A control method for glass original sheet shuttle warehouse

Abstract

The present invention discloses a control method for a glass original sheet shuttle bin, wherein a data collector obtains design parameters of a target slice and sends the parameters to a design parameter module of a data processing module to be processed into a design parameter set; based on the design parameter set, the data processing module obtains corresponding glass original sheet data in a glass original sheet database; a tool adjustment module of the data processing module constructs a glass original sheet cutting control data set, wherein the cutting control data set includes a tool adjustment data subset, a tool path data subset, and a tool path compensation data subset. The beneficial effects of the present invention are as follows: accurate design data and glass original sheet data are provided for the cutting of target slices, accurate data is provided for making full use of the inventory of glass original sheets for material placement, and a material placement basis is provided for automatic material placement, which solves the problem in the prior art that an operator is required to check the material status of the shuttle bin and manually place materials on the cutting machine.

Description

Technical Field

[0001] The present invention belongs to the technical field of control of a glass sheet shuttle bin, and in particular relates to a control method of a glass sheet shuttle bin. Background Art

[0002] The original glass shuttle warehouse is a necessary equipment in the fully automatic glass cutting production. It is composed of a shuttle car, glass racks, storage racks, loading positions, patching positions and a control system. The shuttle system is designed to supply multiple cutting lines with raw glass. Through the movement of the shuttle car in the X and Y directions, the glass racks can be automatically put in, out of the warehouse, put on the rack, and change the rack. After the relevant information such as the size, thickness, and film system of the glass is entered into the database, the data in the storage inventory area is synchronized and shared with the data in the master control center to realize real-time update of information. It can form a fully automatic glass cutting production line with the fully automatic glass cutting machine.

[0003] In the current fully automatic glass cutting production line, the shuttle bin and the cutting machine are controlled separately, and only at the connection point is there a material arrival signal transmitted to the control systems of the shuttle bin and the cutting machine.

[0004] Such a control system requires operators to check the material status of the shuttle bin, manually arrange the materials on the cutting machine, and draw cutting paths for multiple slices. There is an unreasonable match between the original slice selection and the target slice arrangement and cutting control. Summary of the invention

[0005] The goal to be achieved by the present invention is to solve the technical problem that the existing control system requires operators to check the material status of the shuttle bin, manually arrange the materials on the cutting machine, draw cutting paths for multiple slices, and there is unreasonable matching between the original slice selection and the target slice arrangement and cutting control.

[0006] In order to achieve the above objectives, the present invention provides a control method for a glass sheet shuttle bin.

[0007] The specific technical solution adopted by the present invention is:

[0008] A control method for a glass original sheet shuttle bin, a data collector obtains design parameters of a target slice and sends the design parameters to a data processing module, which processes the design parameters into a design parameter set;

[0009] According to the design parameter set, the data processing module obtains the corresponding glass original piece data in the glass original piece database;

[0010] The tool adjustment module of the data processing module constructs a glass original sheet cutting control data set, wherein the cutting control data set includes a tool adjustment data subset, a tool path data subset and a tool path compensation data subset;

[0011] The data processing module sends instructions to the instruction executor according to the cutting control data set to obtain the corresponding glass original piece;

[0012] Constructing a cutting control model of a target slice using the design parameter set and the cutting control data set, wherein the cutting control model includes an initial cutting control sub-model and a compensation sub-model, wherein the initial cutting control sub-model is constructed based on the design parameter set, the tool adjustment data subset and the tool path data subset, and the compensation sub-model is constructed based on the tool path compensation data subset;

[0013] The initial cutting control sub-model is used to control the tool to cut the original slice. The data collector obtains the real-time position parameters and tool mark image parameters of the tool, and inputs the real-time position parameters into the tool path compensation data subset to form a compensation sub-model to compensate for the tool path offset, the tool pressure difference and the tool angle difference until the target slice is cut.

[0014] Furthermore, constructing the tool adjustment data subset includes:

[0015] The design parameters of multiple target slices are obtained through the system input end to form a design parameter set, and a tool adjustment data subset and a tool path data subset are constructed according to the design parameter set and the glass original slice data, wherein the design parameters include the shape, outer dimensions, glass material, glass thickness and number of the target slice;

[0016] Obtaining tool parameters according to glass original sheet data corresponding to design parameters, wherein the tool parameters include tool angle values, tool straight-line cutting pressure values, and tool profile cutting pressure values;

[0017] Inputting tool parameters into a tool adjustment data subset to form tool control parameters;

[0018] The design parameter set and tool control parameters are input into the tool path data subset to form an initial tool path data subset, and the initial tool path data subset is input into the tool path simulator to form the initial cutting control sub-model, and the initial cutting control tool path coordinate data set is output based on the initial cutting control sub-model to control the cutting trajectory of the tool.

[0019] Furthermore, the real-time position parameters of the tool acquired by the data collector through the sensor disposed above the tool are input into the tool path data subset to form an actual tool path subset, and the difference between the actual tool path subset and the initial tool path data subset is used as the tool path compensation data subset;

[0020] A tool path compensation data subset is input into a tool path simulator to form the compensation sub-model, a compensation sub-model tool path compensation coordinate data set is output based on the compensation sub-model, the tool path compensation coordinate data set is combined with the initial cutting control tool path coordinate data set to obtain a compensated cutting control tool path coordinate data set, and the cutting trajectory of the tool is controlled by the compensated cutting control tool path coordinate data set.

[0021] Further, constructing a difference relationship between each corresponding machining coordinate in the tool path data subset and the tool path compensation data subset;

[0022] The real-time position parameters of the tool acquired by the data collector through the sensor arranged above the tool are input into the difference relationship to obtain a compensated cutting control tool path coordinate data set;

[0023] The cutting trajectory of the tool is controlled according to the compensated cutting control tool path coordinate data set.

[0024] Furthermore, constructing a tool path compensation data subset includes:

[0025] Obtain tool compensation parameters for cutting multiple glass sheets of the same material and thickness processed by the machine to form tool compensation sample parameters;

[0026] Obtain the real-time position parameters of the tool when processing and arranging the first slice on the same glass original sheet as the initial tool control parameters;

[0027] Based on BP neural network, a tool compensation training module is constructed;

[0028] Inputting the tool compensation sample parameters and the initial tool control parameters into the tool compensation training module, training through the tool compensation training module, and outputting the initial tool real-time compensation amount after comparing the initial tool path data subset;

[0029] The tool real-time position parameters at the time of the n+1th slice are obtained, and the tool compensation sample parameters and the tool real-time position parameters at the time of the n+1th slice are input into the tool compensation training module. After the tool compensation training module is trained and the initial tool path data subset and the tool path parameters of the nth slice are compared, the tool compensation amount of the n+1th slice is output;

[0030] When the tool compensation amount is combined with the actual tool parameters and the difference with the initial cutting control submodel meets the preset requirements, the tool compensation amount is used as the tool path compensation data subset. On the contrary, if the difference with the initial cutting control submodel does not meet the preset requirements, the determination of the tool compensation amount of the n+1th slice is repeated until the difference with the initial cutting control submodel meets the preset requirements.

[0031] A tool path compensation data subset is input into a tool path simulator to form the compensation sub-model, a compensation sub-model tool path compensation coordinate data set is output based on the compensation sub-model, the tool path compensation coordinate data set is combined with the initial cutting control tool path coordinate data set to obtain a compensated cutting control tool path coordinate data set, and the cutting trajectory of the tool is controlled by the compensated cutting control tool path coordinate data set.

[0032] Furthermore, the knife mark image parameters are compared with the knife path in the initial cutting control sub-model: if the comparison results are the same, the compensation instructions of the compensation sub-model are not executed; if the comparison results are different, the compensation instructions of the compensation sub-model are executed.

[0033] Furthermore, the central processing unit classifies and transports the cut target slices according to the shape, size, glass material, glass thickness and number of the target slices, and forms marking information for uploading to a designated system.

[0034] A control system based on a control method for a glass sheet shuttle bin, the control system comprising:

[0035] The data collector is used to obtain the design parameters of the target slice, obtain the inventory information of the original glass slice in the glass original slice database, obtain the tool information during the cutting process of the target slice, and send it to the data processing module;

[0036] The data processing module receives various information acquired by the data collector through the information receiver, builds a cutting control model for the target slice, and sends an execution instruction to the instruction executor through the instruction sending module, acquires the original glass sheet, and controls the tool to cut the original glass sheet according to the cutting control model;

[0037] The data processing module includes: a design parameter module, which is used to process the design parameters of the target slice into a design parameter set; a tool adjustment module, which is used to construct a glass original sheet cutting control data set; a tool path data module, which is used to receive the design parameter set, the tool adjustment data subset and the tool path data subset to construct the initial cutting control sub-model; a tool path compensation data module, which is used to receive the tool path compensation data subset to construct the compensation sub-model; a tool path simulator, which is used to integrate the initial cutting control sub-model and the compensation sub-model, and output the coordinate instruction set of the cutting control model to control the tool to cut the glass original sheet;

[0038] The instruction executor, the data processing module receives the execution instruction sent by the instruction sending module and transmits the execution instruction to each execution module, wherein the execution instruction includes a first control instruction for obtaining the glass original sheet from the glass original sheet shuttle warehouse, a second control instruction for conveying the glass original sheet to the glass cutting machine, and a third control instruction for the glass cutting machine to cut the glass;

[0039] During the cutting process, the tool information is fed back to the data processing module to form a compensation sub-model, and the difference between the actual tool path of the glass cutting machine in cutting the glass and the simulated tool path in the cutting control model is compensated through the third control instruction until the target slice is cut;

[0040] The tool information during the cutting process includes the real-time position parameters of the tool and the tool mark image parameters.

[0041] The positive effects of the present invention are:

[0042] 1. The control method provided in the present application uses a data collector to obtain the design parameters of the target slice, obtain the inventory information of the glass original sheet in the glass original sheet database, obtain the tool information during the cutting process of the target slice, and send it to the data processing module, so as to provide accurate design data and glass original sheet data for the cutting of the target slice, provide accurate data for making full use of the inventory of glass original sheets, and provide a basis for automatic material placement, thus solving the problem in the prior art that the operator needs to check the material status of the shuttle bin and manually place the material on the cutting machine;

[0043] 2. The data processing module of the control method provided in the present application constructs a cutting control model of the target slice by receiving various information obtained by the data collector, and sends an execution instruction to the instruction executor to obtain the original glass sheet and control the tool to cut the original glass sheet according to the cutting control model. During the cutting process, the tool information is fed back to the data processing module to form a compensation sub-model, and the difference between the actual tool path of the glass cutting machine in cutting the glass and the simulated tool path in the cutting control model is compensated through the third control instruction until the target slice is cut. The joint collaborative control of the shuttle bin and the cutting machine is realized to become a whole, which changes the technical problem of the shuttle bin and the cutting machine being controlled separately in the prior art. At the same time, the automatic control and compensation of glass cutting is realized through the cutting control model, which reduces the artificial processing loss of glass cutting raw materials, improves the yield of target glass slices, realizes reasonable typesetting and makes full use of the existing glass raw sheets to achieve the technical effect of saving glass, realizes the automatic classification of glass slices, and provides technical conditions for the subsequent automated storage management of glass slices. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a structural diagram of a control system based on a control method of a glass original sheet shuttle bin of the present invention;

[0045] Figure 2 This is a flow chart of a control method for a glass sheet shuttle bin of the present invention;

[0046] Figure 3 It is a flow chart of the first method of constructing a tool path compensation data subset and its model in a control method of a glass original sheet shuttle bin of the present invention;

[0047] Figure 4 It is a flow chart of the second method of constructing a tool path compensation data subset and its model in a control method for a glass original sheet shuttle bin of the present invention;

[0048] Figure 5 It is a schematic diagram of a third process of constructing a tool path compensation data subset and its model in a control method for a glass original sheet shuttle bin of the present invention;

[0049] Legend: 1—design parameter collector, 2—original piece parameter collector, 3—tool parameter collector, 4—data processing module, 5—instruction sending module, 6—tool path data module, 7—tool path compensation data module, 8—tool compensation training module based on BP neural network, 9—instruction controller, 10—third control commander, 11—glass cutting machine, 12—glass conveying device, 13—second control commander, 14—glass original piece shuttle bin, 15—first control commander, 16—tool path simulator module, 17—tool adjustment module, 18—design parameter module, 19—information receiver, 20—design parameter collector, 21—system input module. DETAILED DESCRIPTION

[0050] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following is a detailed description of a control method for a glass sheet shuttle bin proposed in accordance with the present invention, its specific implementation method, structure, characteristics and effects, in combination with the accompanying drawings and embodiments.

[0051] In the following description, different references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, particular features, structures, or characteristics in one or more embodiments may be combined in any suitable form.

[0052] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0053] The acquisition, storage, use, and processing of data in the technical solution of the present invention are in compliance with the relevant provisions of national laws and regulations.

[0054] The present application is applicable to the unified control of the glass original sheet shuttle warehouse, the glass conveying device and the glass cutting machine line production. In order to solve the existing control system, the operator needs to check the material situation of the shuttle warehouse, manually arrange the materials on the cutting machine, draw the cutting tool paths of multiple slices, and there is a technical problem of unreasonable matching between the original sheet selection and the target slice arrangement and cutting control. The data processing module in the embodiment of the present invention receives various information obtained by the data collector, builds a cutting control model for the target slice, and sends an execution instruction to the instruction executor to obtain the glass original sheet, and controls the tool to cut the glass original sheet according to the cutting control model. During the cutting process, the tool information is fed back to the data processing module. A compensation sub-model is formed, and the difference between the actual tool path when the glass cutting machine cuts the glass and the simulated tool path in the cutting control model is compensated through the third control instruction until the target slice is cut, thereby realizing the joint coordinated control of the shuttle warehouse and the cutting machine, becoming a whole, and changing the technical problem of the existing technology that the shuttle warehouse and the cutting machine are controlled separately. At the same time, the automatic control and compensation of glass cutting are realized through the cutting control model, which reduces the artificial processing loss of glass cutting raw materials, improves the yield of target glass slices, realizes reasonable typesetting and makes full use of the existing glass raw sheets to achieve the technical effect of saving glass, realizes the automatic classification of glass slices, and provides technical conditions for the subsequent automated storage management of glass slices.

[0055] The specific scheme of the on-site arrangement control method for feeding high-yield glass production machine tool provided by the present invention is described in detail below with reference to the accompanying drawings.

[0056] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments:

[0057] Embodiment 1: A method for controlling a glass sheet shuttle bin, the method comprising:

[0058] S100: The data collector obtains the design parameters of the target slice and sends them to the design parameter module of the data processing module to process them into a design parameter set;

[0059] Specifically, in this embodiment, the target slices are planar glass blocks of various shapes, sizes, and materials received by the production line; at the same time, it can be understood that these glass pieces have different shapes, sizes, materials, and quantities; or it can be understood that at least a part of them has different shapes, sizes, materials, and quantities; and in this embodiment, it is necessary to classify these planar glass blocks, that is, the target slices, such as by material, and then by thickness, to form a plurality of different design parameter sets;

[0060] S200: According to the design parameter set, the data processing module obtains the corresponding glass original piece data in the glass original piece database;

[0061] Specifically, according to the multiple different design parameter sets obtained in S100, the glass original slice data corresponding to the glass original slice database are compared, and a suitable glass original slice is selected for layout, wherein the suitable glass original slice refers to a glass original slice whose material matches the material of the target slice, whose thickness matches the thickness of the target slice, and whose size can layout multiple target slices in at least one design parameter set in the same glass original slice;

[0062] S300: The tool adjustment module of the data processing module constructs a glass original sheet cutting control data set, wherein the cutting control data set includes a tool adjustment data subset, a tool path data subset, and a tool path compensation data subset;

[0063] Specifically, the tool adjustment module of the data processing module constructs a glass raw material cutting control data set based on the glass raw material data in S200 and multiple design parameter sets in S100. The cutting control data set includes the selection of tools, the determination of cutting parameters, the construction of tool paths, and the determination of tool path compensation.

[0064] Preferably, Figure 2 As shown, constructing the tool adjustment data subset includes:

[0065] S310: obtaining design parameters of multiple target slices through the system input end to form a design parameter set, which is a data set obtained by classifying and analyzing the target slices. For example, if the target slices are classified by material, the target slices of the same material are classified into the same design data set. If the target slices are classified by thickness, the target slices of the same thickness are classified into the same design data set. Then, the areas of multiple target slices in the same design data set are summed to obtain the total area A of multiple target slices in the design data set. The glass original slice data whose area is close to the total area A and greater than the total area A is obtained from the glass original slice database to form a glass original slice processing data set to be typeset. According to the design parameter set and the glass original slice data, a tool adjustment data subset and a tool path data subset are constructed, wherein the design parameters include the shape, external dimensions, glass material, glass thickness and number of the target slice.

[0066] S311: According to the glass original sheet data corresponding to the design parameters, that is, the glass original sheet processing data set, the tool parameters are obtained, and the tool parameters include the tool model, the tool angle value, the tool cutting linear pressure value, and the tool cutting special-shaped pressure value; specifically, according to the glass original sheet processing data set, the corresponding model of the tool is obtained, and the cutting angle of the tool, the linear pressure value of the tool cutting, and the pressure value of the tool cutting special-shaped are determined;

[0067] S312: Inputting tool parameters into the tool adjustment data subset to form tool control parameters; specifically, forming a tool call instruction in the tool control parameters according to the tool model, selecting a corresponding diamond tool from the tool library, and fixing it at the cutting position of the glass cutting machine; forming a tool cutting angle execution instruction in the tool control parameters according to the tool model and the glass original processing data set, determining an execution instruction for the tool cutting linear pressure value, and determining an execution instruction for the tool cutting special-shaped pressure value, and sending them to the glass cutting machine;

[0068] S313: Input the design parameter set and the tool control parameter into the tool path data subset to form an initial tool path data subset.

[0069] Specifically, in the glass original piece processing data set to be typeset, the target slices processed in the glass original piece processing data set are typeset, and the optimal layout diagram is output through multiple comparisons of the layouts. The set formed by the coordinate points corresponding to the contour shape of each target front piece in the layout diagram is the initial tool path data subset.

[0070] S314: Inputting the initial tool path data subset into the tool path simulator to form the initial cutting control sub-model; the tool path simulator is a generator of tool paths in numerical control machining programming, which is a prior art. The initial cutting control sub-model is the tool path generated by the tool path simulator, which can be adjusted or compensated.

[0071] S315: Outputting an initial cutting control tool path coordinate data set according to the initial cutting control sub-model to control the cutting trajectory of the tool.

[0072] S400: The data processing module sends instructions to the instruction executor according to the cutting control data set to obtain the corresponding glass original piece.

[0073] S500: Construct a cutting control model of a target slice using the design parameter set and the cutting control data set, wherein the cutting control model includes an initial cutting control sub-model and a compensation sub-model, wherein the initial cutting control sub-model is constructed based on the design parameter set, the tool adjustment data subset and the tool path data subset, and the compensation sub-model is constructed based on the tool path compensation data subset.

[0074] like Figure 4 Preferred:

[0075] S320: inputting the real-time position parameters of the tool acquired by the data collector through the sensor disposed above the tool into the tool path data subset to form an actual tool path subset;

[0076] S321: taking the difference between the actual tool path subset and the initial tool path data subset as the tool path compensation data subset;

[0077] S322: inputting the tool path compensation data subset into the tool path simulator to form the compensation sub-model;

[0078] S323: Outputting a compensation sub-model tool path compensation coordinate data set according to the compensation sub-model;

[0079] S324: The tool path compensation coordinate data set is combined with the initial cutting control tool path coordinate data set to obtain a compensated cutting control tool path coordinate data set, and the cutting trajectory of the tool is controlled by the compensated cutting control tool path coordinate data set.

[0080] Specifically, this embodiment obtains the design parameters of the target slice at the input end of the CNC glass cutting machine, and then obtains the data of the glass original sheet from the glass original sheet lock chamber, and cuts it on the CNC glass cutting machine after data analysis. The structure of the CNC glass cutting machine can refer to the Chinese utility model patent CN202021282456.9. A CNC glass cutting machine with a tool magazine is preferably used for glass cutting.

[0081] According to the preset tool path trajectory, cutting starts from the edge of the glass original sheet, and the tool is controlled by the tool path data subset and the tool path compensation data subset to cut the target slices arranged on the same glass original sheet one by one. The tool path data subset of each target slice is different, and this difference is compensated by the tool path compensation data subset. This compensation is achieved by inputting the real-time position parameters of the tool obtained by the data collector through the sensor set above the tool into the tool path data subset to form an actual tool path subset, and the compensation is performed after comparing with the tool path data subset generated by the data processing module. It is a real-time feedback compensation.

[0082] It should be understood that the implementation of feedback compensation is the correction compensation of the K+1th cut for the Kth cut in glass cutting. The specific method is to combine the tool path compensation coordinate data set with the initial cutting control tool path coordinate data set to obtain the compensated cutting control tool path coordinate data set, and control the cutting trajectory of the tool through the compensated cutting control tool path coordinate data set.

[0083] This embodiment also provides a second implementation method for compensation:

[0084] like Figure 5 As shown, S330 constructs a difference relationship between each corresponding machining coordinate in the tool path data subset and the tool path compensation data subset;

[0085] S331: inputting the real-time position parameters of the tool obtained by the data collector through the sensor disposed above the tool into the difference relationship;

[0086] S332: Obtaining a compensated cutting control tool path coordinate data set;

[0087] S333: Control the cutting trajectory of the tool according to the compensated cutting control tool path coordinate data set.

[0088] This embodiment also provides a third implementation method for compensation:

[0089] Constructing toolpath compensation data subsets includes:

[0090] Obtain tool compensation parameters for cutting multiple glass sheets of the same material and thickness processed by the machine to form tool compensation sample parameters;

[0091] Obtain the real-time position parameters of the tool when processing and arranging the first slice on the same glass original sheet as the initial tool control parameters;

[0092] Based on BP neural network, a tool compensation training module is constructed;

[0093] Inputting the tool compensation sample parameters and the initial tool control parameters into the tool compensation training module, training through the tool compensation training module, and outputting the initial tool real-time compensation amount after comparing the initial tool path data subset;

[0094] The tool real-time position parameters at the time of the n+1th slice are obtained, and the tool compensation sample parameters and the tool real-time position parameters at the time of the n+1th slice are input into the tool compensation training module. After the tool compensation training module is trained and the initial tool path data subset and the tool path parameters of the nth slice are compared, the tool compensation amount of the n+1th slice is output;

[0095] In order to improve the accuracy of tool compensation parameters, the tool compensation training module is trained with a large amount of data. The tool compensation sample parameters and initial tool control parameters are data-identified to obtain a constructed data set, which is used to train and verify the tool compensation training module. After comparing the initial tool path data subset and the tool path parameters of the nth slice, the tool compensation amount of the n+1th slice is output until the accuracy of the tool compensation training module meets the preset requirements, and the constructed tool compensation training module is obtained.

[0096] This embodiment constructs a tool compensation training module based on the BP neural network model, and performs training based on tool compensation sample parameters and initial tool control parameters, thereby obtaining a tool compensation training module that can output tool parameter compensation accuracy requirements, thereby achieving the technical effect of compensating and adjusting tool control parameters based on the tool compensation training module, thereby eliminating the influence of tool wear and accumulated errors on target slices and improving cutting accuracy based on the tool cutting satisfying the cutting of multiple target slices.

[0097] When the tool compensation amount is combined with the actual tool parameters and the difference with the initial cutting control submodel meets the preset requirements, the tool compensation amount is used as the tool path compensation data subset. On the contrary, when the difference with the initial cutting control submodel does not meet the preset requirements, the above determination of the tool compensation amount for the n+1th slice is repeated until the difference with the initial cutting control submodel meets the preset requirements.

[0098] A tool path compensation data subset is input into a tool path simulator to form the compensation sub-model, a compensation sub-model tool path compensation coordinate data set is output based on the compensation sub-model, the tool path compensation coordinate data set is combined with the initial cutting control tool path coordinate data set to obtain a compensated cutting control tool path coordinate data set, and the cutting trajectory of the tool is controlled by the compensated cutting control tool path coordinate data set.

[0099] S600: Use the initial cutting control sub-model to control the tool to cut the original slice, the data collector obtains the real-time position parameters and tool mark image parameters of the tool, and inputs the real-time position parameters into the tool path compensation data subset to form a compensation sub-model to compensate for the tool path offset, the tool pressure difference and the tool angle difference until the target slice is cut.

[0100] The foregoing has broadly outlined some aspects and features of various embodiments, which should be construed as merely illustrative of various potential applications. Other beneficial results may be obtained by applying the disclosed information in different ways or by combining various aspects of the disclosed embodiments. Other aspects and a more comprehensive understanding may be obtained by reference to the detailed description of the exemplary embodiments in conjunction with the accompanying drawings, within the scope defined by the claims.

[0101] The above embodiments have been described in detail. Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions, reductions, and substitutions made by relevant technicians within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. A control method for a glass sheet shuttle bin, characterized in that: The data collector obtains the design parameters of the target slice and sends them to the design parameter module of the data processing module to process them into a design parameter set; According to the design parameter set, the data processing module obtains the corresponding glass original piece data in the glass original piece database; The tool adjustment module of the data processing module constructs a glass original sheet cutting control data set, wherein the cutting control data set includes a tool adjustment data subset, a tool path data subset and a tool path compensation data subset; Constructing the tool adjustment data subset includes: The design parameters of multiple target slices are obtained through the system input end to form a design parameter set, and a tool adjustment data subset and a tool path data subset are constructed according to the design parameter set and the glass original slice data, wherein the design parameters include the shape, outer dimensions, glass material, glass thickness and number of the target slice; Obtaining tool parameters according to glass original sheet data corresponding to design parameters, wherein the tool parameters include tool angle values, tool straight-line cutting pressure values, and tool profile cutting pressure values; Inputting tool parameters into a tool adjustment data subset to form tool control parameters; Input the design parameter set and the tool control parameter into the tool path data subset to form an initial tool path data subset, input the initial tool path data subset into the tool path simulator to form an initial cutting control sub-model, and output the initial cutting control tool path coordinate data set according to the initial cutting control sub-model to control the cutting trajectory of the tool; Constructing toolpath compensation data subsets includes: Obtain tool compensation parameters for cutting multiple glass sheets of the same material and thickness processed by the machine to form tool compensation sample parameters; Obtain the real-time position parameters of the tool when processing and arranging the first slice on the same glass original sheet as the initial tool control parameters; Based on BP neural network, a tool compensation training module is constructed; Inputting the tool compensation sample parameters and the initial tool control parameters into the tool compensation training module, training through the tool compensation training module, and outputting the initial tool real-time compensation amount after comparing the initial tool path data subset; The tool real-time position parameters at the time of the n+1th slice are obtained, and the tool compensation sample parameters and the tool real-time position parameters at the time of the n+1th slice are input into the tool compensation training module. After the tool compensation training module is trained and the initial tool path data subset and the tool path parameters of the nth slice are compared, the tool compensation amount of the n+1th slice is output; When the tool compensation amount is combined with the actual tool parameters and the difference with the initial cutting control submodel meets the preset requirements, the tool compensation amount is used as the tool path compensation data subset. On the contrary, if the difference with the initial cutting control submodel does not meet the preset requirements, the determination of the tool compensation amount of the n+1th slice is repeated until the difference with the initial cutting control submodel meets the preset requirements. Inputting a tool path compensation data subset into a tool path simulator to form a compensation sub-model, outputting a compensation sub-model tool path compensation coordinate data set according to the compensation sub-model, combining the tool path compensation coordinate data set with the initial cutting control tool path coordinate data set to obtain a compensated cutting control tool path coordinate data set, and controlling the cutting trajectory of the tool through the compensated cutting control tool path coordinate data set; The data processing module sends instructions to the instruction executor according to the cutting control data set to obtain the corresponding glass original piece; Constructing a cutting control model of a target slice using the design parameter set and the cutting control data set, wherein the cutting control model includes an initial cutting control sub-model and a compensation sub-model, wherein the initial cutting control sub-model is constructed based on the design parameter set, the tool adjustment data subset and the tool path data subset, and the compensation sub-model is constructed based on the tool path compensation data subset; The initial cutting control sub-model is used to control the tool to cut the original slice. The data collector obtains the real-time position parameters and tool mark image parameters of the tool, and inputs the real-time position parameters into the tool path compensation data subset to form a compensation sub-model to compensate for the tool path offset, the tool pressure difference and the tool angle difference until the target slice is cut.

2. According to claim 1, a control method for a glass sheet shuttle bin is characterized in that: The real-time position parameters of the tool acquired by the data collector through the sensor arranged above the tool are input into the tool path data subset to form an actual tool path subset, and the difference between the actual tool path subset and the initial tool path data subset is used as the tool path compensation data subset; A tool path compensation data subset is input into a tool path simulator to form a compensation sub-model, and a compensation sub-model tool path compensation coordinate data set is output based on the compensation sub-model. The tool path compensation coordinate data set is combined with the initial cutting control tool path coordinate data set to obtain a compensated cutting control tool path coordinate data set, and the cutting trajectory of the tool is controlled by the compensated cutting control tool path coordinate data set.

3. The control method of the glass sheet shuttle bin according to claim 2, characterized in that: Constructing the difference relationship between each corresponding machining coordinate in the tool path data subset and the tool path compensation data subset; The real-time position parameters of the tool acquired by the data collector through the sensor arranged above the tool are input into the difference relationship to obtain a compensated cutting control tool path coordinate data set; The cutting trajectory of the tool is controlled according to the compensated cutting control tool path coordinate data set.

4. A control method for a glass sheet shuttle bin according to any one of claims 1 to 3, characterized in that: The tool mark image parameters are compared with the tool path in the initial cutting control sub-model: if the comparison results are the same, the compensation instructions of the compensation sub-model are not executed; if the comparison results are different, the compensation instructions of the compensation sub-model are executed.

5. The control method of the glass sheet shuttle bin according to claim 4, characterized in that: The central processing unit classifies and transports the cut target slices according to the shape, size, glass material, glass thickness and target slice number of the target slices, and forms marking information and uploads it to the designated system.

6. A control system comprising the control method of the glass sheet shuttle bin according to claim 1, characterized in that: The control system comprises: The data collector is used to obtain the design parameters of the target slice, obtain the inventory information of the original glass slice in the glass original slice database, obtain the tool information during the cutting process of the target slice, and send it to the data processing module; The data processing module receives various information acquired by the data collector through the information receiver, builds a cutting control model for the target slice, and sends an execution instruction to the instruction executor through the instruction sending module, acquires the original glass sheet, and controls the tool to cut the original glass sheet according to the cutting control model; The data processing module includes: a design parameter module, which is used to process the design parameters of the target slice into a design parameter set; a tool adjustment module, which is used to construct a glass original sheet cutting control data set; a tool path data module, which is used to receive the design parameter set, the tool adjustment data subset and the tool path data subset to construct an initial cutting control sub-model; a tool path compensation data module, which is used to receive the tool path compensation data subset to construct a compensation sub-model; a tool path simulator, which is used to integrate the initial cutting control sub-model and the compensation sub-model, and output a coordinate instruction set of the cutting control model to control the tool to cut the glass original sheet; The instruction executor, the data processing module receives the execution instruction sent by the instruction sending module and transmits the execution instruction to each execution module, wherein the execution instruction includes a first control instruction for obtaining the glass original sheet from the glass original sheet shuttle warehouse, a second control instruction for conveying the glass original sheet to the glass cutting machine, and a third control instruction for the glass cutting machine to cut the glass; During the cutting process, the tool information is fed back to the data processing module to form a compensation sub-model, and the difference between the actual tool path of the glass cutting machine in cutting the glass and the simulated tool path in the cutting control model is compensated through the third control instruction until the target slice is cut; The tool information during the cutting process includes the real-time position parameters of the tool and the tool mark image parameters.

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