded instruction, it communicates with the support equipment through the input / output port (I / O port), informing the support equipment that its support unit needs to avoid the tool. After the avoidance is completed, it communicates with the machining equipment again, thus informing the machining equipment that the avoidance by the support equipment is complete.

[0053] Although the present invention has been disclosed in conjunction with the above embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A method for avoiding obstacles in a processing path, characterized in that, include: Import processing path; Define the suction cup range of at least one support unit of the support equipment; After setting the range of the suction cup, the processing path is separated into individual sections. Flags are inserted at specific intervals along the processing path; For each of the multiple flags, a judgment is made. When the flag is inserted into the suction cup range of the at least one support unit, the coordinates of the flag and the descent command of the at least one support unit are edited into the processing path. When another flag leaves the suction cup range of the at least one support unit, the coordinates of the other flag and the ascent command of the at least one support unit are edited into the processing path. Confirm whether the processing path has been edited; and Export the editing process path.

2. The method for avoiding processing paths according to claim 1, characterized in that, When setting the suction cup range of the at least one support unit, the center coordinates of the suction cup of the at least one support unit are also set. When the distance between the coordinates of the flag and the center coordinates of the suction cup of the at least one support unit is less than or equal to the radius of the suction cup of the at least one support unit, it is determined that the flag is inserted into the suction cup range of the at least one support unit. When the distance between the coordinates of the flag and the center coordinates of the suction cup of the at least one support unit is greater than the radius of the suction cup of the at least one support unit, it is determined that the flag is removed from the suction cup range of the at least one support unit.

3. The method for avoiding processing paths according to claim 2, characterized in that, The suction cup radius of the at least one support unit is 50 mm.

4. The method for avoiding processing paths according to claim 1, characterized in that, The suction cup of the at least one support unit is square or round.

5. The method for avoiding processing paths according to claim 1, characterized in that, The specific spacing is 5mm.

6. A processing system, characterized in that, include: A support device having at least one support unit, and defining the suction cup range of the at least one support unit; as well as The processing equipment executes the edited processing path and is bidirectionally connected to the support equipment. After the processing path is separated into individual sections, flags are inserted at specific intervals along the processing path. Specifically, when the processing equipment executes a descent command related to at least one support unit in the modified processing path, the at least one support unit executes the descent command via bidirectional communication. This continues until the processing equipment executes an ascent command related to at least one support unit in the modified processing path, at which point the at least one support unit executes the ascent command via bidirectional communication. Thus, the at least one support unit completes the processing action of dodging the processing equipment. The descent command or the ascent command is determined by determining whether the flag is inserted into or removed from the suction cup range.

7. The processing system according to claim 6, characterized in that, The processing equipment has a processing control module, which is used to log into a temporary register and leave the instruction information of the descent instruction or the ascending instruction when the processing equipment executes the descending instruction or the ascending instruction related to the at least one support unit in the modified processing path.

8. The processing system according to claim 7, characterized in that, The supporting device also has a supporting control module, which is used to receive and read the instruction information of the temporary storage, and log in to the temporary storage to leave completion information when the instruction information is completed.

9. The processing system according to claim 8, characterized in that, After the support control module completes the instruction information related to the up command in the temporary register, the information record in the temporary register will be cleared.

10. The processing system according to claim 7, characterized in that, The number of temporary registers depends on the number of the at least one support unit.

11. The processing system according to claim 10, characterized in that, The number of temporary registers n and the number of at least one support unit m must satisfy: n > log2(m)+2.

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