A stitching method for a dual-blade cutting bed and a dual-blade cutting bed

Abstract

This invention provides a routing method for a dual-blade cutting bed and the dual-blade cutting bed itself. The routing method includes: defining the cutting paths for each of the two blades; setting a safety distance threshold and an avoidance threshold range between the two blades, where the minimum value of the avoidance threshold range is greater than the safety distance threshold; monitoring the position information of the two blades in three-dimensional space in real time during the cutting process; simulating the future motion trajectories of the two blades based on their position information in three-dimensional space; when the horizontal distance between the two blades is detected to have decreased to within the avoidance threshold range, comparing the pre-stored cutting path with the simulated trajectory to predict the future motion trend of the two blades; obtaining the future horizontal distance between the two blades based on their future motion trend; and taking corresponding measures to adjust the operating state of the two blades based on the future horizontal distance. This invention can reduce the risk of collision between the two blades.

Description

Technical Field

[0001] This invention relates to the field of intelligent cutting bed technology, specifically to a stitching method for a dual-blade cutting bed and a dual-blade cutting bed. Background Technology

[0002] With the rapid development of the modern garment manufacturing industry and the increase in personalized and diversified orders, higher demands are being placed on the efficiency and flexibility of the cutting process. Traditional single-blade cutting machines, when faced with a large number of complex cutting tasks, often require frequent changes to cutting templates or manual adjustments to the cutting path, which is time-consuming and inefficient. Furthermore, when different patterns need to be cut from the same piece of fabric, single-blade cutting machines require multiple separate cutting steps to complete the entire cutting process. Inevitably, material transfer and positioning errors will occur during these steps, which not only increases production costs but may also lead to a decrease in cutting accuracy.

[0003] Therefore, dual-blade cutting bed technology emerged, a new generation of cutting solutions designed to improve cutting efficiency and flexibility. Dual-blade cutting beds can simultaneously carry two independent cutting blades and, through advanced computer-aided design (CAD) systems, precise servo control systems, and intelligent path planning algorithms, achieve simultaneous and orderly cutting of different patterns on the same piece of fabric.

[0004] In practice, technicians use CAD / CAM software to precisely calculate and design the cutting paths for all patterns on the fabric. This information is then input into the cutting bed control system to plan the movement paths of the cutting tools, thus avoiding the risk of collisions between the two cutting tools. During path planning, a safety value, such as 1 cm, is typically set for the horizontal distance between the two tools. This ensures that the horizontal distance between the two tools will never be less than 1 cm during the cutting process following the planned path.

[0005] However, due to factors such as mechanical errors, especially the different batches and materials of fabric with varying hardness, thickness, elasticity, etc., there may be slight deviations between the execution path and the preset path. These deviations may cause the actual horizontal distance between the two tools to be less than the set safety distance, thereby increasing the risk of tool collision.

[0006] Therefore, how to reduce the risk of collision between the two blades during cutting is a problem that needs to be solved. Summary of the Invention

[0007] The purpose of this invention is to propose a routing method and a dual-blade cutting bed, which can reduce the risk of collision between the two blades.

[0008] To achieve the above objectives, the present invention provides a method for routing lines on a dual-blade cutting bed, comprising:

[0009] Define the cutting paths for each of the two cutting tools;

[0010] Set a safe distance threshold and an avoidance threshold range between two tools, wherein the minimum value of the avoidance threshold range is greater than the safe distance threshold;

[0011] During the cutting process, the position information of the two blades in three-dimensional space is monitored in real time;

[0012] Based on the position information of the two tools in three-dimensional space, the future motion trajectory of the two tools is simulated;

[0013] When the horizontal distance between the two cutters is detected to have decreased to within the avoidance threshold range, the pre-stored cutting path is compared with the simulated trajectory to predict the future movement trend of the two cutters.

[0014] The future horizontal distance between the two tools is obtained based on their future movement trends. Based on this horizontal distance, corresponding measures are taken to adjust the operating state of the two tools.

[0015] In an alternative approach, if it is predicted that the horizontal distance between the two tools will be lower than the safety threshold, then the first measure is taken;

[0016] If it is predicted that the horizontal distance between the two tools will be lower than the minimum of the avoidance threshold but higher than the safety threshold, then a second measure is taken.

[0017] In the alternative solutions, the first measure is to stop the operation of at least one tool; the second measure is to adopt a staggered mechanism to ensure that the horizontal distance between the two tools is always not less than the safe distance threshold.

[0018] In an optional embodiment, the method for real-time monitoring of the position information of the two tools in three-dimensional space includes:

[0019] When the horizontal distance between two tools increases to more than the maximum value of the avoidance threshold range, it is judged as a low collision risk range, and the sampling frequency is reduced.

[0020] When the horizontal distance between two tools decreases to within the avoidance threshold range, it is determined to be a high collision risk range, and the sampling frequency is increased.

[0021] In an optional embodiment, the method for simulating the future motion trajectories of the two tools includes:

[0022] Using kinematic models and artificial intelligence algorithms, the motion trajectories of two tools within a set timeframe are simulated.

[0023] In an optional embodiment, the method further includes: activating an emergency response mechanism when the actual distance between the two tools cannot be known, or the future movement trend of the two tools cannot be predicted.

[0024] In an optional configuration, the emergency response mechanism includes: stopping all tool movement and issuing an alarm.

[0025] The present invention also provides a dual-blade cutting bed, which employs the above-described double-blade cutting bed routing method during cutting.

[0026] The present invention also provides a dual-blade cutting bed, comprising:

[0027] An initialization module is used to define the cutting paths of the two tools; and to set a safety distance threshold and an avoidance threshold range between the two tools, wherein the minimum value of the avoidance threshold range is greater than the safety distance threshold.

[0028] The monitoring and simulation module is used to monitor the position information of the two cutters in three-dimensional space in real time during the cutting process; and to simulate the future motion trajectory of the two cutters based on the position information of the two cutters in three-dimensional space.

[0029] The prediction module is used to compare the pre-stored cutting path with the simulated trajectory and predict the future movement trend of the two tools when the horizontal distance between the two tools is detected to be reduced to within the avoidance threshold range.

[0030] An execution module is used to obtain the future horizontal distance between the two tools based on their future movement trends, and to take corresponding measures to adjust the operating state of the two tools based on the future horizontal distance between them.

[0031] The beneficial effects of this invention are as follows:

[0032] This invention designs an avoidance threshold range. When the horizontal distance between two tools is detected to have decreased to within the avoidance threshold range, the future movement trend of the two tools is predicted. Based on the predicted future horizontal distance between the two tools, corresponding measures are taken to adjust the operating state of the two tools, thereby reducing the risk of collision between the two tools. Attached Figure Description

[0033] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally denote like parts.

[0034] Figure 1 This is a flowchart of the routing method of a dual-blade cutting bed in one embodiment of the present invention. Detailed Implementation

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description and drawings. However, it should be noted that the concept of the technical solution of the present invention can be implemented in many different forms and is not limited to the specific embodiments described herein. The accompanying drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0036] It should be understood that when an element or layer is referred to as "on," "adjacent to," "connected to," or "coupled to" other elements or layers, it may be directly on, adjacent to, connected to, or coupled to other elements or layers, or there may be intervening elements or layers. Conversely, when an element is referred to as "directly on," "directly adjacent to," "directly connected to," or "directly coupled to" other elements or layers, there are no intervening elements or layers. It should be understood that although the terms first, second, third, etc., may be used to describe various elements, components, areas, layers, and / or portions, these elements, components, areas, layers, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, component, area, layer, or portion from another element, component, area, layer, or portion. Therefore, without departing from the teachings of this invention, the first element, component, area, layer, or portion discussed below may be referred to as the second element, component, area, layer, or portion.

[0037] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used herein for convenience of description to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms are intended to also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, then the element or feature described as “below” or “under” the other element or feature will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or otherwise) and the spatial descriptive terms used herein will be interpreted accordingly.

[0038] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. When used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising” and / or “including,” when used in this specification, identify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups. When used herein, the term “and / or” includes any and all combinations of the associated listed items.

[0039] Example 1

[0040] This embodiment provides a stitching method for a dual-blade cutting bed, including:

[0041] Define the cutting paths for each of the two cutting tools;

[0042] Set a safe distance threshold and an avoidance threshold range between two tools, wherein the minimum value of the avoidance threshold range is greater than the safe distance threshold;

[0043] During the cutting process, the position information of the two blades in three-dimensional space is monitored in real time;

[0044] Based on the position information of the two tools in three-dimensional space, the future motion trajectory of the two tools is simulated;

[0045] When the horizontal distance between the two cutters is detected to have decreased to within the avoidance threshold range, the pre-stored cutting path is compared with the simulated trajectory to predict the future movement trend of the two cutters.

[0046] The future horizontal distance between the two tools is obtained based on their future movement trends. Based on this horizontal distance, corresponding measures are taken to adjust the operating state of the two tools.

[0047] Specifically, in this embodiment, if it is predicted that the horizontal distance between the two tools will be lower than the safety threshold, a first measure is taken; if it is predicted that the horizontal distance between the two tools will be lower than the minimum value of the avoidance threshold but higher than the safety threshold, a second measure is taken. The first measure is to stop the operation of one tool; the second measure is to adopt a staggered mechanism to ensure that the horizontal distance between the two tools is always not less than the safety distance threshold.

[0048] Reference Figure 1 The following is a specific example to describe this method.

[0049] Step S1: Technicians first use advanced CAD / CAM software to draw and precisely calculate the cutting paths for all patterns on the fabric (assigned to two cutters), ensuring that the boundaries and internal details of each pattern are completely and accurately covered. Next, this millimeter-precise cutting path information is imported into the cutting machine's control system and compiled into a machine-readable set of operating instructions using a high-level programming language.

[0050] Step S2: After receiving all cutting path information, the control system performs a comprehensive analysis of the movement trajectory of each cutter. Based on physical principles, actual cutting experience and equipment performance parameters, it pre-sets a safe distance threshold between two cutters (e.g., 1 cm). At the same time, in order to prevent the safe distance from occasionally and briefly falling below the safe distance threshold due to various uncertain factors, the system also sets an additional avoidance threshold range (e.g., 1.5-2 cm).

[0051] Ideally, the control system ensures that the horizontal distance between the two blades (the closest distance between their blade tips or cutting edges on the cutting plane) remains above a safe distance threshold as they cut along the planned path. However, due to the aforementioned minor deviations, the horizontal distance between the two blades may briefly fall below the safe distance threshold during the actual cutting process.

[0052] The reason why the minimum value of the avoidance threshold range is set at 1.5 cm and the safe distance threshold is set at 1 cm is because, based on a large amount of experimental data and practical experience, the tool has enough space to make an avoidance move within a 0.5 cm buffer zone.

[0053] Step S3: During the actual cutting operation, the cutting bed integrates a series of sophisticated photoelectric sensors, laser rangefinders, and other sensing elements. These devices work together to capture and update the precise position information of cutter A and cutter B in three-dimensional space in real time. This collected position information is transmitted to the central control system of the cutting bed in real time.

[0054] Based on the received real-time position information, the control system uses advanced kinematic models and artificial intelligence algorithms to simulate the motion trajectories of tool A and tool B over a period of time in the future, thereby providing detailed and accurate data support for real-time collision avoidance decisions.

[0055] Based on this, the control system employs a strategy of dynamically adjusting the sampling rate to optimize resource allocation and improve collision avoidance performance. Specifically, when the control system detects that the horizontal distance between tool A and tool B is greater than the maximum value of 2 cm in the aforementioned avoidance threshold range, it determines it as a low-collision-risk zone. In this case, the sampling rate will be appropriately reduced to alleviate the system load and maintain appropriate monitoring accuracy. Conversely, when the horizontal distance between the tools decreases, such as falling to the avoidance threshold range (e.g., 1.5 to 2 cm), the system will automatically define it as a high-collision-risk zone. In this case, the sampling rate will be significantly increased to ensure accurate detection of minute changes in tool position, thereby enabling timely collision avoidance responses and ensuring the safety and efficiency of the cutting process.

[0056] Step S4: When the precision sensor detects that the horizontal distance between the two cutters has decreased to within the preset avoidance threshold range, for example, to 1.7 cm, the control system uses advanced kinematic models and artificial intelligence algorithms to compare the pre-stored cutting path with the simulated trajectory in step S3 based on the pre-stored precise cutting path information, thereby accurately predicting and intelligently judging the future movement trends of cutter A and cutter B.

[0057] In practice, suppose the preset cutting path indicates that cutter A should move 0.5 cm along the X-axis in the next second, while cutter B moves 0.3 cm along the Y-axis in the same time period, maintaining a horizontal distance between the two cutters that is always greater than the maximum value of the avoidance threshold range of 2 cm. However, real-time data monitored by sensors shows that, due to some reason (such as fabric elasticity, mechanical error, etc.), the actual movement of cutter A exceeds the preset value, causing the horizontal distance between the two cutters to shrink to 1.7 cm. At this point, the control system will quickly activate a comparison mechanism, comparing and analyzing the preset cutting path with the real-time and future trajectories of the cutters simulated by kinematic models and artificial intelligence algorithms. If the algorithm predicts that the horizontal distance between the two cutters will fall below the safe distance threshold in the next moment or in the short term, the control system will immediately take measures, such as stopping the operation of one cutter, and resuming the operation of the cutters only after the distance between the two cutters is greater than the maximum value of the avoidance threshold range.

[0058] Step S5: During real-time monitoring and intelligent prediction, if the system determines, by analyzing the pre-stored precise cutting path information, real-time position data, and using kinematic models and artificial intelligence algorithms, that the horizontal distance between the two tools may be reduced to within the minimum avoidance threshold range of 1.5 cm on the next movement path, for example, when tool A gradually approaches the back of tool B following the preset path, the system will immediately take corresponding preventive measures.

[0059] Suppose a dual-blade cutting machine is performing a complex shape cutting task. Blade A is responsible for cutting the outer contour of the shape, while blade B is responsible for cutting the internal details. At a certain moment, according to the preset cutting path, blade A needs to move along an inwardly concave curve, which happens to be adjacent to the straight path that blade B is currently cutting. Through real-time monitoring and algorithm prediction, the system recognizes that in the next few seconds, the trajectory of blade A will reduce the horizontal distance between it and blade B to less than 1.5 cm. In this situation, the control system will immediately activate a misalignment mechanism, such as reducing the speed of blade A or temporarily pausing the movement of blade A until blade B completes its current cutting segment. This ensures that when blade A continues to move forward, the horizontal distance between the two blades is greater than a safe distance threshold. This not only avoids the potential risk of collision but also ensures the smooth progress of the cutting work and the maintenance of cutting accuracy.

[0060] Step S6: Conversely, when the system determines that the movement trend of the two cutters indicates that they will continue to maintain a safe distance in the subsequent cutting process, that is, the horizontal distance will always be greater than the minimum value of the preset avoidance threshold range (e.g., 1.5 cm), the control system will allow the two cutters to continue to perform the task according to the original cutting speed and path, so as to maintain the efficient operation of the dual-cutter cutting bed.

[0061] Suppose that when cutting a piece of fabric composed of multiple unconnected shapes, cutter A is cutting a rectangle on the left side of the fabric, while cutter B is cutting a triangle on the right side. Based on the preset cutting path and real-time monitoring data, the system predicts that the movement trajectories of the two cutters will maintain a sufficient safe distance in the near future, without interfering with each other or approaching within 1.5 cm. In this case, the control system will continuously monitor and confirm that the actual movement state of the two cutters matches the prediction. As long as their horizontal distance remains within the safe range, the system will not intervene in the speed or direction of movement of the cutters, allowing cutters A and B to simultaneously and efficiently complete their respective cutting tasks, thereby maximizing the productivity of the entire cutting process.

[0062] The control system continuously monitors the real-time positional relationship between the two cutting tools in three-dimensional space, paying particular attention to changes in the horizontal distance between them. Once the horizontal distance between the two cutting tools is detected to have fallen within a preset avoidance threshold range, the control system immediately activates advanced intelligent judgment and anti-collision algorithms. Based on real-time data and preset cutting paths, it quickly performs a risk assessment and adjusts the movement speed and direction of the cutting tools in real time, or even temporarily stops the movement of one of the cutting tools, to ensure that a safe distance is restored in the shortest possible time and to avoid potential collision risks.

[0063] For example, when cutting fabric containing multiple complex overlapping patterns, suppose blade A is cutting a circular pattern with an internal cutout design, while blade B is cutting a square pattern that partially overlaps with it. When the control system detects that blade A, while following a preset path and turning, may reduce the horizontal distance between itself and blade B, which is cutting in a straight line, to within 1.5 centimeters, the system will immediately initiate a judgment procedure. Based on the judgment result, the control system may choose to reduce the speed of blade A or temporarily stop its movement until blade B completes its current straight-line cutting segment, restoring the horizontal distance between them to a safe range. This real-time monitoring and dynamic adjustment method not only effectively avoids the risk of collision between the two blades during high-speed movement but also ensures the accuracy and continuity of the cutting process, guaranteeing a safe and smooth cutting workflow.

[0064] To cope with various extreme conditions and emergencies, the control system, when determining the tool movement trend within a preset avoidance threshold range, not only establishes a comprehensive emergency handling mechanism but also includes multiple safety redundancy designs. When encountering sensor failure, signal interference, algorithm misjudgment, or other unforeseen anomalies that cause the cutting judgment to fail, the control system will quickly initiate an emergency stop procedure to ensure all tools immediately stop moving, eliminating any potential safety hazards. For example, during the cutting process, if the control system suddenly detects an abnormal signal from a sensor, making it unable to accurately determine the actual distance between tools, or if a sudden change in the electromagnetic environment causes severe interference to signal transmission, resulting in the cutting judgment function failing, the control system will immediately activate the emergency handling mechanism, cut off the drive power, force all tools to stop moving, and trigger the audible and visual alarm system to issue a clear warning signal to the on-site operator. Simultaneously, the control system will record the fault information in detail and upload it to the backend server for remote diagnosis and troubleshooting by technicians. Upon receiving the alarm, on-site technicians will immediately conduct an on-site inspection to verify the cause of the fault and perform necessary repairs or replacements of affected sensors, communication lines, or algorithm modules. Only after confirming that all faults have been eliminated and the equipment has returned to normal will technicians lift the emergency stop and restart the cutting operation, ensuring the safety of equipment and personnel.

[0065] This embodiment has the following advantages:

[0066] By setting scientifically reasonable safety distance thresholds and avoidance threshold ranges, and by using real-time monitoring and advanced algorithms to predict the tool movement trajectory, collisions between tools can be effectively avoided, thus improving the safety of the cutting process.

[0067] By adjusting the sampling rate strategy in real time and flexibly allocating system resources according to the actual situation, the system burden can be reduced and energy saved during periods of low collision risk, while monitoring accuracy and response speed can be improved during periods of high collision risk, thus achieving a dual improvement in trimming efficiency and safety.

[0068] By integrating multiple precision detection components such as photoelectric sensors and laser rangefinders, real-time three-dimensional spatial positioning and trajectory tracking are achieved, ensuring the accuracy and real-time nature of data acquisition during the cutting process.

[0069] By using kinematic models and artificial intelligence algorithms to predict and analyze the future movement trend of the cutting tool, and making real-time operational adjustments accordingly, such as slowing down or pausing the cutting tool's movement, the occurrence of accidental collisions can be effectively prevented.

[0070] The system has a built-in emergency response mechanism that can quickly trigger emergency stop measures in case of abnormal situations. Combined with audible and visual alarm functions, it ensures the safety of equipment and personnel and reduces the risk of potential accidents.

[0071] Example 2

[0072] This embodiment provides a dual-blade cutting bed, including:

[0073] An initialization module is used to define the cutting paths of the two tools; and to set a safety distance threshold and an avoidance threshold range between the two tools, wherein the minimum value of the avoidance threshold range is greater than the safety distance threshold.

[0074] The monitoring and simulation module is used to monitor the position information of the two cutters in three-dimensional space in real time during the cutting process; and to simulate the future motion trajectory of the two cutters based on the position information of the two cutters in three-dimensional space.

[0075] The prediction module is used to compare the pre-stored cutting path with the simulated trajectory and predict the future movement trend of the two tools when the horizontal distance between the two tools is detected to be reduced to within the avoidance threshold range.

[0076] An execution module is used to obtain the future horizontal distance between the two tools based on their future movement trends, and to take corresponding measures to adjust the operating state of the two tools based on the future horizontal distance between them.

[0077] Another embodiment provides a dual-blade cutting bed that uses the stitching method of the dual-blade cutting bed in Embodiment 1 when performing cutting.

[0078] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A stitching method for a dual-blade cutting bed, characterized in that, include: Define the cutting paths for each of the two cutting tools; Set a safe distance threshold and an avoidance threshold range between two tools, wherein the minimum value of the avoidance threshold range is greater than the safe distance threshold; During the cutting process, the position information of the two blades in three-dimensional space is monitored in real time; Based on the position information of the two tools in three-dimensional space, the future motion trajectory of the two tools is simulated; When the horizontal distance between the two cutters is detected to be reduced to within the avoidance threshold range, the pre-stored cutting path is compared with the simulated trajectory to predict the future movement trend of the two cutters. The horizontal distance between the two tools is obtained based on their future movement trends. Based on this horizontal distance, corresponding measures are taken to adjust the operating state of the two tools. The method for real-time monitoring of the position information of the two tools in three-dimensional space includes: When the horizontal distance between two tools increases to more than the maximum value of the avoidance threshold range, it is judged as a low collision risk range, and the sampling frequency is reduced. When the horizontal distance between two tools decreases to within the avoidance threshold range, it is determined to be a high collision risk range, and the sampling frequency is increased.

2. The stitching method of the dual-blade cutting bed as described in claim 1, characterized in that, If it is predicted that the horizontal distance between the two tools will be lower than the safe distance threshold, then take the first measure; If it is predicted that the horizontal distance between the two tools will be lower than the minimum of the avoidance threshold but higher than the safe distance threshold, then a second measure is taken.

3. The stitching method of the dual-blade cutting bed as described in claim 2, characterized in that, The first measure is to stop the operation of at least one tool; the second measure is to adopt a staggered mechanism to ensure that the horizontal distance between the two tools is always not less than the safe distance threshold.

4. The stitching method of the dual-blade cutting bed as described in claim 1, characterized in that, The method for simulating the future motion trajectories of the two tools includes: Using kinematic models and artificial intelligence algorithms, the motion trajectories of two tools within a set timeframe are simulated.

5. The stitching method of the dual-blade cutting bed as described in claim 1, characterized in that, The method also includes activating an emergency response mechanism when the actual distance between the two tools cannot be known, or the future movement trend of the two tools cannot be predicted.

6. The stitching method of the dual-blade cutting bed as described in claim 5, characterized in that, The emergency response mechanism includes: stopping all tool movement and issuing an alarm.

7. A double-blade cutting bed, characterized in that, When cutting, the stitching method of the dual-blade cutting bed as described in any one of claims 1-6 is used.

8. A double-blade cutting bed, characterized in that, include: An initialization module is used to define the cutting paths of the two tools; and to set a safety distance threshold and an avoidance threshold range between the two tools, wherein the minimum value of the avoidance threshold range is greater than the safety distance threshold. A monitoring and simulation module is used to monitor the position information of two cutting tools in three-dimensional space in real time during the cutting process; and to simulate the future motion trajectory of the two cutting tools based on the position information of the two cutting tools in three-dimensional space; wherein the method for real-time monitoring of the position information of the two cutting tools in three-dimensional space includes: when the horizontal distance between the two cutting tools increases to above the maximum value of the avoidance threshold range, it is judged as a low collision risk range, and the sampling frequency is reduced; when the horizontal distance between the two cutting tools decreases to within the avoidance threshold range, it is judged as a high collision risk range, and the sampling frequency is increased; The prediction module is used to compare the pre-stored cutting path with the simulated trajectory and predict the future movement trend of the two tools when the horizontal distance between the two tools is detected to be reduced to within the avoidance threshold range. An execution module is used to obtain the future horizontal distance between the two tools based on their future movement trends, and to take corresponding measures to adjust the operating state of the two tools based on the future horizontal distance between them.

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