A press intelligent control method

Abstract

The present application relates to an intelligent control method for a press, which acquires image information from a first perspective, a second perspective, and a third perspective in real time, that is, acquires an image once every period of time, and first processes the image information from the first perspective in each acquired image to obtain a first judgment result, and performs corresponding information processing based on the first judgment result, then processes the image information from the second perspective to obtain a second judgment result, and performs corresponding information processing based on the second judgment result; then combines the first judgment result and the second judgment result to further calculate the image information from the first perspective to obtain a first distance, and generates a movement control strategy for the press block based on the obtained first distance.

Description

Technical Field

[0001] The present application relates to the technical field of presses, and in particular to an intelligent control method for presses. Background Art

[0002] A press (including punch presses and hydraulic presses) is a versatile, compact machine. Its versatility and high production efficiency make it suitable for a wide range of applications, including cutting, punching, blanking, bending, riveting, and forming. Presses apply strong pressure to metal blanks, causing them to plastically deform and fracture, ultimately creating parts.

[0003] At present, a press applies pressure to a metal blank in a mold so that the metal blank is processed into a part by taking advantage of the deformation characteristics of the metal and the shape constraint of the metal blank by the mold. However, in the process of the press driving the pressing block to move toward the metal blank, the speed is mostly in a uniform state, or the speed of the pressing block moving toward the metal blank is controlled by the worker's operating experience. The above-mentioned pressing block movement control method will reduce the processing efficiency of the parts, low the success rate of part processing, and shorten the service life of the pressing block. Summary of the Invention

[0004] Based on this, it is necessary to provide an intelligent control method for a press to address the problems that the speed of a traditional press driving the press block to move toward the metal blank is mostly at a uniform speed, or the speed of the press block moving toward the metal blank is controlled by the worker's operating experience, which will lead to reduced part processing efficiency, low part processing success rate and reduced service life of the press block.

[0005] This application provides a press intelligent control method, comprising:

[0006] Acquire image information of a first perspective, image information of a second perspective, and image information of a third perspective;

[0007] determining whether the workpiece placement is qualified based on image information from a first perspective to obtain a first judgment result, wherein the image information from the first perspective includes a top-view image of the workpiece placement;

[0008] Determine whether the press block is qualified based on the image information from the second perspective, and obtain a second determination result, wherein the image information from the second perspective includes a bottom view image of the press block;

[0009] Determine whether both the first judgment result and the second judgment result are qualified;

[0010] If the first judgment result and the second judgment result are not both qualified, an alarm message is sent;

[0011] If both the first judgment result and the second judgment result are qualified, calculating a first distance between the press block and the workpiece based on image information from a third perspective, wherein the image information from the third perspective includes an image of the workpiece and the press block;

[0012] A strategy for controlling the movement of the press block toward the workpiece is generated based on the first distance.

[0013] Furthermore, the first judgment result is obtained by judging whether the workpiece placement is qualified based on the image information of the first perspective, and the image information of the first perspective includes a top view image of the workpiece placement, including:

[0014] Obtaining a top-view image of the workpiece placement in the first-person perspective image information;

[0015] Perform position feature recognition on the top view image of the workpiece to obtain the position information of the workpiece and the mold;

[0016] Based on the position information of the workpiece and the position information of the mold, it is judged whether the workpiece placement is qualified, and a first judgment result is obtained. The first judgment result includes whether the workpiece placement is qualified or unqualified.

[0017] Furthermore, the first judgment result is obtained by judging whether the workpiece placement is qualified based on the image information of the first perspective, and the image information of the first perspective includes a top view image of the workpiece placement, and also includes:

[0018] Obtaining a top-view image of the workpiece placement in the first-person perspective image information;

[0019] Perform foreign body feature recognition on the top view image of the workpiece to obtain the surface feature information of the workpiece and the mold;

[0020] Determine whether there is foreign matter on the workpiece surface or the mold surface based on the workpiece surface feature information and the mold surface feature information;

[0021] If there is foreign matter on the workpiece surface or the mold surface, a first alarm message is sent.

[0022] Furthermore, the second judgment result is obtained by judging whether the press block is qualified based on the image information of the second perspective, and the image information of the second perspective includes a bottom view image of the press block, including:

[0023] Acquire a bottom-view image of the press block in the image information of the second perspective;

[0024] Perform feature recognition on the bottom view image of the press block to obtain the flatness information of the bottom surface of the press block;

[0025] Based on the flatness information of the bottom surface of the press block, it is judged whether the press block is qualified to obtain a second judgment result, which includes whether the press block is qualified or unqualified.

[0026] Furthermore, the second judgment result is obtained by judging whether the press block is qualified based on the image information of the second perspective, and the image information of the second perspective includes a bottom view image of the press block and further includes:

[0027] Acquire a bottom-view image of the press block in the image information of the second perspective;

[0028] Perform foreign body feature recognition on the bottom view image of the press block to obtain feature information of the bottom surface of the press block;

[0029] Determine whether there is foreign matter on the workpiece surface or the mold surface based on the characteristic information of the bottom surface of the press block;

[0030] If there is foreign matter on the bottom surface of the press block, a second alarm message is sent.

[0031] Furthermore, if both the first judgment result and the second judgment result are qualified, calculating the first distance between the press block and the workpiece based on the image information from the third perspective includes:

[0032] Acquiring third-view image information including images of the workpiece and the press block;

[0033] Creating a first coordinate system based on the shooting angle of the third perspective;

[0034] Obtain the coordinate information of the workpiece and the coordinate information of the press block;

[0035] The coordinate information of the workpiece and the coordinate information of the press block are updated to the first coordinate system to obtain an updated first coordinate system.

[0036] Furthermore, if both the first judgment result and the second judgment result are qualified, calculating the first distance between the press block and the workpiece based on the image information from the third perspective also includes:

[0037] Creating a first plane based on coordinate information of the workpiece, where the first plane is a plane at the top of the workpiece;

[0038] Creating a second plane based on the coordinate information of the press block, where the second plane is the plane of the top of the workpiece;

[0039] The distance between the first plane and the second plane is calculated to obtain a first distance.

[0040] Furthermore, the generating of a strategy for controlling the movement of the press block toward the workpiece based on the first distance includes:

[0041] Obtaining a first preset distance;

[0042] A first distance range is defined as a distance from the top of the workpiece to the top of the workpiece moving a first preset distance in a direction toward the pressing block of the press;

[0043] Obtaining a second preset distance;

[0044] The second distance range is defined as the period from when the top of the workpiece moves toward the press block by a first preset distance to when the top of the workpiece moves toward the press block by the first preset distance and then moves toward the press block by a second preset distance;

[0045] A third distance range is defined as the distance between the top of the workpiece moving in the direction of the press block by the first preset distance plus the second preset distance to the bottom surface of the press block;

[0046] The first preset distance is smaller than the second preset distance, and the second preset distance is smaller than the third preset distance.

[0047] Furthermore, the generating of a strategy for controlling the movement of the press block toward the workpiece based on the first distance further includes:

[0048] When the press block moves to the first distance range, controlling the press block to move at a first moving speed;

[0049] When the press block moves to the second distance range, controlling the press block to move at a second moving speed;

[0050] When the press block moves to the third distance range, controlling the press block to move at a third moving speed;

[0051] The third moving speed is greater than the second moving speed, and the second moving speed is greater than the first moving speed.

[0052] Furthermore, the generating of a strategy for controlling the movement of the press block toward the workpiece based on the first distance further includes:

[0053] Determining the distance range of the press block based on the first distance;

[0054] Based on the distance range of the press block, the press block is controlled to move at a moving speed corresponding to the distance range.

[0055] The present application relates to an intelligent control method for a press, which acquires image information from a first perspective, a second perspective, and a third perspective in real time, that is, acquires an image once every period of time, and first processes the image information from the first perspective in each acquired image to obtain a first judgment result, and performs corresponding information processing based on the first judgment result, then processes the image information from the second perspective to obtain a second judgment result, and performs corresponding information processing based on the second judgment result; then combines the first judgment result and the second judgment result to further calculate the image information from the first perspective to obtain a first distance, and generates a movement control strategy for the press block based on the obtained first distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A flow chart of a press intelligent control method provided in one embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0058] like Figure 1 As shown, in one embodiment of the present application, the press intelligent control method includes the following S100 to S700:

[0059] S100 , acquiring image information of a first perspective, image information of a second perspective, and image information of a third perspective.

[0060] S200 , judging whether the workpiece placement is qualified based on image information from a first perspective, and obtaining a first judgment result, wherein the image information from the first perspective includes a top-view image of the workpiece placement.

[0061] Specifically, the first perspective in the first perspective image information is to set a camera on the top of the workpiece and the workpiece processing mold, and the camera shooting angle is aimed at the workpiece and the workpiece processing mold, and the camera does not affect the processing process of the workpiece.

[0062] S300, judging whether the press block is qualified based on the image information from the second perspective, and obtaining a second judgment result, wherein the image information from the second perspective includes a bottom view image of the press block.

[0063] Specifically, the second perspective in the image information of the second perspective is to set a camera at the bottom of the press block, and the shooting angle of the camera is aimed at the bottom plane of the press block. The camera does not affect the processing process of the workpiece.

[0064] S400: Determine whether both the first judgment result and the second judgment result are qualified.

[0065] S500: If the first judgment result and the second judgment result are not both qualified, an alarm message is sent.

[0066] S600: If both the first judgment result and the second judgment result are qualified, calculate a first distance between the press block and the workpiece based on image information from a third perspective, wherein the image information from the third perspective includes an image of the workpiece and the press block.

[0067] Specifically, the third perspective in the third perspective image information is to set a camera between the press block and the workpiece, and the camera can capture an image containing both the press block and the workpiece, and the camera does not affect the processing process of the workpiece.

[0068] S700: Generate a strategy for controlling the movement of a pressing block of a press toward a workpiece based on the first distance.

[0069] In this embodiment, the image information of the first perspective, the image information of the second perspective and the image information of the third perspective are acquired in real time, that is, the image is acquired once at a certain interval, and in each acquired image, the image information of the first perspective is first processed to obtain a first judgment result, and corresponding information processing is performed based on the first judgment result, and then the image information of the second perspective is processed to obtain a second judgment result, and corresponding information processing is performed based on the second judgment result; then the first judgment result and the second judgment result are combined to further calculate the image information of the first perspective to obtain the first distance, and a movement control strategy for the press block is generated based on the obtained first distance.

[0070] In one embodiment of the present application, the first judgment result is obtained by judging whether the workpiece placement is qualified based on the image information of the first perspective, and the image information of the first perspective includes a top view image of the workpiece placement, including the following S201 to S203:

[0071] S201, obtaining a top-view image of workpiece placement in image information from a first perspective.

[0072] S202: Perform position feature recognition on the top view image of the workpiece to obtain position information of the workpiece and position information of the mold.

[0073] S203, judging whether the workpiece placement is qualified based on the position information of the workpiece and the position information of the mold, and obtaining a first judgment result, wherein the first judgment result includes whether the workpiece placement is qualified or unqualified.

[0074] Specifically, the feature recognition of the image in this application adopts the YOLO algorithm, which can realize the real-time detection requirements of objects.

[0075] Furthermore, a mold feature library and a workpiece feature library can be established, and the data processing speed when identifying the workpiece can be further improved through pre-set data settings.

[0076] In this embodiment, feature recognition is performed on the overhead image of the workpiece in the image information of the first perspective, and a coordinate system can be established based on the shooting angle of the camera to accurately obtain the position information of the workpiece and the position information of the mold, and whether the position of the workpiece is accurate or qualified is determined by comparing the difference between the position information of the feature point of the workpiece and the position information of the feature point of the mold to see if it meets the preset value.

[0077] For example, whether the difference between the coordinate information of some inflection points of the workpiece and the coordinate information of some inflection points in the mold meets the preset distance requirements.

[0078] In one embodiment of the present application, the first judgment result is obtained by judging whether the workpiece placement is qualified based on the image information of the first perspective, wherein the image information of the first perspective includes a top view image of the workpiece placement, and further includes the following S204 to S207:

[0079] S204: Acquire a top-view image of the workpiece placement in the image information of the first perspective.

[0080] S205 , performing foreign body feature recognition on the top view image of the workpiece to obtain surface feature information of the workpiece and surface feature information of the mold.

[0081] S206 , judging whether there is foreign matter on the workpiece surface or the mold surface based on the workpiece surface feature information and the mold surface feature information.

[0082] S207: If there is foreign matter on the workpiece surface or the mold surface, a first alarm message is sent.

[0083] In this embodiment, by performing feature recognition on the top view image of the workpiece in the image information of the first perspective, the surface feature information of the workpiece and the surface feature information of the mold can be obtained. Further, the top feature information of the workpiece or the top feature information of the mold can be obtained. For example, there is waste or debris on the surface of the workpiece or the surface of the mold, and there is an obstacle on the top of the workpiece or the top of the mold that is not part of the processing process.

[0084] In one embodiment of the present application, the second judgment result is obtained by judging whether the press block is qualified based on the image information of the second perspective, and the image information of the second perspective includes a bottom view image of the press block, including the following S301 to S303:

[0085] S301, obtaining a bottom-view image of a press block in image information of a second perspective.

[0086] S302: Perform feature recognition on the bottom view image of the press block to obtain flatness information of the bottom surface of the press block.

[0087] S303, judging whether the press block is qualified based on the flatness information of the bottom surface of the press block, and obtaining a second judgment result, wherein the second judgment result includes whether the press block is qualified or unqualified.

[0088] The second judgment result is obtained by judging whether the press block is qualified based on the image information of the second perspective, wherein the image information of the second perspective includes a bottom view image of the press block and further includes the following steps S304 to S307:

[0089] S304: Acquire a bottom-view image of the press block in the image information of the second viewing angle.

[0090] S305: Perform foreign body feature recognition on the bottom view image of the press block to obtain feature information of the bottom surface of the press block.

[0091] S306: Determine whether there is foreign matter on the workpiece surface or the mold surface based on the feature information of the bottom surface of the press block.

[0092] S307: If there is foreign matter on the bottom surface of the press block, a second alarm message is sent.

[0093] In this embodiment, feature recognition is performed on the top view image of the press block in the image information of the second perspective to obtain feature information of the bottom surface of the press block. The feature information of the bottom surface of the press block includes the convex features and concave features of the bottom surface of the press block. The second judgment result is comprehensively judged by calculating whether the area ratio of each convex feature and each concave feature of the bottom surface of the press block exceeds a preset ratio, and whether the total area of ​​all convex features and all concave features exceeds a preset ratio.

[0094] Furthermore, by judging the features that are not in the processing process on the bottom surface image of the press block, it is also possible to further identify and judge the features of foreign matter that is not on the bottom surface of the press block.

[0095] In one embodiment of the present application, if both the first judgment result and the second judgment result are qualified, calculating the first distance between the press block and the workpiece based on the image information from the third perspective includes the following steps S601 to S604:

[0096] S601, obtaining the image information of the third perspective including the image of the workpiece and the press block.

[0097] S602: Create a first coordinate system based on the shooting angle of the third perspective.

[0098] S603, obtaining the coordinate information of the workpiece and the coordinate information of the press block.

[0099] S604: Update the coordinate information of the workpiece and the coordinate information of the press block to the first coordinate system to obtain an updated first coordinate system.

[0100] If both the first judgment result and the second judgment result are qualified, then calculating the first distance between the press block and the workpiece based on the image information from the third perspective also includes the following steps S605 to S607:

[0101] S605 , creating a first plane based on the coordinate information of the workpiece, where the first plane is the plane of the top of the workpiece.

[0102] S606: Create a second plane based on the coordinate information of the press block, where the second plane is the plane of the top of the workpiece.

[0103] S607: Calculate the distance between the first plane and the second plane to obtain a first distance.

[0104] In this embodiment, by calibrating the coordinates of the camera of the third perspective, the workpiece and the press block in the image information of the third perspective containing the workpiece and the press block can be represented by specific coordinate information.

[0105] Furthermore, a first horizontal plane is constructed using the coordinates of the topmost coordinate point of the workpiece, and a second horizontal plane is constructed using the coordinates of the topmost coordinate point of the press block, and the vertical distance between the first horizontal plane and the second horizontal plane is calculated to obtain a first distance.

[0106] In one embodiment of the present application, the strategy for controlling the movement of the press block toward the workpiece based on the first distance includes the following steps S701 to S706:

[0107] S701: Obtain a first preset distance.

[0108] S702: Define a first distance range as the distance between the top of the workpiece and the top of the workpiece moving toward the pressing block of the press by a first preset distance.

[0109] S703: Obtain a second preset distance.

[0110] S704 , defining a second distance range from the time when the top of the workpiece moves toward the press block by a first preset distance to the time when the top of the workpiece moves toward the press block by the first preset distance and then moves toward the press block by a second preset distance.

[0111] S705: Move the top of the workpiece toward the press block by a first preset distance plus a second preset distance to the bottom surface of the press block, and define a third distance range as follows.

[0112] S706: The first preset distance is smaller than the second preset distance, and the second preset distance is smaller than the third preset distance.

[0113] The method of generating a movement strategy for controlling the press block toward the workpiece based on the first distance further includes the following steps S707 to S710:

[0114] S707: When the press block moves to the first distance range, control the press block to move at a first moving speed.

[0115] S708: When the press block moves to the second distance range, control the press block to move at a second moving speed.

[0116] S709: When the press block moves to the third distance range, control the press block to move at a third moving speed.

[0117] S710: The third moving speed is greater than the second moving speed, and the second moving speed is greater than the first moving speed.

[0118] The method of generating a movement strategy for controlling the pressing block of the press machine toward the workpiece based on the first distance further includes the following steps S711 to S712:

[0119] S711: Determine the distance range of the press block based on the first distance.

[0120] S712: Based on the distance range of the press block, the press block is controlled to move at a moving speed corresponding to the distance range.

[0121] In this embodiment, a multi-stage movement range from the workpiece to the press block is established by using a first preset distance, a second preset distance, and the first distance, and different movement speeds are set for different movement ranges. Specifically, the closer the press block is to the workpiece, the slower its movement speed, while conversely, the farther the press block is from the workpiece, the faster its movement speed. This reduces time wasted on non-critical movement paths of the press block, thereby improving its workpiece processing efficiency.

[0122] Furthermore, the coordinates of the camera in the third perspective can be calibrated, and the coordinate system of the camera in the first perspective and the coordinate system of the camera in the second perspective can be further integrated into the same world coordinate system. Based on the real-time acquisition of the position information of the workpiece and the moving trajectory of the press block, the final landing point of the press block on the mold can be calculated, and the landing point can be compared with the workpiece position to determine whether the press block can stably process the workpiece.

[0123] The various technical features of the above-described embodiments can be combined arbitrarily, and the execution order of the method steps is not restricted. In order to make the description concise, not all possible combinations of the various technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A press intelligent control method, characterized in that: The press intelligent control method comprises: Acquire image information of a first perspective, image information of a second perspective, and image information of a third perspective; determining whether the workpiece placement is qualified based on image information from a first perspective to obtain a first judgment result, wherein the image information from the first perspective includes a top-view image of the workpiece placement; Determine whether the press block is qualified based on the image information from the second perspective, and obtain a second determination result, wherein the image information from the second perspective includes a bottom view image of the press block; Determine whether both the first judgment result and the second judgment result are qualified; If the first judgment result and the second judgment result are not both qualified, an alarm message is sent; If both the first judgment result and the second judgment result are qualified, calculating a first distance between the press block and the workpiece based on image information from a third perspective, wherein the image information from the third perspective includes an image of the workpiece and the press block; generating a strategy for controlling the movement of a pressing block of a press toward the workpiece based on the first distance; The generating of a movement strategy for controlling the pressing block of the press toward the workpiece based on the first distance includes: Obtaining a first preset distance; A first distance range is defined as a distance from the top of the workpiece to the top of the workpiece moving a first preset distance in a direction toward the pressing block of the press; Obtaining a second preset distance; The second distance range is defined as the period from when the top of the workpiece moves toward the press block by a first preset distance to when the top of the workpiece moves toward the press block by the first preset distance and then moves toward the press block by a second preset distance; A third distance range is defined as the distance between the top of the workpiece moving in the direction of the press block by the first preset distance plus the second preset distance to the bottom surface of the press block; The first preset distance is smaller than the second preset distance, and the second preset distance is smaller than the third preset distance; When the press block moves to the first distance range, controlling the press block to move at a first moving speed; When the press block moves to the second distance range, controlling the press block to move at a second moving speed; When the press block moves to the third distance range, controlling the press block to move at a third moving speed; The third moving speed is greater than the second moving speed, and the second moving speed is greater than the first moving speed.

2. The intelligent control method for a press according to claim 1, characterized in that: The first judgment result is obtained by judging whether the workpiece placement is qualified based on the image information of the first perspective, wherein the image information of the first perspective includes a top view image of the workpiece placement, including: Obtaining a top-view image of the workpiece placement in the first-person perspective image information; Perform position feature recognition on the top view image of the workpiece to obtain the position information of the workpiece and the mold; Based on the position information of the workpiece and the position information of the mold, it is judged whether the workpiece placement is qualified, and a first judgment result is obtained. The first judgment result includes whether the workpiece placement is qualified or unqualified.

3. The intelligent control method for a press according to claim 2, characterized in that: The first judgment result is obtained by judging whether the workpiece placement is qualified based on the image information of the first perspective, wherein the image information of the first perspective includes a top view image of the workpiece placement, and further includes: Obtaining a top-view image of the workpiece placement in the first-person perspective image information; Perform foreign body feature recognition on the top view image of the workpiece to obtain the surface feature information of the workpiece and the mold; Determine whether there is foreign matter on the workpiece surface or the mold surface based on the workpiece surface feature information and the mold surface feature information; If there is foreign matter on the workpiece surface or the mold surface, a first alarm message is sent.

4. The intelligent control method for a press according to claim 3, characterized in that: The second judgment result is obtained by judging whether the press block is qualified based on the image information of the second perspective, wherein the image information of the second perspective includes a bottom view image of the press block, including: Acquire a bottom-view image of the press block in the image information of the second perspective; Perform feature recognition on the bottom view image of the press block to obtain the flatness information of the bottom surface of the press block; Based on the flatness information of the bottom surface of the press block, it is judged whether the press block is qualified to obtain a second judgment result, which includes whether the press block is qualified or unqualified.

5. The intelligent control method for a press according to claim 4, characterized in that: The second judgment result is obtained by judging whether the press block is qualified based on the image information of the second perspective, wherein the image information of the second perspective includes a bottom view image of the press block and further includes: Acquire a bottom-view image of the press block in the image information of the second perspective; Perform foreign body feature recognition on the bottom view image of the press block to obtain feature information of the bottom surface of the press block; Determine whether there is foreign matter on the workpiece surface or the mold surface based on the characteristic information of the bottom surface of the press block; If there is foreign matter on the bottom surface of the press block, a second alarm message is sent.

6. The intelligent control method for a press according to claim 5, characterized in that: If both the first judgment result and the second judgment result are qualified, calculating the first distance between the press block and the workpiece based on the image information from the third perspective includes: Acquiring third-view image information including images of the workpiece and the press block; Creating a first coordinate system based on the shooting angle of the third perspective; Obtain the coordinate information of the workpiece and the coordinate information of the press block; The coordinate information of the workpiece and the coordinate information of the press block are updated to the first coordinate system to obtain an updated first coordinate system.

7. The intelligent control method for a press according to claim 6, characterized in that: If both the first judgment result and the second judgment result are qualified, calculating the first distance between the press block and the workpiece based on the image information from the third perspective also includes: Creating a first plane based on coordinate information of the workpiece, where the first plane is a plane at the top of the workpiece; Creating a second plane based on the coordinate information of the press block, where the second plane is the plane of the top of the workpiece; The distance between the first plane and the second plane is calculated to obtain a first distance.

8. The intelligent control method for a press machine according to claim 1, characterized in that: The method of generating a movement strategy for controlling the pressing block of the press machine toward the workpiece based on the first distance further includes: Determining the distance range of the press block based on the first distance; Based on the distance range of the press block, the press block is controlled to move at a moving speed corresponding to the distance range.

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