Automatic angle correction control system based on target parameters

Abstract

The invention relates to the technical field of angle correction control, and provides an automatic angle correction control system based on target parameters, which acquires target parameter data through a sensing acquisition module, triggers a data verification mechanism and a data synchronization mechanism, and ensures the accuracy of data acquisition; the deviation judgment module judges the deviation between the rotation angle and the target parameter distance and the deviation type of the target through a deviation judgment strategy, precise judgment of the deviation is achieved, it is ensured that each operation can meet the preset operation process requirement, and therefore the operation quality is improved; the angle correction module is used for executing an angle correction mechanism and generating a feedback signal when a deviation exists between the rotation angle and the target parameter distance, and the automatic angle correction mechanism reduces the requirement for manual adjustment, reduces the operation difficulty and improves the production efficiency; the feedback monitoring module optimizes a deviation judgment strategy according to a feedback signal, continuously improves the performance of the correction system, and improves the correction accuracy and efficiency.

Description

Technical Field

[0001] This application relates to the technical field of angle correction control, and particularly to an automatic angle correction control system based on target parameters. Background Art

[0002] When the existing angle correction control system obtains target parameter data through the sensor network, it lacks an effective data consistency verification mechanism, and cannot accurately determine whether the obtained target parameter data conforms to the internal logical relationship. Nor can it comprehensively and comprehensively judge the deviation between the rotation angle and the target parameter distance. When the target has a deviation, the existing correction mechanism usually adopts a fixed and single correction method, which cannot be flexibly adjusted according to the specific type and actual situation of the deviation, without considering the dynamics and continuity of the operation process, as well as the differences in different parameter segments. Summary of the Invention

[0003] In view of the deficiencies of the prior art, this application provides an automatic angle correction control system based on target parameters, which includes: a sensing acquisition module, a deviation judgment module, and an angle correction module; The sensing acquisition module starts the sensor network to synchronously acquire target parameter data by triggering an acquisition signal, verifies the validity of the target parameter data through a data verification mechanism, verifies the consistency of the target parameter data through a data synchronization mechanism, and sets a buffer to store the valid and consistent target parameter data; The deviation judgment module judges the deviation of the rotation angle and the target parameter distance and the deviation type of the target through a deviation judgment strategy; The angle correction module is used to correct the target parameter data when the deviation type of the target is identified as a single deviation and generate a feedback signal, while when the deviation type of the target is identified as a composite deviation, it executes a segmented correction logic to generate a local correction signal for the parameter segment until the correction of the parameter segment is completed and a feedback signal is generated.

[0004] As an optional implementation manner, the data synchronization mechanism includes: Starting the sensor network by triggering an acquisition signal to synchronously acquire the monitored target parameter data; Verifying the consistency of the target parameter data; Setting a buffer to store the valid and consistent target parameter data and arranging the target parameter data according to the same time stamp; Interpolating the missing target parameter data in the buffer linearly by the target parameter data at adjacent times.

[0005] As an optional implementation manner, the method for verifying the consistency of the target parameter data includes: Determine the difference between the rotation angles and the difference between the target parameter distances within adjacent time intervals; Solve the ratio of the difference between the rotation angles within adjacent time intervals to the difference between the target parameter distances within adjacent time intervals to obtain the target parameter ratio; Configure a relationship constant, and perform a difference and absolute value operation on the target parameter ratio and the relationship constant to obtain a relationship difference; Configure an error threshold, and compare the relationship difference with the error threshold to obtain the consistency between the rotation angle and the target parameter distance. If the relationship difference is less than or equal to the error threshold, the rotation angle is consistent with the target parameter distance; If the relationship difference is greater than the error threshold, the rotation angle is inconsistent with the target parameter distance, and the inconsistent rotation angle and target parameter distance are excluded.

[0006] As an optional implementation manner, the deviation judgment strategy includes: Configure a basic rotation angle and a basic target parameter distance, calculate the absolute value of the difference between the rotation angle and the basic rotation angle and the absolute value of the difference between the target parameter distance and the basic target parameter distance, respectively obtaining an angle error and a distance error; Configure an angle error tolerance value, and compare the angle error with the angle error tolerance value to obtain the deviation of the rotation angle; Configure a distance error tolerance value, and compare the distance error with the distance error tolerance value to obtain the deviation of the target parameter distance; Comprehensively determine the deviation type of the target based on the deviation of the rotation angle and the deviation of the target parameter distance.

[0007] As an optional implementation manner, the angle correction module includes an angle correction mechanism, and the angle correction mechanism includes: Identify the deviation type of the target. If the deviation type of the target is a single deviation, correct the corresponding target parameter data and generate a feedback signal; If the deviation type of the target is a compound deviation, execute a segmented correction logic.

[0008] As an optional implementation manner, the segmented correction logic includes: Identify the operation path of the target, and divide the entire operation process of the target into multiple parameter segments according to the corners of the operation path; Calculate the angle error and distance error of the parameter segment, configure a basic correction amplitude, perform local correction on the parameter segment according to the basic correction amplitude, and generate a local correction signal for the parameter segment; Adjust the correction amplitude of the next parameter segment according to the local correction signal, and generate a local correction signal for the next parameter segment until the correction of all parameter segments is completed and a feedback signal is generated.

[0009] As an alternative implementation, the optimization method of the deviation judgment strategy includes dynamically adjusting the angular error tolerance value and the distance error tolerance value; The dynamic adjustment of the angular error tolerance value includes: Calculate the angular error, and subtract the angular error from the basic rotation angle to obtain an error difference value; Configure an angular adjustment factor, and multiply the error difference value by the angular adjustment factor to obtain an angular error tolerance adjustment value; Add the angular error tolerance adjustment value to the angular error tolerance value to obtain the adjusted angular error tolerance value.

[0010] As an alternative implementation, the target parameter data includes a rotation angle and a target parameter distance, and the data verification mechanism includes: Verify the validity of the rotation angle, including verifying the range validity, rate validity, and jump validity of the rotation angle; Configure an angular threshold, and compare the rotation angle with the angular threshold to obtain the range validity of the rotation angle; Configure a rate extreme value, calculate the change rate of the rotation angle within adjacent time, and compare the change rate of the rotation angle with the rate extreme value to obtain the rate validity of the rotation angle; Configure a jump extreme value, and compare the absolute value of the difference between adjacent rotation angles with the jump extreme value to obtain the jump validity of the rotation angle; Comprehensively judge the validity of the rotation angle based on the range validity, rate validity, and jump validity of the rotation angle. If the validity verification of the rotation angle all passes, it is determined that the rotation angle is valid; If the validity verification of any rotation angle fails, it is determined that the rotation angle is invalid, and the invalid rotation angle is excluded.

[0011] As an alternative implementation, the data verification mechanism further includes: Verify the validity of the target parameter distance, including verifying the range validity, intensity validity, and amplitude validity of the target parameter distance; Configure a distance threshold, and compare the target parameter distance with the distance threshold to obtain the range validity of the target parameter distance; Configure an intensity base value, record the intensity of the laser signal reflected by the laser ranging sensor, and compare the laser signal intensity with the intensity base value to obtain the intensity validity of the target parameter distance; Configure an amplitude extreme value, and compare the absolute value of the difference between adjacent target parameter distances with the amplitude extreme value to obtain the amplitude validity of the target parameter distance; Comprehensively judge the validity of the target parameter distance based on the range validity, intensity validity, and amplitude validity of the target parameter distance. If the validity verification of the target parameter distance all passes, it is determined that the target parameter distance is valid; If the validity check of any target parameter distance fails, it is determined that the target parameter distance is invalid, and the invalid target parameter distance is excluded.

[0012] Compared with the prior art, the beneficial effects of the present application are as follows: Through the collaborative work of the sensing acquisition module, deviation judgment module, angle correction module, and feedback monitoring module, a closed-loop automatic correction system is formed. The entire system realizes the automatic correction of the angle, without the need for frequent manual monitoring and manual adjustment, greatly reducing manual intervention, making the operation process smoother and more efficient, significantly improving the degree of automation of production, increasing production efficiency, and facilitating large-scale and automated operation production.

[0013] The sensing acquisition module acquires target parameter data and triggers the data verification mechanism and data synchronization mechanism to ensure the accuracy, synchronization, and effectiveness of data acquisition. The data synchronization mechanism ensures the temporal consistency of the target parameter data, and through the setting of a buffer and linear interpolation compensation, it guarantees the integrity and continuity of the target parameter data, providing an accurate data basis for subsequent deviation judgment and correction, thereby significantly improving the operation accuracy and quality.

[0014] The deviation judgment module judges the deviation of the rotation angle and the target parameter distance and the deviation type of the target through the deviation judgment strategy, realizing the accurate judgment of the deviation, providing a clear direction for subsequent targeted correction, making the correction measures more accurate and effective, further improving the operation accuracy and quality, reducing the scrap rate, and ensuring that each operation can meet the preset operation process requirements, thereby improving the operation quality.

[0015] The angle correction module adopts different correction mechanisms for different deviation types. Especially for compound deviations, a segmented correction logic is adopted. The operation process is divided into several parameter segments according to the corners of the operation path, local correction is performed for each parameter segment, and the correction amplitude of the next segment is dynamically adjusted according to the local correction signal of the previous segment. This segmented and dynamic correction method can fully adapt to various changes in the operation process, ensuring that the deviations in the entire operation process are effectively eliminated, and greatly enhancing the adaptability and stability of the correction system.

[0016] The feedback monitoring module dynamically adjusts the angle error tolerance value and the distance error tolerance value according to the feedback signal generated by the angle correction module, optimizes the deviation judgment strategy, enables the deviation judgment strategy to adapt to various changes in the operation process, ensures that the correction system can accurately judge deviations under different working conditions, provides a reliable basis for correction, and further enhances the stability and reliability of the correction system, enabling it to operate stably in a complex and changeable operation environment. Description of the Drawings

[0017] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings. Among them: Figure 1 It is the principle structure diagram of an angle automatic correction control system based on target parameters provided by the embodiments of the present application; Figure 2 It is the data synchronization mechanism diagram of an angle automatic correction control system based on target parameters provided by the embodiments of the present application; Figure 3 It is the logic diagram of sawing data consistency verification of an angle automatic correction control system based on target parameters provided by the embodiments of the present application; Figure 4 It is the deviation judgment strategy diagram of an angle automatic correction control system based on target parameters provided by the embodiments of the present application; Figure 5 It is the segmented correction logic diagram of an angle automatic correction control system based on target parameters provided by the embodiments of the present application. Detailed implementation manners

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present application more obvious and understandable, the following clearly and completely describes the technical solutions in the embodiments of the present application with reference to the accompanying drawings of the specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0019] As Figure 1 shown, the embodiments of the present application provide an angle automatic correction control system based on target parameters. The system includes a sensing and acquisition module, a deviation judgment module, an angle correction module, and a feedback monitoring module.

[0020] The application scenario here is diagonal sawing. The corresponding target parameter data is sawing data, the corresponding target is a diagonal saw, the corresponding target parameter distance is the sawing distance, the operation path of the corresponding target is the sawing path of the diagonal saw, and the parameter segment means that the entire cutting process of the diagonal saw is divided into multiple sawing segments according to the corners of the sawing path.

[0021] The sensing and acquisition module obtains sawing data through a sensor network and triggers a data verification mechanism and a data synchronization mechanism.

[0022] The sawing data includes the rotation angle and the sawing distance. The rotation angle and the sawing distance are respectively obtained through an angle sensor and a laser distance sensor, and a data verification mechanism and a data synchronization mechanism are triggered.

[0023] The rotation angle refers to the angle between the saw blade and the workbench, usually the miter angle, which is used to monitor the rotation state and cutting accuracy of the saw blade; the sawing distance refers to the actual distance between the saw blade and the sawing surface (the surface of the workpiece material), which is usually used to check the relative position between the saw blade and the sawing surface to ensure the cutting depth and accuracy.

[0024] The rotation angle is monitored by an angle sensor to obtain it. For example, an optical rotary encoder is used to calculate the rotation angle between the saw blade and the workbench through the change of reflected light; the sawing distance is monitored by a laser distance sensor to obtain it. For example, when the laser beam is emitted from the laser distance sensor and reflected back to the receiving end, the laser distance sensor can calculate the accurate sawing distance value according to the flight time of the laser beam; the angle sensor and the laser distance sensor need to be initialized before use to ensure that accurate data can be obtained, and the angle sensor and the laser distance sensor are cleared when the calibration system is started to ensure that the obtained sawing data is real-time data during the current sawing process.

[0025] The data verification mechanism includes: Verify the validity of the rotation angle, including verifying the range validity, rate validity, and jump validity of the rotation angle; Configure an angle threshold, and compare the rotation angle with the angle threshold to obtain the range validity of the rotation angle; Configure a rate extreme value, calculate the change rate of the rotation angle within adjacent time, and compare the change rate of the rotation angle with the rate extreme value to obtain the rate validity of the rotation angle; Configure a jump extreme value, and compare the absolute value of the difference between the rotation angles within adjacent time with the jump extreme value to obtain the jump validity of the rotation angle; Comprehensively judge the validity of the rotation angle according to the range validity, rate validity, and jump validity of the rotation angle. If the validity verification of the rotation angle all passes, it is determined that the rotation angle is valid; If the validity verification of any rotation angle fails, it is determined that the rotation angle is invalid, and the invalid rotation angle is excluded.

[0026] During the miter sawing process, the rotation angle is restricted by the type of the sawing surface, the requirements of the sawing process, and the mechanical structure of the miter saw itself. There is a reasonable value range. Beyond this value range, it is caused by reasons such as improper installation of the saw blade and mechanical transmission failure of the miter saw. Such abnormal rotation angles will directly cause the cutting accuracy of the saw blade to seriously decline, and even damage the sawing surface and the saw blade. Therefore, it is necessary to verify the range validity of the rotation angle.

[0027] During the normal diagonal sawing process of the saw blade, the change rate of the rotation angle should remain relatively stable. If the change rate of the rotation angle shows abnormal fluctuations, it indicates mechanical failures and sudden load changes (such as hard particles or cavities inside the sawing surface during sawing) and other problems. These abnormal conditions will disrupt the stability of the sawing process, affect the cutting accuracy of the saw blade and the quality of the sawing surface material. Therefore, it is necessary to verify the validity of the rotation angle rate.

[0028] Due to many interference factors during the diagonal sawing process, such as electromagnetic interference, mechanical vibration, and signal transmission noise, these interference factors will cause instantaneous and unreasonable jumps in the rotation angle data obtained by the angle sensor. These jump situations do not truly reflect the actual rotation state of the saw blade. If not identified and eliminated, it will seriously mislead the subsequent deviation judgment and angle correction links, causing the entire correction system to fall into an incorrect decision-making process. Therefore, it is necessary to verify the jump validity of the rotation angle.

[0029] Through a large number of simulation experiments and previous actual sawing experience, configure appropriate angle thresholds (including the minimum angle value and the maximum angle value). During the diagonal sawing process, real-time monitor the rotation angle of the saw blade and compare the rotation angle with the pre-set angle thresholds. When the monitored rotation angle is within the set angle threshold range, it is determined that the rotation angle passes the verification in terms of range validity. Conversely, when the rotation angle exceeds this angle threshold range, it is determined that the validity verification of the rotation angle fails.

[0030] Through this range validity verification of the rotation angle, it is possible to timely detect abnormal rotation angles of the saw blade caused by mechanical failures or installation objects, effectively avoid the negative impact of excessive or too small rotation angles on the sawing quality, ensure that the diagonal sawing process meets the process requirements from the rotation angle range level, guarantee the cutting accuracy of the saw blade, reduce the occurrence of defective products, and improve production efficiency.

[0031] Configure reasonable rate extreme values (that is, the maximum change rate) according to the change rate range of the standard rotation angle of the saw blade specified by the sawing process. During the diagonal sawing process, calculate the change rate of the rotation angle within adjacent time intervals. The specific calculation method is as follows: within a fixed time interval (determined according to the sampling frequency of the correction system. For example, if the sampling frequency is 100 Hz, then ), record the rotation angle values and obtained before and after, and through the formula Calculate the change rate of the rotation angle within adjacent time periods, and then compare the change rate of the rotation angle with a preset rate extreme value. When the change rate of the rotation angle is less than or equal to the rate extreme value, it is determined that the rate validity check of the rotation angle passes; conversely, when the change rate of the rotation angle is greater than the rate extreme value, it is determined that the rate validity check of the rotation angle fails.

[0032] By passing the rate validity check, it is possible to capture in real time whether the change rate during the rotation of the saw blade is abnormal, and give an early warning of potential mechanical failures or changes in the sawing situation, enabling the operator or the calibration system to take timely measures, such as pausing the miter saw to check the motor, etc., so as to maintain the stability of the sawing process, ensure that the cutting accuracy of the saw blade and the quality of the sawing surface are not greatly affected, and improve the reliability of the overall sawing process.

[0033] Based on the evaluation of the interference factors during the miter sawing process and the signal processing ability of the angle sensor itself, a jump extreme value (i.e., the maximum jump value) is configured. During the miter sawing process, calculate the adjacent time the absolute value of the difference between the rotation angles obtained twice , and represent the rotation angle values obtained before and after respectively, and compare it with the jump extreme value. When is less than or equal to the jump extreme value, it is determined that the jump validity check of the rotation angle passes; conversely, when is greater than the jump extreme value, it is determined that the jump validity check of the rotation angle fails.

[0034] By passing the jump validity check, it is possible to effectively filter out false rotation angle data generated by external interference, purify the data entering the subsequent process, ensure the authenticity and reliability of the data on which the deviation judgment and angle correction links are based, improve the anti-interference ability of the entire calibration system, ensure the accuracy of the calibration system's decision-making, and thus improve the cutting accuracy and stability of the saw blade.

[0035] Only when all three of these checks pass can it be determined that the rotation angle data is valid; when the validity check of any rotation angle fails, it is determined that the rotation angle is invalid, and the invalid rotation angle is excluded, providing a high-quality data basis for the subsequent sawing data processing process.

[0036] The validity check of the rotation angle range can prevent the rotation angle from exceeding the normal sawing range (between the minimum angle value and the maximum angle value) due to angle sensor failure or improper installation; the rotation angle rate validity can capture abnormal acceleration or deceleration during the rotation of the saw blade, which may indicate mechanical failure or external interference of the miter saw; while the rotation angle jump validity checks the stability of the angle sensor signal to avoid instantaneous jump rotation angle data caused by factors such as electromagnetic interference from being recognized as valid data; if any of the above rotation angle validity checks fails, the invalid rotation angle data is immediately excluded, ensuring the reliability of subsequent processing of the rotation angle data.

[0037] Check the validity of the sawing distance, including checking the range validity, intensity validity, and amplitude validity of the sawing distance; Configure a distance threshold, and compare the sawing distance with the distance threshold to obtain the range validity of the sawing distance.

[0038] Configure an intensity base value, record the intensity of the laser signal reflected by the laser rangefinder, and compare the laser signal intensity with the intensity base value to obtain the intensity validity of the sawing distance; Configure amplitude extreme values, and compare the absolute value of the difference between sawing distances within adjacent time intervals with the amplitude extreme values to obtain the amplitude validity of the sawing distance; Comprehensively judge the validity of the sawing distance based on the range validity, intensity validity, and amplitude validity of the sawing distance. If all the validity checks of the sawing distance pass, it is determined that the sawing distance is valid; If any of the validity checks of the sawing distance fails, it is determined that the sawing distance is invalid, and the invalid sawing distance is excluded.

[0039] During the miter saw operation, the distance between the saw blade and the sawing surface must be limited within a reasonable range, which depends on the target accuracy of the sawing process and the size specifications of the saw blade itself. If the sawing distance is too close, the saw blade may cut into the workpiece excessively, causing the saw blade to be overloaded and overheated, accelerating the wear of the saw blade, and even damaging the saw blade. At the same time, it is difficult to ensure the dimensional accuracy of the sawn workpiece. On the contrary, if the sawing distance is too far, the sawing force is dispersed, and the workpiece cannot be effectively cut, resulting in low sawing efficiency, rough surface quality of the workpiece material, and inability to meet the sawing requirements. Therefore, it is necessary to check the range validity of the sawing distance.

[0040] The laser ranging sensor emits a laser beam and receives the reflected light to measure the sawing distance. The intensity of the reflected light is closely related to many factors. The most crucial ones are the optical properties of the sawing surface (such as roughness, color, and glossiness, etc.) and the interference factors in the sawing environment (such as the degree of occlusion by sawdust, dust, and smoke). When the intensity of the reflected light changes abnormally, it means that the sawing environment deteriorates or the material properties of the sawing surface mutate. At this time, the reliability of the obtained sawing distance data is greatly reduced. If these sawing distance data are directly used, it will mislead the subsequent sawing control decisions. Therefore, it is necessary to verify the intensity validity of the sawing distance.

[0041] During the normal sawing process, the change in the sawing distance should be relatively smooth. If there is an abnormal amplitude change, it will disrupt the deviation judgment and angle correction, seriously affecting the sawing quality. Therefore, it is necessary to verify the amplitude validity of the sawing distance.

[0042] By accurately configuring the distance threshold through experiments (including the minimum distance value and the maximum distance value), when the monitored sawing distance is within the range defined by the distance threshold, it is determined that the range validity verification of the sawing distance passes. Once the sawing distance exceeds the range defined by the distance threshold, it is determined that the range validity verification of the sawing distance fails.

[0043] Through strict range validity verification, it is possible to promptly detect the abnormal sawing distance caused by factors such as improper adjustment of the miter saw, deviation in the placement of the workpiece, or deformation of the workpiece material during the sawing process, ensuring that an appropriate working distance is always maintained between the saw blade and the sawing surface. This can not only extend the service life of the saw blade, reduce the maintenance cost, but also effectively guarantee the sawing accuracy and improve the quality of the workpiece.

[0044] When using a miter saw, during the normal sawing process, for a specific workpiece, multiple samples are taken of the intensity of the reflected light collected by the laser ranging sensor (generally, the number of samples is not less than 100 times to ensure the statistical representativeness of the data), and the average light intensity value is calculated using statistical methods as the intensity base value. Then, the intensity of the laser signal reflected by the laser ranging sensor is compared with the intensity base value. If the difference between the intensity of the laser signal reflected by the laser ranging sensor and the intensity base value is within the acceptable fluctuation range (this range is determined comprehensively based on the accuracy of the laser ranging sensor and the changes in the surface properties of the workpiece material, such as a relative deviation of ±10%), it is determined that the intensity validity verification of the sawing distance passes. Otherwise, if the difference between the intensity of the laser signal reflected by the laser ranging sensor and the intensity base value exceeds the acceptable fluctuation range, it is determined that the intensity validity of the sawing distance fails.

[0045] With the help of strength validity verification, it is possible to keenly capture the sawing distance measurement errors caused by changes in the surface characteristics of the workpiece material or the deterioration of the sawing environment, effectively avoiding sawing deviations caused by unreliable distance data. This greatly enhances the credibility of the sawing distance data, enabling the subsequent processes to be based on accurate data, thereby improving the stability and reliability of the entire calibration system.

[0046] Configure the amplitude extreme value (i.e., the maximum distance value) and calculate the absolute value of the difference between the sawing distances within adjacent time intervals. , and represent the sawing distance values obtained in the previous and subsequent acquisitions respectively. Compare them with the amplitude extreme value. When is less than or equal to the amplitude extreme value, it is determined that the amplitude validity verification of the sawing distance passes. Conversely, when is greater than the amplitude extreme value, it is determined that the amplitude validity verification of the sawing distance fails.

[0047] By passing the amplitude validity verification, it is possible to promptly screen out the abnormal sawing distance change data caused by the uneven surface of the workpiece material or external strong interference, ensuring the quality of the sawing distance data participating in the subsequent processes. This helps to maintain the smoothness of the sawing process, making the sawing deviation judgment more accurate and the angle correction measures more effective, ultimately improving the accuracy and stability of the sawing process and reducing the scrap rate.

[0048] The range validity verification of the sawing distance can ensure that the value corresponding to the sawing distance meets the requirements of the sawing process; the strength validity verification of the sawing distance is based on the principle of laser ranging and uses the reflected light intensity to assist in judging the accuracy of distance measurement. Because when the measurement environment changes (such as sawdust occlusion or changes in the light reflection characteristics of the sawing surface material), the light intensity will fluctuate significantly, and at this time, the credibility of the value corresponding to the sawing distance will decrease; while the amplitude validity verification of the sawing distance measures whether the distance change within adjacent time is reasonable, avoiding invalid sawing distance data caused by the jitter of the laser ranging sensor or sudden changes in the sawing surface material from entering the subsequent processes; this multi-dimensional verification method of the sawing distance echoes with the validity verification of the rotation angle, constructing a strict data quality control system.

[0049] During the diagonal sawing process, the two key sawing data, the rotation angle and the sawing distance, are interrelated and change synchronously. To ensure that subsequent deviation judgment and angle correction can be based on accurate and synchronous information for decision-making, an efficient data synchronization mechanism needs to be established; by synchronously obtaining sawing data, the data misalignment caused by time differences can be minimized, and the misinterpretation of the sawing process can be avoided; setting up a buffer to store valid data is to deal with the invalid sawing data that appears during the data acquisition process, ensuring the validity and continuity of the sawing data; and interpolating and compensating for the missing sawing data in the buffer is to restore the complete sawing data sequence and maintain the stable operation of the correction system.

[0050] The data synchronization mechanism is as Figure 2 shown, and specifically includes: Trigger the acquisition signal to start the sensor network to synchronously obtain the monitored sawing data; Verify the consistency of the sawing data; Set up a buffer to store valid and consistent sawing data, and arrange the sawing data according to the same time stamp; Interpolate and compensate for the missing sawing data in the buffer by linearly interpolating the sawing data at adjacent times.

[0051] When the diagonal saw starts the sawing operation, an accurate start instruction is needed to coordinate the simultaneous operation of each sensor to ensure that the rotation angle and the sawing distance at the same moment are obtained; if the sensor start times are inconsistent, the obtained sawing data will correspond to different moments and cannot accurately reflect the true state of sawing, and subsequent analysis and control based on these asynchronous sawing data will all show deviations; after the correction system issues the acquisition signal, the angle sensor and the laser distance sensor are started synchronously to obtain the rotation angle and the sawing distance respectively, thus ensuring the temporal consistency of the sawing data, providing a reliable data source for subsequent processes, avoiding misjudgment caused by asynchronous sawing data, and improving the initial data accuracy of the entire correction system.

[0052] There is a physical relationship between the change in the rotation angle and the change in the sawing distance. By verifying the consistency of the sawing data, the data inconsistency problems caused by sensor failures and other reasons can be identified, ensuring that the sawing data participating in subsequent processing are logically matched with each other.

[0053] The sawing site environment is complex, and the obtained sawing data may not be valid or consistent. Therefore, the set buffer is like a data storage warehouse that can temporarily store the verified valid and consistent sawing data. Arranging them according to the same time stamp can ensure that the order of the sawing data is consistent with the sawing process order, facilitating subsequent query and processing, effectively preventing data loss, ensuring data coherence, providing data guarantee for a long and stable sawing process, and enabling the correction system to operate continuously and reliably under certain interference.

[0054] Although a buffer is set, in some extreme cases, such as during strong electromagnetic interference, there may be short-term continuous missing data acquisitions. Since during the sawing process, within a short period of time, the changes in the rotation angle and the sawing distance usually have a certain linear trend (provided that the sawing process is stable and the material properties of the sawing surface are uniform), the linear interpolation method can reasonably infer the values of the missing sawing data based on the existing adjacent-time sawing data, fill in the blanks of the sawing data, maintain the integrity of the sawing data sequence, effectively repair the possible missing problems of the sawing data, ensure the integrity of the sawing data sequence, enable the subsequent processes to be unaffected by data faults, maintain the smooth operation of the calibration system, improve the ability of the calibration system to handle complex working conditions, and guarantee the continuity and stability of the sawing operation.

[0055] The method for verifying the consistency of sawing data is as Figure 3 shown and specifically includes: Determine the difference between the rotation angles and the difference between the sawing distances within adjacent times; Solve the ratio of the difference between the rotation angles within adjacent times to the difference between the sawing distances within adjacent times to obtain the sawing ratio; Configure a relationship constant, and perform a difference and absolute value operation on the sawing ratio and the relationship constant to obtain a relationship difference; Configure an error threshold, and compare the relationship difference with the error threshold to obtain the consistency between the rotation angle and the sawing distance. If the relationship difference is less than or equal to the error threshold, the rotation angle and the sawing distance are consistent; If the relationship difference is greater than the error threshold, the rotation angle and the sawing distance are inconsistent, and the inconsistent rotation angle and sawing distance are excluded.

[0056] To explore the variation relationship between the rotation angle and the sawing distance within a short period of time, it is necessary to obtain the change amounts of the rotation angle and the sawing distance within adjacent times. Then, the difference between the rotation angles within adjacent times and the difference between the sawing distances within adjacent times provide basic data for subsequent calculation of the sawing ratio and help to deeply analyze the dynamic correlation during the sawing process.

[0057] By calculating the sawing ratio to normalize the two change amounts, it can intuitively reflect the relative relationship between the change in the rotation angle and the change in the sawing distance. Then, the sawing ratio can quickly judge whether the sawing data conforms to consistency macroscopically, improving the speed and accuracy of data consistency verification.

[0058] The relationship constant is obtained by summarizing a large number of experiments and actual sawing experiences. It represents the ideal value of the sawing ratio under normal sawing conditions. By taking the absolute value of the difference between the actually calculated sawing ratio and the relationship constant, the resulting relationship difference can quantitatively reflect the degree to which the sawing data deviates from the ideal state. Only when the relationship difference is within an acceptable range can it be stated that the sawing data is consistent; otherwise, there are data anomalies.

[0059] The error threshold is obtained by comprehensively considering factors such as the accuracy of sensors (for example, the accuracy of the angle sensor is ±0.1°, and the accuracy of the laser distance measurement sensor is ±0.5 mm), the allowable fluctuation range of the sawing process (for precision sawing, the allowable fluctuation range of the sawing ratio is smaller), and the requirements of the calibration system for data quality. When the relationship difference is greater than the error threshold, it indicates that the rotation angle and the sawing distance are inconsistent. Inconsistent rotation angles and sawing distances need to be removed to provide a reliable data basis for subsequent processes and ensure the accuracy of the calibration system's decision-making.

[0060] By triggering the acquisition signal, the sawing data is synchronously acquired to ensure that the rotation angle and the sawing distance are acquired under the same time reference, avoiding the problem of misalignment of sawing data caused by time differences. This is crucial for the subsequent precise analysis of the relationship between the rotation angle and the sawing distance; calculate the sawing ratio and compare it with the relationship constant, and use the mathematical relationship to measure the consistency between the rotation angle and the sawing distance. When they are inconsistent, the corresponding sawing data is removed, and further screen out the sawing data pairs (including the rotation angle and the sawing distance) that match each other and conform to the consistency logic; set up a buffer and perform linear interpolation compensation (if it is a non-linear relationship, polynomial interpolation compensation can be performed), which not only solves the possible problem of missing sawing data but also provides a continuous and regular sawing data sequence for subsequent deviation judgment, ensuring the high quality and usability of the sawing data output by the sensing acquisition module.

[0061] The deviation judgment module judges the deviation between the rotation angle and the sawing distance and the deviation type of the miter saw through the deviation judgment strategy.

[0062] By establishing a deviation judgment strategy, the deviation between the rotation angle and the sawing distance is monitored and identified in real time, providing a key basis for taking subsequent correction measures in a timely manner. This deviation judgment strategy is based on the method of comparing with the preset basic rotation angle and basic sawing distance. The sawing data obtained in real time is converted into a quantifiable error value, and then based on the pre-configured error tolerance value, it is determined whether there is a deviation. Finally, the deviation type of the entire miter saw is determined by comprehensively considering both situations to achieve a comprehensive and accurate assessment of the sawing state.

[0063] The deviation judgment strategy is as Figure 4 shown and specifically includes: Configure the basic rotation angle and the basic sawing distance, calculate the absolute value of the difference between the rotation angle and the basic rotation angle and the absolute value of the difference between the sawing distance and the basic sawing distance, and respectively obtain the angle error and the distance error; Configure the angle error tolerance value, and compare the angle error with the angle error tolerance value to obtain the deviation of the rotation angle; Configure the distance error tolerance value, and compare the distance error with the distance error tolerance value to obtain the deviation of the sawing distance; Determine the deviation type of the miter saw by synthesizing the deviation of the rotation angle and the deviation of the sawing distance.

[0064] The basic rotation angle and the basic sawing distance respectively represent the rotation angle at which the saw blade should be located and the optimal distance between the saw blade and the sawing surface under ideal sawing conditions. For example, through a large number of previous experimental tests, it is determined that the basic rotation angle is 30°, which can ensure the uniform distribution of the sawing force and reduce the tearing of the workpiece; while the basic sawing distance is 5mm, which can not only ensure that the saw blade effectively cuts into the workpiece, but also avoid over-cutting, resulting in waste of the workpiece and overload of the saw blade, providing an accurate and unified reference standard for subsequent deviation judgment.

[0065] Determining the angle error and the distance error successfully quantifies the differences between the rotation angle and the basic rotation angle and between the sawing distance and the basic sawing distance, providing a direct basis for subsequent deviation judgment, enabling the correction system to quickly and intuitively understand the deviation degree of the rotation angle and the sawing distance, greatly improving the efficiency and accuracy of deviation judgment, and providing strong support for timely detecting the deviation of the miter saw.

[0066] The angle error tolerance value is comprehensively determined according to the precision requirements of the sawing process and the mechanical properties of the saw blade. Different sawing processes have huge differences in the requirements for angle precision. For example, for the manufacturing of high-precision metal molds, the error of the rotation angle is required to be controlled within a very small range, and the angle error tolerance value can be set to ±0.5°; while for the rough wood processing with low requirements for appearance precision, the angle error tolerance value is relatively loose and can be set to ±2°. This is because in the manufacturing of metal molds, a small angle deviation may lead to serious quality problems such as loose mold splicing and out-of-tolerance product dimensions; while rough wood processing pays more attention to processing efficiency, and appropriately relaxing the angle precision requirements will not have a fatal impact on the overall quality of the product.

[0067] When the angle error is less than or equal to the angle error tolerance value, it is determined that the rotation angle has no deviation; when the angle error is greater than the angle error tolerance value, it is determined that the rotation angle has a deviation; realizing the accurate judgment of the rotation angle deviation, ensuring that the rotation angle in the sawing process meets the process requirements, effectively avoiding the decline of sawing quality caused by angle deviation, improving the sawing quality, and meeting the differentiated requirements for angle precision of different sawing tasks.

[0068] The distance error tolerance value is also determined comprehensively based on the precision requirements of the sawing process and the mechanical properties of the saw blade. Different materials have different requirements for sawing depth, and there are also differences in the control precision of the miter saw for the sawing distance. Taking the sawing of metal plates as an example, due to the high hardness of metal materials and the high requirement for the flatness of the cut, the sawing distance error tolerance value is usually small, set at ±0.5 mm. When sawing softer plastic plates, it can be appropriately relaxed, set at ±1 mm. This is because when sawing metal plates, too large a deviation in the sawing distance may cause problems such as burrs on the cut and material deformation, affecting the product quality. Plastic plates are relatively soft and are less sensitive to these problems.

[0069] When the distance error is less than or equal to the distance error tolerance value, it is determined that there is no deviation in the sawing distance; when the distance error is greater than the distance error tolerance value, it is determined that there is a deviation in the sawing distance. Ensure that the sawing distance during the sawing process meets the process requirements, reduce sawing quality problems caused by distance deviation, such as poor cut quality and material waste, and improve the overall quality and efficiency of the sawing process.

[0070] Different types of deviations reflect different problem sources during the sawing process. For example, if only the rotation angle has a deviation, it means that there is a malfunction in the angle control of the saw blade, and the miter saw is judged to have an angle deviation; if only the sawing distance has a deviation, it means that there is a problem with the feed control precision of the saw blade, and the miter saw is judged to have a distance deviation; if both have deviations, it is the combined effect of multiple factors, such as uneven internal structure of the material resulting in uneven force on the saw blade, affecting both the rotation angle and the sawing distance at the same time, and the miter saw is judged to have a composite deviation. By clarifying the type of deviation, it can provide a clear guide for taking targeted correction measures subsequently, improve the correction efficiency, ensure that the miter saw can quickly return to the normal sawing state, and guarantee the continuous stability of the sawing quality and efficiency.

[0071] By separately judging the deviation of the rotation angle and the sawing distance and then comprehensively determining the deviation type of the miter saw, it covers various situations from no deviation to composite deviation, which is complete and reasonable, can accurately locate the problem source during the sawing process, and provides a clear direction for subsequent angle correction actions.

[0072] The angle correction module is used to execute the angle correction mechanism and generate a feedback signal when there are deviations in the rotation angle and the sawing distance.

[0073] Once it is detected by the deviation judgment module that there are deviations in the rotation angle and the sawing distance, correction must be carried out in a timely manner to ensure that the sawing quality meets the requirements.

[0074] The angle correction module includes an angle correction mechanism, and the angle correction mechanism includes: Identify the deviation type of the miter saw. If the deviation type of the miter saw is a single deviation, correct the corresponding sawing data and generate a feedback signal; If the deviation type of the miter saw is a compound deviation, the segmented correction logic is executed.

[0075] Accurately determining the deviation type is the primary step in implementing effective correction. When it is determined to be a single deviation, further determine whether it is an angular deviation or a distance deviation. When it is an angular deviation, the angle correction module sends a correction instruction to the correction system to adjust the rotation angle of the saw blade to the ideal rotation angle; when it is a distance deviation, the angle correction module sends a correction instruction to the correction system to adjust the relative distance between the saw blade and the sawing surface to the ideal sawing distance (the feed depth of the saw blade can be adjusted), and after the correction is completed, a feedback signal is immediately generated, including information such as the corrected sawing data and the time consumed for the correction, and sent to the feedback monitoring module.

[0076] Exemplarily, when a sawing distance deviation of +2 mm is found during sawing a workpiece, the saw blade retracts 2 mm according to the correction instruction. After the correction is completed, the feedback signal informs the correction system that the sawing distance has returned to normal, and the correction takes 0.5 seconds. For the case of a single deviation, the deviation of the sawing data can be quickly and accurately corrected, enabling the sawing process to quickly return to the right track, avoiding serious sawing quality problems caused by the accumulation of small deviations, and at the same time realizing the closed-loop control of the correction system through the feedback signal, facilitating the continuous optimization of the performance of the correction system and improving the sawing quality.

[0077] When the deviation type is a compound deviation, the complexity of the sawing process requires a more refined correction strategy.

[0078] The segmented correction logic is as Figure 5 shown and specifically includes: Identify the sawing path of the miter saw and divide the entire cutting process of the miter saw into several sawing segments according to the corners of the sawing path; Calculate the angular error and distance error of the sawing segment, configure the basic correction amplitude, perform local correction on the sawing segment according to the basic correction amplitude, and generate a local correction signal for the sawing segment; Adjust the correction amplitude of the next sawing segment according to the local correction signal and generate a local correction signal for the next sawing segment until the correction of all sawing segments is completed and a feedback signal is generated.

[0079] Since the sawing path of the miter saw is usually not a straight line and there are changes such as corners, the sawing surface material resistance and the force conditions on the saw blade of different sawing segments vary greatly. At the corner, the direction and magnitude of the force on the saw blade change sharply, which is likely to cause greater deviation fluctuations. Only by accurately identifying the characteristics of these sawing paths and reasonably segmenting can a foundation for targeted segmented correction be laid.

[0080] Using the sawing process parameters (such as the designed sawing pattern and corner coordinates, etc.) pre-stored in the calibration system, combined with the position information of the saw blade real-time feedback from the position sensor, accurately identify the corners of the sawing path. Whenever the saw blade reaches a corner, the calibration system divides the previous sawing process into an independent sawing segment and records the start and end point information of this sawing segment. For example, when sawing a metal workpiece with multiple corners, the calibration system identifies 5 corners according to the preset sawing path planning, thus dividing the entire sawing process into 6 sawing segments. The length, start and end positions, etc. of each sawing segment are detailedly recorded in the calibration system, realizing the refined division of the sawing process, enabling the subsequent calibration work for each sawing segment to fully consider its unique sawing environment and force conditions, improving the accuracy and effectiveness of calibration, and providing a strong guarantee for finally eliminating the composite deviation.

[0081] For each divided sawing segment, in order to accurately understand the deviation state of this sawing segment, it is necessary to calculate the angular error and distance error of this sawing segment; and the configured basic calibration amplitude is determined based on the initial deviation state of each sawing segment, the mechanical properties of the saw blade and the requirements of the sawing process. Generally speaking, the greater the initial angular error and distance error, the greater the required basic calibration amplitude. However, at the same time, it is necessary to consider the bearing capacity of the saw blade and the subsequent impact on the sawing quality, and over-calibration cannot be carried out.

[0082] Here, the angular basic calibration amplitude is set as , represents the angular basic calibration amplitude, represents the angular sensitivity coefficient, represents the rotation angle, represents the basic rotation angle.

[0083] It should be noted that: the angular sensitivity coefficient is used to adjust the influence degree of the angular error on the angular basic calibration amplitude, usually determined through experiments, and takes a positive value.

[0084] Here, the distance basic calibration amplitude is set as , represents the distance basic calibration amplitude, represents the distance sensitivity coefficient, represents the sawing distance, represents the basic sawing distance.

[0085] It should be noted that: the distance sensitivity coefficient refers to the degree of adjusting the influence of the distance error on the distance basic calibration amplitude, usually determined through experiments, and takes a positive value.

[0086] Local correction based on the basic correction amplitude can gradually correct the deviation of the sawing section without affecting the stability of the entire sawing process. Generating a local correction signal is to drive the correction work of the correction system and provide a basis for subsequent adjustments, improving the controllability and accuracy of correction and ensuring the sawing quality.

[0087] Since the sawing process is continuous, the correction effect of the previous sawing section will affect the initial state of the next sawing section; if the previous section is over-corrected or under-corrected, the deviation of the next section will change. Therefore, it is necessary to dynamically adjust the correction amplitude of the next sawing section according to the local correction signal of the previous section; this can make the correction strategy more in line with the dynamic changes of the actual sawing process, continuously optimize the correction effect until the correction of all sawing sections is completed, ensure that the deviation of the entire sawing process is comprehensively and effectively eliminated, effectively improve the sawing quality and reduce the scrap rate; generating a feedback signal is also to inform the correction system that the entire correction process has been completed and to feedback key information during the correction process (such as the initial error, correction amplitude, and post-correction error of each sawing section), facilitating the subsequent optimization of the correction strategy by the correction system.

[0088] Designing different correction strategies for single deviation and compound deviation reflects flexibility and pertinence. When it is a single deviation, directly correct the corresponding rotation angle and sawing distance, which is efficient and fast; when it is a compound deviation, adopt a segmented correction logic, divide the sawing section according to the corner of the sawing path, fully consider the characteristics of the miter saw at different stages of the sawing process, locally correct and dynamically adjust the correction amplitude, which can gradually and accurately eliminate the deviation, avoid sawing quality problems caused by a large one-time correction, and at the same time generate a feedback signal to provide a basis for optimizing the correction system, forming a closed-loop control to ensure the continuous improvement of sawing accuracy.

[0089] The feedback monitoring module is used to optimize the deviation judgment strategy according to the feedback signal.

[0090] The optimization method of the deviation judgment strategy includes dynamically adjusting the angle error tolerance value and the distance error tolerance value.

[0091] As the sawing time goes by, the saw blade will gradually wear, resulting in a decline in sawing quality. There are differences in the hardness, texture and other characteristics of the workpiece materials in different batches. At the same time, changes in environmental temperature and humidity will also affect sawing; if a fixed deviation judgment strategy is always used, that is, fixed angle error tolerance value and distance error tolerance value, it will lead to inaccurate judgment of the deviation of sawing data, resulting in inaccurate or over-correction of the angle correction mechanism, affecting sawing quality and efficiency.

[0092] Therefore, it is necessary to dynamically adjust the angle error tolerance value and the distance error tolerance value according to the actual sawing situation by using the feedback signal, so that the deviation judgment strategy can adapt to various changes in the sawing process, more accurately identify the deviation, thereby providing a more reliable basis for subsequent angle correction and improving the stability and adaptability of the entire correction system.

[0093] The dynamic adjustment of the angle error tolerance value includes: Calculate the angle error, and subtract the basic rotation angle from the angle error to obtain the error difference; Configure the angle adjustment factor, and multiply the error difference by the angle adjustment factor to obtain the angle error tolerance adjustment value; Add the angle error tolerance adjustment value to the angle error tolerance value to obtain the adjusted angle error tolerance value.

[0094] The functional expression of the angle adjustment factor is as follows: ; In the formula, represents the angle adjustment factor, represents a constant, represents the adjustment factor, represents the error difference, represents the basic rotation angle.

[0095] It should be noted that: the constant is the basis of the angle adjustment factor, which is usually determined by experiments according to factors such as the mechanical properties of the saw blade and the requirements of the sawing process, and can take 0.1, 0.5, and 1; the adjustment factor controls the sensitivity of the correction system to error changes. When the adjustment factor is larger, the adjustment of the error difference to the angle error tolerance value has a greater impact. When the adjustment factor is smaller, the correction system is less sensitive to the error difference. The value of the adjustment factor needs to comprehensively consider changes in environmental factors and material characteristics, and is usually a positive number (can take 0.01, 0.1, and 1).

[0096] By configuring the angle adjustment factor and calculating the angle error tolerance adjustment value, it is possible to make targeted adjustments to the angle error tolerance value according to the actual error situation, making the deviation judgment strategy more flexible and accurate, and better adapting to changes in the sawing process.

[0097] Adding the angular error tolerance adjustment value to the current angular error tolerance value can dynamically adjust the range of angular error tolerance according to the actual sawing situation. If the error difference indicates that the current deviation situation is relatively serious, by increasing the angular error tolerance adjustment value, the error tolerance range can be appropriately widened to avoid unnecessary corrections caused by overly strict judgment criteria; conversely, if the error difference is small, the adjusted angular error tolerance value can be correspondingly reduced to improve the accuracy of deviation judgment, providing a more reasonable reference for subsequent angular correction, thereby improving the sawing quality and efficiency.

[0098] The functional expression for dynamically adjusting the distance error tolerance is as follows: ; In the formula, represents the adjusted distance error tolerance value, represents the distance error tolerance value, represents the influence coefficient of environmental factors on the distance error, represents the environmental factor value, represents the influence coefficient of material characteristics on the distance error, represents the material characteristic value.

[0099] It should be noted that: the distance error tolerance value is the initial distance error tolerance value without considering the influence of environmental factors and material characteristics; the influence coefficient of environmental factors on the distance error is obtained by analyzing and fitting the data of sawing experiments under different environmental conditions, reflecting the influence degree of environmental factors on the sawing distance error, taking positive values, and can take values such as 0.01 and 0.1, etc.; the environmental factor value is obtained through environmental sensors installed at the sawing site. For example, a temperature sensor measures the environmental temperature, a humidity sensor measures the environmental humidity, etc. For example, the value range of temperature is from -20°C to 50°C, and the value range of humidity is from 0% to 100%; the influence coefficient of material characteristics on the distance error is obtained by analyzing and fitting the data of sawing experiments on different materials, reflecting the influence degree of material characteristics on the sawing distance error, and can take values such as 0.02 and 0.2, etc.; the material characteristic value is obtained through physical performance tests on saw blades with different wear conditions.

[0100] Optimize the deviation judgment strategy based on the feedback signal, focusing on dynamically adjusting the error tolerance value. By introducing calculation formulas related to the error difference, environmental factors, and material properties, the calibration system can have an adaptive ability and can adjust the deviation judgment standard in real time according to the actual sawing situation. For example, when the saw blade wears (change in material properties) or the temperature and humidity in the workshop change (environmental factors) and affect the sawing accuracy, the calibration system automatically relaxes or tightens the error tolerance value, always maintaining the accuracy of deviation judgment and ensuring that the entire calibration system can adapt to the complex and changeable use conditions of the miter saw.

Claims

1. An angle automatic correction control system based on target parameters, characterized in that Including: A sensing and acquisition module, a deviation judgment module, and an angle correction module; The sensing and acquisition module starts the sensor network to synchronously acquire target parameter data by triggering an acquisition signal, verifies the validity of the target parameter data through a data verification mechanism, verifies the consistency of the target parameter data through a data synchronization mechanism, and sets up a buffer to store the valid and consistent target parameter data; The deviation judgment module judges the deviation of the rotation angle and the target parameter distance and the deviation type of the target through a deviation judgment strategy; The angle correction module is used to correct the target parameter data when the deviation type of the target is identified as a single deviation and generate a feedback signal, and when the deviation type of the target is identified as a compound deviation, execute a segmented correction logic to generate a local correction signal for the parameter segment until the correction of the parameter segment is completed and a feedback signal is generated.

2. The angle automatic correction control system based on target parameters according to claim 1, characterized in that, The data synchronization mechanism includes: Starting the sensor network by triggering an acquisition signal to synchronously acquire the monitored target parameter data; Verifying the consistency of the target parameter data; Setting up a buffer to store the valid and consistent target parameter data and arranging the target parameter data according to the same time stamp; Compensating for the missing target parameter data in the buffer by linearly interpolating the target parameter data at adjacent times.

3. The angle automatic correction control system based on target parameters according to claim 2, characterized in that, The method for verifying the consistency of the target parameter data includes: Determining the difference between the rotation angles and the difference between the target parameter distances within adjacent times; Solving the ratio of the difference between the rotation angles within adjacent times and the difference between the target parameter distances within adjacent times to obtain a target parameter ratio; Configuring a relationship constant, taking the difference and absolute value processing between the target parameter ratio and the relationship constant to obtain a relationship difference; Configuring an error threshold, comparing the relationship difference with the error threshold to obtain the consistency of the rotation angle and the target parameter distance. If the relationship difference is less than or equal to the error threshold, the rotation angle and the target parameter distance are consistent; If the relationship difference is greater than the error threshold, the rotation angle and the target parameter distance are inconsistent, and the inconsistent rotation angle and target parameter distance are excluded.

4. The angle automatic correction control system based on target parameters according to claim 3, characterized in that, The deviation judgment strategy includes: Configuring a basic rotation angle and a basic target parameter distance, calculating the absolute value of the difference between the rotation angle and the basic rotation angle and the absolute value of the difference between the target parameter distance and the basic target parameter distance, respectively obtaining an angle error and a distance error; Configuring an angle error tolerance value, comparing the angle error with the angle error tolerance value to obtain the deviation of the rotation angle; Configuring a distance error tolerance value, comparing the distance error with the distance error tolerance value to obtain the deviation of the target parameter distance; Comprehensively determining the deviation type of the target based on the deviation of the rotation angle and the deviation of the target parameter distance.

5. The angle automatic correction control system based on target parameters according to claim 4, characterized in that, The angle correction module includes an angle correction mechanism, and the angle correction mechanism includes: Identifying the deviation type of the target. If the deviation type of the target is a single deviation, correcting the corresponding target parameter data and generating a feedback signal; If the deviation type of the target is a compound deviation, execute a segmented correction logic.

6. The angle automatic correction control system based on target parameters according to claim 5, characterized in that, The segmented correction logic includes: Identifying the operation path of the target, and dividing the entire operation process of the target into multiple parameter segments according to the corners of the operation path; Calculate the angular error and distance error of the parameter segment, configure the basic correction amplitude, locally correct the parameter segment according to the basic correction amplitude, and generate the local correction signal of the parameter segment; Adjust the correction amplitude of the next parameter segment according to the local correction signal, and generate the local correction signal of the next parameter segment until the correction of all parameter segments is completed and a feedback signal is generated.

7. An angle automatic correction control system based on target parameters according to claim 6, characterized in that, The optimization method of the deviation judgment strategy includes dynamically adjusting the angular error tolerance value and the distance error tolerance value; The dynamic adjustment of the angular error tolerance value includes: Calculate the angular error, and subtract the angular error from the basic rotation angle to obtain the error difference; Configure the angular adjustment factor, and multiply the error difference by the angular adjustment factor to obtain the angular error tolerance adjustment value; Add the angular error tolerance adjustment value to the angular error tolerance value to obtain the adjusted angular error tolerance value.

8. An angle automatic correction control system based on target parameters as described in claim 7, characterized in that, The target parameter data includes the rotation angle and the target parameter distance, and the data verification mechanism includes: Verify the validity of the rotation angle, including verifying the range validity, rate validity, and jump validity of the rotation angle; Configure the angular threshold, and compare the rotation angle with the angular threshold to obtain the range validity of the rotation angle; Configure the rate extreme value, calculate the change rate of the rotation angle within adjacent time, and compare the change rate of the rotation angle with the rate extreme value to obtain the rate validity of the rotation angle; Configure the jump extreme value, and compare the absolute value of the difference between the rotation angles within adjacent time with the jump extreme value to obtain the jump validity of the rotation angle; Comprehensively judge the validity of the rotation angle according to the range validity, rate validity, and jump validity of the rotation angle. If the validity verification of the rotation angle all passes, it is determined that the rotation angle is valid; If the validity verification of any rotation angle fails, it is determined that the rotation angle is invalid, and the invalid rotation angle is excluded.

9. The angle automatic correction control system based on target parameters according to claim 8, characterized in that The data verification mechanism also includes: Verify the validity of the target parameter distance, including verifying the range validity, intensity validity, and amplitude validity of the target parameter distance; Configure the distance threshold, and compare the target parameter distance with the distance threshold to obtain the range validity of the target parameter distance; Configure the intensity base value, record the intensity of the laser signal reflected by the laser ranging sensor, and compare the intensity of the laser signal with the intensity base value to obtain the intensity validity of the target parameter distance; Configure the amplitude extreme value, and compare the absolute value of the difference between the target parameter distances within adjacent time with the amplitude extreme value to obtain the amplitude validity of the target parameter distance; Comprehensively judge the validity of the target parameter distance according to the range validity, intensity validity, and amplitude validity of the target parameter distance. If the validity verification of the target parameter distance all passes, it is determined that the target parameter distance is valid; If the validity verification of any target parameter distance fails, it is determined that the target parameter distance is invalid, and the invalid target parameter distance is excluded.

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