Five-axis numerical control system intelligent management platform and method based on internet of things technology

Abstract

The application discloses a kind of based on Internet of Things technology's five-axis numerical control system intelligent management platform and method, relating to hanging basket intelligent management technical field, including following steps: obtaining the starting point coordinate and end point coordinate of five-axis numerical control hanging basket, based on starting point coordinate and end point coordinate analysis five-axis numerical control hanging basket's hanging basket both ends movement trajectory;Collect the distance of both ends of hanging basket and wall and carry out analysis, control five-axis numerical control hanging basket adjusts to the attitude parallel to wall;When five-axis numerical control hanging basket moves up and down, based on the difference of lifting length, correct parameter is given to lifting mechanism, to ensure that hanging basket always does not appear inclination;The application is used to solve the problem that the existing hanging basket intelligent management technology still has insufficient intelligence and insufficient safety, leading to the personal safety of workers in hanging basket cannot be best guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent management of hanging baskets, specifically a five-axis numerical control system intelligent management platform and method based on Internet of Things technology. BACKGROUND

[0002] Intelligent management of hanging baskets refers to a technical means that uses advanced technologies such as Internet of Things, sensor technology, and data analysis to monitor, manage, and optimize hanging baskets. By monitoring real-time data such as the running state, load condition, and position information of hanging baskets, and combining data analysis and prediction algorithms, intelligent scheduling, early warning, fault diagnosis, and operation optimization of hanging baskets can be achieved, improving the safety, efficiency, and reliability of hanging baskets, and thus achieving intelligent management and control of the construction process.

[0003] Existing intelligent management of hanging baskets is usually focused on managing the safety of hanging baskets, which mainly involves the safety of the posture of the hanging basket. During the movement of the hanging basket, the hanging basket should be kept stable and level to ensure the safety of workers inside the hanging basket. However, existing intelligent management of hanging baskets usually manages the posture of the hanging basket through monitoring and sending alerts, and cannot automatically adjust the posture of the hanging basket through intelligent management. In addition, due to long-term use, the lubrication level of the rollers in the hanging basket may vary, which may cause the hanging basket to deviate to the left and right during ascent and descent. The existing adjustment method usually instantaneously increases the speed of one side to keep the hanging basket level after the deviation occurs, but this method may cause the hanging basket to frequently experience a sense of jerk, which is not conducive to the safety of workers. For example, in the patent application with the publication number CN107678340A, an intelligent hanging basket monitoring system, comprehensive monitoring system, and monitoring method are disclosed, which manage the hanging basket through monitoring and alerting. This method cannot intelligently control the posture of the hanging basket and usually requires manual intervention. Existing intelligent management of hanging baskets also has the problems of insufficient intelligence and safety, which may not provide the best protection for the personal safety of workers inside the hanging basket. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the prior art, by constructing a basket positioning coordinate system based on the building, then acquiring the start point coordinates and end point coordinates of the five-axis numerical control basket in the basket positioning coordinate system, analyzing the moving track of the two ends of the basket of the five-axis numerical control basket based on the start point coordinates and end point coordinates, after controlling the five-axis numerical control basket to move to the target position based on the moving track, collecting and analyzing the distance between the two ends of the basket and the wall surface, controlling the five-axis numerical control basket to adjust to a posture parallel to the wall surface, and at the same time, monitoring the lifting length of the lifting mechanism of the two ends of the basket when the five-axis numerical control basket moves up and down, calculating the difference between the lifting lengths based on the lifting lengths, and finally giving the correction parameters to the lifting mechanism based on the difference between the lifting lengths, to solve the problems of insufficient intelligence and insufficient safety of the existing basket intelligent management technology, which leads to the personal safety of the workers in the basket not being best guaranteed.

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

[0006] Acquiring the start point coordinates and end point coordinates of the five-axis numerical control basket, and analyzing the moving track of the two ends of the basket of the five-axis numerical control basket based on the start point coordinates and end point coordinates;

[0007] After controlling the five-axis numerical control basket to move to the target position based on the moving track, collecting and analyzing the distance between the two ends of the basket and the wall surface, and controlling the five-axis numerical control basket to adjust to a posture parallel to the wall surface;

[0008] When the five-axis numerical control basket moves up and down, monitoring the lifting length of the lifting mechanism of the two ends of the basket, giving correction parameters to the lifting mechanism based on the difference between the lifting lengths, and ensuring that the basket will not tilt at all.

[0009] Further, acquiring the start point coordinates and end point coordinates of the five-axis numerical control basket, and analyzing the moving track of the two ends of the basket of the five-axis numerical control basket based on the start point coordinates and end point coordinates comprises the following sub-steps:

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

[0011] Acquiring the start point coordinates and end point coordinates of the five-axis numerical control basket in the basket positioning coordinate system, and analyzing the moving track of the two ends of the basket of the five-axis numerical control basket based on the start point coordinates and end point coordinates.

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

[0013] Acquiring the plan view of the building, completing the plan view as a rectangle, and naming it as a coordinate reference map;

[0014] A two-dimensional coordinate system is established with the top point of the lower left corner of the coordinate reference diagram as the origin, the lower edge of the coordinate reference diagram as the X-axis, and the left edge as the Y-axis, and is named as the two-dimensional coordinate system;

[0015] The two-dimensional coordinate system is recorded in the three-dimensional model of the building according to the position of the coordinate reference diagram, and a three-dimensional coordinate system is constructed by taking the vertical upward direction as the Z-axis and combining the two-dimensional coordinate system, and is named as the basket positioning coordinate system.

[0016] Further, the starting point coordinates and the end point coordinates of the five-axis numerical control basket in the basket positioning coordinate system are obtained, and the moving track of the two ends of the five-axis numerical control basket is analyzed based on the starting point coordinates and the end point coordinates, including the following sub-steps:

[0017] The current coordinates of the five-axis numerical control basket in the basket positioning coordinate system are obtained, which are named as the starting point coordinates, and the coordinates to which the five-axis numerical control basket needs to be controlled are obtained, which are named as the end point coordinates, the starting point coordinates include the starting point left coordinates and the starting point right coordinates, and the end point coordinates include the end point left coordinates and the end point right coordinates;

[0018] The left side moving distance and the right side moving distance are compared, if the left side moving distance is equal to the right side moving distance, a same plane moving signal is output; otherwise, a different plane moving signal is output;

[0019] The distance between the starting point left coordinates and the end point left coordinates is calculated and marked as the left side moving distance, and the distance between the starting point right coordinates and the end point right coordinates is calculated and marked as the right side moving distance;

[0020] If the same plane moving signal is output, the starting point left coordinates and the end point left coordinates are substituted into the function to obtain the left side moving track; the starting point right coordinates and the end point right coordinates are substituted into the function to obtain the right side moving track, wherein the coordinates (XL1, YL1, ZL1) represent the starting point left coordinates, the coordinates (XL2, YL2, ZL2) represent the end point left coordinates, the coordinates (XR1, YR1, ZR1) represent the starting point right coordinates, and the coordinates (XR2, YR2, ZR2) represent the end point right coordinates, XL, YL and ZL represent the X-axis, Y-axis and Z-axis coordinates of the left side moving track respectively, and XR, YR and ZR represent the X-axis, Y-axis and Z-axis coordinates of the right side moving track respectively;

[0021] If the different plane moving signal is output, a different plane moving analysis scheme is executed.

[0022] Further, the different plane moving analysis scheme includes the following sub-steps:

[0023] Calculate the sum of the distance between the left coordinate of the starting point and the left coordinate of the ending point and the distance between the left coordinate of the starting point and the right coordinate of the ending point, marked 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 ending point and the distance between the right coordinate of the starting point and the right coordinate of the ending point, marked 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 the left end reference movement signal; otherwise, output the right end reference movement signal;

[0025] If the left end reference movement signal is output, calculate the left side movement trajectory in the manner of outputting the same plane movement signal, at the same time, mark the left coordinate of the starting point in the left side movement trajectory as the trajectory starting point, mark the straight line formed by the left side movement trajectory as the trajectory straight line, move the trajectory straight line to the right coordinate of the starting point based on the trajectory starting point, and the function corresponding to the straight line obtained is the right side movement trajectory;

[0026] If the right end reference movement signal is output, calculate the right side movement trajectory in the manner of outputting the same plane movement signal, at the same time, mark the right coordinate of the starting point in the right side movement trajectory as the trajectory starting point, mark the straight line formed by the right side movement trajectory as the trajectory straight line, move the trajectory straight line to the left coordinate of the starting point based on the trajectory starting point, and the function corresponding to the straight line obtained is the left side movement trajectory.

[0027] Further, after the five-axis numerical control basket is moved to the target position based on the movement trajectory, the distances between the two ends of the basket and the wall are collected and analyzed, and the five-axis numerical control basket is controlled to adjust to a posture parallel to the wall, including the following sub-steps:

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

[0029] Obtain the coordinates of the two ends of the five-axis numerical control basket at this time, marked as real-time coordinates, the real-time coordinates include real-time left coordinates and real-time right coordinates, and obtain the length of the five-axis numerical control basket, marked as the basket length;

[0030] If the left end reference movement signal is output, draw a circle with the real-time left coordinate as the center and the basket length as the radius, named as the posture adjustment reference circle, the posture adjustment reference circle passes through the real-time right coordinate and the right coordinate of the ending point, and the minor arc between the real-time right coordinate and the right coordinate of the ending point is taken as the right side adjustment trajectory of the real-time right coordinate;

[0031] If the right end reference movement signal is output, draw a circle with the real-time right coordinate as the center and the basket length as the radius, named as the posture adjustment reference circle, the posture adjustment reference circle passes through the real-time left coordinate and the left coordinate of the ending point, and the minor arc between the real-time left coordinate and the left coordinate of the ending point is taken as the left side adjustment trajectory of the real-time left coordinate;

[0032] Adjust the five-axis numerical control basket based on the right adjustment track or the left adjustment track.

[0033] Further, when the five-axis numerical control basket moves up and down, monitor the lifting lengths of the lifting mechanisms at both ends of the basket, and assign correction parameters to the lifting mechanisms based on the difference in lifting lengths to ensure that the basket does not tilt at all.

[0034] When the five-axis numerical control basket moves up and down, monitor the lifting lengths of the lifting mechanisms at both ends of the 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 lifting lengths.

[0036] Further, when the five-axis numerical control basket moves up and down, monitor the lifting lengths of the lifting mechanisms at both ends of the basket, and calculate the difference between the lifting lengths based on the lifting lengths, including the following sub-steps:

[0037] Obtain the length of the left rope and the length of the right rope of the five-axis numerical control basket, and mark them as left lifting length and right lifting length respectively;

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

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

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

[0041] 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 the height completion signal; otherwise, output the height normal signal;

[0042] Record the time used from zero to the first difference threshold of the lifting difference value, mark it as deviation time, and obtain the moving speed of the lifting mechanism in the five-axis numerical control management platform, mark it as lifting speed, the lifting speed includes low lifting speed and 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 the height completion signal is output, the speed of the lifting mechanism corresponding to the low lifting length is increased, so that the left lifting length and the right lifting length are equal;

[0044] Determine whether the five-axis numerical control basket is rising or falling, if it is rising, output the basket rising signal, if it is falling, output the basket falling signal;

[0045] If the basket up signal is output, then solve a by the equation LRxt-a x HRxt=S, where LR is a low lifting rate, HR is a high lifting rate, t is a deviation time, S is a first difference threshold, and a is a correction reference value;

[0046] Calculate 1 / a 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 the basket down signal is output, then solve a by the equation HRxt-a x LRxt=S, calculate 1 / a 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 a five-axis numerical control system intelligent management platform based on Internet of Things technology, comprising 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 with the intelligent control center in data;

[0049] The trajectory analysis module is used to obtain the starting point coordinates and the end point coordinates of the five-axis numerical control basket, and analyze the moving track of the two ends of the basket based on the starting point coordinates and the end point coordinates;

[0050] The posture adjustment module is used to control the five-axis numerical control basket to move to the target position based on the moving track, collect and analyze the distance between the two ends of the basket and the wall surface, and control the five-axis numerical control basket to adjust to a posture parallel to the wall surface;

[0051] The lifting correction module is used to monitor the lifting length of the lifting mechanism at the two ends of the basket when the five-axis numerical control basket moves up and down, and give a correction parameter to the lifting mechanism based on the difference of the lifting length, so as to ensure that the basket will not tilt all the time;

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

[0053] The beneficial effects of the present application are as follows: the present application constructs a hanging basket positioning coordinate system based on a building, then obtains the starting point coordinates and the end point coordinates of the five-axis numerical control hanging basket in the hanging basket positioning coordinate system, analyzes the moving track of the two ends of the hanging basket of the five-axis numerical control hanging basket based on the starting point coordinates and the end point coordinates, controls the five-axis numerical control hanging basket to move to the target position based on the moving track, collects the distance between the two ends of the hanging basket and the wall surface and analyzes it, and controls the five-axis numerical control hanging basket to adjust to a posture parallel to the wall surface, the advantage is that the left moving track and the right moving track are analyzed to control the hanging basket to always keep horizontal and move to the target position, so that the safety of workers is ensured and the safety and practicability of intelligent management of the hanging basket are improved.

[0054] The present application monitors the lifting length of the lifting mechanism at the two ends of the hanging basket when the five-axis numerical control hanging basket moves up and down, calculates the difference between the lifting lengths based on the lifting lengths, and finally gives the correction parameters to the lifting mechanism based on the difference between the lifting lengths, the advantage is that the lifting mechanism of the hanging basket is used for a long time, and the lubrication degree of the lifting mechanism on the left and right sides is different, which will cause the control accuracy of the left and right sides of the hanging basket to deviate, if left unattended, the hanging basket will tilt, therefore, by analyzing the difference between the lifting lengths, the correction parameters are given to correct the lifting speed of the hanging basket, and the safety and effectiveness of intelligent management of the hanging basket are improved. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

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

[0059] Figure 5 It is the schematic diagram of the track starting point and the track straight line of the present application;

[0060] Figure 6 It is the schematic diagram of the posture adjustment reference circle of the present application;

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

[0062] Figure 8 It is the step flow chart of the method of the present application. DETAILED DESCRIPTION

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] Example 1, please refer to Figure 1 As shown, this application provides an intelligent management platform for a five-axis CNC system based on Internet of Things (IoT) technology, including a trajectory analysis module, an attitude adjustment module, a lifting correction module, and an intelligent control center; the trajectory analysis module, attitude adjustment module, and lifting correction module are respectively connected to the intelligent control center for data transmission.

[0065] The trajectory analysis module is used to obtain the starting coordinates and ending coordinates of the five-axis CNC suspended platform, and analyze the movement trajectory of the two ends of the platform based on the starting coordinates and ending coordinates. The trajectory analysis module includes a coordinate system construction unit, a trajectory analysis unit, and an out-of-plane analysis unit.

[0066] The coordinate system construction unit is used to construct a positioning coordinate system for the suspended platform based on the building.

[0067] The coordinate system building unit is configured with a coordinate system building strategy, which includes:

[0068] Please see Figure 2 As shown, obtain the top view of the building, complete the top view into a rectangle, and name it Coordinate Reference Map;

[0069] Please see Figure 3 As shown, a Cartesian coordinate system is established with the lower left corner of the coordinate reference graph as the origin, the bottom edge of the coordinate reference graph as the X-axis, and the left side as the Y-axis. This system is named a two-dimensional coordinate system.

[0070] Please see Figure 4 As shown, the two-dimensional coordinate system is entered into the three-dimensional model of the building according to the position of the coordinate reference diagram. Then, with the vertical upward direction as the Z-axis, a three-dimensional coordinate system is constructed by combining the two-dimensional coordinate system and named the suspended basket positioning coordinate system.

[0071] In practical applications, a top-down plan view is obtained and then completed into a coordinate reference diagram, as shown below. Figure 2 As shown, the dashed lines represent the filled areas, which are the top-view plan view. A two-dimensional coordinate system is constructed based on the coordinate reference diagram as follows. Figure 3 As shown, a positioning coordinate system for the suspended platform is then constructed based on the two-dimensional coordinate system and the three-dimensional model of the building, as follows: Figure 4 As shown, to ensure that the coordinates of the suspended platform are always in the first quadrant, a certain gap is added between the positioning coordinate system of the suspended platform and the outer wall of the building.Figure 4 The middle is the positioning coordinate system of the basket after the interval is increased, and the size of the increased interval is usually 2m to 5m;

[0072] The trajectory analysis unit is used to obtain the start point coordinates and the end point coordinates of the five-axis numerical control basket in the basket positioning coordinate system, and analyze the moving trajectories of the two ends of the five-axis numerical control basket based on the start point coordinates and the end point coordinates. The trajectory analysis unit is configured with a trajectory analysis strategy, which includes:

[0073] The current coordinates of the five-axis numerical control basket in the basket positioning coordinate system are obtained, which are named as start point coordinates. The coordinates to which the five-axis numerical control basket needs to be controlled to go are obtained, which are named as end point coordinates. The start point coordinates include start point left coordinates and start point right coordinates, and the end point coordinates include end point left coordinates and end point right coordinates.

[0074] The left moving distance and the right moving distance are compared. If the left moving distance is equal to the right moving distance, a same plane moving signal is output; otherwise, a different plane moving signal is output.

[0075] The distance between the start point left coordinates and the end point left coordinates is calculated and marked as the left moving distance. The distance between the start point right coordinates and the end point right coordinates is calculated and marked as the right moving distance.

[0076] In actual application, the start point left coordinates are (43, 21, 20), the start point right coordinates are (46, 21, 20), the end point left coordinates are (50, 15, 20), and the end point right coordinates are (50, 12, 20). The left moving distance is calculated by the coordinate distance calculation formula as The right moving distance is Since this is to compare whether the moving distances of the two ends of the five-axis numerical control basket are equal, the left moving distance and the right moving distance do not need to be simplified. Through comparison, it is found that the left moving distance is not equal to the right moving distance, so a different plane moving signal is output.

[0077] If the same plane moving signal is output, the start point left coordinates and the end point left coordinates are substituted into the function to obtain the left moving trajectory; the start point right coordinates and the end point right coordinates are substituted into the function to obtain the right moving trajectory, wherein the coordinates (XL1, YL1, ZL1) represent the start point left coordinates, the coordinates (XL2, YL2, ZL2) represent the end point left coordinates, the coordinates (XR1, YR1, ZR1) represent the start point right coordinates, and the coordinates (XR2, YR2, ZR2) represent the end point right coordinates. XL, YL and ZL represent the coordinates of the X axis, the Y axis and the Z axis of the left moving trajectory respectively, and XR, YR and ZR represent the coordinates of the X axis, the Y axis and the Z axis of the right moving trajectory respectively.

[0078] If the out-of-plane movement signal is output, the 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 the two ends of the five-axis numerical control hanging basket move in the same plane parallel to the outer wall of the building, at this time, the rotation problem of the five-axis numerical control hanging basket does not need to be considered, so the movement trajectory of the five-axis numerical control hanging basket can be directly calculated by the starting point coordinates and the end point coordinates; Since the in-plane movement signal is not output in this embodiment, the in-plane movement analysis scheme will not be specifically explained and described, and only the out-of-plane movement analysis scheme will be specifically explained and described. If the out-of-plane movement analysis scheme can be understood, the calculation method and application principle of the left movement trajectory and the right movement trajectory when the in-plane movement signal is output can also be understood.

[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] The sum of the distance between the starting point left coordinate and the end point left coordinate and the distance between the starting point left coordinate and the end point right coordinate is calculated, which is marked as the left distance reference value; The sum of the distance between the starting point right coordinate and the end point left coordinate and the distance between the starting point right coordinate and the end point right coordinate is calculated, which is marked as the right distance reference value;

[0082] The left distance reference value and the right distance reference value are compared, if the left distance reference value is less than the right distance reference value, the left end reference movement signal is output; Otherwise, the right end reference movement signal is output;

[0083] Please refer to Figure 5 If the left end reference movement signal is output, the left movement trajectory is calculated in the manner of outputting the in-plane movement signal, and the starting point left coordinate in the left movement trajectory is marked as the trajectory starting point, the straight line formed by the left movement trajectory is marked as the trajectory straight line, and the trajectory straight line is moved to the starting point right coordinate based on the trajectory starting point. The function corresponding to the straight line obtained is the right movement trajectory;

[0084] If the right end reference movement signal is output, the right movement trajectory is calculated in the manner of outputting the in-plane movement signal, and the starting point right coordinate in the right movement trajectory is marked as the trajectory starting point, the straight line formed by the right movement trajectory is marked as the trajectory straight line, and the trajectory straight line is moved to the starting point left coordinate based on the trajectory starting point. The function corresponding to the straight line obtained 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, the left distance reference value is greater than the right distance reference value, a right end reference moving signal is output, and the left moving track is calculated in the same way as the output same plane moving signal, that is, the starting point left coordinate (46, 21, 20) and the end point right coordinate (50, 12, 20) are substituted into the function: The left moving track is obtained by solving The denominator of ZL is 0, that is, the five-axis numerical control basket moves in a plane parallel to the X and Y axes, and does not involve the movement of the Z axis, so it is simplified to a two-dimensional straight line equation, and the left moving track is YL = -2.25 * XL + 124.5. If the five-axis numerical control basket moves in the X, Y and Z axes, it is still expressed by a three-dimensional straight line equation; the starting point of the track and the track straight line are as shown in Figure 5 Figure 5 The connecting device of the five-axis numerical control basket is not marked in the figure, only the body of the basket is displayed, to prevent the connecting device from blocking the identification; Figure 5 The dashed line in the figure is the straight line corresponding to the right moving track, and the right moving track is YR = -2.25 * XR + 117.75; the processing method when the right end reference moving signal is output is the same as when the left end reference moving signal is output, so it will not be described in this embodiment.

[0086] The posture adjustment module is configured to control the five-axis numerical control basket to move to the target position based on the moving track, collect and analyze the distance between the two ends of the basket and the wall surface, and control the five-axis numerical control basket to adjust to a posture parallel to the wall surface.

[0087] The posture adjustment module is configured with a posture adjustment strategy, and the posture adjustment strategy includes:

[0088] The five-axis numerical control basket is controlled to move to the corresponding position based on the left moving track and the right moving track;

[0089] The coordinates of the two ends of the five-axis numerical control basket at this time are obtained and marked as real-time coordinates, including real-time left coordinates and real-time right coordinates, and the length of the five-axis numerical control basket is obtained and marked as basket length;

[0090] In actual application, Figure 5 The five-axis numerical control basket is controlled to move to the corresponding position based on the left moving track and the right moving track, Figure 5 The dark gray solid rectangle in the figure is the moving five-axis numerical control basket, the real-time right coordinate at this time is the end point right coordinate (50, 12, 20), the real-time left coordinate obtained is (47, 12, 20), and the basket length obtained is 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 basket as the radius, named as the posture adjustment reference circle, the posture 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 taken as the right side adjustment track of the real-time right coordinate;

[0092] Referring to FIG. 6, 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 basket as the radius, named as the posture adjustment reference circle, the posture 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 taken as the left side adjustment track of the real-time left coordinate; Figure 6

[0093] The five-axis numerical control basket is adjusted based on the right side adjustment track or the left side adjustment track;

[0094] In actual application, the right end reference movement signal is output, and the posture adjustment reference circle is constructed as shown in FIG. 6. Figure 6 Figure 6 The posture adjustment reference circle in FIG. 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, and the real-time left coordinate is moved along the solid line minor arc in the posture adjustment reference circle in FIG. 6. Figure 6

[0095] The lifting correction module is used for monitoring the lifting lengths of the lifting mechanisms at both ends of the basket when the five-axis numerical control basket moves up and down, and assigning a correction parameter to the lifting mechanisms based on the difference between the lifting lengths, so as to ensure that the basket does not tilt at all.

[0096] The lifting difference analysis unit is used for monitoring the lifting lengths of the lifting mechanisms at both ends of the basket when the five-axis numerical control basket moves up and down, and calculating 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] Referring to FIG. 6, the length of the left side rope and the length of the right side rope of the five-axis numerical control basket are obtained, and are marked as the left lifting length and the right lifting length respectively. Figure 7 The left lifting length and the right lifting length are compared, the smaller value is marked as the low lifting length, and the larger value is marked as the high lifting length.

[0099] The difference between the high lifting length and the low lifting length is calculated, and the calculation result is marked as the lifting difference value.

[0100] In actual application, the definitions of the left lifting length and the right lifting length are as shown in FIG. 6.

[0101] Figure 7 ​​​​As shown, Figure 7 The five-axis numerical control basket is in an inclined state to better understand the left lifting length and the right lifting length. In actual use, the five-axis numerical control basket needs to be kept in a horizontal state. The left lifting length and the right lifting length are obtained as 30.56 m and 30.51 m respectively. The lifting difference value is calculated as 0.05 m, i.e. 5 cm;

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

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

[0104] The lifting difference value is monitored in real time, and the lifting difference value is compared with the first difference threshold. If the lifting difference value reaches the first difference threshold, a height completion signal is output. Otherwise, a height normal signal is output;

[0105] The time taken from zero to the first difference threshold is recorded as the deviation time, and the moving speed of the lifting mechanism in the five-axis numerical control management platform is obtained 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 the height completion signal is output, the speed of the lifting mechanism corresponding to the low lifting length is increased, so that the left lifting length and the right lifting length are equal;

[0107] In actual application, the first difference threshold is set to prevent the five-axis numerical control basket from being excessively inclined, which may cause workers to stand on the inclined surface and other dangerous behaviors. The first difference threshold is usually set to 1 cm to 5 cm. If it exceeds 5 cm, there is a problem of excessive inclination. The larger the first difference threshold, the more accurate the correction parameter calculated by the embodiment. Therefore, the first difference threshold in the embodiment is set to 5 cm. By comparison, the lifting difference value is equal to the first difference threshold, and the height completion signal is output. The lower side of the five-axis numerical control basket is aligned with the other side, and the deviation time is recorded as 10 s. The low lifting speed and the high lifting speed are both 0.2 m / s. For example, the lifting speed of the lifting mechanism on the left side is the low lifting speed, and the lifting speed of the lifting mechanism on the right side is the high lifting speed; Figure 7

[0108] Determine whether the five-axis numerical control basket is rising or falling. If it is rising, output the basket rising signal. If it is falling, output the basket falling signal.

[0109] ​If the basket ascending signal is output, then solve a by the equation LRxt-a*HRxt=S, wherein LR is a low lifting rate, HR is a high lifting rate, t is a deviation time, S is a first difference threshold, and a is a correction reference value;

[0110] Calculate 1 / a 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;

[0111] If the basket descending signal is output, then solve a by the equation HRxt-a*LRxt=S, calculate 1 / a 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;

[0112] In actual application, the five-axis numerical control basket needs to be raised from 20m high to 30m high at this time, so the basket ascending signal 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 5s, the first difference threshold S is 5cm=0.05m, the correction reference value a is solved to be 0.9, the correction parameter is calculated to be 1.11, the calculation result is rounded to two decimal places, the high lifting rate HR is 0.2m / s, the correction rate is multiplied to be 0.222m / s, and the high lifting rate is changed to 0.222m / s. At this time, the five-axis numerical control basket can avoid the tilt of the basket when ascending.

[0113] The intelligent control center is used for controlling the movement of the five-axis numerical control basket; the intelligent control center can regulate and control the lifting rate according to the analysis result.

[0114] Embodiment 2, please refer to Figure 8 As shown in the figure, the present application provides a kind of five-axis numerical control system intelligent management method based on Internet of Things technology, comprising the following steps:

[0115] Step S1, the starting point coordinate and the end point coordinate of five-axis numerical control basket are obtained, and the movement track of the two ends of the basket of five-axis numerical control basket is analyzed based on the starting point coordinate and the end point coordinate;Step S1 includes the following substeps:

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

[0117] Step S101 includes the following substeps:

[0118] Step S1011, the top view of the building is obtained, the top view is completed as a rectangle, and the coordinate reference map is named;

[0119] Step S1012, a plane rectangular coordinate system is established with the top point of the lower left corner of the coordinate reference map as the origin, the lower edge of the coordinate reference map as the X axis and the left edge as the Y axis, and the two-dimensional coordinate system is named;

[0120] Step S1013, the two-dimensional coordinate system is recorded in the three-dimensional model of the building according to the position of the coordinate reference map, and a vertical upward direction is taken as a Z axis, and a three-dimensional coordinate system is constructed in combination with the two-dimensional coordinate system, and is named as a hanging basket positioning coordinate system;

[0121] Step S102, obtaining a starting point coordinate and an ending point coordinate of the five-axis numerical control hanging basket in the hanging basket positioning coordinate system, and analyzing a moving track of two ends of the five-axis numerical control hanging basket based on the starting point coordinate and the ending point coordinate;

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

[0123] Step S1021, obtaining a coordinate of the five-axis numerical control hanging basket in the hanging basket positioning coordinate system at present, and naming it as a starting point coordinate, and obtaining a coordinate to which the five-axis numerical control hanging basket needs to go, and naming it as an ending point coordinate, the starting point coordinate including a starting point left coordinate and a starting point right coordinate, and the ending point coordinate including an ending point left coordinate and an ending point right coordinate;

[0124] Step S1022, comparing a left side moving distance with a right side moving distance, if the left side moving distance is equal to the right side moving distance, outputting a same plane moving signal, otherwise outputting a different plane moving signal;

[0125] Step S1023, calculating a distance between the starting point left coordinate and the ending point left coordinate, and marking it as a left side moving distance, and calculating a distance between the starting point right coordinate and the ending point right coordinate, and marking it as a right side moving distance;

[0126] Step S1024, if the same plane moving signal is outputted, substituting the starting point left coordinate and the ending point left coordinate into a function to obtain a left side moving track, and substituting the starting point right coordinate and the ending point right coordinate into a function to obtain a right side moving track, wherein the coordinate (XL1, YL1, ZL1) represents the starting point left coordinate, the coordinate (XL2, YL2, ZL2) represents the ending point left coordinate, the coordinate (XR1, YR1, ZR1) represents the starting point right coordinate, the coordinate (XR2, YR2, ZR2) represents the ending point right coordinate, XL, YL and ZL respectively represent coordinates of an X axis, a Y axis and a Z axis of the left side moving track, and XR, YR and ZR respectively represent coordinates of an X axis, a Y axis and a Z axis of the right side moving track;

[0127] Step S1025, if the different plane moving signal is outputted, executing a different plane moving analysis scheme;

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

[0129] Step S1025.1, calculate the sum of the distance between the left coordinate of the starting point and the left coordinate of the ending point and the distance between the left coordinate of the starting point and the right coordinate of the ending point, marked 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 ending point and the distance between the right coordinate of the starting point and the right coordinate of the ending point, marked 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, output the left end reference movement signal; otherwise, output the right end reference movement signal;

[0131] Step S1025.3, if the left end reference movement signal is output, calculate the left side movement trajectory in the manner of outputting the same plane movement signal, at the same time, mark the left coordinate of the starting point in the left side movement trajectory as the trajectory starting point, mark the straight line formed by the left side movement trajectory as the trajectory straight line, move the trajectory straight line based on the trajectory starting point to the right coordinate of the starting point, and the function corresponding to the obtained straight line is the right side movement trajectory;

[0132] Step S1025.4, if the right end reference movement signal is output, calculate the right side movement trajectory in the manner of outputting the same plane movement signal, at the same time, mark the right coordinate of the starting point in the right side movement trajectory as the trajectory starting point, mark the straight line formed by the right side movement trajectory as the trajectory straight line, move the trajectory straight line based on 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;

[0133] Step S2, after the five-axis numerical control basket is controlled to move to the target position based on the movement trajectory, the distance between the two ends of the basket and the wall surface is collected and analyzed, and the five-axis numerical control basket is adjusted to a posture parallel to the wall surface; Step S2 includes the following substeps:

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

[0135] Step S202, obtain the coordinates of the two ends of the five-axis numerical control basket at this time, marked as real-time coordinates, the real-time coordinates include real-time left coordinates and real-time right coordinates, and obtain the length of the five-axis numerical control basket, marked as the 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 basket length as the radius, named as the posture adjustment reference circle, the posture adjustment reference circle passes through the real-time right coordinate and the right coordinate of the ending point, and the minor arc between the real-time right coordinate and the right coordinate of the ending point is taken as the right side adjustment trajectory of the real-time right coordinate;

[0137] Step S204, if the output right end reference movement signal, with real-time right coordinate as the center, the length of the basket as the radius to draw a circle, named as the posture adjustment reference circle, the posture adjustment reference circle passes through the real-time left coordinate and the end point left coordinate, and the inferior arc between the real-time left coordinate and the end point left coordinate is taken as the left adjustment track of the real-time left coordinate;

[0138] Step S205, adjusting the five-axis numerical control basket based on the right adjustment track or the left adjustment track;

[0139] Step S3, when the five-axis numerical control basket moves up and down, monitoring the lifting length of the lifting mechanism at both ends of the basket, and giving a correction parameter to the lifting mechanism based on the difference between the lifting lengths, to ensure that the basket does not tilt at all; Step S3 includes the following sub-steps:

[0140] Step S301, when the five-axis numerical control basket moves up and down, monitoring the lifting length of the lifting mechanism at both ends of the basket, and calculating the difference between the lifting lengths based on the lifting lengths;

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

[0142] Step S3011, obtaining the length of the left rope and the length of the right rope of the five-axis numerical control basket, and marking them as left lifting length and right lifting length respectively;

[0143] Step S3012, comparing the left lifting length with the right lifting length, marking the smaller value as the low lifting length and the larger value as the high lifting length;

[0144] Step S3013, calculating the difference between the high lifting length and the low lifting length, and marking the calculation result as the lifting difference value;

[0145] Step S302, giving a correction parameter to the lifting mechanism based on the difference between the lifting lengths;

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

[0147] Step S3021, monitoring the lifting difference value in real time, comparing the lifting difference value with the first difference threshold, if the lifting difference value reaches the first difference threshold, outputting the height complement signal; otherwise, outputting the height normal signal;

[0148] Step S3022, recording the time used by the lifting difference value from zero to the first difference threshold, marked as the deviation time, and obtaining 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;

[0149] If the height complement signal is output, the rotation speed of the lifting mechanism corresponding to the low lifting length is accelerated, so that the left lifting length is equal to the right lifting length.

[0150] In step S3024, it is judged whether the five-axis numerical control basket is ascending or descending. If it is ascending, a basket ascending signal is output. If it is descending, a basket descending signal is output.

[0151] In step S3025, if the basket ascending signal is output, a is solved by the equation LR x t - a x HR x t = S, where LR is a low lifting rate, HR is a high lifting rate, t is a deviation time, S is a first difference threshold, and a is a correction reference value.

[0152] 1 / a is calculated to obtain a correction parameter. The high lifting rate is multiplied by the correction parameter to obtain a correction rate. The high lifting rate is changed to the correction rate.

[0153] If the basket descending signal is output, a is solved by the equation HR x t - a x LR x t = S. 1 / a is calculated to obtain a correction parameter. The low lifting rate is multiplied by the correction parameter to obtain a correction rate. The low lifting rate is changed to the correction rate.

[0154] In embodiment 3, the electronic device can include a processor, a communication interface, a memory and a communication bus. The processor, the communication interface and the memory can communicate with each other through the communication bus. The memory stores computer readable instructions. The processor can call the instructions in the memory. When the computer readable instructions are executed by the processor, the steps in the five-axis numerical control system intelligent management method based on the Internet of Things technology are run to realize the following functions: obtaining the start point coordinates and the end point coordinates of the five-axis numerical control basket, analyzing the movement trajectories of the two ends of the basket based on the start point coordinates and the end point coordinates; collecting and analyzing the distances between the two ends of the basket and the wall surface, and controlling the five-axis numerical control basket to adjust to a parallel posture with the wall surface; when the five-axis numerical control basket moves up and down, a correction parameter is given to the lifting mechanism based on the difference in lifting length to ensure that the basket does not tilt at all.

[0155] In addition, the logic instructions in the memory described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0156] Embodiment 4, the present application also provides a computer readable storage medium, the present application provides a storage medium, which stores a computer program, and the computer program is executed by a processor to run the steps of the above-mentioned five-axis numerical control system intelligent management method based on Internet of Things technology, to realize the following functions: obtaining the starting point coordinates and the end point coordinates of the five-axis numerical control basket, analyzing the moving track of the two ends of the basket based on the starting point coordinates and the end point coordinates; collecting and analyzing the distance between the two ends of the basket and the wall, and controlling the five-axis numerical control basket to adjust to a parallel posture with the wall; when the five-axis numerical control basket moves up and down, the correction parameters are given to the lifting mechanism based on the difference in lifting length, to ensure that the basket does not tilt at all.

[0157] Through the description of the above embodiments, the embodiments of the present application can be provided as a method, a system or a computer program product. Based on such understanding, the above technical solutions essentially or the part of the prior art that contributes to the technical solutions can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the method described in each embodiment or some part of the embodiment.

[0158] In the embodiments of the present application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are only illustrative, for example, the division of modules or units is only a logical function division, and other division manners can be used in actual implementation, for example, a plurality of modules or units can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some communication interface, the indirect coupling or communication connection between the system, the module and the unit 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 not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and 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. An intelligent management method for a five-axis numerical control system based on Internet of Things technology, characterized in that, The method comprises the following steps: Obtain the starting coordinates of the five-axis CNC suspended platform in the platform positioning coordinate system, and obtain the ending coordinates of the target area to be controlled by the five-axis CNC suspended platform. The starting coordinates include the left coordinates of the starting point (XL1, YL1, ZL1) and the right coordinates of the starting point (XR1, YR1, ZR1). The ending coordinates include the left coordinates of the ending point (XL2, YL2, ZL2) and the right coordinates of the ending point (XR1, YR1, ZR1). ２ ,YR ２ ZR ２ Calculate the distance between the left coordinates of the starting point and the left coordinates of the ending point, and mark it as the left-side movement distance. Calculate the distance between the right coordinates of the starting point and the right coordinates of the ending point, and mark it as the right-side movement distance. Compare the left-side movement distance and the right-side movement distance. If the left-side movement distance equals the right-side movement distance, output a same-plane movement signal; otherwise, output a different-plane movement signal. If a same-plane movement signal is output, substitute the left coordinates of the starting point and the left coordinates of the ending point into the function. The left-side trajectory is obtained by solving the problem; the right coordinates of the starting point and the right coordinates of the ending point are substituted into the function. The right-side movement trajectory is obtained by solving the equations, where XL, YL, and ZL represent the X, Y, and Z coordinates of the left-side movement trajectory, respectively, and XR, YR, and ZR represent the X, Y, and Z coordinates of the right-side movement trajectory, respectively. If the output is an out-of-plane movement signal, an out-of-plane movement analysis scheme is executed, comprising: calculating the sum of the distance between the left coordinate of the starting point and the left coordinate of the ending point and the distance between the left coordinate of the starting point and the right coordinate of the ending point, marked as the left distance reference value; calculating the sum of the distance between the right coordinate of the starting point and the left coordinate of the ending point and the distance between the right coordinate of the starting point and the right coordinate of the ending point, marked as the right distance reference value; comparing 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, outputting a left-end reference movement signal; otherwise, outputting a right-end reference movement signal; if the left-end reference movement signal is output, calculating the left-side movement trajectory in the manner of outputting the in-plane movement signal, at the same time, marking the left coordinate of the starting point in the left-side movement trajectory as the trajectory starting point, marking the straight line formed by the left-side movement trajectory as the trajectory straight line, moving the trajectory straight line to the right coordinate of the starting point based on the trajectory starting point, and the function corresponding to the obtained straight line is the right-side movement trajectory; if the right-end reference movement signal is output, calculating the right-side movement trajectory in the manner of outputting the in-plane movement signal, at the same time, marking the right coordinate of the starting point in the right-side movement trajectory as the trajectory starting point, marking the straight line formed by the right-side movement trajectory as the trajectory straight line, moving the trajectory straight line to the left coordinate of the starting point based on the trajectory starting point, and the function corresponding to the obtained straight line is the left-side movement trajectory; After the five-axis numerical control basket is moved to the target position based on the movement trajectory, the distances between the two ends of the basket and the wall are collected and analyzed, and the five-axis numerical control basket is adjusted to a parallel posture with the wall; When the five-axis numerical control basket moves up and down, the lifting lengths of the lifting mechanisms at the two ends of the basket are monitored, correction parameters are given to the lifting mechanisms based on the differences in the lifting lengths, and it is ensured that the basket will not tilt at all times. 2.The intelligent management method of a five-axis numerical control system based on Internet of Things technology according to claim 1, characterized in that, A basket positioning coordinate system is constructed based on a building. 3.The intelligent management method of a five-axis numerical control system based on Internet of Things technology according to claim 2, characterized in that, The construction of the basket positioning coordinate system based on the building comprises the following sub-steps: An overhead plan of the building is obtained, the overhead plan is completed into a rectangle, and the completed overhead plan is named as a coordinate reference diagram; A two-dimensional coordinate system is established with the top point 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 of the coordinate reference diagram as the Y-axis, and the two-dimensional coordinate system is named as a two-dimensional coordinate system; The two-dimensional coordinate system is recorded in a three-dimensional model of the building according to the position of the coordinate reference diagram, and a three-dimensional coordinate system is constructed by taking a vertically upward direction as a Z-axis and combining the two-dimensional coordinate system, and the three-dimensional coordinate system is named as a basket positioning coordinate system. 4.The intelligent management method of a five-axis numerical control system based on Internet of Things technology according to claim 3, characterized in that, After the five-axis numerical control basket is moved to the target position based on the movement trajectory, the distances between the two ends of the basket and the wall are collected and analyzed, and the five-axis numerical control basket is adjusted to a parallel posture with the wall, which comprises the following sub-steps: The five-axis numerical control basket is moved to the corresponding position based on the left-side movement trajectory and the right-side movement trajectory; The coordinates of the two ends of the five-axis numerical control basket at this time are obtained and marked as real-time coordinates, the real-time coordinates comprising real-time left coordinates and real-time right coordinates, and the length of the five-axis numerical control basket is obtained and marked as a 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 basket as the radius, and is named as the posture adjustment reference circle, the posture 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 taken as the right side adjustment track 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 basket as the radius, and is named as the posture adjustment reference circle, the posture 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 taken as the left side adjustment track of the real-time left coordinate; The five-axis numerical control basket is adjusted based on the right side adjustment track or the left side adjustment track. 5.The intelligent management method of a five-axis numerical control system based on Internet of Things technology according to claim 4, characterized in that, When the five-axis numerical control basket moves up and down, the lifting lengths of the lifting mechanisms at both ends of the basket are monitored, and correction parameters are given to the lifting mechanisms based on the difference between the lifting lengths, so that the basket always does not tilt. When the five-axis numerical control basket moves up and down, the lifting lengths of the lifting mechanisms at both ends of the basket are monitored, and the difference between the lifting lengths is calculated based on the lifting lengths. The lifting mechanisms are given correction parameters based on the difference between the lifting lengths. 6.The intelligent management method of a five-axis numerical control system based on Internet of Things technology according to claim 5, characterized in that, When the five-axis numerical control basket moves up and down, the lifting lengths of the lifting mechanisms at both ends of the basket are monitored, and the difference between the lifting lengths is calculated based on the lifting lengths, including the following sub-steps: The length of the left rope and the length of the right rope of the five-axis numerical control basket are obtained, and are respectively marked as the left lifting length and the right lifting length. The left lifting length and the right lifting length are compared, the smaller value is marked as the low lifting length, and the larger value is marked as the high lifting length. The difference between the high lifting length and the low lifting length is calculated, and the calculation result is marked as the lifting difference value. 7.The intelligent management method of a five-axis numerical control system based on Internet of Things technology according to claim 6, characterized in that, The lifting mechanisms are given correction parameters based on the difference between the lifting lengths, including the following sub-steps: The lifting difference value is monitored in real time, and the lifting difference value is compared with the first difference threshold value, if the lifting difference value reaches the first difference threshold value, a height completion signal is output, otherwise a height normal signal is output; The time used by the lifting difference value from zero to the first difference threshold value is recorded and marked as the deviation time, and the moving speed of the lifting mechanism in the five-axis numerical control management platform is obtained and 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; If the height completion signal is output, the speed of the lifting mechanism corresponding to the low lifting length is increased, so that the left lifting length and the right lifting length are equal; It is judged whether the five-axis numerical control basket is rising or falling, if it is rising, a basket rising signal is output, if it is falling, a basket falling signal is output; If the output basket up signal is output, then solve a by the equation where LR is a low hoist rate, HR is a high hoist rate, t is a deviation time, S is a first difference threshold, and a is a correction reference value. 1 / α is calculated to obtain a correction parameter, the high lifting speed is multiplied by the correction parameter to obtain a correction speed, and the high lifting speed is changed to the correction speed; If the output basket lowering signal is output, then by the equation solving for a, calculating 1 / a, obtaining a correction parameter, multiplying the low hoist rate by the correction parameter to obtain a corrected rate, and changing the low hoist rate to the corrected rate.

8. An intelligent management platform for a five-axis numerical control system based on Internet of Things technology, used to implement the intelligent management method for a five-axis numerical control system based on Internet of Things technology according to any one of claims 1-7. The system comprises a trajectory analysis module, a posture adjustment module, a lifting correction module and a control center, the trajectory analysis module, the posture adjustment module and the lifting correction module are respectively connected with the control center in data. The trajectory analysis module is used to obtain the starting point coordinates and the end point coordinates of the five-axis numerical control hanging basket, and analyze the moving trajectories of the two ends of the hanging basket of the five-axis numerical control hanging basket based on the starting point coordinates and the end point coordinates; The posture adjustment module is used to collect and analyze the distances between the two ends of the hanging basket and the wall surface after the five-axis numerical control hanging basket moves to the target position based on the moving trajectories, and control the five-axis numerical control hanging basket to adjust to a posture parallel to the wall surface; The lifting correction module is used to monitor the lifting lengths of the lifting mechanisms at the two ends of the hanging basket when the five-axis numerical control hanging basket moves up and down, and give the lifting mechanisms correction parameters based on the differences in the lifting lengths, so as to ensure that the hanging basket does not tilt at all times; The intelligent control center is used to control the movement of the five-axis numerical control hanging basket.

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