An automatic angle correction control system based on target parameters

Abstract

The present application relates to the field of angle correction control technology, and provides an automatic angle correction control system based on target parameters. The target parameter data is obtained through a sensor acquisition module, and a data verification mechanism and a data synchronization mechanism are triggered to ensure the accuracy of data acquisition; the deviation judgment module judges the deviation between the rotation angle and the target parameter distance and the target deviation type through a deviation judgment strategy, thereby achieving accurate judgment of the deviation and ensuring that each operation can meet the preset operation process requirements, thereby improving the operation quality; the angle correction module is used to execute the angle correction mechanism when there is a deviation between the rotation angle and the target parameter distance, and generate a feedback signal. The automated angle correction mechanism reduces the need for manual adjustment, reduces the difficulty of operation, and improves production efficiency; the feedback monitoring module optimizes the deviation judgment strategy according to the feedback signal, continuously improves the performance of the correction system, and improves the accuracy and efficiency of the correction.

Description

Technical Field

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

[0002] The existing angle correction control system lacks an effective data consistency verification mechanism when obtaining target parameter data through the sensor network. It 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 deviates, the existing correction mechanism usually adopts a fixed and single correction method, which cannot be flexibly adjusted according to the specific type of deviation and actual situation, and does not take into account the dynamics and continuity of the operation process, as well as the differences between different parameter segments. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the present 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;

[0004] 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 valid and consistent target parameter data;

[0005] 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;

[0006] The angle correction module is used to correct the target parameter data and generate a feedback signal when it identifies that the target deviation type is a single deviation, and to execute segmented correction logic to generate a local correction signal for the parameter segment when it identifies that the target deviation type is a compound deviation, until the correction of the parameter segment is completed and a feedback signal is generated.

[0007] As an optional implementation, the data synchronization mechanism includes:

[0008] The sensor network is activated by triggering an acquisition signal to synchronously acquire the monitored target parameter data;

[0009] Verify the consistency of target parameter data;

[0010] Set up a buffer to store valid and consistent target parameter data, and arrange the target parameter data according to the same timestamp;

[0011] The target parameter data missing in the buffer is compensated by linearly interpolating the target parameter data at adjacent times.

[0012] As an optional implementation, the method for verifying the consistency of target parameter data includes:

[0013] Determine the difference between the rotation angles and the target parameter distances within adjacent time periods;

[0014] Solve the ratio of the difference between the rotation angles in adjacent time periods to the difference between the target parameter distances in adjacent time periods to obtain the target parameter ratio;

[0015] Configure the relationship constant, perform the difference and absolute value processing between the target parameter ratio and the relationship constant to obtain the relationship difference;

[0016] Configure an error threshold and compare 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 is consistent with the target parameter distance.

[0017] 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 eliminated.

[0018] As an optional implementation, the deviation judgment strategy includes:

[0019] Configure the basic rotation angle and 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, and obtain the angle error and distance error respectively;

[0020] 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;

[0021] Configure the distance error tolerance value, and compare the distance error with the distance error tolerance value to obtain the deviation of the target parameter distance;

[0022] The deviation type of the target is determined by combining the deviation of the rotation angle and the deviation of the target parameter distance.

[0023] As an optional implementation, the angle correction module includes an angle correction mechanism, which includes:

[0024] Identify the target deviation type. If the target deviation type is a single deviation, correct the corresponding target parameter data and generate a feedback signal.

[0025] If the target deviation type is compound deviation, the segmented correction logic is executed.

[0026] As an optional implementation, the segmented correction logic includes:

[0027] Identify the target's operation path and divide the entire operation process of the target into multiple parameter segments based on the corners of the operation path;

[0028] Calculate the angle error and distance error of the parameter segment, configure the basic correction amplitude, perform local correction on the parameter segment according to the basic correction amplitude, and generate the local correction signal of the parameter segment;

[0029] The correction amplitude of the next parameter segment is adjusted according to the local correction signal, and the local correction signal of the next parameter segment is generated, until the correction of all parameter segments is completed and the feedback signal is generated.

[0030] As an optional implementation, the optimization method of the deviation judgment strategy includes dynamically adjusting the angle error tolerance value and the distance error tolerance value;

[0031] The dynamically adjusting angle error tolerance value includes:

[0032] Calculate the angle error and subtract the angle error from the basic rotation angle to obtain the error difference;

[0033] Configure the angle adjustment factor and multiply the error difference by the angle adjustment factor to get the angle error tolerance adjustment value;

[0034] The angle error tolerance adjustment value is added to the angle error tolerance value to obtain the adjusted angle error tolerance value.

[0035] As an optional implementation manner, the target parameter data includes a rotation angle and a target parameter distance, and the data verification mechanism includes:

[0036] Verify the validity of the rotation angle, including the range validity, rate validity and jump validity of the rotation angle;

[0037] Configure the angle threshold and compare the rotation angle with the angle threshold to obtain the range validity of the rotation angle;

[0038] Configure the rate extreme value, calculate the rate of change of the rotation angle in adjacent time, and compare the rate of change of the rotation angle with the rate extreme value to obtain the rate validity of the rotation angle;

[0039] Configure the jump extreme value and compare the absolute value of the difference between the rotation angles in adjacent time with the jump extreme value to obtain the jump validity of the rotation angle;

[0040] The validity of the rotation angle is comprehensively judged based on the range validity, rate validity and jump validity of the rotation angle. If the validity checks of the rotation angle are all passed, the rotation angle is judged to be valid;

[0041] If the validity check of any rotation angle fails, the rotation angle is determined to be invalid and the invalid rotation angle is discarded.

[0042] As an optional implementation, the data verification mechanism further includes:

[0043] Verify the validity of the target parameter distance, including the range validity, intensity validity and amplitude validity of the target parameter distance;

[0044] Configure the distance threshold and compare the target parameter distance with the distance threshold to obtain the range validity of the target parameter distance;

[0045] Configure the intensity base value, record the intensity of the reflected laser signal received 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;

[0046] Configure the amplitude extreme value, compare the absolute value of the difference between the target parameter distances in adjacent time with the amplitude extreme value to obtain the amplitude validity of the target parameter distance;

[0047] The validity of the target parameter distance is comprehensively judged based on the range validity, intensity validity and amplitude validity of the target parameter distance. If the validity checks of the target parameter distance are all passed, the target parameter distance is judged to be valid;

[0048] If the validity check of any target parameter distance fails, the target parameter distance is determined to be invalid and the invalid target parameter distance is eliminated.

[0049] Compared with the existing technology, the beneficial effects of the present application are: through the collaborative work of the sensing acquisition module, the deviation judgment module, the angle correction module and the feedback monitoring module, a closed-loop automatic correction system is formed. The entire system realizes 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, improving production efficiency, and facilitating large-scale and automated operation and production.

[0050] The target parameter data is acquired through the sensing acquisition module, and the data verification mechanism and data synchronization mechanism are triggered to ensure the accuracy, synchronization and effectiveness of data acquisition. The data synchronization mechanism ensures the temporal consistency of the target parameter data, and by setting a buffer and linear interpolation compensation, it ensures 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.

[0051] The deviation judgment module uses the deviation judgment strategy to judge the deviation of the rotation angle and the target parameter distance, as well as the target deviation type, to achieve accurate judgment of the deviation, provide a clear direction for subsequent targeted correction, make the correction measures more accurate and effective, further improve the operation accuracy and quality, reduce the scrap rate, and ensure that each operation can meet the preset operation process requirements, thereby improving the operation quality.

[0052] The angle correction module adopts different correction mechanisms for different deviation types. In particular, for complex deviations, it uses segmented correction logic to divide the operation process into several parameter segments according to the corners of the operation path, perform local correction on each parameter segment, and dynamically adjust the correction amplitude of the next segment based on 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 deviation of the entire operation process is effectively eliminated, greatly improving the adaptability and stability of the correction system.

[0053] 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, and enables the deviation judgment strategy to adapt to various changes in the operation process, ensuring that the correction system can accurately judge the deviation under different working conditions, providing a reliable basis for correction, thereby further enhancing the stability and reliability of the correction system, enabling it to operate stably in complex and changeable operating environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be derived from these drawings without inventive work. Among them:

[0055] Figure 1 A schematic diagram of an automatic angle correction control system based on target parameters provided in an embodiment of the present application;

[0056] Figure 2 A diagram of a data synchronization mechanism for an automatic angle correction control system based on target parameters provided in an embodiment of the present application;

[0057] Figure 3 A logic diagram for verifying the consistency of sawing data of an automatic angle correction control system based on target parameters provided in an embodiment of the present application;

[0058] Figure 4 A deviation judgment strategy diagram of an angle automatic correction control system based on target parameters provided in an embodiment of the present application;

[0059] Figure 5 A segmented correction logic diagram of an automatic angle correction control system based on target parameters provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the objectives, technical solutions and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application are clearly and completely described below in conjunction with the drawings in the specification. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0061] like Figure 1 As shown, an embodiment of the present application provides an angle automatic correction control system based on target parameters, which includes a sensing acquisition module, a deviation judgment module, an angle correction module and a feedback monitoring module.

[0062] The application scenario here is miter sawing, the corresponding target parameter data is sawing data, the corresponding target is a miter saw, the corresponding target parameter distance is the sawing distance, the corresponding target operation path is the sawing path of the miter saw, and the parameter segment indicates that the entire cutting process of the miter saw is divided into multiple sawing segments according to the corners of the sawing path.

[0063] The sensing acquisition module obtains sawing data through the sensor network and triggers the data verification mechanism and data synchronization mechanism.

[0064] The sawing data includes the rotation angle and sawing distance. The rotation angle and sawing distance are obtained respectively by the angle sensor and the laser ranging sensor, and the data verification mechanism and the data synchronization mechanism are triggered.

[0065] The rotation angle refers to the angle between the saw blade and the worktable, usually the bevel 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 of the saw blade and the sawing surface to ensure the cutting depth and accuracy.

[0066] The rotation angle is obtained by monitoring with an angle sensor, such as using an optical rotary encoder to calculate the rotation angle between the saw blade and the worktable by the change in reflected light; the sawing distance is obtained by monitoring with a laser ranging sensor, for example, when a laser beam is emitted from a laser ranging sensor and reflected back to the receiving end, the laser ranging sensor can calculate the accurate sawing distance value based on the flight time of the laser beam; the angle sensor and the laser ranging sensor need to be initialized before use to ensure that data can be accurately obtained, and the angle sensor and the laser ranging sensor are cleared when the correction system is started to ensure that the sawing data obtained is real-time data in the current sawing process.

[0067] The data verification mechanism includes:

[0068] Verify the validity of the rotation angle, including the range validity, rate validity and jump validity of the rotation angle;

[0069] Configure the angle threshold and compare the rotation angle with the angle threshold to obtain the range validity of the rotation angle;

[0070] Configure the rate extreme value, calculate the rate of change of the rotation angle in adjacent time, and compare the rate of change of the rotation angle with the rate extreme value to obtain the rate validity of the rotation angle;

[0071] Configure the jump extreme value and compare the absolute value of the difference between the rotation angles in adjacent time with the jump extreme value to obtain the jump validity of the rotation angle;

[0072] The validity of the rotation angle is comprehensively judged based on the range validity, rate validity and jump validity of the rotation angle. If the validity checks of the rotation angle are all passed, the rotation angle is judged to be valid;

[0073] If the validity check of any rotation angle fails, the rotation angle is determined to be invalid and the invalid rotation angle is discarded.

[0074] During the miter sawing process, the rotation angle is limited by the type of sawing surface, the requirements of the sawing process, and the mechanical structure of the miter saw itself. There is a reasonable value range. Exceeding this value range is caused by improper installation of the saw blade and mechanical transmission failure of the miter saw. Such abnormal rotation angle will directly lead to a serious decrease in the cutting accuracy of the saw blade and even damage the sawing surface and saw blade. Therefore, it is necessary to verify the validity of the range of the rotation angle.

[0075] During normal oblique sawing, the rate of change of the rotation angle of the saw blade should remain relatively stable. If the rate of change of the rotation angle fluctuates abnormally, it indicates that the saw blade has mechanical failure and load mutation (for example, hard spots or voids appear inside the sawing surface when sawing). These abnormal conditions will destroy the stability of the sawing process and affect the cutting accuracy of the saw blade and the quality of the sawing surface material, so it is necessary to verify the effectiveness of the rotation angle rate.

[0076] Since there are many interference factors in the bevel sawing process, such as electromagnetic interference, mechanical vibration and signal transmission noise, these interference factors will cause the rotation angle data obtained by the angle sensor to have instantaneous and unreasonable jumps. These jumps do not truly reflect the actual rotation state of the saw blade. If they are not identified and eliminated, they will seriously mislead the subsequent deviation judgment and angle correction links, causing the entire correction system to fall into an erroneous decision-making process. Therefore, it is necessary to verify the effectiveness of the rotation angle jump.

[0077] Through a large number of simulation experiments and previous actual sawing experience, appropriate angle thresholds (including minimum and maximum angle values) are configured. During the oblique sawing process, the rotation angle of the saw blade is monitored in real time and compared with the pre-set angle threshold. When the monitored rotation angle is within the set angle threshold range, it is determined that the rotation angle has passed the range validity check. Conversely, when the rotation angle exceeds this angle threshold range, it is determined that the validity check of the rotation angle has failed.

[0078] Through this rotation angle range validity check, abnormal saw blade rotation angle caused by mechanical failure or installation of objects can be discovered in time, effectively avoiding the negative impact of excessive or insufficient rotation angle on sawing quality, ensuring that the oblique sawing process meets the process requirements in terms of rotation angle range, ensuring the cutting accuracy of the saw blade, reducing waste and improving production efficiency.

[0079] According to the range of the rate of change of the standard rotation angle of the saw blade specified by the sawing process, a reasonable rate extreme value (that is, the maximum rate of change) is configured. During the oblique sawing process, the rate of change of the rotation angle in adjacent time is calculated. The specific calculation method is: at a fixed time interval (Determined by the sampling frequency of the correction system, for example, if the sampling frequency is 100Hz, then ), record the rotation angle values ​​obtained twice before and after and , through the formula The rate of change of the rotation angle in adjacent time periods is calculated, and then the rate of change of the rotation angle is compared with a preset rate extreme value. When the rate of change of the rotation angle is less than or equal to the rate extreme value, the rate validity check of the rotation angle is determined to have passed. Conversely, when the rate of change of the rotation angle is greater than the rate extreme value, the rate validity check of the rotation angle is determined to have failed.

[0080] Through rate validity verification, it is possible to capture in real time whether the rate of change during the saw blade rotation process is abnormal, and to provide early warning of potential mechanical failures or changes in sawing conditions, so that the operator or the correction system can take timely measures, such as pausing the miter saw to check the motor, etc., thereby maintaining the stability of the sawing process, ensuring that the cutting accuracy and sawing surface quality of the saw blade are not greatly affected, and improving the reliability of the overall sawing process.

[0081] Based on the evaluation of interference factors in the oblique sawing process and the signal processing capability of the angle sensor itself, the jump extreme value (that is, the maximum jump value) is configured to calculate the adjacent time in the oblique sawing process. The absolute value of the difference between the two rotation angles obtained , and Represents the rotation angle values ​​obtained twice before and after, and compares them with the jump extreme value. When the value of is less than or equal to the jump extreme value, it is determined that the jump validity check of the rotation angle has passed. Otherwise, when When the value of is greater than the jump extreme value, it is determined that the jump validity check of the rotation angle fails.

[0082] Through jump validity verification, false rotation angle data caused by external interference can be effectively filtered out, and the data entering the subsequent process can be purified to ensure that the data based on the deviation judgment and angle correction links are true and reliable, thereby improving the anti-interference ability of the entire correction system, ensuring the accuracy of the correction system's decision-making, and thus improving the cutting accuracy and stability of the saw blade.

[0083] Only when all three checks are passed can the rotation angle data be determined to be valid; when the validity check of any rotation angle fails, the rotation angle is determined to be invalid and the invalid rotation angle is eliminated, providing a high-quality data foundation for the subsequent sawing data processing process.

[0084] The range validity check of the rotation angle can prevent the rotation angle from exceeding the normal sawing range (between the minimum and maximum angle values) due to angle sensor failure or improper installation. The rate validity of the rotation angle can capture abnormal acceleration or deceleration of the saw blade during rotation, which may indicate a mechanical failure or external interference of the miter saw. The jump validity of the rotation angle checks the stability of the angle sensor signal to prevent the rotation angle data with instantaneous jumps 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 will be immediately discarded, ensuring the reliability of subsequent processing of the rotation angle data.

[0085] Verify the effectiveness of the sawing distance, including the range effectiveness, intensity effectiveness and amplitude effectiveness of the sawing distance;

[0086] Configure the distance threshold and compare the sawing distance with the distance threshold to obtain the range validity of the sawing distance.

[0087] Configure the 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 sawing distance;

[0088] Configure the amplitude extreme value, compare the absolute value of the difference between the sawing distances in adjacent time with the amplitude extreme value to obtain the amplitude validity of the sawing distance;

[0089] The validity of the sawing distance is comprehensively judged based on the range validity, intensity validity and amplitude validity of the sawing distance. If the validity checks of the sawing distance are all passed, the sawing distance is judged to be valid;

[0090] If the validity check of any sawing distance fails, the sawing distance is determined to be invalid and the invalid sawing distance is discarded.

[0091] In the operation of a bevel saw, the distance between the saw blade and the sawing surface must be limited to 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 over-cut into the workpiece, causing the saw blade to overload and overheat, and accelerate the wear of the saw blade, and even damage the saw blade. At the same time, it is difficult to ensure the dimensional accuracy of the sawed 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 and rough surface quality of the workpiece material. At the same time, it cannot meet the sawing requirements, so it is necessary to verify the effectiveness of the sawing distance range.

[0092] The laser ranging sensor emits a laser beam and receives reflected light to measure the sawing distance. The intensity of the reflected light is closely related to many factors, the most critical of which are the optical properties of the sawing surface (such as roughness, color and glossiness) and interference factors in the sawing environment (such as the degree of obstruction by sawdust, dust and smoke). When the intensity of the reflected light changes abnormally, it means that the sawing environment has deteriorated or the material properties of the sawing surface have suddenly changed. At this time, the reliability of the sawing distance data obtained is greatly reduced. If these sawing distance data are used directly, it will mislead subsequent sawing control decisions, so it is necessary to verify the effectiveness of the sawing distance intensity.

[0093] During the normal sawing process, the change in sawing distance should be relatively smooth. If there is an abnormal amplitude change, it will disrupt the deviation judgment and angle correction, and seriously affect the sawing quality. Therefore, it is necessary to verify the effectiveness of the sawing distance amplitude.

[0094] The distance threshold (including the minimum distance value and the maximum distance value) is precisely configured through experiments. When the monitored sawing distance is within the range defined by the distance threshold, the range validity check of the sawing distance is determined to have passed. Once the sawing distance exceeds the range defined by the distance threshold, the range validity check of the sawing distance is determined to have failed.

[0095] Through strict range validity verification, it is possible to promptly detect abnormal sawing distances caused by factors such as improper miter saw commissioning, deviation in workpiece placement, or deformation of the workpiece material during the sawing process, ensuring that the saw blade always maintains an appropriate working distance from the sawing surface. This not only extends the service life of the saw blade and reduces maintenance costs, but also effectively guarantees sawing accuracy and improves the quality of the workpiece.

[0096] When using a miter saw, during the normal sawing process, for a specific workpiece, the reflected light intensity collected by the laser ranging sensor is sampled multiple times (generally, the number of samples is not less than 100 to ensure the statistical representativeness of the data), and the average light intensity value is calculated using statistical methods. This is used as the intensity base value, and 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 an acceptable fluctuation range (this range is determined based on the accuracy of the laser ranging sensor and changes in the surface characteristics of the workpiece material, such as a relative deviation of ±10%), then the intensity validity check of the sawing distance is determined to have passed. Conversely, 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, then the intensity validity check of the sawing distance is determined to have failed.

[0097] With the help of strength validity verification, it is possible to keenly capture sawing distance measurement errors caused by changes in the surface properties of the workpiece material or deterioration of the sawing environment, and effectively avoid sawing deviations caused by unreliable distance data. This greatly enhances the credibility of the sawing distance data, allowing subsequent processes to be built on accurate data, thereby improving the stability and reliability of the entire correction system.

[0098] Configure the amplitude extreme value (that is, the maximum distance value) and calculate the adjacent time The absolute value of the difference between the inner sawing distances , and Represents the sawing distance values ​​obtained twice before and after, and compares them with the amplitude extreme value. When the amplitude is less than or equal to the extreme value, the amplitude validity check of the sawing distance is determined to be passed. On the contrary, when When the amplitude is greater than the extreme value, it is determined that the amplitude validity check of the sawing distance has failed.

[0099] Through amplitude validity verification, abnormal sawing distance change data caused by uneven surface of the workpiece material or strong external interference can be screened out in time to ensure the quality of sawing distance data involved in subsequent processes. This helps to maintain the stability 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.

[0100] The range validity check of the sawing distance can ensure that the value corresponding to the sawing distance can meet the sawing process requirements; the intensity validity check of the sawing distance is based on the principle of laser ranging, and uses the intensity of reflected light to assist in judging the accuracy of distance measurement. Because when the measurement environment changes (such as sawdust obstruction or changes in the reflective properties of the sawing surface material), the light intensity will fluctuate significantly, and the credibility of the value corresponding to the sawing distance will be reduced at this time; and the amplitude validity check of the sawing distance is to measure whether the change in the distance between adjacent times is reasonable, to avoid invalid sawing distance data caused by jitter of the laser ranging sensor or sudden change of the sawing surface material from entering the subsequent process; this multi-dimensional verification method of the sawing distance echoes the validity verification of the rotation angle, building a strict data quality control system.

[0101] During the oblique sawing process, the two key sawing data, rotation angle and sawing distance, are interrelated and change synchronously. In order to ensure that subsequent deviation judgment and angle correction can make decisions based on accurate and synchronized information, it is necessary to establish an efficient data synchronization mechanism; by synchronously acquiring sawing data, the data dislocation caused by time difference can be minimized to the greatest extent, and the wrong interpretation of the sawing process can be avoided; setting a buffer to store valid data is to deal with invalid sawing data that appears during the data acquisition process, and to ensure the validity and continuity of the sawing data; and interpolation compensation 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.

[0102] Data synchronization mechanism such as Figure 2 As shown, specifically including:

[0103] The trigger acquisition signal starts the sensor network to synchronously acquire the monitored sawing data;

[0104] Verify the consistency of sawing data;

[0105] Set up a buffer to store valid and consistent sawing data, and arrange the sawing data according to the same timestamp;

[0106] The missing sawing data in the buffer is compensated by linearly interpolating the sawing data at adjacent times.

[0107] When the miter saw starts the sawing operation, a precise starting instruction is required to coordinate the various sensors to start working at the same time to ensure that the rotation angle and sawing distance are obtained at the same time; if the sensor start-up time is inconsistent, the obtained sawing data will correspond to different times and cannot accurately reflect the actual state of sawing. Subsequent analysis and control based on these asynchronous sawing data will be biased; after the correction system sends an acquisition signal, the angle sensor and the laser ranging sensor are started synchronously to obtain the rotation angle and sawing distance respectively, thereby 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.

[0108] There is a physical correlation between changes in the rotation angle and changes in the sawing distance. By verifying the consistency of the sawing data, it is possible to identify data inconsistencies caused by sensor failures and other reasons, and ensure that the sawing data involved in subsequent processing logically matches each other.

[0109] The sawing environment is complex, and the sawing data obtained may not be valid or consistent. Therefore, the buffer zone is like a data temporary storage warehouse, which can temporarily store verified valid and consistent sawing data. Arranging them according to the same timestamp can ensure that the order of sawing data is consistent with the order of sawing process, which is convenient for subsequent query and processing, effectively prevents data loss, ensures data consistency, and provides data guarantee for long-term and stable sawing process, so that the correction system can continue to operate reliably under certain interference.

[0110] Although a buffer zone is set up, in some extreme cases, such as during strong electromagnetic interference, data acquisition may be briefly lost continuously. Since the changes in rotation angle and sawing distance in a short period of time during the sawing process 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 be used to reasonably infer the value of the missing sawing data based on the existing sawing data at adjacent times, fill the gaps in the sawing data, maintain the integrity of the sawing data sequence, effectively repair the possible problem of missing sawing data, ensure the integrity of the sawing data sequence, prevent subsequent processes from being affected by data gaps, maintain the smoothness of the correction system operation, improve the ability of the correction system to cope with complex working conditions, and ensure the continuity and stability of the sawing operation.

[0111] The method for verifying the consistency of sawing data is as follows: Figure 3 As shown, specifically including:

[0112] Determine the difference between the rotation angles and the sawing distances within adjacent time periods;

[0113] Solve the ratio of the difference between the rotation angles in adjacent time periods to the difference between the sawing distances in adjacent time periods to obtain the sawing ratio;

[0114] Configure the relationship constant, perform the difference and absolute value processing between the sawing ratio and the relationship constant to obtain the relationship difference;

[0115] Configure an error threshold, 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;

[0116] 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 eliminated.

[0117] In order to explore the relationship between the rotation angle and the sawing distance in a short time, it is necessary to obtain the changes in the rotation angle and the sawing distance in adjacent time. Then the difference between the rotation angles in adjacent time is The difference between the sawing distances in adjacent time periods , which provides basic data for the subsequent calculation of sawing ratio and helps to deeply analyze the dynamic correlation in the sawing process.

[0118] By calculating the sawing ratio and normalizing the two changes, the relative relationship between the change in rotation angle and the change in sawing distance can be intuitively reflected. Then the sawing ratio is , can quickly judge whether the sawing data is consistent from a macro perspective, and improve the speed and accuracy of data consistency verification.

[0119] The relationship constant is obtained based on a large number of experiments and actual sawing experience. It represents the ideal value of the sawing ratio under normal sawing conditions. The difference between the actual calculated sawing ratio and the relationship constant is taken as the absolute value. The 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 said that the sawing data is consistent. Otherwise, there is data anomaly.

[0120] The error threshold is obtained by comprehensively considering factors such as sensor accuracy (for example, the angle sensor accuracy is ±0.1°, and the laser ranging sensor accuracy is ±0.5mm), the allowable fluctuation range of the sawing process (for example, for precision sawing, the allowable sawing ratio fluctuation range is smaller), and the correction system's requirements for data quality. When the relationship difference is greater than the error threshold, it means that the rotation angle and the sawing distance are inconsistent. The inconsistent rotation angle and sawing distance need to be eliminated to provide a reliable data basis for subsequent processes and ensure the accuracy of the correction system's decision-making.

[0121] By triggering the acquisition signal to synchronously acquire sawing data, it is ensured that the rotation angle and sawing distance are acquired under the same time reference, avoiding the sawing data misalignment problem caused by time difference, which is crucial for the subsequent accurate analysis of the relationship between the rotation angle and the sawing distance; the sawing ratio is calculated and compared with the relationship constant, and the consistency of the rotation angle and the sawing distance is measured using a mathematical relationship. When there is inconsistency, the corresponding sawing data is eliminated, and the sawing data pairs (including rotation angle and sawing distance) that match each other and conform to the consistency logic are further screened out; a buffer is set and linear interpolation compensation is performed (polynomial difference compensation can be performed if it is a nonlinear relationship), 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 availability of the sawing data output by the sensing acquisition module.

[0122] The deviation judgment module judges the deviation of the rotation angle and the sawing distance and the deviation type of the miter saw through the deviation judgment strategy.

[0123] By establishing a deviation judgment strategy, deviations in rotation angle and sawing distance can be monitored and identified in real time, providing a key basis for timely corrective measures. This deviation judgment strategy is based on a method of comparing with preset basic rotation angles and basic sawing distances. The real-time acquired sawing data is converted into a quantifiable error value, and then the existence of a deviation is determined based on the pre-configured error tolerance value. Finally, the deviation type of the entire miter saw is determined by combining the two situations, thereby achieving a comprehensive and accurate assessment of the sawing status.

[0124] Bias judgment strategies such as Figure 4 As shown, specifically including:

[0125] Configure the basic rotation angle and 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 obtain the angle error and distance error respectively;

[0126] 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;

[0127] 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;

[0128] The deviation type of the miter saw is determined by combining the deviation of the rotation angle and the deviation of the sawing distance.

[0129] The basic rotation angle and basic sawing distance represent the rotation angle of the saw blade and the optimal distance between the saw blade and the sawing surface under ideal sawing conditions, respectively. For example, through a large number of early experimental tests, the basic rotation angle was determined to be 30°, which can ensure that the sawing force is evenly distributed and reduce the tearing of the workpiece; and the basic sawing distance is 5mm, which can not only ensure that the saw blade effectively cuts into the workpiece, but also avoid excessive cutting that causes waste of the workpiece and overload of the saw blade, providing an accurate and unified reference standard for subsequent deviation judgment.

[0130] Determining the angle error and distance error successfully quantified the difference between the rotation angle and the basic rotation angle, as well as the difference between the sawing distance and the basic sawing distance, providing a direct basis for subsequent deviation judgment. This enables the correction system to quickly and intuitively understand the degree of deviation between the rotation angle and the sawing distance, greatly improving the efficiency and accuracy of deviation judgment, and providing strong support for timely detection of deviations in miter saws.

[0131] The angular error tolerance is determined based on the precision requirements of the sawing process and the mechanical properties of the saw blade. Different sawing processes have very different requirements for angular accuracy. For example, for high-precision metal mold manufacturing, the error of the rotation angle is required to be controlled within a very small range, and the angular error tolerance can be set to ±0.5°; while for some rough wood processing that does not require high appearance accuracy, the angular error tolerance is relatively loose and can be set to ±2°; this is because in metal mold manufacturing, slight angular deviations may lead to serious quality problems such as poor mold splicing and product size deviations; while rough wood processing pays more attention to processing efficiency, and appropriately relaxing the angular accuracy requirements will not have a fatal impact on the overall quality of the product.

[0132] When the angle error is less than or equal to the angle error tolerance value, it is determined that there is no deviation in the rotation angle; when the angle error is greater than the angle error tolerance value, it is determined that there is a deviation in the rotation angle; this achieves accurate judgment of the rotation angle deviation, ensuring that the rotation angle during the sawing process meets the process requirements, effectively avoiding the decline in sawing quality due to angle deviation, improving the sawing quality, and meeting the differentiated requirements for angle accuracy of different sawing tasks.

[0133] The distance error tolerance value is also determined based on the precision requirements of the sawing process and the mechanical properties of the saw blade. Different materials have different sawing depth requirements, and the miter saw has different control accuracy of the sawing distance. Taking the sawing of metal sheets as an example, due to the high hardness of metal materials and high requirements for incision flatness, the sawing distance error tolerance value is usually small, set to ±0.5mm; when sawing softer plastic sheets, the tolerance value can be appropriately relaxed to ±1mm; this is because when sawing metal sheets, excessive deviation in the sawing distance may cause problems such as incision burrs and material deformation, affecting product quality; plastic sheets are relatively soft and less sensitive to these problems.

[0134] 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; ensuring that the sawing distance meets the process requirements during the sawing process, reducing sawing quality problems caused by distance deviation, such as poor incision quality, material waste, etc., and improving the overall quality and efficiency of the sawing process.

[0135] Different types of deviation reflect different root causes of problems in the sawing process. For example, if only the rotation angle has a deviation, it means that there is a fault 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 accuracy of the saw blade, and the miter saw is judged to have a distance deviation; if both have deviations, it is a combined effect of multiple factors, such as the uneven internal structure of the material resulting in uneven force on the saw blade, which affects the rotation angle and sawing distance at the same time, and the miter saw is judged to have a compound deviation; by clarifying the deviation type, clear guidance can be provided for subsequent targeted correction measures, thereby improving correction efficiency, ensuring that the miter saw can quickly return to normal sawing state, and ensuring the continuous stability of sawing quality and efficiency.

[0136] By judging the deviation of the rotation angle and sawing distance respectively, the deviation type of the miter saw is comprehensively determined, covering various situations from no deviation to compound deviation. It is complete and reasonable, can accurately locate the root cause of the problem in the sawing process, and provide a clear direction for subsequent angle correction actions.

[0137] The angle correction module is used to execute the angle correction mechanism and generate a feedback signal when there is a deviation between the rotation angle and the sawing distance.

[0138] Once the deviation judgment module detects that there is a deviation between the rotation angle and the sawing distance, it must be corrected in time to ensure that the sawing quality meets the requirements.

[0139] The angle correction module includes an angle correction mechanism, which includes:

[0140] Identifying the deviation type of the miter saw, and if the deviation type of the miter saw is single deviation, correcting the corresponding sawing data and generating a feedback signal;

[0141] If the deviation type of the miter saw is compound deviation, the segmented correction logic is executed.

[0142] Accurately judging the type of deviation is the first step in implementing effective correction. When it is determined to be a single deviation, it is further determined whether it is an angle deviation or a distance deviation. When it is an angle 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 saw blade's feed depth can be adjusted), and after the correction is completed, a feedback signal is immediately generated, including the corrected sawing data and the time spent on correction, and sent to the feedback monitoring module.

[0143] For example, when sawing a workpiece, it is found that the sawing distance deviation is +2mm. The saw blade moves back 2mm 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. The correction takes 0.5 seconds. For the case of a single deviation, the deviation of the sawing data can be corrected quickly and accurately, so that the sawing process can quickly return to normal, avoiding serious sawing quality problems caused by the accumulation of small deviations. At the same time, the closed-loop control of the correction system is realized through the feedback signal, which facilitates the continuous optimization of the performance of the correction system and improves the sawing quality.

[0144] When the deviation type is compound deviation, the complexity of the sawing process requires a more sophisticated correction strategy.

[0145] Segment correction logic such as Figure 5 As shown, specifically including:

[0146] Identify the sawing path of the miter saw and divide the entire cutting process of the miter saw into a number of sawing segments according to the corners of the sawing path;

[0147] Calculate the angle error and distance error of the sawing section, configure the basic correction amplitude, perform local correction on the sawing section according to the basic correction amplitude, and generate a local correction signal for the sawing section;

[0148] The correction amplitude of the next sawing segment is adjusted according to the local correction signal, and the local correction signal of the next sawing segment is generated, until the correction of all sawing segments is completed and the feedback signal is generated.

[0149] Since the cutting path of a miter saw is usually not a straight line and has changes such as corners, the resistance of the sawing surface material and the force applied to the saw blade vary greatly in different sawing sections. At the corners, the direction and magnitude of the force applied to the saw blade will change dramatically, which can easily lead to greater deviation fluctuations. Only by accurately identifying the characteristics of these sawing paths and reasonably segmenting them can we lay the foundation for targeted segmentation correction.

[0150] By utilizing the sawing process parameters pre-stored in the correction system (such as the designed sawing pattern and corner coordinates, etc.), combined with the position sensor to feedback the position information of the saw blade in real time, the corners of the sawing path can be accurately identified. Whenever the saw blade reaches a corner, the correction system divides the previous sawing process into an independent sawing segment and records the starting and ending point information of the sawing segment; for example, when sawing a metal workpiece with multiple corners, the correction system identifies 5 corners according to the preset sawing path planning, thereby dividing the entire sawing process into 6 sawing segments. The length, starting and ending positions and other information of each sawing segment are recorded in detail in the correction system, realizing a refined division of the sawing process, so that the subsequent correction work for each sawing segment can fully consider its unique sawing environment and stress conditions, improve the accuracy and effectiveness of the correction, and provide a strong guarantee for the ultimate elimination of compound deviations.

[0151] For each divided sawing segment, in order to accurately understand the deviation state of the sawing segment, it is necessary to calculate the angle error and distance error of the sawing segment; and the configured basic correction amplitude is determined based on the initial deviation state of each sawing segment, the mechanical properties of the saw blade and the sawing process requirements. Generally speaking, the larger the initial angle error and distance error, the larger the required basic correction amplitude. However, at the same time, the bearing capacity of the saw blade and the subsequent impact on the sawing quality need to be considered, and excessive correction is not allowed.

[0152] Here the angle basic correction amplitude is set to , Indicates the angle-based correction amplitude, represents the angle sensitivity coefficient, Indicates the rotation angle, Indicates the base rotation angle.

[0153] It should be noted that: Angle sensitivity coefficient It is used to adjust the degree of influence of angle error on the angle basic correction amplitude. It is usually determined through experiments and takes a positive value.

[0154] Here the distance base correction amplitude is set to , Indicates the distance basis correction amplitude, represents the distance sensitivity coefficient, Indicates the sawing distance, Indicates the basic sawing distance.

[0155] It should be noted that: distance sensitivity coefficient It refers to the degree of influence of the distance adjustment error on the distance basic correction amplitude, which is usually determined through experiments and takes a positive value.

[0156] Local correction is performed based on the basic correction amplitude, which can gradually correct the deviation of the sawing section without affecting the stability of the entire sawing process. The purpose of generating a local correction signal is to drive the correction work of the correction system and provide a basis for subsequent adjustments, thereby improving the controllability and accuracy of the correction and ensuring the quality of sawing.

[0157] Since the sawing process is continuous, the correction effect of the previous sawing segment will affect the initial state of the next sawing segment; if the previous segment is over- or under-corrected, the deviation of the next segment will change, so it is necessary to dynamically adjust the correction amplitude of the next sawing segment according to the local correction signal of the previous segment; this can make the correction strategy more in line with the dynamic changes of the actual sawing process, and continuously optimize the correction effect until the correction of all sawing segments is completed, ensuring that the deviation of the entire sawing process is comprehensively and effectively eliminated, effectively improving the sawing quality and reducing the scrap rate; and generating a feedback signal is also to inform the correction system that the entire correction process has been completed, and to feedback key information in the correction process (such as the initial error, correction amplitude, and error after correction of each sawing segment, etc.), so that the subsequent correction system can optimize the correction strategy.

[0158] Different correction strategies are designed for single deviation and compound deviation, which embodies flexibility and pertinence. When it is a single deviation, the corresponding rotation angle and sawing distance are directly corrected, which is efficient and fast. When it is a compound deviation, segmented correction logic is adopted to divide the sawing segments according to the corners of the sawing path. The characteristics of the miter saw at different stages of the sawing process are fully considered. Local correction and dynamic adjustment of the correction amplitude are performed, which can gradually and accurately eliminate the deviation and avoid the sawing quality problems caused by a one-time large-scale correction. At the same time, feedback signals are generated to provide a basis for optimizing the correction system, forming a closed-loop control to ensure continuous improvement of sawing accuracy.

[0159] The feedback monitoring module is used to optimize the deviation judgment strategy based on the feedback signal.

[0160] The optimization method of the deviation judgment strategy includes dynamically adjusting the angle error tolerance value and the distance error tolerance value.

[0161] As sawing time goes by, the saw blade will gradually wear out, resulting in a decline in sawing quality. Different batches of workpiece materials have differences in hardness, texture and other properties. At the same time, changes in ambient temperature and humidity will also affect sawing. If a fixed deviation judgment strategy is always used, that is, a fixed angle error tolerance value and distance error tolerance value, it will lead to an inability to accurately judge the deviation of the sawing data, resulting in inaccurate or over-correction of the angle correction mechanism, affecting the sawing quality and efficiency.

[0162] Therefore, it is necessary to use the feedback signal to dynamically adjust the angle error tolerance value and the distance error tolerance value according to the actual sawing situation, so that the deviation judgment strategy can adapt to various changes in the sawing process and identify the deviation more accurately, thereby providing a more reliable basis for subsequent angle correction and improving the stability and adaptability of the entire correction system.

[0163] Dynamically adjust the angle error tolerance value including:

[0164] Calculate the angle error and subtract the angle error from the basic rotation angle to obtain the error difference;

[0165] Configure the angle adjustment factor and multiply the error difference by the angle adjustment factor to get the angle error tolerance adjustment value;

[0166] The angle error tolerance adjustment value is added to the angle error tolerance value to obtain the adjusted angle error tolerance value.

[0167] The function expression of the angle adjustment factor is as follows:

[0168] ;

[0169] Where, represents the angle adjustment factor, represents a constant, represents the adjustment factor, represents the error difference, Indicates the base rotation angle.

[0170] It should be noted that: constant It is the basis of the angle adjustment factor, which is usually determined through experiments based on factors such as the mechanical properties of the saw blade and the sawing process requirements. It can be 0.1, 0.5 and 1; the adjustment factor Controls the sensitivity of the correction system to error changes. When the adjustment factor When the error difference is larger, the error difference has a greater impact on the adjustment of the angle error tolerance value. When it is small, the correction system is less sensitive to the error difference, and the adjustment factor The value of needs to take into account changes in environmental factors and material properties, and is usually a positive number (can be 0.01, 0.1 and 1).

[0171] By configuring the angle adjustment factor and calculating the angle error tolerance adjustment value, the angle error tolerance value can be adjusted in a targeted manner according to the actual error situation, making the deviation judgment strategy more flexible and accurate, and better able to adapt to changes in the sawing process.

[0172] By adding the angle error tolerance adjustment value to the current angle error tolerance value, the angle error tolerance range can be dynamically adjusted according to the actual sawing situation. If the error difference indicates that the current deviation is more serious, the error tolerance range can be appropriately relaxed by increasing the angle error tolerance adjustment value to avoid unnecessary corrections due to overly strict judgment standards; conversely, if the error difference is small, the adjusted angle error tolerance value can be reduced accordingly to improve the accuracy of deviation judgment and provide a more reasonable reference for subsequent angle correction, thereby improving sawing quality and efficiency.

[0173] The function expression for dynamically adjusting the distance error tolerance value is as follows:

[0174] ;

[0175] Where, Indicates the adjusted distance error tolerance value, Indicates the distance error tolerance value, Indicates the influence coefficient of environmental factors on distance error, Indicates the environmental factor value, Indicates the influence coefficient of material properties on distance error, Indicates material property values.

[0176] It should be noted that: distance error tolerance The initial distance error tolerance value when the environmental factors and material properties are not considered; the influence coefficient of environmental factors on distance error It is obtained by analyzing and fitting the data of sawing experiments under different environmental conditions, reflecting the degree of influence of environmental factors on sawing distance error. The value is a positive number, such as 0.01 and 0.1. Obtained through environmental sensors installed at the sawing site, such as temperature sensors measuring ambient temperature and humidity sensors measuring ambient humidity. For example, the temperature range is -20°C to 50°C, and the humidity range is 0% to 100%; the influence coefficient of material properties on distance error It is obtained by analyzing and fitting the data of sawing experiments on different materials, reflecting the influence of material properties on sawing distance error, and the values ​​can be 0.02 and 0.2, etc.; the material property value It is obtained by testing the physical properties of saw blades with different wear conditions.

[0177] The deviation judgment strategy is optimized based on feedback signals, with an emphasis on dynamically adjusting the error tolerance value. By introducing calculation formulas related to the error difference, environmental factors, and material properties, the correction system is given adaptive capabilities and can adjust the deviation judgment criteria in real time according to the actual sawing conditions. For example, when saw blade wear (changes in material properties) or changes in workshop temperature and humidity (environmental factors) affect sawing accuracy, the correction system automatically relaxes or tightens the error tolerance value to always maintain the accuracy of deviation judgment and ensure that the entire correction system can adapt to the complex and changing use of miter saws.

Claims

1. An automatic angle correction control system based on target parameters, characterized in that: include: Sensing acquisition module, deviation judgment module and 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 valid and consistent target parameter data; The method for verifying the consistency of target parameter data includes: Determine the difference between the rotation angles and the target parameter distances within adjacent time periods; Solve the ratio of the difference between the rotation angles in adjacent time periods to the difference between the target parameter distances in adjacent time periods to obtain the target parameter ratio; Configure the relationship constant, perform the difference and absolute value processing between the target parameter ratio and the relationship constant to obtain the relationship difference; Configure an error threshold and compare 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 is consistent with the target parameter distance. 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 eliminated; 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; The angle correction module is used to correct the target parameter data and generate a feedback signal when it identifies that the target deviation type is a single deviation, and to execute segmented correction logic to generate a local correction signal for the parameter segment when it identifies that the target deviation type is a compound deviation, until the correction of the parameter segment is completed and a feedback signal is generated; The segmented correction logic includes: Identify the target's operation path and divide the entire operation process of the target into multiple parameter segments based on the corners of the operation path; Calculate the angle error and distance error of the parameter segment, configure the basic correction amplitude, perform local correction on the parameter segment according to the basic correction amplitude, and generate the local correction signal of the parameter segment; The correction amplitude of the next parameter segment is adjusted according to the local correction signal, and the local correction signal of the next parameter segment is generated, until the correction of all parameter segments is completed and the 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: The sensor network is activated by triggering an acquisition signal to synchronously acquire the monitored target parameter data; Verify the consistency of target parameter data; Set up a buffer to store valid and consistent target parameter data, and arrange the target parameter data according to the same timestamp; The target parameter data missing in the buffer is compensated by linearly interpolating the target parameter data at adjacent times.

3. The automatic angle correction control system based on target parameters according to claim 2, characterized in that: The deviation judgment strategy includes: Configure the basic rotation angle and 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, and obtain the angle error and distance error respectively; 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 target parameter distance; The deviation type of the target is determined by combining the deviation of the rotation angle and the deviation of the target parameter distance.

4. The automatic angle correction control system based on target parameters according to claim 3, characterized in that: The angle correction module includes an angle correction mechanism, which includes: Identify the target deviation type. If the target deviation type is a single deviation, correct the corresponding target parameter data and generate a feedback signal. If the target deviation type is compound deviation, the segmented correction logic is executed.

5. The angle automatic correction control system based on target parameters according to claim 4, characterized in that: The optimization method of the deviation judgment strategy includes dynamically adjusting the angle error tolerance value and the distance error tolerance value; The dynamically adjusting angle error tolerance value includes: Calculate the angle error and subtract the angle error from the basic rotation angle to obtain the error difference; Configure the angle adjustment factor and multiply the error difference by the angle adjustment factor to get the angle error tolerance adjustment value; The angle error tolerance adjustment value is added to the angle error tolerance value to obtain the adjusted angle error tolerance value.

6. The automatic angle correction control system based on target parameters according to claim 5, characterized in that: 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 the range validity, rate validity and jump validity of the rotation angle; Configure the angle threshold and compare the rotation angle with the angle threshold to obtain the range validity of the rotation angle; Configure the rate extreme value, calculate the rate of change of the rotation angle in adjacent time, and compare the rate of change 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 in adjacent time with the jump extreme value to obtain the jump validity of the rotation angle; The validity of the rotation angle is comprehensively judged based on the range validity, rate validity and jump validity of the rotation angle. If the validity checks of the rotation angle are all passed, the rotation angle is judged to be valid; If the validity check of any rotation angle fails, the rotation angle is determined to be invalid and the invalid rotation angle is discarded.

7. The automatic angle correction control system based on target parameters according to claim 6, characterized in that: The data verification mechanism also includes: Verify the validity of the target parameter distance, including 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 reflected laser signal received 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 the amplitude extreme value, compare the absolute value of the difference between the target parameter distances in adjacent time with the amplitude extreme value to obtain the amplitude validity of the target parameter distance; The validity of the target parameter distance is comprehensively judged based on the range validity, intensity validity and amplitude validity of the target parameter distance. If the validity checks of the target parameter distance are all passed, the target parameter distance is judged to be valid; If the validity check of any target parameter distance fails, the target parameter distance is determined to be invalid and the invalid target parameter distance is eliminated.

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