Furniture board processing equipment control method

Abstract

The present invention provides a control method for furniture panel processing equipment, comprising assigning panel cutting tasks received through polling to processing equipment; calculating the total length of processing trajectories required for each device to complete new tasks and unexecuted tasks, and determining priorities in combination with cutting feed speeds; and scheduling paths in order of priority. During scheduling, based on equipment status information, including tool trajectories of executing and unexecuted tasks, it is determined whether there is tool interference or path overlap in processing plans between adjacent cutting coordinate points, and the next execution node is selected from adjacent points without conflict. The equipment status information includes tool position, time point, and motion trajectory. Conflict detection is achieved by calculating tool spacing and motion route direction, and priorities are sorted based on task completion times estimated by trajectory length and speed. The present invention can improve the scheduling efficiency and processing accuracy of furniture panel processing equipment, avoid tool interference risks, and optimize multi-task parallel processing.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent manufacturing and numerical control machining, and more specifically, to a control method for furniture panel machining equipment. Background Art

[0002] In the field of furniture panel processing, with the continuous growth of market demand and the expansion of production scale, higher requirements are being placed on the automation and intelligence level of furniture panel processing equipment. Traditional furniture panel processing equipment usually adopts manual operation or simple automated control methods. This method has many shortcomings in terms of processing efficiency, processing accuracy, and equipment utilization. For example, during manual operation, workers need to manually adjust the equipment's cutting path and parameters according to the processing drawings. This is not only inefficient, but also prone to processing errors due to human factors. While simple automated control methods can achieve a certain degree of automated processing, they often lack efficient scheduling and conflict detection mechanisms for multiple processing tasks. As a result, the equipment is prone to problems such as tool interference and path overlap when handling multiple tasks, affecting processing quality and production efficiency.

[0003] In implementing the embodiments of the present invention, the inventors discovered that the prior art has at least the following problems or defects: The control methods for existing furniture panel processing equipment typically allocate tasks based solely on the equipment's idle state, without fully considering the equipment's load balancing and task priorities. This results in some equipment being in a high-load state for extended periods while other equipment is idle, resulting in uneven equipment utilization and low overall production efficiency. Furthermore, the prior art's calculation of processing trajectories is not precise enough, failing to fully consider the size and shape of the panel, as well as the complexity of the cutting task. This results in redundant cutting paths, increased processing time and energy consumption, and the potential for safety hazards such as equipment collisions due to improper path planning.

[0004] Furthermore, existing technologies have significant shortcomings in conflict detection, failing to effectively identify and resolve issues like tool interference and path overlap. This not only affects machining accuracy but can also damage equipment, increasing maintenance costs and downtime. Existing technologies also lack dynamic scheduling capabilities, unable to flexibly adjust task allocation and execution order based on real-time task requirements and equipment status. This limits the optimal utilization of equipment resources and hinders achieving a continuous and efficient production process. Summary of the Invention

[0005] The present invention provides a control method for furniture plate processing equipment, comprising:

[0006] Allocate the plate cutting tasks received through polling to processing equipment;

[0007] Calculating the total length of machining tracks required for each machining device assigned a new cutting task and / or scheduled but unexecuted cutting tasks to complete the corresponding task, and determining the priority of each machining device based on the total length of machining tracks and the cutting feed speed of the machining device;

[0008] Cutting paths are scheduled for each of the processing equipment in order of priority; the path scheduling for one of the processing equipment includes: obtaining equipment status information based on the tool motion trajectory of the cutting task in execution and the scheduled but unexecuted cutting task, determining whether there is a conflict in the processing plan from a cutting coordinate point to the next adjacent cutting coordinate point in the path scheduling based on the equipment status information, and determining the next execution node from the adjacent cutting coordinate points where there is no conflict.

[0009] Furthermore, the calculation of the total length of the processing track required for each processing device to complete the corresponding task, which is assigned a new cutting task and / or is scheduled but not yet executed, includes:

[0010] Updating the tool position state of each processing device as the initial state of this path scheduling;

[0011] Based on the cutting coordinate points of the initial states of the respective processing devices and the assigned cutting tasks, the total length of the processing track required for the respective processing devices to complete the tasks is obtained.

[0012] Furthermore, the updating of the tool position state of the processing equipment as the initial state of this path scheduling includes:

[0013] For a processing device that is undertaking a new cutting task and / or has a scheduled but unexecuted cutting task and is currently executing an already started cutting task, obtain the cutting coordinate point and time point where the processing device is located after the current task is completed as the initial state of the device;

[0014] For a processing device that has not started a cutting task, the cutting coordinate point at which the device is located when the system receives a new cutting task is obtained as the initial state of the device.

[0015] Furthermore, the total length of the processing track is obtained by the following formula:

[0016]

[0017] in, Indicates the total length of the processing track. Indicates the plane coordinates of the plate at the cutting coordinate point where the processing equipment is in its initial state. Indicates the processing equipment The plane coordinates of the plate starting point of each cutting task, Indicates the processing equipment The plane coordinates of the plate at the end point of the cutting task, Indicates the total number of tasks for this processing equipment.

[0018] Furthermore, the priority of each processing equipment is determined based on the total length of the processing trajectory and the cutting feed speed of the processing equipment, including: estimating the task completion time using the total length of the processing trajectory and the cutting feed speed in the processing equipment parameter matrix, and determining the priority of the processing equipment from high to low according to the length of the task completion time.

[0019] Furthermore, the equipment status information includes the time point and cutting coordinate point of the processing equipment startup, the time point and cutting coordinate point of reaching the end point, the tool movement trajectory, the cutting coordinate points passed and the time of reaching each cutting coordinate point.

[0020] Furthermore, the conflict includes tool interference and / or path overlap; determining whether there is tool interference in a processing plan from one cutting coordinate point to the next adjacent cutting coordinate point in path scheduling based on the device status information includes:

[0021] Obtaining a plate cutting interval between a cutting coordinate point and a next adjacent cutting coordinate point in a processing plan and a cutting feed speed, an acceleration rate, and a deceleration rate in a parameter matrix of the processing equipment, to obtain a cutting processing time period;

[0022] Using the start-up time, the arrival time of the end point, and the arrival time of each cutting coordinate point of each processing device in the device status information, the processing device having the tool motion trajectory in the device status information within the time period is obtained;

[0023] calculating, at each time point within the time period, a distance between the tool center points of the processing equipment and the processing equipment having a tool motion trajectory in the equipment status information;

[0024] Calculate the sum of the maximum distances between the two processing devices using the maximum distance between the tool center point and the device cutting boundary in the processing device parameter matrix;

[0025] When the distance between the tool center points is less than or equal to the sum of the maximum distance values, it is considered that tool interference exists;

[0026] Determining whether there is path overlap in a processing plan from one cutting coordinate point to the next adjacent cutting coordinate point in path scheduling based on the device status information includes:

[0027] Obtaining a cutting motion route of the processing equipment from a current cutting coordinate point to a next cutting coordinate point according to a processing plan and a cutting processing time period for running the route;

[0028] Using the start-up time, the arrival time of the end point, and the arrival time of each cutting coordinate point of each processing device in the device status information, the processing device having the tool motion trajectory in the device status information within the time period is obtained;

[0029] The cutting motion path of the processing equipment in the equipment status information is obtained by using the cutting coordinate point at which the processing equipment starts, the cutting coordinate point at which the processing equipment reaches the end point, the tool motion trajectory, and the cutting coordinate points passed within the time period described in the equipment status information;

[0030] It is determined whether the processing equipment and the processing equipment in the equipment status information enter the same cutting motion route in opposite directions within the time period. If so, it is considered that there is path overlap.

[0031] Furthermore, the plate processing area and processing equipment involved in the cutting task are modeled in advance to obtain the plate plane distance matrix and processing equipment parameter matrix of the processing area; the plate plane distance matrix includes the actual cutting path length between each cutting coordinate point; the processing equipment parameter matrix includes the processing equipment number, cutting feed speed, acceleration rate, deceleration rate, and the maximum distance value from the tool center point to the equipment cutting boundary.

[0032] Furthermore, determining the next execution node from adjacent cutting coordinate points without conflict includes:

[0033] Calculate the cutting cost value of each adjacent cutting coordinate point without conflict;

[0034] The point with the smallest cutting cost value is selected as the next execution node; wherein the cutting cost value represents the sum of the actual cutting length from the starting cutting coordinate point to the node and the estimated remaining cutting length from the node to the end point.

[0035] Furthermore, allocating the plate cutting tasks received through polling to the processing equipment includes:

[0036] Newly received plate cutting tasks are arranged in the order of receipt time and assigned using the FIFO principle; the cutting task load of each processing equipment is counted, and the cutting task is assigned to the processing equipment with the smallest load in turn; if there are multiple processing equipment with the smallest load at the same time, the cutting task is assigned to the processing equipment with the smallest number.

[0037] The above embodiments of the present invention have at least the following beneficial effects:

[0038] 1. Optimize the efficiency of multi-device task allocation: By dynamically calculating the total length of the processing track of each processing device and determining the priority based on the cutting feed speed, the task load is evenly distributed, avoiding overload or idleness of a single device, thereby improving the overall processing efficiency. This is especially suitable for multi-tasking parallel plate cutting scenarios.

[0039] 2. Avoid tool interference and path conflicts: Based on the equipment status information, the tool motion trajectory of adjacent cutting coordinate points is detected in real time. By calculating the tool spacing and movement direction, the potential interference or overlap risk is determined to ensure the processing safety when multiple devices work together and reduce equipment damage or processing errors caused by collisions.

[0040] 3. Improve path planning accuracy: By combining the plate plane distance matrix and the processing equipment parameter matrix, the cutting cost value (actual cutting length and estimated remaining length) is dynamically calculated, and the optimal execution node is prioritized to make the tool motion path more reasonable, reduce the idle rate, and improve processing accuracy and material utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily apparent by reading the following detailed description with reference to the accompanying drawings, in which several embodiments of the present invention are shown by way of example and not limitation, in which:

[0042] Figure 1 A schematic flow chart of a method for controlling furniture panel processing equipment provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0043] The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are provided solely to enable those skilled in the art to better understand and implement the present invention, and are not intended to limit the scope of the present invention in any way. Rather, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0044] Those skilled in the art will appreciate that embodiments of the present invention may be implemented as a system, apparatus, device, method, or computer program product. Therefore, the present invention may be implemented in the following forms: entirely in hardware, entirely in software (including firmware, resident software, microcode, etc.), or in a combination of hardware and software.

[0045] It should be noted that any number of elements in the drawings is for illustration only and not for limitation, and any naming is only for distinction and does not have any limiting meaning.

[0046] Reference below Figure 1 , Figure 1 This is a flow chart of a method for controlling furniture board processing equipment provided by one embodiment of the present invention. Figure 1 As shown, a control method for furniture board processing equipment includes:

[0047] S1, assigning the plate cutting tasks received through polling to processing equipment;

[0048] S2. Calculate the total length of machining tracks required for each machining device to complete the corresponding task, which is assigned a new cutting task and / or is scheduled but not yet executed, and determine the priority of each machining device based on the total length of machining tracks and the cutting feed speed of the machining device;

[0049] S3. Schedule cutting paths for each of the processing equipment in order of priority; the path scheduling for one of the processing equipment includes: obtaining equipment status information based on the tool motion trajectory of the cutting task in execution and the scheduled but unexecuted cutting task, determining whether there is a conflict in the processing plan from one cutting coordinate point to the next adjacent cutting coordinate point in the path scheduling based on the equipment status information, and determining the next execution node from the adjacent cutting coordinate points where there is no conflict.

[0050] It should be noted that the core of the furniture board processing equipment control method of the present invention is to improve production efficiency and equipment utilization by reasonably allocating cutting tasks and optimizing the cutting path scheduling of the processing equipment. Among them, the board cutting tasks received by polling refer to the system receiving and processing board cutting tasks from different sources in a certain order. The processing equipment here refers to an automated mechanical device for board cutting, which usually includes a cutting head, a tool, a drive system, and a control system. The total length of the processing trajectory refers to the total moving distance of the tool from the starting point to the end point when the equipment completes one or more cutting tasks. By calculating this length, the time and resource consumption required to complete the task can be evaluated. In addition, priority refers to sorting the processing equipment according to factors such as the urgency of the task, the load condition of the equipment, and the task completion time to determine the execution order of the equipment. In this way, it can be ensured that the task allocation is more reasonable and the equipment waiting time and conflict are reduced.

[0051] Specifically, the polled plate cutting tasks mentioned in this invention refer to tasks received by the system in chronological order and stored in a task queue. Tasks in the task queue are arranged in chronological order to ensure fair and timely task processing. Processing equipment refers to mechanical devices with automated cutting capabilities. Its core components include a cutting head, a cutting tool, a drive system, and a control system. The cutting head performs the actual cutting operation, the cutting tool is its actuating element, the drive system provides power, and the control system coordinates the movements of these components. When calculating the total length of the processing path, the initial position of the device, the starting and ending coordinates of the task, and the number of tasks are considered. The initial position refers to the device's position before the task begins, while the starting and ending coordinates of the task define the starting and ending points of the cutting path. The number of tasks refers to the total number of cutting tasks the device needs to complete. These parameters can be used to calculate the total travel distance required for the device to complete the tasks. Priority is determined based on the total length of the processing path and the device's cutting feed rate, which refers to the speed at which the tool moves during the cutting process. The priority of a device is determined by estimating the task completion time.

[0052] Preferably, when implementing the control method of the present invention, the steps of task allocation and path scheduling can be further refined. For example, in the task allocation stage, tasks can be sorted according to the first-in-first-out (FIFO) principle, and the device with the smallest load can be selected for task allocation based on the current load of the device. If there are multiple devices with the smallest load, the device with the smallest number is selected to ensure the fairness and efficiency of task allocation. In the path scheduling stage, path planning can be optimized by constructing models of the plate processing area and processing equipment. Specifically, a plate plane distance matrix and a processing equipment parameter matrix can be established in advance. The plate plane distance matrix is used to store the actual cutting path length between each cutting coordinate point, while the processing equipment parameter matrix contains parameters such as the device number, cutting feed speed, acceleration rate, deceleration rate, and the maximum distance from the tool center point to the device cutting boundary. Through these models and parameters, the total length of the processing trajectory can be calculated more accurately, and the cutting path of the equipment can be optimized, thereby improving the operating efficiency and processing accuracy of the equipment.

[0053] In some embodiments, the calculating of the total length of the processing track required for each processing device assigned with a new cutting task and / or scheduled but not yet executing a cutting task to complete the corresponding task includes:

[0054] Updating the tool position state of each processing device as the initial state of this path scheduling;

[0055] Based on the cutting coordinate points of the initial states of the respective processing devices and the assigned cutting tasks, the total length of the processing track required for the respective processing devices to complete the tasks is obtained.

[0056] It should be noted that, when calculating the total length of the processing trajectory required for the processing equipment to complete the cutting task, the present invention particularly emphasizes updating the tool position state of the processing equipment as the initial state of this path scheduling. This is because in the actual plate processing process, the current state of the equipment, such as the tool position, directly affects the execution efficiency of subsequent tasks and the accuracy of path planning. By using the coordinate point and time point after the completion of the current task of the equipment as the initial state, it can be ensured that the starting point of the path scheduling is accurate and up-to-date, thereby improving the rationality and efficiency of path planning. In addition, the update of the initial state also involves whether the equipment has started the cutting task, which determines the different ways of obtaining the initial state, further improving the flexibility and adaptability of task scheduling.

[0057] Specifically, updating the tool position state of the processing equipment as the initial state for this path scheduling means determining the equipment's current actual position and state before each path scheduling. For equipment currently executing a task, its initial state is the cutting coordinate point and time point at which the equipment was located after the current task was completed. This requires real-time monitoring of the equipment's operating status and recording the exact time and location at which it completed the current task. For equipment that has not yet started a task, its initial state is the cutting coordinate point at which the equipment was located when the system received the new task. This distinction takes into account the different operating states of the equipment and ensures the accuracy and real-time nature of the initial state. In actual operation, the equipment's cutting coordinate point can be obtained through sensors or control systems on the equipment, and the time point can be obtained through the system's time recording function. The acquisition and updating of these parameters are the basis for achieving accurate path planning.

[0058] Preferably, when implementing this operation step, the updating process of the initial state can be further refined. For example, for a device that is currently executing a task, the progress information of its current task, including the estimated completion time and the position coordinates of the current tool, can be obtained in real time through the control system of the device. This information can be obtained through the sensor network inside the device or the communication interface with the control system. For a device that has not started a task, the acquisition of its initial state can be completed by the signal triggered by the system when a new task is received, and the position coordinates of the device at that moment are recorded. In addition, after updating the initial state, the path planning can be further optimized in combination with the motion model of the device and the task requirements. For example, by analyzing the shortest path and time for the device to reach the starting point of the task from the initial state, the motion parameters of the device, such as speed and acceleration, can be adjusted in advance to ensure that the device can efficiently enter the task execution state, thereby further improving the efficiency and response speed of the entire processing system.

[0059] In some embodiments, updating the tool position state of the processing equipment as the initial state of this path scheduling includes:

[0060] For a processing device that is undertaking a new cutting task and / or has a scheduled but unexecuted cutting task and is currently executing an already started cutting task, obtain the cutting coordinate point and time point where the processing device is located after the current task is completed as the initial state of the device;

[0061] For a processing device that has not started a cutting task, the cutting coordinate point at which the device is located when the system receives a new cutting task is obtained as the initial state of the device.

[0062] It should be noted that the updating of the tool position state of the processing equipment mentioned in the present invention as the initial state of this path scheduling is to ensure the accuracy and real-time performance of the path scheduling. Specifically, for a device that is currently executing a task, it is necessary to obtain its position and time point after the completion of the current task as the initial state, while for a device that has not yet started a task, its position when the system receives a new task is obtained as the initial state. This distinction is based on the actual operating state of the equipment to ensure that path planning can proceed from the actual state of the equipment, thereby improving the rationality and efficiency of path scheduling. In this way, problems such as path planning errors or low equipment operating efficiency caused by inaccurate initial states can be effectively avoided.

[0063] Specifically, for processing equipment that undertakes new cutting tasks and / or has scheduled but unexecuted cutting tasks and is currently executing already started cutting tasks, its initial state refers to the cutting coordinate point and time point where the equipment is located after completing the current task. The cutting coordinate point here refers to the specific position of the equipment in the plate processing area, which is usually obtained by the equipment's control system through a sensor or positioning system. The time point refers to the estimated time for the equipment to complete the current task, which can be calculated based on the equipment's operating speed and task progress. For processing equipment that has not started a cutting task, its initial state refers to the cutting coordinate point where the equipment is located when the system receives a new task. This method of obtaining the initial state ensures that the starting point of path planning is the actual position of the equipment, whether it is running or on standby. In actual operation, the equipment's control system needs to monitor the equipment's position and task progress in real time, and feed this information back to the path scheduling system in order to accurately update the initial state.

[0064] Preferably, when implementing this operation step, the updating process of the initial state can be further refined in the following ways. For equipment that is executing a task, the system can monitor its operating status in real time through the sensor network of the equipment, including the progress of the current task, the position coordinates of the tool, and the estimated completion time. These data can be collected and processed by the control system of the equipment and updated to the path scheduling system in real time. For equipment that has not started a task, the system can obtain its current position coordinates through the positioning system of the equipment when receiving a new task, and record it as the initial state. In addition, in order to improve the accuracy of path planning, the initial state can be further optimized in combination with the motion model of the equipment and the task requirements. For example, based on the acceleration and deceleration parameters of the equipment, the optimal path and time for the equipment to reach the starting point of the task from the initial state are calculated, thereby ensuring that the equipment can efficiently enter the task execution state, further improving the efficiency and response speed of the entire processing system.

[0065] In some embodiments, the total length of the processing track is obtained by the following formula:

[0066]

[0067] in, Indicates the total length of the processing track. Indicates the plane coordinates of the plate at the cutting coordinate point where the processing equipment is in its initial state. Indicates the processing equipment The plane coordinates of the plate starting point of each cutting task, Indicates the processing equipment The plane coordinates of the plate at the end point of the cutting task, Indicates the total number of tasks for this processing equipment.

[0068] It should be noted that calculating the total length of the processing trajectory is a key step in optimizing path scheduling and determining equipment priority in the present invention. By accurately calculating the total length of the processing trajectory required for each processing equipment to complete the task, the task execution order of the equipment can be reasonably arranged, thereby improving overall production efficiency. The calculation of the total length of the processing trajectory takes into account the complete path of the equipment from the initial state to the end point of the task, including the coordinate information of the task start and end point, as well as the total number of tasks. This calculation method can fully reflect the movement distance required for the equipment to complete the task, providing an important basis for subsequent path planning and conflict detection.

[0069] Specifically, the calculation of the total length of the processing trajectory involves multiple parameters, including the initial state coordinates of the equipment, the starting coordinates and end coordinates of each task, and the total number of tasks. The initial state coordinates refer to the position of the equipment before it starts to execute the task, which is usually provided by the current position sensor of the equipment. The starting coordinates and end coordinates of the task represent the starting and ending positions of the equipment when executing each task, respectively. These coordinates can be pre-set by the task planning system or dynamically adjusted according to actual needs. The total number of tasks refers to the number of tasks assigned to the equipment, which reflects the workload of the equipment. During the calculation process, the distance from the initial position of the equipment to the starting point of the first task, the distance from the starting point to the end point of each task, and the transition distance between adjacent tasks are taken into account to ensure that the calculation result can accurately reflect the total moving distance of the equipment.

[0070] Preferably, in order to more accurately calculate the total length of the processing trajectory, the calculation process can be further refined. First, it is necessary to ensure the accuracy of the initial state coordinates of the equipment and the coordinate data of the starting and ending points of the task. This data can be obtained through a high-precision positioning system, such as laser positioning or a visual recognition system. Second, when calculating the path length of each task, the motion characteristics of the equipment, such as cutting speed, acceleration, and deceleration, can be taken into account to estimate the actual running time of the equipment on the path. In addition, for the transition path between adjacent tasks, an optimization algorithm can be used to reduce unnecessary movement distance. For example, the motion model of the equipment and the geometric information of the task can be input into the path planning algorithm. The algorithm will calculate the optimal path from one task end point to the starting point of the next task based on the motion parameters of the equipment and the coordinate information of the task. In this way, not only can the accuracy of the total length calculation of the processing trajectory be improved, but the motion path of the equipment can also be optimized, and the idle travel time of the equipment can be reduced, thereby further improving production efficiency.

[0071] In some embodiments, determining the priority of each processing equipment based on the total length of the processing trajectory and the cutting feed speed of the processing equipment includes: estimating the task completion time using the total length of the processing trajectory and the cutting feed speed in the processing equipment parameter matrix, and determining the priority of the processing equipment from high to low according to the length of the task completion time.

[0072] It should be noted that the priority of each processing equipment is determined based on the total length of the processing track and the cutting feed speed of the processing equipment mentioned in the present invention, which is achieved by estimating the time required for each device to complete the task. The core of this method is to use the two key parameters of the total length of the processing track and the cutting feed speed of the equipment to evaluate the time it takes for the equipment to complete the task, and to prioritize the equipment accordingly. The level of priority directly affects the order in which the equipment is assigned tasks. Equipment with a high priority will be given priority in task assignment, thereby ensuring that the efficiency of the entire processing system is maximized. This method is particularly suitable for complex processing environments with multiple tasks and multiple equipment, and can effectively avoid conflicts between equipment and task backlogs.

[0073] Specifically, the total machining path length refers to the total distance a device must move to complete all assigned tasks. This parameter can be calculated using the device's task start and end coordinates, as well as the number of tasks. The cutting feed rate, on the other hand, refers to the speed at which the cutting tool moves during the cutting process. This parameter is typically determined by the device's performance parameters and can be obtained through the device's control system. When determining priority, the total machining path length and cutting feed rate must first be used to estimate the time required for each device to complete the task. This estimation can be achieved through a simple mathematical calculation: dividing the total machining path length by the cutting feed rate to determine the time required for the device to complete the task. Devices are then sorted based on these estimated times: devices with longer times have lower priorities, while devices with shorter times have higher priorities. This sorting method ensures that tasks are assigned to devices that can complete the task more quickly, thereby improving overall system efficiency.

[0074] Preferably, when implementing this operation step, the process of determining the equipment priority can be further refined. First, it is necessary to ensure the accuracy of the total length of the processing trajectory and the cutting feed speed data. The total length of the processing trajectory can be calculated by the path planning system of the equipment, while the cutting feed speed can be obtained by the control system of the equipment. When estimating the time required for the equipment to complete the task, the dynamic characteristics of the equipment such as acceleration and deceleration can be considered to more accurately calculate the operating time of the equipment. In addition, in order to further optimize the priority sorting of the equipment, the load condition of the equipment can be introduced as a reference factor. For example, when the completion time of two devices is similar, the device with a lower load is given priority to achieve load balancing between the devices. In this way, not only can the task allocation efficiency of the equipment be improved, but the service life of the equipment can also be extended, and the performance of the entire processing system can be further improved.

[0075] In some embodiments, the device status information includes the time point and cutting coordinate point when the processing equipment is started, the time point and cutting coordinate point when the end point is reached, the tool movement trajectory, the cutting coordinate points passed, and the time of arrival at each cutting coordinate point.

[0076] It's important to note that equipment status information is a key data set used for path scheduling and conflict detection in this invention. It encompasses various dynamic and static information about the processing equipment during task execution, including the time and cutting coordinates of the equipment's startup, the time and cutting coordinates of its arrival at the endpoint, the tool's trajectory, the cutting coordinates it passes through, and the time it arrives at each cutting coordinate. This information helps the system monitor the equipment's operating status in real time and provides an accurate basis for path planning and conflict detection, thereby ensuring the safety and efficiency of the equipment during task execution.

[0077] Specifically, the start-up time point and cutting coordinate point in the device status information refer to the specific time and location at which the device begins to perform the task. This data can be obtained through the device's control system and sensors. For example, the time point can be recorded by the system's clock module, while the cutting coordinate point can be determined by the device's positioning system, such as laser positioning or an encoder. Similarly, the time point and cutting coordinate point at the end point refer to the time and location at which the device completes the task. This information can also be obtained through the control system and sensors. The tool motion trajectory refers to the path that the tool travels through during the execution of the task, which can be recorded by the device's motion control system. The cutting coordinate points passed through refer to all the key points that the tool passes through during the movement. These points can be pre-calculated using a path planning algorithm, or dynamically obtained by real-time monitoring of the device's motion status. Finally, the time to arrive at each cutting coordinate point refers to the specific time when the device arrives at each key point. This time can be calculated by the device's control system combined with its motion speed.

[0078] Preferably, when implementing the present invention, the acquisition and processing of device status information can be further refined in the following ways. First, in order to ensure the accuracy and real-time performance of device status information, high-precision sensors and control systems can be used. For example, a high-precision laser positioning sensor is used to obtain the cutting coordinate points of the device, and a high-precision clock module is used to record the time points. Secondly, the processing of device status information can be achieved by establishing a device motion model. The model can input the initial state, task path and motion parameters of the device, such as speed, acceleration, etc., and update the device status information in real time by simulating the motion process of the device. In addition, in order to improve the efficiency of conflict detection, the device status information can be stored in a shared database for real-time access by the path planning and conflict detection modules. In this way, when the system detects a potential conflict, it can quickly adjust the device's motion path or task allocation to avoid collisions or path overlaps between devices, ensuring the smooth progress of the processing process.

[0079] In some embodiments, the conflict includes tool interference and / or path overlap; determining whether there is tool interference in a processing plan where one cutting coordinate point reaches the next adjacent cutting coordinate point in path scheduling based on the device status information includes:

[0080] Obtaining a plate cutting interval between a cutting coordinate point and a next adjacent cutting coordinate point in a processing plan and a cutting feed speed, an acceleration rate, and a deceleration rate in a parameter matrix of the processing equipment, to obtain a cutting processing time period;

[0081] Using the start-up time, the arrival time of the end point, and the arrival time of each cutting coordinate point of each processing device in the device status information, the processing device having the tool motion trajectory in the device status information within the time period is obtained;

[0082] calculating, at each time point within the time period, a distance between the tool center points of the processing equipment and the processing equipment having a tool motion trajectory in the equipment status information;

[0083] Calculate the sum of the maximum distances between the two processing devices using the maximum distance between the tool center point and the device cutting boundary in the processing device parameter matrix;

[0084] When the distance between the tool center points is less than or equal to the sum of the maximum distance values, it is considered that tool interference exists;

[0085] Determining whether there is path overlap in a processing plan from one cutting coordinate point to the next adjacent cutting coordinate point in path scheduling based on the device status information includes:

[0086] Obtaining a cutting motion route of the processing equipment from a current cutting coordinate point to a next cutting coordinate point according to a processing plan and a cutting processing time period for running the route;

[0087] Using the start-up time, the arrival time of the end point, and the arrival time of each cutting coordinate point of each processing device in the device status information, the processing device having the tool motion trajectory in the device status information within the time period is obtained;

[0088] The cutting motion path of the processing equipment in the equipment status information is obtained by using the cutting coordinate point at which the processing equipment starts, the cutting coordinate point at which the processing equipment reaches the end point, the tool motion trajectory, and the cutting coordinate points passed within the time period described in the equipment status information;

[0089] It is determined whether the processing equipment and the processing equipment in the equipment status information enter the same cutting motion route in opposite directions within the time period. If so, it is considered that there is path overlap.

[0090] It should be noted that the conflict detection mechanism mentioned in this invention is a key step in ensuring that processing equipment avoids tool interference and path overlap when performing tasks. Conflict detection is based on equipment status information and determines whether there is a potential collision risk or path conflict by analyzing the equipment's motion trajectory and positional relationship within a specific time period. Tool interference refers to the spatial overlap or collision of the tools of two or more devices, while path overlap refers to the overlap of the motion paths of multiple devices in time and space, resulting in the equipment being unable to operate normally. Through accurate conflict detection, equipment damage and processing errors can be effectively avoided, improving production efficiency and equipment safety.

[0091] Specifically, device status information includes the time the device started up, the cutting coordinate point, the time it reached the end point, the tool's trajectory, and the cutting coordinate points it passed. This information is used to determine the device's position and motion status within a specific time period. When detecting tool interference, it is necessary to obtain the plate cutting distance between one cutting coordinate point and the next adjacent cutting coordinate point according to the processing plan, as well as parameters such as the device's cutting feed speed, acceleration rate, and deceleration rate, to determine the cutting processing time period. During this time period, tool interference is determined by comparing the distance between the tool center points of the devices with the sum of the maximum distance from the tool center point to the device's cutting boundary in the device parameter matrix. Path overlap detection requires analyzing the device's trajectory within a specific time period to determine whether the device enters the same cutting path in opposite directions. Acquisition of these parameters and information can be achieved through the device's sensor network and control system, ensuring accurate and real-time collision detection.

[0092] Preferably, when implementing conflict detection, the detection process can be further refined. First, for tool interference detection, a device motion model can be established to simulate the device's motion trajectory during the cutting process. Model input parameters include the device's initial position, the starting and ending coordinates of the cutting task, the cutting feed rate, the acceleration rate, and the deceleration rate. By simulating the device's motion, the device's position at each point in time is calculated and compared with the positions of other devices. If the distance between the tool center points of two devices is less than or equal to the sum of their maximum distance values, tool interference is determined to exist. For path overlap detection, the motion trajectory recorded in the device status information can be analyzed to determine whether the devices enter the same cutting path within the same time period. If this is the case, the device's task allocation or motion path needs to be adjusted to avoid path overlap. In addition, to improve the efficiency of conflict detection, a real-time monitoring and early warning mechanism can be adopted. Once a potential conflict is detected, an alarm is immediately issued and task scheduling is adjusted to ensure the safe operation of the equipment.

[0093] In some embodiments, the plate processing area and processing equipment involved in the cutting task are modeled in advance to obtain a plate plane distance matrix and a processing equipment parameter matrix of the processing area; the plate plane distance matrix includes the actual cutting path length between each cutting coordinate point; the processing equipment parameter matrix includes the number of the processing equipment, the cutting feed speed, the acceleration rate, the deceleration rate, and the maximum distance value from the tool center point to the equipment cutting boundary.

[0094] It should be noted that the purpose of modeling the sheet metal processing area and processing equipment involved in the cutting task mentioned in this invention is to more accurately plan the processing path and schedule the task. By establishing a sheet metal plane distance matrix and a processing equipment parameter matrix, we can fully understand the geometric information of the sheet metal processing area and the performance parameters of the equipment, providing accurate data support for path planning and conflict detection. This modeling method can effectively improve the efficiency and accuracy of path planning, while reducing potential conflicts between equipment and ensuring smooth processing.

[0095] Specifically, the sheet metal plane distance matrix is a data structure that contains the actual cutting path lengths between each cutting coordinate point within the sheet metal processing area. It reflects the geometric layout of the sheet metal processing area and serves as an important basis for path planning. The processing equipment parameter matrix includes parameters such as the processing equipment number, cutting feed speed, acceleration rate, deceleration rate, and the maximum distance from the tool center point to the equipment's cutting boundary. These parameters are key indicators of equipment performance and directly affect the equipment's kinematic characteristics and processing capabilities. During the modeling process, it is necessary to obtain geometric information about the sheet metal processing area through measurement and calculation, and to obtain the equipment's performance parameters through the equipment's control system. This data is organized into a matrix format to facilitate subsequent processing by path planning and collision detection algorithms.

[0096] Preferably, when implementing the modeling step, the model construction process can be further refined. First, the plate plane distance matrix can be constructed by measuring the actual distances between the various cutting coordinate points within the plate processing area. These distances can be obtained using a laser rangefinder or other high-precision measuring equipment and stored in a matrix. For the construction of the processing equipment parameter matrix, the equipment's performance parameters, such as cutting feed speed, acceleration rate, and deceleration rate, can be obtained through the equipment's control system. These parameters can be obtained from the equipment's factory data or actual testing and stored in the matrix. During path planning and collision detection, these matrices can be used as input data, and algorithms can be used to calculate the optimal cutting path and task scheduling plan. For example, when calculating the total length of the processing trajectory, the distance data in the plate plane distance matrix can be combined with the cutting feed speed in the equipment parameter matrix to estimate the time required for the equipment to complete the task. In this way, precise control and optimization of the processing process can be achieved, improving production efficiency and equipment utilization.

[0097] In some embodiments, determining the next execution node from adjacent cutting coordinate points without conflict includes:

[0098] Calculate the cutting cost value of each adjacent cutting coordinate point without conflict;

[0099] The point with the smallest cutting cost value is selected as the next execution node; wherein the cutting cost value represents the sum of the actual cutting length from the starting cutting coordinate point to the node and the estimated remaining cutting length from the node to the end point.

[0100] It should be noted that the determination of the next execution node from adjacent cutting coordinate points without conflict mentioned in the present invention is achieved by calculating the cutting cost value of each adjacent cutting coordinate point. The cutting cost value is a comprehensive indicator used to evaluate the quality of the path from the current node to the next node. It takes into account the actual cutting length from the starting cutting coordinate point to the current node, as well as the estimated remaining cutting length from the current node to the end point. By selecting the node with the smallest cutting cost value as the next execution node, it can be ensured that the equipment selects the optimal path when performing the task, thereby improving processing efficiency and reducing unnecessary movement.

[0101] Specifically, the calculation of the cutting cost value involves two key parameters: the actual cutting length and the estimated remaining cutting length. The actual cutting length refers to the length of the path that the device travels from the starting point to the current node, which can be calculated through the trajectory data recorded by the device's motion control system. The estimated remaining cutting length refers to the expected path length from the current node to the end point, which can be pre-calculated through the path planning algorithm. When selecting the next execution node, the system calculates the cutting cost values of all adjacent cutting coordinate points that do not conflict and selects the smallest one. This selection method ensures that the device can select the shortest path when performing the task, thereby reducing processing time and energy consumption. In addition, the calculation of the cutting cost value can also take into account other factors, such as the movement speed and acceleration of the equipment, to further optimize the path selection.

[0102] Preferably, when implementing this operation step, the calculation process of the cutting cost value can be further refined. First, it is necessary to ensure that the motion control system of the equipment can accurately record the actual cutting path of the equipment and update the path data in real time. Secondly, for the calculation of the estimated remaining cutting length, advanced path planning algorithms such as the A* algorithm or the Dijkstra algorithm can be used. These algorithms can calculate the shortest path based on the current position and end position of the equipment, combined with the geometric information of the plate processing area. When calculating the cutting cost value, the actual cutting length and the estimated remaining cutting length can be weighted and summed, and the weight can be adjusted according to actual needs. For example, if you pay more attention to reducing the movement time of the equipment, you can increase the weight of the estimated remaining cutting length; if you pay more attention to reducing the energy consumption of the equipment, you can increase the weight of the actual cutting length. In this way, the path selection strategy can be flexibly adjusted to meet different production needs.

[0103] In some embodiments, allocating the plate cutting task received through polling to the processing equipment includes:

[0104] Newly received plate cutting tasks are arranged in the order of receipt time and assigned using the FIFO principle; the cutting task load of each processing equipment is counted, and the cutting task is assigned to the processing equipment with the smallest load in turn; if there are multiple processing equipment with the smallest load at the same time, the cutting task is assigned to the processing equipment with the smallest number.

[0105] It should be noted that the allocation of plate cutting tasks received through polling to processing equipment mentioned in the present invention is a task allocation strategy based on the order in which tasks are received and the balancing of equipment load. The core of this strategy is to ensure that tasks can be fairly allocated to each device in the order in which they are received, while avoiding excessive differences in workload between devices through load balancing. Specifically, tasks are sorted according to the first-in-first-out (FIFO) principle and are preferentially allocated to the device with the smallest load to improve equipment utilization and production efficiency. If there are multiple devices with the same load, the device with the smallest number is selected. This rule is intended to further optimize the fairness and efficiency of task allocation.

[0106] Specifically, the plate cutting tasks received by polling during the task allocation process refer to the system receiving and processing cutting tasks from different sources in a certain order. These tasks are stored in the task queue and arranged in the order of receipt. The task queue is usually managed based on the FIFO principle, that is, the tasks received first are assigned first. The processing equipment with the smallest load refers to the equipment with the least current tasks. Its load can be determined by counting the number of tasks assigned to the equipment. If there are multiple devices with the same load, they are selected by device number, and the device with the smallest number is given priority for task allocation. This allocation method not only takes into account the order in which tasks are received, but also takes into account the load balancing between devices, thereby ensuring the efficient operation of the entire processing system.

[0107] Preferably, when implementing task allocation, the management of task queues and the statistical process of device load can be further refined. First, the task queue can be implemented through a priority queue. Each task is assigned a timestamp when it is received, and the queue is sorted according to the timestamp to ensure that tasks are allocated in the order they are received. Second, the device load can be counted through a load counter that is updated in real time. Whenever a task is assigned to a device, its load counter increases, and decreases when the task is completed. When selecting a device, the system will traverse the load counters of all devices and select the device with the smallest load to assign the task. If there are multiple devices with the same load, the selection is made based on the device number, and the device with the smallest number is given priority. In addition, in order to further optimize the efficiency of task allocation, the priority of the device can be dynamically adjusted after the task is assigned. For example, based on the device's current task completion progress and expected completion time, its priority in subsequent task allocation can be dynamically adjusted. In this way, the fairness and efficiency of task allocation can be ensured, while improving equipment utilization and production efficiency.

[0108] The above embodiments of the present invention have the following beneficial effects:

[0109] 1. It can optimize the efficiency of multi-device task allocation: by dynamically calculating the total length of the processing track of each processing equipment and determining the priority in combination with the cutting feed speed, it can achieve balanced task load distribution, avoid overloading or idleness of a single device, and thus improve the overall processing efficiency. It is especially suitable for multi-tasking parallel plate cutting scenarios.

[0110] 2. It can avoid tool interference and path conflicts: Based on the equipment status information, the tool motion trajectory of adjacent cutting coordinate points is detected in real time. By calculating the tool spacing and movement direction, the potential interference or overlap risk is determined to ensure the processing safety when multiple devices work together and reduce equipment damage or processing errors caused by collisions.

[0111] 3. It can improve the accuracy of path planning: by combining the plate plane distance matrix and the processing equipment parameter matrix, the cutting cost value (actual cutting length and estimated remaining length) is dynamically calculated, and the optimal execution node is selected first, making the tool motion path more reasonable, reducing the idle rate, and improving processing accuracy and material utilization.

[0112] Furthermore, the storage medium of the embodiment of the present application stores program instructions that can implement all the above methods, wherein the program instructions can be stored in the above storage medium in the form of a software product, including a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or a terminal device such as a computer, server, mobile phone, or tablet.

[0113] The above descriptions merely illustrate some preferred embodiments of the present invention and the underlying technical principles. Those skilled in the art should understand that the scope of the invention encompassed by the embodiments of the present invention is not limited to technical solutions formed by specific combinations of the aforementioned technical features. It also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents, without departing from the aforementioned inventive concept. For example, a technical solution formed by replacing the aforementioned features with (but not limited to) technical features with similar functions disclosed in the embodiments of the present invention.

Claims

1. A furniture board processing equipment control method, characterized in that: The steps include: Allocate the plate cutting tasks received through polling to processing equipment; Calculating the total length of machining tracks required for each machining device assigned a new cutting task and / or scheduled but unexecuted cutting tasks to complete the corresponding task, and determining the priority of each machining device based on the total length of machining tracks and the cutting feed speed of the machining device; Cutting paths are scheduled for each processing device in order of priority; the path scheduling for one of the processing devices includes: obtaining device status information based on tool motion trajectories of the executing cutting task and the scheduled but unexecuted cutting task; determining whether there is a conflict in the processing plan for reaching the next adjacent cutting coordinate point from a cutting coordinate point in the path scheduling based on the device status information; and determining the next execution node from the adjacent cutting coordinate points without conflict, wherein the conflict includes tool interference and / or path overlap; determining whether there is tool interference in the processing plan for reaching the next adjacent cutting coordinate point from a cutting coordinate point in the path scheduling based on the device status information includes: Obtaining a plate cutting interval between a cutting coordinate point and a next adjacent cutting coordinate point in a processing plan and a cutting feed speed, an acceleration rate, and a deceleration rate in a parameter matrix of the processing equipment, to obtain a cutting processing time period; Using the start-up time, the arrival time of the end point, and the arrival time of each cutting coordinate point of each processing device in the device status information, the processing device having the tool motion trajectory in the device status information within the time period is obtained; calculating, at each time point within the time period, a distance between the tool center points of the processing equipment and the processing equipment having a tool motion trajectory in the equipment status information; Using the maximum distance between the tool center point and the equipment cutting boundary in the processing equipment parameter matrix, calculate the sum of the maximum distances between the two processing equipment; When the distance between the tool center points is less than or equal to the sum of the maximum distance values, it is considered that tool interference exists; Determining whether there is path overlap in a processing plan from one cutting coordinate point to the next adjacent cutting coordinate point in path scheduling based on the device status information includes: Obtaining a cutting motion route of the processing equipment from a current cutting coordinate point to a next cutting coordinate point according to a processing plan and a cutting processing time period for running the route; Using the start-up time, the arrival time of the end point, and the arrival time of each cutting coordinate point of each processing device in the device status information, the processing device having the tool motion trajectory in the device status information within the time period is obtained; The cutting motion path of the processing equipment in the equipment status information is obtained by using the cutting coordinate point at which the processing equipment starts, the cutting coordinate point at which the cutting equipment reaches the end point, the tool motion trajectory, and the cutting coordinate points passed within the time period described in the equipment status information; It is determined whether the processing equipment and the processing equipment in the equipment status information enter the same cutting motion route in opposite directions within the time period. If so, it is considered that there is path overlap.

2. The furniture board processing equipment control method according to claim 1, characterized in that: The calculation of the total length of the processing track required for each processing device to complete the corresponding task, which is assigned a new cutting task and / or is scheduled but not yet executed, includes: Updating the tool position state of each processing device as the initial state of this path scheduling; Based on the cutting coordinate points of the initial states of the respective processing devices and the assigned cutting tasks, the total length of the processing track required for the respective processing devices to complete the tasks is obtained.

3. The furniture board processing equipment control method according to claim 2, characterized in that: The updating of the tool position state of the processing equipment as the initial state of this path scheduling includes: For a processing device that is undertaking a new cutting task and / or has a scheduled but unexecuted cutting task and is currently executing an already started cutting task, obtain the cutting coordinate point and time point where the processing device is located after the current task is completed as the initial state of the device; For a processing device that has not started a cutting task, the cutting coordinate point at which the device is located when the system receives a new cutting task is obtained as the initial state of the device.

4. The furniture board processing equipment control method according to claim 2 or 3, characterized in that The total length of the processing track is obtained by the following formula: in, Indicates the total length of the processing track. Indicates the plane coordinates of the plate at the cutting coordinate point where the processing equipment is in its initial state. Indicates the processing equipment The plane coordinates of the plate starting point of each cutting task, Indicates the processing equipment The plane coordinates of the plate at the end point of the cutting task, Indicates the total number of tasks for this processing equipment.

5. The furniture board processing equipment control method according to claim 1, characterized in that: The method of determining the priority of each processing equipment based on the total length of the processing trajectory and the cutting feed speed of the processing equipment includes: estimating the task completion time using the total length of the processing trajectory and the cutting feed speed in the processing equipment parameter matrix, and determining the priority of the processing equipment from high to low according to the length of the task completion time.

6. The furniture board processing equipment control method according to claim 1, characterized in that: The equipment status information includes the time point and cutting coordinate point of the processing equipment startup, the time point and cutting coordinate point of reaching the end point, the tool movement trajectory, the cutting coordinate points passed, and the time of reaching each cutting coordinate point.

7. The furniture board processing equipment control method according to any one of claims 1 or 5, characterized in that: The plate processing area and processing equipment involved in the cutting task are modeled in advance to obtain the plate plane distance matrix and processing equipment parameter matrix of the processing area; the plate plane distance matrix includes the actual cutting path length between each cutting coordinate point; the processing equipment parameter matrix includes the processing equipment number, cutting feed speed, acceleration rate, deceleration rate, and the maximum distance from the tool center point to the equipment cutting boundary.

8. The furniture board processing equipment control method according to claim 1, characterized in that: The step of determining the next execution node from adjacent cutting coordinate points without conflict includes: Calculate the cutting cost value of each adjacent cutting coordinate point without conflict; The point with the smallest cutting cost value is selected as the next execution node; wherein the cutting cost value represents the sum of the actual cutting length from the starting cutting coordinate point to the node and the estimated remaining cutting length from the node to the end point.

9. The furniture board processing equipment control method according to claim 1, characterized in that: The step of allocating the plate cutting tasks received through polling to the processing equipment includes: Newly received plate cutting tasks are arranged in the order of receipt time and assigned using the FIFO principle; the cutting task load of each processing equipment is counted, and the cutting task is assigned to the processing equipment with the smallest load in turn; if there are multiple processing equipment with the smallest load at the same time, the cutting task is assigned to the processing equipment with the smallest number.

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