Woodworking profiling tracking control method, tracking system, motion controller and medium

Abstract

The invention discloses a woodworking profiling tracking control method, a tracking system, a motion controller and a medium, and relates to the technical field of woodworking edge bonding machine profiling tracking control. Tracking trajectories corresponding to the head end and the tail end of a board are constructed based on target demand parameters of the board by adopting a tracking trajectory and an electronic cam function in a motion controller, so that a processing trajectory of a wood board type is quickly planned, and a large number of trajectory algorithms of a logic PLC control system corresponding to a mechanical structure matched with air cylinder actions are omitted; a system corresponding to a cylinder mode is not adopted for tracking, and the response speed is increased. And establishing electronic cam models corresponding to head and tail ends according to the tracking trajectory, and determining an electronic cam curve. And then the electronic cam tappet is triggered by a main shaft position of a tracking system corresponding to the electronic cam tappet, interpolation motion is carried out along electronic cam curves corresponding to the head end and the tail end to complete profiling tracking of the head end and the tail end of the plate, one-time front and rear end profiling tracking machining of the plates of various plate types is achieved, and efficient and stable operation is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of woodworking edge banding machine profiling tracking control, in particular to a woodworking profiling tracking control method, a tracking system, a motion controller and a medium. Background Art

[0002] Conventional woodworking tracking systems use mechanical structures to coordinate with cylinder movements. The cylinder movements depend on the pressure and flow of compressed air, and their dynamic response speed is slow, resulting in reduced production efficiency. The thrust and movement direction of the cylinder are fixed, so complex multi-degree-of-freedom movements are less likely to be achieved, which also limits the flexibility of tracking.

[0003] Therefore, how to improve the production efficiency and flexibility of contour tracking is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0004] The purpose of the present invention is to provide a woodworking profiling tracking control method, a tracking system, a motion controller and a medium to solve the problems of low generation efficiency and poor flexibility of profiling tracking.

[0005] In order to solve the above technical problems, the present invention provides a woodworking profiling tracking control method, comprising:

[0006] Obtain target demand parameters of the plate;

[0007] Constructing the tracking trajectory corresponding to the first and last ends of the plate based on the target demand parameters;

[0008] According to the tracking tracks corresponding to the head and tail ends, the electronic cam models corresponding to the head and tail ends are established to determine the electronic cam curves corresponding to the head and tail ends;

[0009] The main shaft position of the tracking system corresponding to the electronic cam tappet is triggered, and the profiling tracking of the head and tail ends of the plate is completed by interpolation movement along the electronic cam curve corresponding to the head and tail ends.

[0010] On the one hand, the process of collecting the target demand parameters of the plate includes:

[0011] Obtaining a profiling tracking area corresponding to the current end of the plate;

[0012] Marking each corner of the profiling tracking area as a key point; wherein the end point of the profiling tracking area closest to the rotating knife axis of the tracking system is taken as the first key point; and by analogy, the end point farthest from the rotating knife axis is taken as the Nth key point; there is an arc angle relationship, a vertical relationship, or an inclined relationship between the previous key point and the next key point;

[0013] Each of the key points is used as the target requirement parameter of the plate.

[0014] On the other hand, the tracking trajectory corresponding to the first and last ends of the plate is constructed based on the target demand parameters, including:

[0015] If there is an arc angle relationship between the previous key point and the next key point, the coordinate information of the next key point is determined according to the coordinate position of the previous key point and the radius parameter corresponding to the arc angle relationship; wherein the coordinate position of the first key point is the preset coordinate position;

[0016] If there is a vertical relationship between the previous key point and the next key point, the vertical distance between the previous key point and the next key point is obtained, and the coordinate position of the next key point is determined according to the coordinate position of the previous key point and the vertical distance; wherein the vertical distance is less than or equal to the thickness of the plate;

[0017] If there is an inclination relationship between the previous key point and the next key point, the inclination angle corresponding to the horizontal direction of the coordinate system of the next key point is obtained; the abscissa information of the coordinate position of the next key point is determined according to the abscissa position information of the coordinate position of the previous key point and the trigonometric function relationship corresponding to the inclination angle; the ordinate information of the coordinate position information of the next key point is determined according to the ordinate position information of the coordinate position of the previous key point and the thickness of the plate;

[0018] The coordinate position of each key point is used as the tracking trajectory corresponding to the current end of the plate.

[0019] On the other hand, the tracking trajectory corresponding to the first and last ends of the plate is constructed based on the target demand parameters, including:

[0020] Setting the coordinate position of the first key point to the preset coordinate position;

[0021] If there is an arc angle relationship between the previous key point and the next key point, the coordinate information of the next key point is determined according to the coordinate position of the first key point, the coordinate position of the previous key point and the radius parameter corresponding to the arc angle relationship;

[0022] If there is a vertical relationship between the previous key point and the next key point, the vertical distance between the previous key point and the next key point is obtained, and the coordinate position of the next key point is determined according to the coordinate position of the first key point, the coordinate position of the previous key point and the vertical distance; wherein the vertical distance is less than or equal to the thickness of the plate;

[0023] If there is an inclination relationship between the previous key point and the next key point, the inclination angle corresponding to the horizontal direction of the coordinate system of the next key point is obtained; the abscissa information of the coordinate position of the next key point is determined according to the abscissa position information of the coordinate position of the first key point, the abscissa position information of the coordinate position of the previous key point and the trigonometric function relationship corresponding to the inclination angle; the ordinate information of the coordinate position information of the next key point is determined according to the ordinate position information of the coordinate position of the first key point, the ordinate position information of the coordinate position of the previous key point and the thickness of the plate;

[0024] The coordinate position of each key point is used as the tracking trajectory corresponding to the current end of the plate.

[0025] On the other hand, the electronic cam models corresponding to the first and second ends are established according to the tracking tracks corresponding to the first and second ends to determine the electronic cam curves corresponding to the first and second ends, including:

[0026] According to the position of the main axis corresponding to the tracking trajectory of the head and tail ends of the plate, the thickness of the plate and the diameter of the cutter shaft wheel, the synchronous distance of the slave axis moving at the head and tail ends is determined;

[0027] Get the total length of the plate;

[0028] Determine the moving distance between the head and tail ends according to the total length of the plate and the coordinate positions of the key points corresponding to the tracking tracks of the head and tail ends of the plate;

[0029] The electronic cam curves corresponding to the head and tail ends are determined according to the synchronous distances of the corresponding movements of the head and tail ends and the moving distance between the head and tail ends.

[0030] On the other hand, the process of determining the total length of the plate includes:

[0031] Configure the rising edge signal of the probe to detect the position value of the first end of the plate;

[0032] Configure the falling edge signal of the probe to detect the tail end position value of the plate;

[0033] Determine the total length of the plate according to the head end position value and the tail end position value;

[0034] Correspondingly, the actual position of the spindle is obtained;

[0035] Determine a first distance according to the actual position of the spindle and the head end position value;

[0036] If the falling edge signal of the probe is not recorded, and the first distance is greater than or equal to the second distance, it is determined that the plate is a long plate; wherein the second distance is the mechanical distance corresponding to the installation position of the probe and the center position of the rotating knife shaft;

[0037] If the falling edge signal of the probe has been recorded and the first distance is smaller than the second distance, it is determined that the plate is a short plate.

[0038] On the other hand, the maximum acceleration of the electronic cam curve motion is less than or equal to the acceleration threshold; wherein the acceleration threshold is determined by the thrust value of the linear motor of the tracking system and the mechanical weight;

[0039] The maximum speed of the electronic cam curve movement is less than or equal to the speed threshold; wherein the speed threshold is determined by the acceleration threshold and the time parameter;

[0040] The distance of the minimum acceleration and deceleration of the slave axis of the electronic cam curve movement is less than or equal to a distance threshold; wherein the distance threshold is determined by a deceleration threshold and a time parameter.

[0041] In order to solve the above technical problems, the present invention also provides a woodworking profiling tracking system, including a servo system, a motion controller, a power distribution system, a rotating knife shaft, a probe sensor, a spindle encoder and a motor; the motor includes a spindle motor and a slave shaft motor;

[0042] The power distribution system and the motor are both connected to the servo system; the power distribution system is connected to the rotating knife shaft;

[0043] The servo system is connected to the motion controller; the motion controller is connected to the probe sensor and the spindle encoder;

[0044] The motion controller is used to execute the steps of the above-mentioned woodworking profiling tracking control method to perform profiling tracking of the head and tail ends of the board.

[0045] In order to solve the above technical problems, the present invention also provides a woodworking profiling tracking motion controller, comprising:

[0046] Memory for storing computer programs;

[0047] A processor is used to implement the steps of the woodworking profiling tracking control method when executing the computer program.

[0048] In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the woodworking profiling tracking control method as described above are implemented.

[0049] The present invention provides a woodworking profiling tracking control method. First, the tracking trajectory and electronic cam function in the motion controller are used to construct the tracking trajectory corresponding to the head and tail ends of the plate based on the target demand parameters of the plate, so as to realize the rapid planning of the processing trajectory of the wooden board type, and the conventional mechanical structure is eliminated. A large number of trajectory algorithms of the logic PLC control system corresponding to the cylinder action are omitted. The present invention does not use the system corresponding to the cylinder mode for tracking, so as to improve the response speed. Secondly, the electronic cam model corresponding to the head and tail ends is established according to the tracking trajectory, and the electronic cam curve corresponding to the head and tail ends is determined. Then, the spindle position of the tracking system corresponding to the electronic cam tappet is triggered, and the profiling tracking of the head and tail ends of the plate is completed by interpolation motion along the electronic cam curve corresponding to the head and tail ends. The front and rear end profiling tracking processing of the head and tail ends of the plates of various plate types can be selectively realized at one time, so as to realize efficient and stable operation. Compared with the present invention, the corresponding profiling tracking under the cylinder structure is also avoided by integrating the tracking trajectory of the motion controller with the electronic cam technology, so as to improve the production efficiency and flexibility of profiling tracking. Finally, corresponding to the control methods corresponding to the upper and lower surfaces of the plate using two sets of identical control methods, the present invention completes the profiling and tracking processing of the entire plate through only one control, which also reduces the machinery cost and the equipment maintenance cost.

[0050] In addition, the present invention also provides a woodworking profiling tracking system, a woodworking profiling tracking motion controller and a medium, which have the same beneficial effects as the above-mentioned woodworking profiling tracking control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 A flow chart of a woodworking profiling tracking control method provided by an embodiment of the present invention;

[0053] Figure 2 A schematic diagram of a profiling tracking area corresponding to the head end of a plate provided in an embodiment of the present invention;

[0054] Figure 3 A method based on the embodiment of the present invention is provided Figure 2 Schematic diagram of key points of the corresponding profiling tracking area;

[0055] Figure 4 A schematic diagram of the electronic cam curve positions at the head and tail ends of a plate provided by an embodiment of the present invention;

[0056] Figure 5 A schematic diagram of the electronic cam curve speed at the head and tail ends of a plate provided by an embodiment of the present invention;

[0057] Figure 6 A schematic diagram of plate processing provided by an embodiment of the present invention;

[0058] Figure 7 A structural diagram of a woodworking profiling tracking system provided by an embodiment of the present invention;

[0059] Figure 8 A flow chart of another woodworking profiling tracking control method provided by an embodiment of the present invention;

[0060] Fig. 9 A structural diagram of a woodworking profiling tracking control device provided by an embodiment of the present invention;

[0061] Fig.10 A structural diagram of a woodworking profiling tracking motion controller provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] The core of the present invention is to provide a woodworking profiling tracking control method, a tracking system, a motion controller and a medium to solve the problems of low generation efficiency and poor flexibility of profiling tracking.

[0064] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0065] The traditional woodworking profiling tracking system is a mechanical component that cooperates with the cylinder action to achieve profiling, which is difficult to achieve high-speed and high-efficiency production and difficult to process a variety of special-shaped boards. In recent years, the development of programmable logic controller (PLC) control technology and servo drive technology has provided good technical support for the design of woodworking profiling tracking control. The control system is generally composed of a PLC control system, a servo system, a human-machine interface (HMI) display operation module, a probe sensor and a corresponding power distribution system, and each module component completes its corresponding function. The woodworking profiling tracking control system of the prior art control system is divided into two groups of controls, which independently complete the processing of the upper and lower ends of the board, which is equivalent to repeating the completion twice, resulting in high mechanical structure and control costs and difficult maintenance. Its low processing efficiency still restricts the production efficiency of the entire machine and line. The woodworking profiling tracking control method provided by the present invention can solve the above technical problems.

[0066] Figure 1 A flow chart of a woodworking profiling tracking control method provided by an embodiment of the present invention, such as Figure 1 As shown, including:

[0067] S11: Obtain target demand parameters of the plate;

[0068] S12: constructing the tracking trajectory corresponding to the first and last ends of the plate based on the target demand parameters;

[0069] S13: establishing electronic cam models corresponding to the first and last ends according to the tracking tracks corresponding to the first and last ends, so as to determine the electronic cam curves corresponding to the first and last ends;

[0070] S14: The main axis position of the tracking system corresponding to the electronic cam tappet is triggered, and the interpolation movement is performed along the electronic cam curve corresponding to the head and tail ends to complete the profiling tracking of the head and tail ends of the plate.

[0071] Specifically, the target demand parameters of the plate are the specific plate shapes that customers need to customize, including but not limited to special-shaped, complex contours, and special-sized plate shapes involving dimensional parameters at both ends of the plate.

[0072] In step S12, the tracking trajectory corresponding to the first and last ends of the plate is constructed based on the target demand parameters. The first end of the plate here is the end that first enters the processing area during the processing. The first end is usually the starting position of the processing, and attention should be paid to positioning and alignment. The processing of the first end may require additional detection devices, such as photoelectric sensors, probes, etc. to ensure the accurate starting position. The tail end is the end of the plate that leaves the processing area last during the processing. The processing of the tail end may need to be adjusted according to the processing results of the first end to ensure the consistency of the overall processing.

[0073] The tracking trajectory is constructed based on the size parameters at both ends of the plate. Specifically, the computer numerical control (CNC) -G code in the motion controller can be combined with the trigonometric function algorithm corresponding to the position to realize the parameterization function of the trajectory points of the plate at the first and last ends. The running trajectory data information is obtained by decoding the G code and continuously inserted as the interpolation motion to complete the CNC trajectory planning of various special-shaped plates. The construction here is based on the key points of the edge area at both ends of the plate to form a certain trajectory coordinate. The trajectory planning can also be realized by other codes or drawing methods, which are not limited here and can be set according to the actual situation. For the key points corresponding to the edge area at both ends of the plate, a reference point can be found according to each end, and a certain coordinate connection can be established between the remaining key points and the coordinate position of the reference point. It can also be based on the positional relationship between the previous key point and the next key point. A certain coordinate connection is established, etc., to find the trajectory coordinates of all key points to realize trajectory planning.

[0074] In step S13, an electronic cam model corresponding to each end is established according to the tracking tracks corresponding to the first and last ends, and combined with the tracks of each key point of the tracking track of the present invention to obtain the electronic cam model corresponding to the present invention.

[0075] The electronic cam curve is the positional relationship between the master axis and the slave axis. In woodworking profiling tracking, the master axis usually represents the moving position of the board, and the slave axis represents the position of the processing tool. According to the tracking trajectory of woodworking profiling, an electronic cam model for the master and slave axis position synchronization is established. In the first position synchronization, the electronic cam curve is designed according to the tracking trajectory of the head end of the board. The curve needs to calculate the target position of the slave axis (processing tool) based on the position of the master axis (the position of the head end of the board). The cam curve can be represented by a fifth-order polynomial or other smooth function to ensure a smooth transition of position, speed and acceleration. In the second position synchronization, after completing the processing of the head end, the electronic cam curve is redesigned according to the tracking trajectory of the tail end of the board to ensure that the slave axis moves synchronously according to the position of the master axis.

[0076] It should be noted that the electronic cam model simulates the function of a mechanical cam through a software-defined cam curve. It defines the motion relationship between the master and slave axes, so that the slave axis can dynamically adjust its motion trajectory according to the position of the master axis. The core of the electronic cam model is the cam curve, which is a two-dimensional function relationship that describes the mapping between the master axis position and the slave axis target position. The electronic cam is a software system that uses a constructed cam curve to simulate a mechanical cam to achieve the same relative motion between the cam slave axis and the master axis as the mechanical cam system.

[0077] In step S14, the spindle position of the tracking system corresponding to the electronic cam tappet triggers a signal for controlling the start of the interpolation motion, and then the interpolation motion is performed along the electronic cam curve corresponding to the head and tail ends to complete the contour tracking of the head and tail ends of the plate. It can be understood that the electronic cam tappet triggers the signal for starting the interpolation motion according to the position of the spindle, and the electronic cam curve dynamically adjusts the movement of the slave axis according to the position of the spindle to complete the tracking processing of the plate. The electronic cam tappet is a cam spindle at a set position, which outputs a high level or low level signal for signal triggering.

[0078] The interpolation motion here, in the CNC system, needs to ensure that the configuration of the CNC system is consistent with the electronic cam model, including the definition of the main axis and the slave axis. Load the G code file to define the processing path and interpolation parameters. When the spindle position reaches the preset tappet position, the electronic cam tappet outputs a trigger signal, which can be used to start or stop the CNC interpolation motion. In the CNC system, the target position of the slave axis is calculated according to the electronic cam curve. During the interpolation process, the position of the slave axis is updated in real time to ensure that it follows the movement of the main axis. CNC interpolation motion is to automatically calculate a complete straight line or circular curve coordinate point according to the plate trajectory G code parameters, combined with accuracy and process requirements, according to certain mathematical methods, so as to achieve continuous trajectory motion. It is a common function in motion controllers.

[0079] A woodworking profiling tracking control method provided by an embodiment of the present invention firstly adopts the tracking trajectory and electronic cam function in the motion controller, and constructs the tracking trajectory corresponding to the head and tail ends of the plate based on the target demand parameters of the plate, so as to realize the rapid planning of the processing trajectory of the wooden board type, and eliminates a large number of trajectory algorithms of the logic PLC control system corresponding to the conventional mechanical structure and the cylinder action. The present invention does not use the system corresponding to the cylinder mode for tracking, so as to improve the response speed. Secondly, the electronic cam model corresponding to the head and tail ends is established according to the tracking trajectory, and the electronic cam curve corresponding to the head and tail ends is determined. Then, the spindle position of the tracking system corresponding to the electronic cam tappet is triggered, and the profiling tracking of the head and tail ends of the plate is completed by interpolation motion along the electronic cam curve corresponding to the head and tail ends, and the front and rear end profiling tracking processing of the head and tail ends of the plate of various plate types can be selectively realized at one time, so as to realize efficient and stable operation. Compared with the present invention, the tracking trajectory of the motion controller is integrated with the electronic cam technology, so as to avoid the limitation of the corresponding profiling tracking under the cylinder structure, and improve the production efficiency and flexibility of profiling tracking. Finally, corresponding to the control methods corresponding to the upper and lower surfaces of the plate using two sets of identical control methods, the present invention completes the profiling and tracking processing of the entire plate through only one control, which also reduces the machinery cost and the equipment maintenance cost.

[0080] In some embodiments, the process of collecting target requirement parameters of the board includes:

[0081] Get the profiling tracking area corresponding to the current end of the plate;

[0082] Mark each corner of the profiling tracking area as a key point; wherein the end point of the profiling tracking area closest to the rotating tool axis of the tracking system is taken as the first key point; and so on, the end point farthest from the rotating tool axis is taken as the Nth key point; there is an arc angle relationship, a vertical relationship, or an inclined relationship between the previous key point and the next key point;

[0083] Take each key point as the target requirement parameter of the plate.

[0084] Specifically, Figure 2 A schematic diagram of a profiling tracking area corresponding to the head end of a plate provided in an embodiment of the present invention, Figure 3 A method based on the embodiment of the present invention is provided Figure 2 The corresponding key point diagram of the profiling tracking area is as follows: Figure 2 , 3 As shown, h1 is the thickness of the board; h2 is the height of the short side of the processed end; r1 is the front lower arc angle of the board processing; is the angle of the bevel at the beginning of the board. The corner marks corresponding to the profiling tracking area of ​​the board are used as key points, which need additional processing, which also corresponds to the accuracy and consistency of subsequent processing. In this embodiment, it is necessary to find a reference point among the multiple key points in the profiling tracking area at each end, and form a certain position relationship between the reference point and other key points, such as an arc angle relationship, a vertical relationship or an inclined relationship. It should be noted that the arc angle relationship is based on the connection between the two key points through the arc angle shape, and the vertical relationship is based on the coordinate positions of the two key points in the coordinate system. The corresponding horizontal coordinate positions are the same and are in the same ,The oblique relationship is based on the existence of an oblique connection between the coordinate positions of two key points.

[0085] In addition, corresponding to the search for the reference point, in this embodiment, the key point with the smallest distance to the rotating knife axis is used as the reference point, that is, the end point of the profiling tracking area closest to the rotating knife axis of the tracking system is used as the first key point. From bottom to top, it increases in sequence, which corresponds to the existence of multiple key points.

[0086] by Figure 3 Taking the four key points (G1, G2, G3 and G4) in as an example, G1 and G2 have an arc angle relationship, G2 and G3 have a vertical relationship, and G3 and G4 have an inclined relationship.

[0087] Each key point is used as the target requirement parameter of the plate to plan the processing shape of the plate.

[0088] The embodiment provides a method of collecting the corners of the profiling tracking area corresponding to the first and second ends of the plate and marking them as key points, so as to facilitate the subsequent construction of tracking trajectories for each key point, thereby ensuring the accuracy and consistency of plate processing.

[0089] In some embodiments, constructing a tracking trajectory corresponding to the first and last ends of the plate based on the target requirement parameters includes:

[0090] If there is an arc angle relationship between the previous key point and the next key point, the coordinate information of the next key point is determined according to the coordinate position of the previous key point and the radius parameter corresponding to the arc angle relationship; wherein the coordinate position of the first key point is the preset coordinate position;

[0091] If there is a vertical relationship between the previous key point and the next key point, the vertical distance between the previous key point and the next key point is obtained, and the coordinate position of the next key point is determined according to the coordinate position and vertical distance of the previous key point; wherein the vertical distance is less than or equal to the thickness of the plate;

[0092] If there is an inclination relationship between the previous key point and the next key point, the inclination angle corresponding to the horizontal direction of the coordinate system of the next key point is obtained; the abscissa information of the coordinate position of the next key point is determined according to the abscissa position information of the coordinate position of the previous key point and the trigonometric function relationship corresponding to the inclination angle; the ordinate information of the coordinate position information of the next key point is determined according to the ordinate position information of the coordinate position of the previous key point and the thickness of the plate;

[0093] The coordinate position of each key point is used as the tracking trajectory corresponding to the current end of the plate.

[0094] Specifically, in combination with the above embodiment, a reference point is found. In this embodiment, in addition to the first key point, the reference point also includes the previous key point corresponding to every two adjacent key points. Based on the positional relationship between the adjacent key points and the coordinate position of the previous key point, the coordinate information of the next key point is determined.

[0095] The positional relationship between adjacent key points is an arc angle relationship. The coordinate position of the previous key point is known, and the coordinate information of the next key point is determined by combining the radius parameter of the arc angle relationship. If the coordinate information of the previous key point is (a1, b1), the radius parameter of the arc angle is r1, and Figure 3 As shown, the next key point is located on the left side of the previous key point, and its corresponding coordinate information of the next key point is ( , ).

[0096] When the positional relationship between adjacent key points is a vertical relationship, the coordinate information of the next key point is determined based on the vertical distance and the coordinate information of the previous key point. If the coordinate information of the previous key point is (a1, b1) and the vertical distance is c1, the coordinate information of the next key point is (a1, ).

[0097] When the positional relationship between adjacent key points is an inclined relationship, the coordinate information of the next key point is determined based on the trigonometric function relationship corresponding to the inclination angle and the coordinate information of the previous key point. If the coordinate information of the previous key point is (a1, b1) and the inclination angle is In addition, this embodiment needs to consider the distance h' between the adjacent key points, and the coordinate information of the next key point is ( ).

[0098] The above are the corresponding positional relationships between adjacent key points. Based on the above three positional relationships, the coordinate position information of the next key point can be determined to connect it as the corresponding current end tracking trajectory.

[0099] The coordinate position information of the next key point is determined based on the corresponding position relationship between adjacent key points provided in this embodiment to obtain the coordinate position information of each key point, and finally determine the tracking trajectory of the current end. By determining the position relationship between adjacent key points, the continuity of the trajectory can be ensured. The coordinate position information of each key point is determined based on the position of the previous key point, so that the trajectory can be prevented from being suddenly changed or broken, and the smoothness and continuity of the trajectory can be ensured. The position relationship between adjacent key points can be used as a constraint to help the system determine the coordinate position of each key point more accurately. This determination method based on relative position can reduce cumulative errors and improve the accuracy of the trajectory. Determining the trajectory through the position relationship of adjacent key points can enhance the stability of the trajectory. The position relationship of adjacent key points can provide important reference information for trajectory prediction. Combined with this information, a more accurate and stable trajectory prediction can be generated, providing a more reliable basis for subsequent processing or treatment. To ensure the accuracy of the key point trajectories at both ends of the plate, trajectory planning is achieved.

[0100] In other embodiments, building a tracking trajectory corresponding to the first and last ends of the plate based on the target requirement parameters includes:

[0101] Setting the coordinate position of the first key point to the preset coordinate position;

[0102] If there is an arc angle relationship between the previous key point and the next key point, the coordinate information of the next key point is determined according to the coordinate position of the first key point, the coordinate position of the previous key point and the radius parameter corresponding to the arc angle relationship;

[0103] If there is a vertical relationship between the previous key point and the next key point, the vertical distance between the previous key point and the next key point is obtained, and the coordinate position of the next key point is determined according to the coordinate position of the first key point, the coordinate position of the previous key point and the vertical distance; wherein the vertical distance is less than or equal to the thickness of the plate;

[0104] If there is an inclination relationship between the previous key point and the next key point, the inclination angle corresponding to the horizontal direction of the coordinate system of the next key point is obtained; the abscissa information of the coordinate position of the next key point is determined according to the abscissa position information of the coordinate position of the first key point, the abscissa position information of the coordinate position of the previous key point and the trigonometric function relationship corresponding to the inclination angle; the ordinate information of the coordinate position information of the next key point is determined according to the ordinate position information of the coordinate position of the first key point, the ordinate position information of the coordinate position of the previous key point and the thickness of the plate;

[0105] The coordinate position of each key point is used as the tracking trajectory corresponding to the current end of the plate.

[0106] Specifically, different from the above embodiment, the coordinate positions of all key points at the current end are determined based on the first reference point at the current end in this embodiment. Figure 2 , Figure 3 For example, G1 and G2 are in arc angle relationship, the coordinate information of G1 is (x, z), and the corresponding coordinate information of G2 is ( , ). G2 and G3 are in a vertical relationship, and the vertical distance is h2, and the corresponding coordinate information of G3 is ( ). G3 and G4 are in an inclined relationship, the plate thickness is h1, and the corresponding coordinate information of G4 is ( ).

[0107] The coordinate position information of the next key point is determined based on the corresponding positional relationship between adjacent key points and the coordinate position information of the first key point provided in this embodiment, so as to obtain the coordinate position information of each key point, and finally determine the tracking trajectory of the current end. The coordinate position information of the first key point is used as a reference to provide a reliable starting point for the positioning of subsequent key points. This point-by-point derivation method based on the reference point can ensure the accuracy of the trajectory and avoid global deviations caused by initial errors. During the trajectory determination process, the system can dynamically adjust the trajectory according to the key point position relationship detected in real time. This real-time feedback mechanism can ensure that the trajectory is always in the optimal state and reduce the processing error caused by trajectory deviation. In order to ensure the accuracy of the key point trajectories at both ends of the plate, trajectory planning is realized.

[0108] In some embodiments, the electronic cam models corresponding to the first and second ends are established according to the tracking tracks corresponding to the first and second ends to determine the electronic cam curves corresponding to the first and second ends, including:

[0109] According to the position of the main axis corresponding to the tracking trajectory of the head and tail ends of the plate, the thickness of the plate and the diameter of the cutter shaft wheel, the synchronous distance of the slave axis moving at the head and tail ends is determined;

[0110] Get the total length of the plate;

[0111] Determine the moving distance between the head and tail ends according to the total length of the plate and the coordinate positions of the key points corresponding to the tracking tracks of the head and tail ends of the plate;

[0112] The electronic cam curves corresponding to the head and tail ends are determined according to the synchronous distances of the corresponding movements of the head and tail ends and the moving distance between the head and tail ends.

[0113] Specifically, according to the tracking trajectory of the head and tail ends of the plate, the functional relationship between the main axis (plate motion axis) and the slave axis (processing tool motion axis) is determined, and the corresponding electronic cam curve is determined through the functional relationship. During the movement, the target position of the slave axis is calculated from the cam curve according to the real-time position of the main axis to ensure that the slave axis can follow the movement of the main axis in real time. It should be noted here that the synchronization distance of the corresponding movement of the slave axis at the head and tail ends needs to be determined in order to facilitate interpolation movement within the synchronization distance of the master and slave axes. At this time, the corresponding synchronization distance is: , where R0 is the radius parameter of the cutter wheel and h1 is the thickness of the plate.

[0114] The moving distance between the head and tail ends is the distance between the master and slave axes after they complete the head end synchronization and return to the tail end and before entering the tail end synchronization distance: , Lw is the total length of the plate, Figure 2 , Figure 3 For example, the last key point of the corresponding head end is G4, corresponding to the horizontal coordinate information of G4.

[0115] The electronic cam curve is determined according to the synchronous distances of the corresponding movements of the head and tail ends and the moving distance between the head and tail ends. Figure 4 A schematic diagram of the electronic cam curve position of the first and last ends of a plate provided by an embodiment of the present invention, Figure 5 A schematic diagram of the electronic cam curve speed of the first and last ends of a plate provided by an embodiment of the present invention, such as Figure 4 , 5 As shown, the constructed cam curve is used to simulate the mechanical cam to achieve the same relative motion between the cam slave and the master as the mechanical cam system. After the tail end synchronization is completed, the slave returns to the origin from the current position, completing an electronic cam action process.

[0116] The process of determining the electronic cam curve provided in this embodiment improves production efficiency by establishing an electronic cam that adapts to non-periodic linear processing of plates of various lengths. By establishing an electronic cam model, the motion law of the head and tail ends can be accurately simulated to generate a continuous and smooth cam curve. This curve can ensure that the motion trajectory of the follower is highly consistent with the design trajectory, thereby improving the accuracy of motion control. The electronic cam model can be quickly adjusted according to different processing requirements and trajectory changes, without the need to replace physical components like traditional mechanical cams. This flexible design enables the system to adapt to a variety of plate shapes and processing techniques. The electronic cam curve can be optimized through a mathematical model to avoid mechanical shock and vibration. The parametric design of the electronic cam model makes system debugging more convenient. By adjusting the model parameters, a cam curve suitable for different working conditions can be quickly generated, reducing debugging time and labor costs.

[0117] In some embodiments, the process of determining the total length of the plate includes:

[0118] Configure the rising edge signal of the probe to detect the position value of the first end of the plate;

[0119] Configure the falling edge signal of the probe to detect the tail end position value of the plate;

[0120] Determine the total length of the plate according to the head end position value and the tail end position value;

[0121] Correspondingly, the actual position of the spindle is obtained;

[0122] Determine the first distance according to the actual position of the main shaft and the head end position value;

[0123] If the falling edge signal of the probe is not recorded, and the first distance is greater than or equal to the second distance, the plate is determined to be a long plate; wherein the second distance is the mechanical distance corresponding to the installation position of the probe and the center position of the rotating knife shaft;

[0124] If the falling edge signal of the probe has been recorded and the first distance is smaller than the second distance, it is determined that the plate is a short plate.

[0125] Specifically, the rising edge signal of the probe records the spindle encoder position value P1 at the head end of the plate, and the falling edge signal of the probe records the spindle encoder position value P2 at the rear end of the processed plate, and then subtracts them to obtain the plate length value: .

[0126] In addition, boards of different lengths can be distinguished into short boards and long boards by a threshold value corresponding to the second distance. Figure 6 A schematic diagram of plate processing provided by an embodiment of the present invention, such as Figure 6As shown, 1 is the rotating tool axis; 2 is the processed special-shaped wood board; 3 is the trajectory of the rotating tool axis processing; 4 is the spindle encoder; 5 is the probe signal sensor; R0 is the radius of the rotating tool axis; R1 is the front lower arc angle of the wood board processing; R2 is the front upper arc angle of the wood board processing; R3 is the rear upper arc angle of the wood board processing; R4 is the rear lower arc angle of the wood board processing; L1 is the bevel of the front processing of the wood board; L2 is the bevel of the back processing of the wood board; X is the X direction of travel of the rotating tool axis; Z is the Z direction of travel of the rotating tool axis. According to the mechanical distance D0 between the probe installation position and the center of the rotating tool axis, it can be used as a reference value to distinguish between long and short boards. According to the actual spindle position MainAxisActPos, independent electronic cam models for long and short boards are established, and the relationship is as follows:

[0127] When the probe falling edge signal is not recorded, and real-time detection When , it is regarded as a long board; where P1 is the first distance;

[0128] When the probe falling edge signal has been recorded and detected in real time , it is considered a shortcoming.

[0129] The process of determining the total length of the plate and distinguishing between long and short plates provided in this embodiment can accurately measure the length of the plate by accurately detecting the rising and falling edge signals of the probe, realize automatic detection and classification of the length of the plate, so as to facilitate the subsequent determination of the corresponding electronic cam curve, thereby improving flexibility and versatility.

[0130] In some embodiments, the maximum acceleration of the electronic cam curve motion is less than or equal to an acceleration threshold; wherein the acceleration threshold is determined by the thrust value of the linear motor of the tracking system and the mechanical weight;

[0131] The maximum speed of the electronic cam curve movement is less than or equal to the speed threshold; wherein the speed threshold is determined by the acceleration threshold and the time parameter;

[0132] The minimum acceleration / deceleration distance of the slave axis of the electronic cam curve motion is less than or equal to the distance threshold; wherein the distance threshold is determined by the deceleration threshold and the time parameter.

[0133] Specifically, the acceleration threshold is determined by the linear motor thrust Fn parameter and the mechanical weight Mg, that is, The velocity threshold is determined by the acceleration threshold and the time parameter, that is, The distance threshold is determined by the deceleration threshold and the time parameter, that is, .

[0134] The acceleration, speed and distance limitations of the minimum acceleration and deceleration of the electronic cam curve movement provided in this embodiment are to ensure that the determined electronic cam curve is consistent with the movement of the tracking system; ensure the smoothness and continuity of the electronic cam motion curve to avoid mechanical shock caused by sudden changes in acceleration or speed; reduce the vibration and shock of the mechanical system during movement, thereby extending the service life of the equipment; adapt to different motion requirements and work scenarios through parameterized adjustment to enhance the flexibility and adaptability of the system; reasonable speed and acceleration limitations can optimize the motion time and reduce unnecessary pauses and transition time.

[0135] Furthermore, the present invention also provides a woodworking profiling tracking system, comprising a servo system, a motion controller, a power distribution system, a rotary cutter shaft, a probe sensor, a spindle encoder and a motor; the motor comprises a spindle motor and a slave motor;

[0136] The power distribution system and the motor are connected to the servo system; the power distribution system is connected to the rotating knife shaft;

[0137] The servo system is connected to the motion controller; the motion controller is connected to the probe sensor and the spindle encoder;

[0138] The motion controller is used to execute the steps of the above-mentioned woodworking profiling tracking control method to perform profiling tracking of the head and tail ends of the board.

[0139] Figure 7 A structural diagram of a woodworking profiling tracking system provided by an embodiment of the present invention, such as Figure 7 As shown, the power distribution system is an external power supply to the motion controller, servo system and rotating tool axis; the motion controller receives HMI, probe signals, spindle encoder information and external input and output (IO) signals, provides logical operations and electronic cam and CNC trajectory algorithms for this method, and provides motion data information input to the servo system through the EtherCAT bus; the servo system is the execution component of the method, receives the motion data sent by the motion controller through the EtherCAT bus, and the servo motor uses a linear motor for execution. For the X2 axis, position compensation is performed for torque control.

[0140] For an introduction to a woodworking profiling tracking system provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above woodworking profiling tracking control method.

[0141] Figure 8 A flowchart of another woodworking profiling tracking control method provided by an embodiment of the present invention is shown in FIG. Figure 8 As shown, the steps are as follows:

[0142] S21: Establishing CNC-G code planning for machining trajectory of special-shaped sheet metal with profiling and tracking;

[0143] S22: Establishing the master-slave axis position synchronization electronic cam model;

[0144] S23: The probe locks the positions of the first and last ends of the processed plate;

[0145] S24: Calculate and trigger the CNC head end action logic;

[0146] S25: Calculate and trigger the CNC tail end action logic;

[0147] S26: Plan the slave axis electronic cam to return to the origin position.

[0148] In step S21, a special-shaped trajectory planning for woodworking profiling and tracking processing of board materials is established, and the CNC-G code combined with the function algorithm is used to realize the parameterization function of the front and rear board trajectory points. The running trajectory data information is obtained by G code decoding as the continuous input of the interpolation motion to complete the CNC trajectory planning of various special-shaped boards. In step S22, according to the linear operation of woodworking profiling tracking, an electronic cam model for the synchronization of the master and slave axes before and after two times is established. In step S23, the position of the head and tail ends of the processed wooden board on the spindle encoder is determined by the probe, and the length of the board is calculated. In step S24, the synchronization distance required by the electronic cam slave axis (X1 axis) is calculated according to the Z-axis stroke corresponding to the wooden board CNC. According to the probe detection board length Lw, the master and slave axes are calculated to return to the tail end after completing the head end synchronization. Enter the rear end synchronization area again to perform the rear end synchronization distance. After completing the rear end synchronization, the slave axis returns to the origin from the current position, completing an electronic cam action process. In the established master-slave front synchronization area, the CNC front end segment CNC trajectory interpolation motion of the board is triggered by the electronic cam tappet to realize the front end profiling tracking processing of the special-shaped board. In the established master-slave rear synchronization area, the CNC rear end of the plate is triggered by the electronic cam tappet to perform CNC trajectory interpolation movement, completing the rear section profiling and tracking processing of the special-shaped plate; after the CNC movement of the rear end of the plate is completed, the slave axis is returned to the origin position through the electronic cam.

[0149] The above detailed descriptions of various embodiments corresponding to the woodworking profiling tracking control method are based on which the present invention further discloses a woodworking profiling tracking control device corresponding to the above method. Fig. 9 The structure diagram of a woodworking profiling tracking control device provided by an embodiment of the present invention. Fig. 9 As shown, the woodworking profiling tracking control device includes:

[0150] An acquisition module 11 is used to acquire target demand parameters of the plate;

[0151] A construction module 12 is used to construct a tracking trajectory corresponding to the first and last ends of the plate based on the target requirement parameters;

[0152] A determination module 13, used to establish an electronic cam model corresponding to the first and second ends according to the tracking tracks corresponding to the first and second ends, so as to determine the electronic cam curves corresponding to the first and second ends;

[0153] The motion module 14 is used to trigger the spindle position of the tracking system corresponding to the electronic cam tappet, and perform interpolation motion along the electronic cam curve corresponding to the head and tail ends to complete the profiling tracking of the head and tail ends of the plate.

[0154] Since the embodiments of the device part correspond to the above embodiments, please refer to the description of the embodiments of the method part for the embodiments of the device part, and will not be repeated here.

[0155] For an introduction to a woodworking profiling tracking motion controller provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above-mentioned woodworking profiling tracking control method.

[0156] Fig.10 A structural diagram of a woodworking profiling tracking motion controller provided by an embodiment of the present invention, such as Fig.10 As shown, the controller includes:

[0157] A memory 21, used for storing computer programs;

[0158] The processor 22 is used to implement the steps of the woodworking profiling tracking control method when executing the computer program.

[0159] The processor 22 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc.

[0160] The memory 21 may include one or more computer-readable storage media, which may be non-transitory. In this embodiment, the memory 21 is used to store at least the following computer program 211, wherein after the computer program is loaded and executed by the processor 22, the relevant steps of the woodworking profiling tracking control method disclosed in any of the above embodiments can be implemented.

[0161] In some embodiments, the woodworking profiling tracking motion controller may further include a display screen 23 , an input / output interface 24 , a communication interface 25 , a power supply 26 , and a communication bus 27 .

[0162] Those skilled in the art can understand that Fig.10 The structure shown in the figure does not constitute a limitation of the woodworking contour tracking motion controller, and may include more or less components than those shown in the figure.

[0163] The processor 22 implements the woodworking profiling tracking control method provided by any of the above embodiments by calling the instructions stored in the memory 21 .

[0164] For an introduction to a woodworking profiling tracking motion controller provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above-mentioned woodworking profiling tracking control method.

[0165] Furthermore, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor 22, the steps of the above-mentioned woodworking profiling tracking control method are implemented.

[0166] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0167] For an introduction to a computer-readable storage medium provided by the present invention, please refer to the above method embodiment, which will not be described in detail herein. It has the same beneficial effects as the above woodworking profiling tracking control method.

[0168] The above is a detailed introduction to a woodworking profiling tracking control method, tracking system, motion controller and medium provided by the present invention. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the present invention.

[0169] It should also be noted that, in this specification, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A woodworking profiling tracking control method, characterized in that: include: Obtain target demand parameters of the plate; Constructing the tracking trajectory corresponding to the first and last ends of the plate based on the target demand parameters; According to the tracking tracks corresponding to the head and tail ends, the electronic cam models corresponding to the head and tail ends are established to determine the electronic cam curves corresponding to the head and tail ends; The main shaft position of the tracking system corresponding to the electronic cam tappet is triggered, and the profiling tracking of the head and tail ends of the plate is completed by interpolation movement along the electronic cam curve corresponding to the head and tail ends.

2. The woodworking profiling tracking control method according to claim 1 is characterized in that: The process of collecting the target demand parameters of the plate includes: Obtaining a profiling tracking area corresponding to the current end of the plate; Marking each corner of the profiling tracking area as a key point; wherein the end point of the profiling tracking area closest to the rotating knife axis of the tracking system is taken as the first key point; and by analogy, the end point farthest from the rotating knife axis is taken as the Nth key point; there is an arc angle relationship, a vertical relationship, or an inclined relationship between the previous key point and the next key point; Each of the key points is used as the target requirement parameter of the plate.

3. The woodworking profiling tracking control method according to claim 2 is characterized in that: Constructing the tracking trajectory corresponding to the first and last ends of the plate based on the target demand parameters, including: If there is an arc angle relationship between the previous key point and the next key point, the coordinate information of the next key point is determined according to the coordinate position of the previous key point and the radius parameter corresponding to the arc angle relationship; wherein the coordinate position of the first key point is the preset coordinate position; If there is a vertical relationship between the previous key point and the next key point, the vertical distance between the previous key point and the next key point is obtained, and the coordinate position of the next key point is determined according to the coordinate position of the previous key point and the vertical distance; wherein the vertical distance is less than or equal to the thickness of the plate; If there is an inclination relationship between the previous key point and the next key point, the inclination angle corresponding to the horizontal direction of the coordinate system of the next key point is obtained; the abscissa information of the coordinate position of the next key point is determined according to the abscissa position information of the coordinate position of the previous key point and the trigonometric function relationship corresponding to the inclination angle; the ordinate information of the coordinate position information of the next key point is determined according to the ordinate position information of the coordinate position of the previous key point and the thickness of the plate; The coordinate position of each key point is used as the tracking trajectory corresponding to the current end of the plate.

4. The woodworking profiling tracking control method according to claim 2 is characterized in that: Constructing the tracking trajectory corresponding to the first and last ends of the plate based on the target demand parameters, including: Setting the coordinate position of the first key point to the preset coordinate position; If there is an arc angle relationship between the previous key point and the next key point, the coordinate information of the next key point is determined according to the coordinate position of the first key point, the coordinate position of the previous key point and the radius parameter corresponding to the arc angle relationship; If there is a vertical relationship between the previous key point and the next key point, the vertical distance between the previous key point and the next key point is obtained, and the coordinate position of the next key point is determined according to the coordinate position of the first key point, the coordinate position of the previous key point and the vertical distance; wherein the vertical distance is less than or equal to the thickness of the plate; If there is an inclination relationship between the previous key point and the next key point, the inclination angle corresponding to the horizontal direction of the coordinate system of the next key point is obtained; the abscissa information of the coordinate position of the next key point is determined according to the abscissa position information of the coordinate position of the first key point, the abscissa position information of the coordinate position of the previous key point and the trigonometric function relationship corresponding to the inclination angle; the ordinate information of the coordinate position information of the next key point is determined according to the ordinate position information of the coordinate position of the first key point, the ordinate position information of the coordinate position of the previous key point and the thickness of the plate; The coordinate position of each key point is used as the tracking trajectory corresponding to the current end of the plate.

5. The woodworking profiling tracking control method according to any one of claims 1 to 4, characterized in that: The electronic cam models corresponding to the first and last ends are established according to the tracking tracks corresponding to the first and last ends to determine the electronic cam curves corresponding to the first and last ends, including: According to the position of the main axis corresponding to the tracking trajectory of the head and tail ends of the plate, the thickness of the plate and the diameter of the cutter shaft wheel, the synchronous distance of the slave axis moving at the head and tail ends is determined; Get the total length of the plate; Determine the moving distance between the head and tail ends according to the total length of the plate and the coordinate positions of the key points corresponding to the tracking tracks of the head and tail ends of the plate; The electronic cam curves corresponding to the head and tail ends are determined according to the synchronous distances of the corresponding movements of the head and tail ends and the moving distance between the head and tail ends.

6. The woodworking profiling tracking control method according to claim 5, characterized in that: The process of determining the total length of the plate includes: Configure the rising edge signal of the probe to detect the position value of the first end of the plate; Configure the falling edge signal of the probe to detect the tail end position value of the plate; Determine the total length of the plate according to the head end position value and the tail end position value; Correspondingly, the actual position of the spindle is obtained; Determine a first distance according to the actual position of the spindle and the head end position value; If the falling edge signal of the probe is not recorded, and the first distance is greater than or equal to the second distance, it is determined that the plate is a long plate; wherein the second distance is the mechanical distance corresponding to the installation position of the probe and the center position of the rotating knife shaft; If the falling edge signal of the probe has been recorded and the first distance is smaller than the second distance, it is determined that the plate is a short plate.

7. The woodworking profiling tracking control method according to claim 5, characterized in that: The maximum acceleration of the electronic cam curve motion is less than or equal to the acceleration threshold; wherein the acceleration threshold is determined by the thrust value of the linear motor of the tracking system and the mechanical weight; The maximum speed of the electronic cam curve movement is less than or equal to the speed threshold; wherein the speed threshold is determined by the acceleration threshold and the time parameter; The distance of the minimum acceleration and deceleration of the slave axis of the electronic cam curve movement is less than or equal to a distance threshold; wherein the distance threshold is determined by a deceleration threshold and a time parameter.

8. A woodworking profiling tracking system, characterized in that: It includes a servo system, a motion controller, a power distribution system, a rotating tool shaft, a probe sensor, a spindle encoder and a motor; the motor includes a spindle motor and a slave shaft motor; The power distribution system and the motor are both connected to the servo system; the power distribution system is connected to the rotating knife shaft; The servo system is connected to the motion controller; the motion controller is connected to the probe sensor and the spindle encoder; The motion controller is used to execute the steps of the woodworking profiling tracking control method described in any one of claims 1 to 7 to perform profiling tracking of the head and tail ends of the board.

9. A woodworking profiling tracking motion controller, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the woodworking profiling tracking control method as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the woodworking profiling tracking control method according to any one of claims 1 to 7 are implemented.

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