Five-axis numerical control system intelligent management platform and method based on Internet of Things technology

Abstract

The invention discloses a five-axis numerical control system intelligent management platform and method based on the Internet of Things technology, and relates to the technical field of hanging basket intelligent management, and the method comprises the following steps: obtaining a starting point coordinate and an end point coordinate of a five-axis numerical control hanging basket, and analyzing the movement tracks of the two ends of the five-axis numerical control hanging basket based on the starting point coordinate and the end point coordinate; the distances between the two ends of the hanging basket and the wall surface are collected and analyzed, and the five-axis numerical control hanging basket is controlled to be adjusted to be parallel to the wall surface; when the five-axis numerical control hanging basket moves up and down, correction parameters are given to the lifting mechanism based on the difference of lifting lengths, and it is ensured that the hanging basket cannot incline all the time; the method is used for solving the problem that the personal safety of workers in a hanging basket cannot be guaranteed best due to insufficient intelligence and insufficient safety of an existing hanging basket intelligent management technology.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent management of hanging baskets, and particularly to an intelligent management platform and method for a five-axis numerical control system based on Internet of Things technology. Background Art

[0002] The intelligent management technology of hanging baskets refers to a technical means of monitoring, managing and optimizing hanging baskets by using advanced technologies such as Internet of Things, sensor technology, data analysis, etc. By real-time monitoring data such as the running state, load condition and position information of the hanging basket, combined with data analysis and prediction algorithms, intelligent scheduling, early warning and alarm, fault diagnosis and operation optimization of the hanging basket can be realized, improving the safety, efficiency and reliability of the hanging basket, so as to realize the intelligent management and control of the engineering construction process.

[0003] The existing intelligent management technologies of hanging baskets usually manage the safety of hanging baskets, and the safety of hanging baskets mainly lies in the attitude safety of the hanging basket. During the movement of the hanging basket, the hanging basket should be kept stable and horizontal to ensure the safety of workers in the hanging basket. The existing intelligent management technologies of hanging baskets usually manage the attitude of the hanging basket by monitoring and sending alarms, and cannot automatically adjust the attitude of the hanging basket through intelligent management. At the same time, due to long-term use, the lubrication degree in the rollers of the hanging basket will be different, which will cause deviations on both sides of the hanging basket during the ascending and descending processes. The existing adjustment methods usually instantaneously increase the rotation speed of one side after the deviation appears to keep the hanging basket horizontal, but this method will cause the hanging basket to frequently have a sense of jerk, which is not conducive to the safety of workers. For example, in the patent application with the publication number of CN107678340A, "An intelligent hanging basket monitoring system, integrated monitoring system and monitoring method" is disclosed. This solution manages the hanging basket by monitoring and warning, and this method cannot intelligently control the attitude of the hanging basket and usually requires manual intervention. The existing intelligent management technologies of hanging baskets also have problems of insufficient intelligence and insufficient safety, resulting in the personal safety of workers in the hanging basket not being best guaranteed. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems in the prior art to a certain extent. By constructing a hanging basket positioning coordinate system based on a building, then obtaining the starting coordinates and ending coordinates of a five-axis numerically controlled hanging basket in the hanging basket positioning coordinate system, analyzing the movement trajectories of both ends of the hanging basket of the five-axis numerically controlled hanging basket based on the starting coordinates and ending coordinates, and then controlling the five-axis numerically controlled hanging basket to move to the target position based on the movement trajectories, collecting and analyzing the distances between both ends of the hanging basket and the wall surface, controlling the five-axis numerically controlled hanging basket to adjust to a posture parallel to the wall surface. At the same time, when the five-axis numerically controlled hanging basket moves up and down, monitoring the lifting lengths of the lifting mechanisms at both ends of the hanging basket, calculating the difference between the lifting lengths based on the lifting lengths, and finally assigning correction parameters to the lifting mechanisms based on the difference in the lifting lengths, so as to solve the problems that the existing intelligent management technology of hanging baskets still has insufficient intelligence and insufficient safety, resulting in the personal safety of the workers in the hanging basket not being best guaranteed.

[0005] To achieve the above object, in a first aspect, the present application provides an intelligent management method for a five-axis numerical control system based on Internet of Things technology, including the following steps:

[0006] Obtain the starting coordinates and ending coordinates of the five-axis numerically controlled hanging basket, and analyze the movement trajectories of both ends of the hanging basket of the five-axis numerically controlled hanging basket based on the starting coordinates and ending coordinates;

[0007] After controlling the five-axis numerically controlled hanging basket to move to the target position based on the movement trajectories, collect and analyze the distances between both ends of the hanging basket and the wall surface, and control the five-axis numerically controlled hanging basket to adjust to a posture parallel to the wall surface;

[0008] When the five-axis numerically controlled hanging basket moves up and down, monitor the lifting lengths of the lifting mechanisms at both ends of the hanging basket, and assign correction parameters to the lifting mechanisms based on the difference in the lifting lengths to ensure that the hanging basket never tilts.

[0009] Further, obtaining the starting coordinates and ending coordinates of the five-axis numerically controlled hanging basket, and analyzing the movement trajectories of both ends of the hanging basket of the five-axis numerically controlled hanging basket based on the starting coordinates and ending coordinates includes the following sub-steps:

[0010] Construct a hanging basket positioning coordinate system based on the building;

[0011] Obtain the starting coordinates and ending coordinates of the five-axis numerically controlled hanging basket in the hanging basket positioning coordinate system, and analyze the movement trajectories of both ends of the hanging basket of the five-axis numerically controlled hanging basket based on the starting coordinates and ending coordinates.

[0012] Further, constructing a hanging basket positioning coordinate system based on the building includes the following sub-steps:

[0013] Obtain the top view plan of the building, complete the top view plan into a rectangle, and name it the coordinate reference diagram;

[0014] Taking the vertex at the lower left corner of the coordinate reference diagram as the origin, the lower side of the coordinate reference diagram as the X-axis, and the left side as the Y-axis, a plane rectangular coordinate system is established and named as the two-dimensional coordinate system;

[0015] The two-dimensional coordinate system is input into the three-dimensional model of the building according to the position of the coordinate reference diagram, and then with the vertically upward direction as the Z-axis, a three-dimensional coordinate system is constructed in combination with the two-dimensional coordinate system and named as the hanging basket positioning coordinate system.

[0016] Furthermore, obtaining the starting coordinates and ending coordinates of the five-axis numerically controlled hanging basket in the hanging basket positioning coordinate system, and analyzing the movement trajectories of both ends of the five-axis numerically controlled hanging basket based on the starting coordinates and ending coordinates includes the following sub-steps:

[0017] Obtain the current coordinates of the five-axis numerically controlled hanging basket in the hanging basket positioning coordinate system, named as the starting coordinates, and obtain the coordinates to which the five-axis numerically controlled hanging basket needs to be controlled, named as the ending coordinates. The starting coordinates include the starting left coordinates and the starting right coordinates, and the ending coordinates include the ending left coordinates and the ending right coordinates;

[0018] Compare the left moving distance with the right moving distance. If the left moving distance is equal to the right moving distance, output the same-plane moving signal; otherwise, output the different-plane moving signal;

[0019] Calculate the distance between the starting left coordinates and the ending left coordinates, marked as the left moving distance, and calculate the distance between the starting right coordinates and the ending right coordinates, marked as the right moving distance;

[0020] If the same-plane moving signal is output, substitute the starting left coordinates and the ending left coordinates into the function Solve to obtain the left moving trajectory; substitute the starting right coordinates and the ending right coordinates into the function Solve to obtain the right moving trajectory, where the coordinates (XL 1 , YL 1 , ZL 1 ) represent the starting left coordinates, the coordinates (XL 2 , YL 2 , ZL 2 ) represent the ending left coordinates, the coordinates (XR 1 , YR 1 , ZR 1 ) represent the starting right coordinates, the coordinates (XR 2 , YR 2 , ZR 2 ) represent the ending right coordinates, XL, YL, and ZL respectively represent the X-axis, Y-axis, and Z-axis coordinates of the left moving trajectory, and XR, YR, and ZR respectively represent the X-axis, Y-axis, and Z-axis coordinates of the right moving trajectory;

[0021] If an out-of-plane movement signal is output, an out-of-plane movement analysis scheme is executed.

[0022] Further, the out-of-plane movement analysis scheme includes the following sub-steps:

[0023] Calculate the sum of the distance between the starting left coordinate and the ending left coordinate and the distance between the starting left coordinate and the ending right coordinate, and mark it as the left distance reference value; calculate the sum of the distance between the starting right coordinate and the ending left coordinate and the distance between the starting right coordinate and the ending right coordinate, and mark it as the right distance reference value;

[0024] Compare the left distance reference value with the right distance reference value. If the left distance reference value is less than the right distance reference value, output a left-end reference movement signal; otherwise, output a right-end reference movement signal;

[0025] If a left-end reference movement signal is output, calculate the left movement trajectory in the same way as when outputting an in-plane movement signal. At the same time, mark the starting left coordinate in the left movement trajectory as the trajectory starting point, mark the straight line formed by the left movement trajectory as the trajectory straight line, and move the trajectory straight line from the trajectory starting point to the starting right coordinate. The function corresponding to the obtained straight line is the right movement trajectory;

[0026] If a right-end reference movement signal is output, calculate the right movement trajectory in the same way as when outputting an in-plane movement signal. At the same time, mark the starting right coordinate in the right movement trajectory as the trajectory starting point, mark the straight line formed by the right movement trajectory as the trajectory straight line, and move the trajectory straight line from the trajectory starting point to the starting left coordinate. The function corresponding to the obtained straight line is the left movement trajectory.

[0027] Further, after controlling the five-axis CNC hanging basket to move to the target position based on the movement trajectory, collect the distances between both ends of the hanging basket and the wall and perform analysis. The sub-steps for controlling the five-axis CNC hanging basket to adjust to a posture parallel to the wall include:

[0028] Control the five-axis CNC hanging basket to move to the corresponding position based on the left movement trajectory and the right movement trajectory;

[0029] Obtain the coordinates of both ends of the five-axis CNC hanging basket at this time, mark them as the real-time coordinates, the real-time coordinates include the real-time left coordinate and the real-time right coordinate, and at the same time obtain the length of the five-axis CNC hanging basket, mark it as the hanging basket length;

[0030] If a left-end reference movement signal is output, draw a circle with the real-time left coordinate as the center and the hanging basket length as the radius, name it the posture adjustment reference circle. The posture adjustment reference circle passes through the real-time right coordinate and the ending right coordinate, and use the minor arc between the real-time right coordinate and the ending right coordinate as the right adjustment trajectory of the real-time right coordinate;

[0031] If a right-end reference movement signal is output, a circle is drawn with the real-time right coordinate as the center and the length of the hanging basket as the radius, named the attitude adjustment reference circle. The attitude adjustment reference circle passes through the real-time left coordinate and the end left coordinate, and the minor arc between the real-time left coordinate and the end left coordinate is used as the left-side adjustment trajectory of the real-time left coordinate;

[0032] Adjust the five-axis numerically controlled hanging basket based on the right-side adjustment trajectory or the left-side adjustment trajectory.

[0033] Further, when the five-axis numerically controlled hanging basket moves up and down, monitor the lifting lengths of the lifting mechanisms at both ends of the hanging basket, and assign correction parameters to the lifting mechanisms based on the difference in the lifting lengths to ensure that the hanging basket never tilts, including the following sub-steps:

[0034] When the five-axis numerically controlled hanging basket moves up and down, monitor the lifting lengths of the lifting mechanisms at both ends of the hanging basket, and calculate the difference between the lifting lengths based on the lifting lengths;

[0035] Assign correction parameters to the lifting mechanisms based on the difference in the lifting lengths.

[0036] Further, when the five-axis numerically controlled hanging basket moves up and down, monitoring the lifting lengths of the lifting mechanisms at both ends of the hanging basket and calculating the difference between the lifting lengths includes the following sub-steps:

[0037] Obtain the lengths of the left and right ropes of the five-axis numerically controlled hanging basket, and mark them as the left lifting length and the right lifting length respectively;

[0038] Compare the left lifting length with the right lifting length, mark the smaller value as the low lifting length, and mark the larger value as the high lifting length;

[0039] Calculate the difference between the high lifting length and the low lifting length, and mark the calculation result as the lifting difference value.

[0040] Further, assigning correction parameters to the lifting mechanisms based on the difference in the lifting lengths includes the following sub-steps:

[0041] Continuously monitor the lifting difference value, compare the lifting difference value with the first difference threshold. If the lifting difference value reaches the first difference threshold, output a height compensation signal; otherwise, output a normal height signal;

[0042] Record the time taken for the lifting difference value to reach from zero to the first difference threshold, marked as the deviation time. At the same time, obtain the moving speed of the lifting mechanism in the five-axis numerical control management platform, marked as the lifting speed. The lifting speed includes the low lifting speed and the high lifting speed. The low lifting speed is the speed of the lifting mechanism corresponding to the low lifting length, and the high lifting speed is the speed of the lifting mechanism corresponding to the high lifting length;

[0043] If a height filling signal is output, the rotation speed of the lifting mechanism corresponding to the low lifting length is increased to make the left lifting length equal to the right lifting length;

[0044] Determine whether the five-axis CNC hanging basket is rising or falling. If it is rising, output a hanging basket rising signal; if it is falling, output a hanging basket falling signal;

[0045] If a hanging basket rising signal is output, solve for α through the equation LR×t - α×HR×t = S, where LR is the low lifting rate, HR is the high lifting rate, t is the deviation time, S is the first difference threshold, and α is the correction reference value;

[0046] Calculate 1 / α to obtain a correction parameter, multiply the high lifting rate by the correction parameter to obtain a correction rate, and change the high lifting rate to the correction rate;

[0047] If a hanging basket falling signal is output, solve for α through the equation HR×t - α×LR×t = S, calculate 1 / α to obtain a correction parameter, multiply the low lifting rate by the correction parameter to obtain a correction rate, and change the low lifting rate to the correction rate.

[0048] In a second aspect, the present application provides an intelligent management platform for a five-axis CNC system based on Internet of Things technology, including a trajectory analysis module, an attitude adjustment module, a lifting correction module, and an intelligent control center; the trajectory analysis module, the attitude adjustment module, and the lifting correction module are respectively connected to the intelligent control center for data connection;

[0049] The trajectory analysis module is used to obtain the starting coordinates and the ending coordinates of the five-axis CNC hanging basket, and analyze the movement trajectories of both ends of the hanging basket of the five-axis CNC hanging basket based on the starting coordinates and the ending coordinates;

[0050] The attitude adjustment module is used to, after controlling the five-axis CNC hanging basket to move to the target position based on the movement trajectory, collect the distances between both ends of the hanging basket and the wall surface and perform analysis, and control the five-axis CNC hanging basket to adjust to an attitude parallel to the wall surface;

[0051] The lifting correction module is used to, when the five-axis CNC hanging basket moves up and down, monitor the lifting lengths of the lifting mechanisms at both ends of the hanging basket, and assign correction parameters to the lifting mechanisms based on the differences in the lifting lengths to ensure that the hanging basket never tilts;

[0052] The intelligent control center is used to control the movement of the five-axis CNC hanging basket.

[0053] Advantages of the present invention: By constructing a hanging basket positioning coordinate system based on a building, the starting coordinates and ending coordinates of a five-axis numerically controlled hanging basket in the hanging basket positioning coordinate system are obtained. Based on the starting coordinates and ending coordinates, the movement trajectories of both ends of the hanging basket of the five-axis numerically controlled hanging basket are analyzed. Then, after controlling the five-axis numerically controlled hanging basket to move to the target position based on the movement trajectories, the distances between both ends of the hanging basket and the wall are collected and analyzed, and the five-axis numerically controlled hanging basket is controlled to adjust to a posture parallel to the wall. The advantage is that by analyzing the left movement trajectory and the right movement trajectory, it can be controlled that the hanging basket always moves horizontally towards the target position, ensuring that the hanging basket will not tilt and cause harm to the personal safety of workers, and improving the safety and practicality of the intelligent management of the hanging basket;

[0054] When the five-axis numerically controlled hanging basket moves up and down, the present invention monitors the lifting lengths of the lifting mechanisms at both ends of the hanging basket, calculates the difference between the lifting lengths based on the lifting lengths, and finally assigns correction parameters to the lifting mechanisms based on the difference in the lifting lengths. The advantage is that after the lifting mechanisms of the hanging basket have been used for a long time, the lubrication degrees of the left and right lifting mechanisms are different, which will cause deviations in the control accuracy on both sides of the hanging basket. If left unattended, the hanging basket will tilt. Therefore, by analyzing the difference between the lifting lengths and assigning correction parameters to it, the lifting rate of the hanging basket is corrected, and the safety and effectiveness of the intelligent management of the hanging basket are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is the principle block diagram of the system of the present invention;

[0056] Figure 2 is the schematic diagram of the coordinate reference diagram of the present invention;

[0057] Figure 3 is the schematic diagram of the two-dimensional coordinate system of the present invention;

[0058] Figure 4 is the schematic diagram of the hanging basket positioning coordinate system of the present invention;

[0059] Figure 5 is the schematic diagram of the trajectory starting point and the trajectory straight line of the present invention;

[0060] Figure 6 is the schematic diagram of the attitude adjustment reference circle of the present invention;

[0061] Figure 7 is the schematic diagram of the definition of the left lifting length and the right lifting length of the present invention;

[0062] Figure 8 is the step flow chart of the method of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0063] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0064] Embodiment 1. Please refer to Figure 1 As shown in the figure, the present application provides an intelligent management platform for a five-axis numerical control system based on Internet of Things technology, including a trajectory analysis module, an attitude adjustment module, a lifting correction module, and an intelligent control center; the trajectory analysis module, the attitude adjustment module, and the lifting correction module are respectively connected to the intelligent control center for data connection.

[0065] The trajectory analysis module is used to obtain the starting coordinates and ending coordinates of the five-axis numerical control hanging basket, and analyze the movement trajectories of both ends of the hanging basket of the five-axis numerical control hanging basket based on the starting coordinates and ending coordinates; the trajectory analysis module includes a coordinate system construction unit, a trajectory analysis unit, and a different plane analysis unit;

[0066] The coordinate system construction unit is used to construct a hanging basket positioning coordinate system based on the building;

[0067] The coordinate system construction unit is configured with a coordinate system construction strategy, and the coordinate system construction strategy includes:

[0068] Please refer to Figure 2 As shown in the figure, obtain the top view plan of the building, complete the top view plan into a rectangle, and name it the coordinate reference diagram;

[0069] Please refer to Figure 3 As shown in the figure, take the vertex at the lower left corner of the coordinate reference diagram as the origin, the lower side of the coordinate reference diagram as the X-axis, and the left side as the Y-axis to establish a plane rectangular coordinate system, and name it a two-dimensional coordinate system;

[0070] Please refer to Figure 4 As shown in the figure, input the two-dimensional coordinate system into the three-dimensional model of the building according to the position of the coordinate reference diagram, and then take the vertically upward direction as the Z-axis, and combine the two-dimensional coordinate system to construct a three-dimensional coordinate system, and name it a hanging basket positioning coordinate system;

[0071] In practical applications, obtain the top view plan and complete it into a coordinate reference diagram as Figure 2 shown in the figure, where the dotted line is the filled part, and the solid part is the part of the top view plan. Based on the coordinate reference diagram, construct a two-dimensional coordinate system as Figure 3 shown in the figure, and then construct a hanging basket positioning coordinate system based on the two-dimensional coordinate system and the three-dimensional model of the building as Figure 4 shown in the figure. To ensure that the coordinates of the hanging basket are always in the first quadrant, a certain interval will be added between the hanging basket positioning coordinate system and the outer wall of the building.Figure 4 This is the positioning coordinate system of the hanging basket after increasing the interval, and the increased interval size is usually 2m to 5m;

[0072] The trajectory analysis unit is used to obtain the starting coordinates and ending coordinates of the five-axis CNC hanging basket in the hanging basket positioning coordinate system, and analyze the movement trajectories of both ends of the five-axis CNC hanging basket based on the starting coordinates and ending coordinates. The trajectory analysis unit is configured with a trajectory analysis strategy, and the trajectory analysis strategy includes:

[0073] Obtain the current coordinates of the five-axis CNC hanging basket in the hanging basket positioning coordinate system, named starting coordinates, and obtain the coordinates that need to control the five-axis CNC hanging basket to go to, named ending coordinates. The starting coordinates include the starting left coordinates and the starting right coordinates, and the ending coordinates include the ending left coordinates and the ending right coordinates;

[0074] Compare the left moving distance with the right moving distance. If the left moving distance is equal to the right moving distance, output a coplanar movement signal; otherwise, output a non-coplanar movement signal;

[0075] Calculate the distance between the starting left coordinates and the ending left coordinates, marked as the left moving distance, and calculate the distance between the starting right coordinates and the ending right coordinates, marked as the right moving distance;

[0076] In practical applications, the obtained starting left coordinates are (43, 21, 20), the starting right coordinates are (46, 21, 20), the ending left coordinates are (50, 15, 20), and the ending right coordinates are (50, 12, 20). Through the coordinate distance calculation formula, the left moving distance is calculated as The right moving distance is Since here is to compare whether the moving distances at both ends of the five-axis CNC hanging basket are equal, the left moving distance and the right moving distance do not need to be simplified. By comparison, it is obtained that the left moving distance is not equal to the right moving distance, so a non-coplanar movement signal is output;

[0077] If a coplanar movement signal is output, substitute the starting left coordinates and the ending left coordinates into the function Solve to obtain the left moving trajectory; substitute the starting right coordinates and the ending right coordinates into the function Solve to obtain the right moving trajectory, where the coordinate (XL 1 , YL 1 , ZL 1 ) represents the starting left coordinates, the coordinate (XL 2 , YL 2 , ZL 2 ) represents the ending left coordinates, the coordinate (XR 1 , YR 1 , ZR 1 ) represents the starting right coordinates, the coordinate (XR2 , YR 2 , ZR 2 ) represents the right coordinate of the end point. XL, YL, and ZL respectively represent the coordinates of the X-axis, Y-axis, and Z-axis of the left movement trajectory, and XR, YR, and ZR respectively represent the coordinates of the X-axis, Y-axis, and Z-axis of the right movement trajectory;

[0078] If an out-of-plane movement signal is output, an out-of-plane movement analysis scheme is executed;

[0079] In practical applications, if the left movement distance is equal to the right movement distance, it means that both ends of the five-axis CNC hanging basket move in the same plane parallel to the building exterior wall. At this time, the rotation problem of the five-axis CNC hanging basket does not need to be considered. Therefore, their movement trajectories can be directly calculated based on the starting point coordinates and the end point coordinates. Since no in-plane movement signal is output in this embodiment, this embodiment will not specifically explain it, but only specifically explain the out-of-plane movement analysis scheme. If the out-of-plane movement analysis scheme can be understood, the calculation methods and application principles of the left movement trajectory and the right movement trajectory when an in-plane movement signal is output can be understood simultaneously.

[0080] The out-of-plane analysis unit is configured with an out-of-plane analysis strategy, and the out-of-plane analysis strategy includes:

[0081] Calculate the sum of the distance between the left coordinate of the starting point and the left coordinate of the end point and the distance between the left coordinate of the starting point and the right coordinate of the end point, and mark it as the left distance reference value; calculate the sum of the distance between the right coordinate of the starting point and the left coordinate of the end point and the distance between the right coordinate of the starting point and the right coordinate of the end point, and mark it as the right distance reference value;

[0082] Compare the left distance reference value with the right distance reference value. If the left distance reference value is less than the right distance reference value, output a left-end reference movement signal; otherwise, output a right-end reference movement signal;

[0083] Please refer to Figure 5 As shown, if a left-end reference movement signal is output, calculate the left movement trajectory in the same way as when an in-plane movement signal is output. At the same time, mark the left coordinate of the starting point in the left movement trajectory as the trajectory starting point, mark the straight line formed by the left movement trajectory as the trajectory straight line, and move the trajectory straight line to the right coordinate of the starting point based on the trajectory starting point. The function corresponding to the obtained straight line is the right movement trajectory;

[0084] If a right-end reference movement signal is output, calculate the right movement trajectory in the same way as when an in-plane movement signal is output. At the same time, mark the right coordinate of the starting point in the right movement trajectory as the trajectory starting point, mark the straight line formed by the right movement trajectory as the trajectory straight line, and move the trajectory straight line to the left coordinate of the starting point based on the trajectory starting point. The function corresponding to the obtained straight line is the left movement trajectory;

[0085] In practical applications, the left distance reference value calculated by the coordinate point calculation formula is The right distance reference value is By comparison, it is obtained that the left distance reference value is greater than the right distance reference value, and a right-end reference movement signal is output. The left movement trajectory is calculated in the same way as in the output of the coplanar movement signal, that is, the starting left coordinates (46, 21, 20) and the ending right coordinates (50, 12, 20) are substituted into the function: The left movement trajectory is obtained by solving Among them, the denominator of ZL is 0, which means that the five-axis numerical control hanging basket moves in a plane parallel to the X and Y axes and does not involve the movement of the Z axis. Therefore, it is simplified to a two-dimensional straight-line equation, and the left movement trajectory is YL = -2.25×XL + 124.5. If the five-axis numerical control hanging basket moves on the X, Y, and Z axes, it is still represented by a three-dimensional straight-line equation; the starting point of the trajectory and the trajectory line are as Figure 5 shown. To more clearly represent the movement trajectory of the five-axis numerical control hanging basket, Figure 5 the connecting device of the five-axis numerical control hanging basket is not marked in [the figure], and only the body of the hanging basket is shown to prevent the connecting device from blocking the identification; Figure 5 The dotted line in [the figure] is the straight line corresponding to the right movement trajectory, and the right movement trajectory is obtained as YR = -2.25XR + 117.75; the processing method when outputting the right-end reference movement signal is the same as that when outputting the left-end reference movement signal, so it will not be described in this embodiment.

[0086] The attitude adjustment module is used to control the five-axis numerical control hanging basket to move to the target position based on the movement trajectory, collect the distances between both ends of the hanging basket and the wall surface and analyze them, and control the five-axis numerical control hanging basket to adjust to an attitude parallel to the wall surface;

[0087] The attitude adjustment module is configured with an attitude adjustment strategy, and the attitude adjustment strategy includes:

[0088] Controlling the five-axis numerical control hanging basket to move to the corresponding position based on the left movement trajectory and the right movement trajectory;

[0089] Obtain the coordinates of both ends of the five-axis numerical control hanging basket at this time, marked as real-time coordinates. The real-time coordinates include real-time left coordinates and real-time right coordinates. At the same time, obtain the length of the five-axis numerical control hanging basket, marked as the hanging basket length;

[0090] In practical applications, Figure 5 shows that the five-axis numerical control hanging basket is controlled to move to the corresponding position based on the left movement trajectory and the right movement trajectory. Figure 5 The dark gray solid rectangle in [the figure] is the five-axis numerical control hanging basket after movement. The real-time right coordinates at this time are the ending right coordinates (50, 12, 20). The real-time left coordinates are obtained as (47, 12, 20), and the hanging basket length is obtained as 3m.

[0091] If the left - end reference movement signal is output, a circle is drawn with the real - time left coordinate as the center and the length of the hanging basket as the radius, named the attitude adjustment reference circle. The attitude adjustment reference circle passes through the real - time right coordinate and the end - point right coordinate, and the minor arc between the real - time right coordinate and the end - point right coordinate is used as the right - hand side adjustment trajectory of the real - time right coordinate;

[0092] Please refer to Figure 6 As shown, if the right - end reference movement signal is output, a circle is drawn with the real - time right coordinate as the center and the length of the hanging basket as the radius, named the attitude adjustment reference circle. The attitude adjustment reference circle passes through the real - time left coordinate and the end - point left coordinate, and the minor arc between the real - time left coordinate and the end - point left coordinate is used as the left - hand side adjustment trajectory of the real - time left coordinate;

[0093] Adjust the five - axis CNC hanging basket based on the right - hand side adjustment trajectory or the left - hand side adjustment trajectory;

[0094] In practical applications, when the right - end reference movement signal is output, the constructed attitude adjustment reference circle is as Figure 6 shown. The attitude adjustment reference circle in Figure 6 is composed of a dashed line and a solid line. The dashed - line part represents the major arc, and the solid - line part represents the minor arc. Move the real - time left coordinate along the solid - line minor arc in the attitude adjustment reference circle in Figure 6 ;

[0095] The lifting correction module is used to monitor the lifting lengths of the lifting mechanisms at both ends of the hanging basket when the five - axis CNC hanging basket moves up and down, and assign correction parameters to the lifting mechanisms based on the difference in the lifting lengths to ensure that the hanging basket never tilts. The lifting correction module includes a lifting - difference analysis unit and a correction - parameter calculation unit;

[0096] The lifting - difference analysis unit is used to monitor the lifting lengths of the lifting mechanisms at both ends of the hanging basket when the five - axis CNC hanging basket moves up and down, and calculate the difference between the lifting lengths based on the lifting lengths;

[0097] The lifting - difference analysis unit is configured with a lifting - difference analysis strategy, and the lifting - difference analysis strategy includes:

[0098] Please refer to Figure 7 shown. Obtain the lengths of the left - hand side ropes and the right - hand side ropes of the five - axis CNC hanging basket, and mark them as the left - hand side lifting length and the right - hand side lifting length respectively;

[0099] Compare the left - hand side lifting length with the right - hand side lifting length, mark the smaller value as the low - lifting length, and mark the larger value as the high - lifting length;

[0100] Calculate the difference between the high - lifting length and the low - lifting length, and mark the calculation result as the lifting - difference value;

[0101] In practical applications, the definitions of the left lifting length and the right lifting length are as Figure 7 shown, Figure 7 In Figure 7 , the five-axis CNC hanging basket is in an inclined state to better understand the left lifting length and the right lifting length. During actual use, the five-axis CNC hanging basket needs to be kept in a horizontal state at all times; the left lifting length and the right lifting length are obtained as 30.56 m and 30.51 m respectively, and the lifting difference value is calculated to be 0.05 m, that is, 5 cm;

[0102] The correction parameter calculation unit assigns correction parameters to the lifting mechanism based on the difference in the lifting lengths;

[0103] The correction parameter calculation unit is configured with a correction parameter calculation strategy, and the correction parameter calculation strategy includes:

[0104] Real-time monitor the lifting difference value, compare the lifting difference value with the first difference threshold. If the lifting difference value reaches the first difference threshold, output a height compensation signal; otherwise, output a normal height signal;

[0105] Record the time taken for the lifting difference value to reach the first difference threshold from zero, marked as the deviation time, and at the same time obtain the moving speed of the lifting mechanism in the five-axis CNC management platform, marked as the lifting speed. The lifting speed includes a low lifting speed and a high lifting speed. The low lifting speed is the speed of the lifting mechanism corresponding to the low lifting length, and the high lifting speed is the speed of the lifting mechanism corresponding to the high lifting length;

[0106] If a height compensation signal is output, increase the rotation speed of the lifting mechanism corresponding to the low lifting length to make the left lifting length equal to the right lifting length;

[0107] In practical applications, the first difference threshold is set to prevent the five-axis CNC hanging basket from tilting excessively, resulting in dangerous behaviors such as workers standing on the inclined surface. The first difference threshold is usually set to 1 cm to 5 cm. Exceeding 5 cm indicates an excessive tilting problem. The larger the first difference threshold, the more accurate the correction parameters calculated in this embodiment. Therefore, the first difference threshold in this embodiment is set to 5 cm; by comparison, the lifting difference value is equal to the first difference threshold, output a height compensation signal, control the lower side of the five-axis CNC hanging basket to align with the other side, and at the same time record that the deviation time is 10 s, and both the low lifting speed and the high lifting speed are 0.2 m / s. Taking Figure 7 as an example, the lifting speed of the left lifting mechanism is the low lifting speed, and the lifting speed of the right lifting mechanism is the high lifting speed;

[0108] Judge whether the five-axis CNC hanging basket is rising or falling. If it is rising, output a hanging basket rising signal; if it is falling, output a hanging basket falling signal;

[0109] If a signal for the hanging basket to rise is output, then α is solved through the equation LR×t - α×HR×t = S, where LR is the low lifting rate, HR is the high lifting rate, t is the deviation time, S is the first difference threshold, and α is the calibration reference value;

[0110] Calculate 1 / α to obtain the calibration parameter, multiply the high lifting rate by the calibration parameter to obtain the calibrated rate, and change the high lifting rate to the calibrated rate;

[0111] If a signal for the hanging basket to descend is output, then α is solved through the equation HR×t - α×LR×t = S, calculate 1 / α to obtain the calibration parameter, multiply the low lifting rate by the calibration parameter to obtain the calibrated rate, and change the low lifting rate to the calibrated rate;

[0112] In practical applications, at this time, the five-axis numerically controlled hanging basket needs to rise from a height of 20m to a height of 30m, so it is in the rising state and a signal for the hanging basket to rise is output; the low lifting rate LR is 0.2m / s, the high lifting rate HR is 0.2m / s, the deviation time t is, the first difference threshold S is 5cm = 0.05m, the solved calibration reference value α is 0.9, the calculated calibration parameter is 1.11, the calculation result is reserved to two decimal places, the high lifting rate HR is 0.2m / s, the multiplied calibrated rate is 0.222m / s, and the high lifting rate is changed to 0.222m / s. At this time, the five-axis numerically controlled hanging basket can avoid tilting when rising.

[0113] The intelligent control center is used to control the movement of the five-axis numerically controlled hanging basket; the intelligent control center will adjust the lifting rate according to the analysis result.

[0114] Example 2, please refer to Figure 8 As shown, the present application provides an intelligent management method for a five-axis numerical control system based on Internet of Things technology, including the following steps:

[0115] Step S1, obtain the starting coordinates and ending coordinates of the five-axis numerically controlled hanging basket, and analyze the movement trajectories of both ends of the hanging basket of the five-axis numerically controlled hanging basket based on the starting coordinates and ending coordinates; Step S1 includes the following sub-steps:

[0116] Step S101, establish a hanging basket positioning coordinate system based on the building;

[0117] Step S101 includes the following sub-steps:

[0118] Step S1011, obtain the top view plan of the building, complete the top view plan into a rectangle, and name it the coordinate reference diagram;

[0119] Step S1012, take the vertex at the lower left corner of the coordinate reference diagram as the origin, the lower side of the coordinate reference diagram as the X-axis, and the left side as the Y-axis to establish a plane rectangular coordinate system, and name it the two-dimensional coordinate system;

[0120] Step S1013: Enter the two-dimensional coordinate system into the three-dimensional model of the building according to the position of the coordinate reference diagram, and then take the vertically upward direction as the Z-axis to construct a three-dimensional coordinate system in combination with the two-dimensional coordinate system, named the hanging basket positioning coordinate system;

[0121] Step S102: Obtain the starting coordinates and ending coordinates of the five-axis CNC hanging basket in the hanging basket positioning coordinate system, and analyze the movement trajectories of both ends of the hanging basket of the five-axis CNC hanging basket based on the starting coordinates and ending coordinates;

[0122] Step S102 includes the following sub-steps:

[0123] Step S1021: Obtain the coordinates of the five-axis CNC hanging basket in the hanging basket positioning coordinate system at present, named the starting coordinates, and obtain the coordinates to which the five-axis CNC hanging basket needs to be controlled, named the ending coordinates. The starting coordinates include the starting left coordinates and the starting right coordinates, and the ending coordinates include the ending left coordinates and the ending right coordinates;

[0124] Step S1022: Compare the left moving distance with the right moving distance. If the left moving distance is equal to the right moving distance, output a coplanar movement signal; otherwise, output a non-coplanar movement signal;

[0125] Step S1023: Calculate the distance between the starting left coordinates and the ending left coordinates, marked as the left moving distance, and calculate the distance between the starting right coordinates and the ending right coordinates, marked as the right moving distance;

[0126] Step S1024: If the coplanar movement signal is output, substitute the starting left coordinates and the ending left coordinates into the function to solve for the left moving trajectory; substitute the starting right coordinates and the ending right coordinates into the function to solve for the right moving trajectory. Among them, the coordinate (XL 1 ,YL 1 ,ZL 1 ) represents the starting left coordinates, the coordinate (XL 2 ,YL 2 ,ZL 2 ) represents the ending left coordinates, the coordinate (XR 1 ,YR 1 ,ZR 1 ) represents the starting right coordinates, the coordinate (XR 2 ,YR 2 ,ZR 2 ) represents the ending right coordinates. XL, YL, and ZL respectively represent the X-axis, Y-axis, and Z-axis coordinates of the left moving trajectory, and XR, YR, and ZR respectively represent the X-axis, Y-axis, and Z-axis coordinates of the right moving trajectory;

[0127] Step S1025, if an out-of-plane movement signal is output, then execute the out-of-plane movement analysis scheme;

[0128] Step S1025 includes the following sub-steps:

[0129] Step S1025.1, calculate the sum of the distance between the starting left coordinate and the ending left coordinate and the distance between the starting left coordinate and the ending right coordinate, and mark it as the left distance reference value; calculate the sum of the distance between the starting right coordinate and the ending left coordinate and the distance between the starting right coordinate and the ending right coordinate, and mark it as the right distance reference value;

[0130] Step S1025.2, compare the left distance reference value with the right distance reference value. If the left distance reference value is less than the right distance reference value, then output a left-end reference movement signal; otherwise, output a right-end reference movement signal;

[0131] Step S1025.3, if a left-end reference movement signal is output, then calculate the left movement trajectory in the same way as when outputting an in-plane movement signal. At the same time, mark the starting left coordinate in the left movement trajectory as the trajectory starting point, mark the straight line formed by the left movement trajectory as the trajectory straight line, and move the trajectory straight line from the trajectory starting point to the starting right coordinate. The function corresponding to the obtained straight line is the right movement trajectory;

[0132] Step S1025.4, if a right-end reference movement signal is output, then calculate the right movement trajectory in the same way as when outputting an in-plane movement signal. At the same time, mark the starting right coordinate in the right movement trajectory as the trajectory starting point, mark the straight line formed by the right movement trajectory as the trajectory straight line, and move the trajectory straight line from the trajectory starting point to the starting left coordinate. The function corresponding to the obtained straight line is the left movement trajectory;

[0133] Step S2, after controlling the five-axis CNC hanging basket to move to the target position based on the movement trajectory, collect the distances between both ends of the hanging basket and the wall and perform analysis, and control the five-axis CNC hanging basket to adjust to a posture parallel to the wall; Step S2 includes the following sub-steps:

[0134] Step S201, control the five-axis CNC hanging basket to move to the corresponding position based on the left movement trajectory and the right movement trajectory;

[0135] Step S202, obtain the coordinates of both ends of the five-axis CNC hanging basket at this time, and mark them as the real-time coordinates. The real-time coordinates include the real-time left coordinate and the real-time right coordinate. At the same time, obtain the length of the five-axis CNC hanging basket and mark it as the hanging basket length;

[0136] Step S203: If the left - end reference movement signal is output, draw a circle with the real - time left coordinate as the center and the length of the hanging basket as the radius, named the attitude - adjustment reference circle. The attitude - adjustment reference circle passes through the real - time right coordinate and the end - point right coordinate. Take the minor arc between the real - time right coordinate and the end - point right coordinate as the right - side adjustment trajectory of the real - time right coordinate;

[0137] Step S204: If the right - end reference movement signal is output, draw a circle with the real - time right coordinate as the center and the length of the hanging basket as the radius, named the attitude - adjustment reference circle. The attitude - adjustment reference circle passes through the real - time left coordinate and the end - point left coordinate. Take the minor arc between the real - time left coordinate and the end - point left coordinate as the left - side adjustment trajectory of the real - time left coordinate;

[0138] Step S205: Adjust the five - axis numerically - controlled hanging basket based on the right - side adjustment trajectory or the left - side adjustment trajectory;

[0139] Step S3: When the five - axis numerically - controlled hanging basket moves up and down, monitor the lifting lengths of the lifting mechanisms at both ends of the hanging basket, and assign correction parameters to the lifting mechanisms based on the difference in the lifting lengths to ensure that the hanging basket never tilts. Step S3 includes the following sub - steps:

[0140] Step S301: When the five - axis numerically - controlled hanging basket moves up and down, monitor the lifting lengths of the lifting mechanisms at both ends of the hanging basket, and calculate the difference between the lifting lengths based on the lifting lengths;

[0141] Step S301 includes the following sub - steps:

[0142] Step S3011: Obtain the lengths of the left and right ropes of the five - axis numerically - controlled hanging basket, and mark them as the left - lifting length and the right - lifting length respectively;

[0143] Step S3012: Compare the left - lifting length with the right - lifting length, mark the smaller value as the low - lifting length, and mark the larger value as the high - lifting length;

[0144] Step S3013: Calculate the difference between the high - lifting length and the low - lifting length, and mark the calculation result as the lifting - difference value;

[0145] Step S302: Assign correction parameters to the lifting mechanisms based on the difference in the lifting lengths;

[0146] Step S302 includes the following sub - steps:

[0147] Step S3021: Monitor the lifting - difference value in real - time, compare the lifting - difference value with the first - difference threshold. If the lifting - difference value reaches the first - difference threshold, output a height - compensation signal; otherwise, output a height - normal signal;

[0148] Step S3022: Record the time taken for the lifting difference value to reach the first difference threshold from zero, marked as the deviation time. Meanwhile, obtain the moving speed of the lifting mechanism in the five-axis numerical control management platform, marked as the lifting speed. The lifting speed includes a low lifting speed and a high lifting speed. The low lifting speed is the speed of the lifting mechanism corresponding to the low lifting length, and the high lifting speed is the speed of the lifting mechanism corresponding to the high lifting length.

[0149] Step S3023: If the output height filling signal is issued, increase the rotation speed of the lifting mechanism corresponding to the low lifting length to make the left lifting length equal to the right lifting length.

[0150] Step S3024: Determine whether the five-axis numerical control hanging basket is rising or falling. If it is rising, output a hanging basket rising signal; if it is falling, output a hanging basket falling signal.

[0151] Step S3025: If the hanging basket rising signal is output, solve for α through the equation LR×t - α×HR×t = S, where LR is the low lifting speed, HR is the high lifting speed, t is the deviation time, S is the first difference threshold, and α is the correction reference value.

[0152] Calculate 1 / α to obtain the correction parameter, multiply the high lifting speed by the correction parameter to obtain the corrected speed, and change the high lifting speed to the corrected speed.

[0153] If the hanging basket falling signal is output, solve for α through the equation HR×t - α×LR×t = S, calculate 1 / α to obtain the correction parameter, multiply the low lifting speed by the correction parameter to obtain the corrected speed, and change the low lifting speed to the corrected speed.

[0154] Embodiment 3: The present application provides an electronic device, which may include: a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus. The memory stores computer-readable instructions, and the processor can call the instructions in the memory. When the computer-readable instructions are executed by the processor, the steps in a five-axis numerical control system intelligent management method based on the Internet of Things technology are run to achieve the following functions: obtain the starting coordinates and ending coordinates of the five-axis numerical control hanging basket, analyze the moving trajectories of both ends of the hanging basket of the five-axis numerical control hanging basket based on the starting coordinates and the ending coordinates; collect and analyze the distances between both ends of the hanging basket and the wall surface, and control the five-axis numerical control hanging basket to adjust to a posture parallel to the wall surface; when the five-axis numerical control hanging basket moves up and down, assign correction parameters to the lifting mechanism based on the difference in the lifting length to ensure that the hanging basket never tilts.

[0155] In addition, when the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0156] Embodiment 4, this application also provides a computer-readable storage medium. This application provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, it runs the steps in the above-mentioned intelligent management method for a five-axis numerical control system based on Internet of Things technology to achieve the following functions: obtaining the starting coordinates and ending coordinates of the five-axis numerical control hanging basket, and analyzing the movement trajectories of both ends of the hanging basket of the five-axis numerical control hanging basket based on the starting coordinates and ending coordinates; collecting and analyzing the distances between both ends of the hanging basket and the wall surface, and controlling the five-axis numerical control hanging basket to adjust to a posture parallel to the wall surface; when the five-axis numerical control hanging basket moves up and down, correcting parameters are given to the lifting mechanism based on the difference in the lifting lengths to ensure that the hanging basket never tilts.

[0157] Through the description of the above embodiments, the embodiments of the present invention can be provided as a method, a system, or a computer program product. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disks, optical discs, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments.

[0158] In the embodiments provided in the present application, it should be understood that the disclosed system or method can be implemented in other ways. The above-described embodiments are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For another example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of systems, modules, and units can be electrical, mechanical, or other forms.

[0159] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or equivalently replace some of the technical features. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A five-axis CNC system intelligent management method based on Internet of Things technology, characterized in that: The steps include: Obtain the starting point coordinates and the end point coordinates of the five-axis CNC hanging basket, and analyze the moving trajectories of the two ends of the hanging basket of the five-axis CNC hanging basket based on the starting point coordinates and the end point coordinates; After the five-axis CNC hanging basket is controlled to move to the target position based on the moving trajectory, the distance between the two ends of the hanging basket and the wall is collected and analyzed, and the five-axis CNC hanging basket is controlled to adjust to a posture parallel to the wall; When the five-axis CNC hanging basket moves up and down, the lifting length of the lifting mechanism at both ends of the hanging basket is monitored, and correction parameters are assigned to the lifting mechanism based on the difference in lifting length to ensure that the hanging basket will never tilt.

2. According to claim 1, a five-axis CNC system intelligent management method based on Internet of Things technology is characterized in that: Obtaining the starting point coordinates and the end point coordinates of the five-axis CNC hanging basket, and analyzing the moving trajectories of the two ends of the hanging basket of the five-axis CNC hanging basket based on the starting point coordinates and the end point coordinates includes the following sub-steps: Construct a hanging basket positioning coordinate system based on the building; The starting point coordinates and the end point coordinates of the five-axis CNC hanging basket in the hanging basket positioning coordinate system are obtained, and the moving trajectories of the two ends of the hanging basket of the five-axis CNC hanging basket are analyzed based on the starting point coordinates and the end point coordinates.

3. According to claim 2, a five-axis CNC system intelligent management method based on Internet of Things technology is characterized in that: Constructing the hanging basket positioning coordinate system based on the building includes the following sub-steps: Obtain a top view of the building, complete the top view into a rectangle, and name it a coordinate reference map; Take the vertex at the lower left corner of the coordinate reference graph as the origin, the bottom of the coordinate reference graph as the X-axis, and the left side as the Y-axis to establish a plane rectangular coordinate system, named as a two-dimensional coordinate system; The two-dimensional coordinate system is entered into the three-dimensional model of the building according to the position of the coordinate reference map, and then the vertical upward direction is taken as the Z axis, and the three-dimensional coordinate system is constructed in combination with the two-dimensional coordinate system, which is named the hanging basket positioning coordinate system.

4. According to claim 3, a five-axis CNC system intelligent management method based on Internet of Things technology is characterized in that: Obtaining the starting coordinates and the end coordinates of the five-axis CNC hanging basket in the hanging basket positioning coordinate system, and analyzing the moving trajectories of the two ends of the hanging basket of the five-axis CNC hanging basket based on the starting coordinates and the end coordinates includes the following sub-steps: Get the coordinates of the five-axis CNC hanging basket in the hanging basket positioning coordinate system, named as the starting coordinates, get the coordinates to which the five-axis CNC hanging basket needs to be controlled, named as the end coordinates, the starting coordinates include the starting left coordinates and the starting right coordinates, the end coordinates include the end left coordinates and the end right coordinates; Compare the left moving distance with the right moving distance. If the left moving distance is equal to the right moving distance, output a same-plane moving signal; otherwise, output a different-plane moving signal. Calculate the distance between the left coordinate of the starting point and the left coordinate of the end point, mark it as the left movement distance, calculate the distance between the right coordinate of the starting point and the right coordinate of the end point, mark it as the right movement distance; If the same plane movement signal is output, substitute the left coordinates of the starting point and the end point into the function Solve to get the left moving trajectory; substitute the right coordinates of the starting point and the end point into the function Solve and obtain the right moving trajectory, where the coordinate (XL1, YL1, ZL1) represents the left coordinate of the starting point, the coordinate (XL2, YL2, ZL2) represents the left coordinate of the end point, the coordinate (XR1, YR1, ZR1) represents the right coordinate of the starting point, the coordinate (XR2, YR2, ZR2) represents the right coordinate of the end point, XL, YL and ZL represent the coordinates of the X-axis, Y-axis and Z-axis of the left moving trajectory respectively, and XR, YR and ZR represent the coordinates of the X-axis, Y-axis and Z-axis of the right moving trajectory respectively; If an out-of-plane motion signal is output, an out-of-plane motion analysis scheme is executed.

5. According to claim 4, a five-axis CNC system intelligent management method based on Internet of Things technology is characterized in that: The out-of-plane movement analysis scheme includes the following sub-steps: Calculate the sum of the distance between the left coordinate of the starting point and the left coordinate of the end point and the distance between the left coordinate of the starting point and the right coordinate of the end point, and mark it as the left distance reference value; Calculate the sum of the distance between the right coordinate of the starting point and the left coordinate of the end point and the distance between the right coordinate of the starting point and the right coordinate of the end point, and mark it as the right distance reference value; Compare the left distance reference value with the right distance reference value. If the left distance reference value is smaller than the right distance reference value, output the left end reference movement signal; otherwise, output the right end reference movement signal; If the left end reference movement signal is output, the left movement trajectory is calculated in the same way as the output same plane movement signal, and the left coordinate of the starting point in the left movement trajectory is marked as the trajectory starting point, and the straight line formed by the left movement trajectory is marked as the trajectory straight line. The trajectory straight line is moved from the trajectory starting point to the right coordinate of the starting point, and the function corresponding to the obtained straight line is the right movement trajectory; If the right-end reference movement signal is output, the right-side movement trajectory is calculated in the same way as the output plane movement signal. At the same time, the right coordinate of the starting point in the right-side movement trajectory is marked as the trajectory starting point, and the straight line formed by the right-side movement trajectory is marked as the trajectory straight line. The trajectory straight line is moved from the trajectory starting point to the left coordinate of the starting point, and the function corresponding to the obtained straight line is the left-side movement trajectory.

6. According to claim 5, a five-axis CNC system intelligent management method based on Internet of Things technology is characterized in that: After the five-axis CNC hanging basket is controlled to move to the target position based on the moving trajectory, the distance between the two ends of the hanging basket and the wall is collected and analyzed, and the five-axis CNC hanging basket is controlled to adjust to a posture parallel to the wall, which includes the following sub-steps: Based on the left moving track and the right moving track, the five-axis CNC hanging basket is controlled to move to the corresponding position; The coordinates of the two ends of the five-axis CNC hanging basket are obtained at this time, and are marked as real-time coordinates, wherein the real-time coordinates include real-time left coordinates and real-time right coordinates. At the same time, the length of the five-axis CNC hanging basket is obtained, and is marked as the hanging basket length; If the left end reference movement signal is output, a circle is drawn with the real-time left coordinate as the center and the length of the hanging basket as the radius, and is named as the attitude adjustment reference circle. The attitude adjustment reference circle passes through the real-time right coordinate and the end point right coordinate, and the minor arc between the real-time right coordinate and the end point right coordinate is used as the right side adjustment trajectory of the real-time right coordinate; If the right end reference movement signal is output, a circle is drawn with the real-time right coordinate as the center and the length of the hanging basket as the radius, and is named the attitude adjustment reference circle. The attitude adjustment reference circle passes through the real-time left coordinate and the end point left coordinate, and the minor arc between the real-time left coordinate and the end point left coordinate is used as the left adjustment trajectory of the real-time left coordinate; The five-axis CNC hanging platform is adjusted based on the right adjustment trajectory or the left adjustment trajectory.

7. The five-axis CNC system intelligent management method based on Internet of Things technology according to claim 6 is characterized in that: When the five-axis CNC hanging basket moves up and down, the lifting length of the lifting mechanism at both ends of the hanging basket is monitored, and correction parameters are assigned to the lifting mechanism based on the difference in the lifting length to ensure that the hanging basket will never tilt. The steps include the following: When the five-axis CNC hanging basket moves up and down, the lifting lengths of the lifting mechanisms at both ends of the hanging basket are monitored, and the difference between the lifting lengths is calculated based on the lifting lengths; A correction parameter is given to the lifting mechanism based on the difference in lifting length.

8. The five-axis CNC system intelligent management method based on Internet of Things technology according to claim 7 is characterized in that: When the five-axis CNC hanging basket moves up and down, the lifting lengths of the lifting mechanisms at both ends of the hanging basket are monitored, and the difference between the lifting lengths is calculated based on the lifting lengths, including the following sub-steps: Get the length of the left rope and the length of the right rope of the five-axis CNC hanging basket, and mark them as the left lifting length and the right lifting length respectively; Compare the left lift length with the right lift length, mark the smaller value as low lift length, and the larger value as high lift length; Calculate the difference between the high lift length and the low lift length, and mark the result as the lift difference value.

9. The five-axis CNC system intelligent management method based on Internet of Things technology according to claim 8 is characterized in that: Assigning correction parameters to the lifting mechanism based on the difference in lifting lengths includes the following sub-steps: Monitor the lifting difference value in real time, compare the lifting difference value with the first difference threshold, and output a height completion signal if the lifting difference value reaches the first difference threshold; otherwise, output a height normal signal; The time taken for the lifting difference value to change from zero to the first difference threshold is recorded, marked as the deviation time, and the moving speed of the lifting mechanism in the five-axis CNC management platform is obtained at the same time, marked as the lifting speed, wherein the lifting speed includes a low lifting speed and a high lifting speed, wherein the low lifting speed is the speed of the lifting mechanism corresponding to a low lifting length, and the high lifting speed is the speed of the lifting mechanism corresponding to a high lifting length; If a height-compensation signal is output, the rotation speed of the lifting mechanism corresponding to the lower lifting length is increased so that the left lifting length is equal to the right lifting length; Determine whether the five-axis CNC hanging basket is rising or falling. If it is rising, the hanging basket rising signal is output; if it is falling, the hanging basket falling signal is output; If the basket rise signal is output, α is solved by the equation LR×t-α×HR×t=S, where LR is the low lifting rate, HR is the high lifting rate, t is the deviation time, S is the first difference threshold, and α is the correction reference value; Calculate 1 / α to obtain a correction parameter, multiply the high lifting rate by the correction parameter to obtain a correction rate, and change the high lifting rate to the correction rate; If the basket descending signal is output, α is solved through the equation HR×t-α×LR×t=S, 1 / α is calculated, the correction parameter is obtained, the low lifting rate is multiplied by the correction parameter to obtain the correction rate, and the low lifting rate is changed to the correction rate.

10. An intelligent management platform for a five-axis CNC system based on the Internet of Things technology, used to implement an intelligent management method for a five-axis CNC system based on the Internet of Things technology as described in any one of claims 1 to 9, characterized in that: It includes a trajectory analysis module, a posture adjustment module, a lifting correction module and an intelligent control center; the trajectory analysis module, the posture adjustment module and the lifting correction module are respectively connected to the data of the intelligent control center; The trajectory analysis module is used to obtain the starting point coordinates and the end point coordinates of the five-axis CNC hanging basket, and analyze the moving trajectories of the two ends of the hanging basket of the five-axis CNC hanging basket based on the starting point coordinates and the end point coordinates; The posture adjustment module is used to control the five-axis CNC hanging basket to move to the target position based on the moving trajectory, collect the distance between the two ends of the hanging basket and the wall and analyze it, and control the five-axis CNC hanging basket to adjust to a posture parallel to the wall; The lifting correction module is used to monitor the lifting length of the lifting mechanisms at both ends of the five-axis CNC hanging basket when the hanging basket moves up and down, and to assign correction parameters to the lifting mechanisms based on the difference in lifting lengths to ensure that the hanging basket will never tilt; The intelligent control center is used to control the movement of the five-axis CNC hanging basket.

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