Broken cutter detection method, device and equipment and computer readable storage medium

Abstract

The invention discloses a broken cutter detection method, device and equipment and a computer readable storage medium, and is applied to the technical field of cutting machines, and the method comprises the following steps: determining the weight of a cutter according to a height torque value corresponding to a height motor of a flexible material cutting machine, and determining the type of the cutter according to the weight of the cutter; cutter parameters are determined according to the cutter type, cutting is carried out based on the cutter parameters, and a rotating torque value corresponding to a rotating motor of the flexible material cutting machine in the cutting process is determined; and comparing the rotating torque value with a corresponding rotating torque threshold value, and determining a cutter breaking detection result. Compared with a current method of determining whether the cutter is broken manually through vision, the method determines whether the cutter is broken according to the torque value change of the rotating motor in motion, thereby improving the accuracy and efficiency of cutter breaking detection, intelligently determining the cutter type based on the cutter weight, improving the importance of cutter type determination, and improving the accuracy and efficiency of cutter breaking detection. Therefore, the efficiency of broken cutter detection is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cutting machines, in particular to a broken tool detection method, device, equipment and computer readable storage medium. BACKGROUND

[0002] The current broken tool can be detected by a visual detection system, but in the actual industrial environment, the industrial field environment is complex, and cutting fluid, oil mist and metal debris are easy to contaminate the camera lens, resulting in a decline in the quality of the photographed image and even the inability to identify the tool. At the same time, the strong vibration generated during machine tool processing also causes the image to be blurred, increasing the difficulty of identification. The visual system itself also has limitations, for example, insufficient resolution may not be able to capture the small broken features of small tools, and changes in lighting conditions will directly affect the contrast and clarity of the image, posing a great challenge to software stable identification.

[0003] It can be seen that how to improve the accuracy of broken tool detection is a technical problem that technicians in the field urgently need to solve. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a broken tool detection method, device, equipment and computer readable storage medium, which solves the technical problem of low accuracy of broken tool detection in the prior art.

[0005] To solve the above technical problems, the present application provides a broken tool detection method, comprising:

[0006] According to the height torque value corresponding to the height motor of the flexible material cutting machine, the weight of the tool is determined, and the type of the tool is determined according to the weight of the tool;

[0007] According to the tool type, the tool parameters are determined, and the cutting is carried out based on the tool parameters, and the rotation torque value corresponding to the rotation motor of the flexible material cutting machine in the cutting process is determined;

[0008] Based on the comparison between the rotation torque value and the corresponding rotation torque threshold value, the broken tool detection result is determined.

[0009] Optionally, before determining the weight of the tool according to the height torque value corresponding to the height motor of the flexible material cutting machine, and determining the type of the tool, it further comprises:

[0010] According to the relationship between torque and gravity, a function relationship formula between load weight and torque value is determined;

[0011] Based on the function relationship formula, a mapping relationship between the height torque value and the weight of the tool is determined;

[0012] Correspondingly, the weight of the tool is determined according to the height torque value corresponding to the height motor of the flexible material cutting machine, comprising:

[0013] determining the tool weight according to the height torque value corresponding to the height motor of the flexible material cutting machine.

[0014] Optionally, the function relationship between the load weight and the torque value is determined according to the relationship between the torque and the gravity, and the function relationship comprises:

[0015] The function relationship between the torque value, the screw pitch, the mechanical efficiency, the gravity acceleration and the load weight is determined according to the relationship between the torque and the gravity.

[0016] Optionally, before the tool weight is determined according to the height torque value corresponding to the height motor of the flexible material cutting machine, and the tool type is determined according to the tool weight, the method further comprises:

[0017] When the flexible material cutting machine is set to zero and no tool is present in the head of the cutting machine, obtaining a no-load torque value corresponding to the current no-load state;

[0018] When the flexible material cutting machine is powered on and reset, obtaining the height torque value corresponding to the current installation state of the tool;

[0019] Determining the difference between the height torque value and the no-load torque value;

[0020] When the difference is not positive, determining that no tool is present in the head;

[0021] When the difference is positive, determining that a tool has been installed in the head, and performing the steps of determining the tool weight according to the height torque value corresponding to the height motor of the flexible material cutting machine, and determining the tool type according to the tool weight.

[0022] Optionally, the broken tool detection result is determined based on a comparison between the rotation torque value and a corresponding rotation torque threshold value, and the method comprises:

[0023] The rotation torque threshold value comprises a rotation torque minimum threshold value and a rotation torque maximum threshold value;

[0024] Determining whether the rotation torque value is greater than the rotation torque minimum threshold value and less than the rotation torque maximum threshold value;

[0025] When the rotation torque value is less than the rotation torque minimum threshold value, or the rotation torque value is greater than the rotation torque maximum threshold value, determining that the broken tool detection result is that the current tool has been broken.

[0026] Optionally, before determining whether the rotation torque value is greater than the rotation torque minimum threshold value and less than the rotation torque maximum threshold value, the method further comprises:

[0027] determining a rotational load weight corresponding to the rotary motor;

[0028] determining whether the rotational load weight is within a set load range;

[0029] when the rotational load weight is within the set load range, determining to perform a step of determining whether the rotational torque value is greater than a rotational torque minimum threshold value and less than a rotational torque maximum threshold value;

[0030] when the rotational load weight is not within the load range, determining that there is no flexible cutting material currently.

[0031] Optionally, according to a height torque value corresponding to a height motor of the flexible material cutting machine, a cutter weight is determined, and a cutter type is determined according to the cutter weight, comprising:

[0032] the cutter type comprises a sharp cutter, an indentation cutter, a bevel cutter and a flat cutter.

[0033] The application further provides a cutter breakage detection device, comprising:

[0034] a cutter type determination module, configured to determine a cutter weight according to a height torque value corresponding to a height motor of the flexible material cutting machine, and determine a cutter type according to the cutter weight;

[0035] a rotational torque value determination module, configured to determine a cutter parameter according to the cutter type, and determine a rotational torque value corresponding to a rotary motor of the flexible material cutting machine in a cutting process based on the cutter parameter;

[0036] a cutter breakage detection module, configured to compare the rotational torque value with a corresponding rotational torque threshold value, and determine a cutter breakage detection result.

[0037] The application further provides a cutter breakage detection device, comprising:

[0038] a memory, configured to store a computer program;

[0039] a processor, configured to execute the computer program to realize steps of the cutter breakage detection method.

[0040] The application further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize steps of the cutter breakage detection method.

[0041] The application further provides a computer program product, comprising a computer program / instruction, and the computer program / instruction is executed by a processor to realize steps of the cutter breakage detection method.

[0042] It can be seen that the present application determines the weight of the cutter according to the height torque value corresponding to the height motor of the flexible material cutting machine, determines the cutter type according to the weight of the cutter, determines the cutter parameter according to the cutter type, and performs cutting based on the cutter parameter, determines the rotation torque value corresponding to the rotation motor of the flexible material cutting machine in the cutting process, and compares the rotation torque value with the corresponding rotation torque threshold value to determine the cutter breakage detection result.

[0043] In addition, the present application also provides a cutter breakage detection device, equipment and computer readable storage medium, also have the beneficial effects described above. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of the provided drawings.

[0045] Figure 1 A flow chart of a cutter breakage detection method provided for the embodiment of the present application;

[0046] Figure 2 A button force setting flow chart provided for the embodiment of the present application;

[0047] Figure 3 A cutter automatic identification flow chart provided for the embodiment of the present application;

[0048] Figure 4 A schematic diagram of cutter breakage detection provided for the embodiment of the present application;

[0049] Figure 5 A real-time monitoring rotation motor torque diagram of the upper computer software provided for the embodiment of the present application;

[0050] Figure 6 A schematic diagram of a cutter head provided for the embodiment of the present application;

[0051] Figure 7 A schematic diagram of the cutter after installation provided for the embodiment of the present application;

[0052] Figure 8 A structure schematic diagram of a cutter breakage detection device provided for the embodiment of the present application;

[0053] Figure 9 A structure schematic diagram of a cutter breakage detection device provided for the embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0055] Some nouns appearing in the description of the embodiments of the present application or belong to the following explanations:

[0056] Torsion (torque): the torsional force generated by the motor during rotation, used to drive the load to run.

[0057] Counterweight: refers to the weight added to maintain balance or stability.

[0058] The disadvantages of the prior art are as follows: 1) manual replacement of the tool, setting the corresponding tool information on the control software. The operator has strong cognitive requirements for the tool, including the knowledge of setting the tool on the computer software, which has certain technical threshold. 2) The tool is set on the software, and the tool installed on the actual cutting machine is not set to the tool type, and the wrong use leads to the scrap of the cut product. 3) The broken tool function can be realized through vision, which has high hardware cost, environmental use requirements, and the software needs to write algorithms, which has certain difficulty in use.

[0059] The purposes of the present application are: 1) using the torque value of the servo motor, according to the different tool counterweights, different cutting tools can be automatically identified. 2) The different cutting tools are automatically identified, the control software automatically changes the tool type icon, which is more intelligent, accurate, improves the correct rate, and improves the work efficiency. 3) Using the torque value of the servo motor, according to the change of the torque value of the rotating shaft in the movement, the broken tool is judged, which has low cost.

[0060] Please refer to Figure 1 , Figure 1 A flow chart of a broken tool detection method provided by the embodiments of the present application. The method can include:

[0061] S101, according to the height torque value corresponding to the height motor of the flexible material cutting machine, the weight of the tool is determined, and the type of the tool is determined according to the weight of the tool.

[0062] The various steps in this embodiment can be performed by a designated electronic device, which can be a server, a portable terminal, or other forms. The flexible material cutting machine in this embodiment is a digital processing equipment that uses a specific energy or cutter for high-precision and complex shape cutting of flexible materials. For example, cutting of garment patterns, shoe patterns, luggage fabrics, and home textile embroidery. The height motor in this embodiment is responsible for automatically and accurately adjusting the distance between the cutter and the surface of the processed material during cutting. The height torque value in this embodiment refers to the torque output by the height motor driving the cutting blade or cutter during vertical movement. There is a certain relationship between the height torque value and the weight of the cutter in this embodiment, so the weight of the cutter can be determined when the height torque value is determined, and different cutter weights correspond to different cutter types. This embodiment does not limit the specific method of determining the weight of the cutter based on the height torque value. For example, the embodiment can be determined directly based on the mapping relationship, or the weight of the cutter can be determined based on the functional relationship between the weight of the cutter and the height torque value. This embodiment does not limit the specific cutter type, for example, the cutter type in this embodiment can include sharp knives, indentation knives, bevel knives, and flat knives, etc.

[0063] It needs to be further explained that based on any of the above embodiments, before determining the weight of the cutter according to the height torque value corresponding to the height motor of the flexible material cutting machine, and determining the cutter type according to the weight of the cutter, it can further include: determining a functional relationship between the load weight and the torque value according to the relationship between the torque and the gravity; determining a mapping relationship between the height torque value and the weight of the cutter based on the functional relationship; accordingly, determining the weight of the cutter according to the height torque value corresponding to the height motor of the flexible material cutting machine can include: determining the weight of the cutter using the mapping relationship according to the height torque value corresponding to the height motor of the flexible material cutting machine. This embodiment determines the mapping relationship in advance based on the functional relationship, so that the weight of the cutter can be directly determined based on the mapping relationship, thereby improving the accuracy of the determination of the weight of the cutter.

[0064] It needs to be further explained that based on any of the above embodiments, the above determining a functional relationship between the load weight and the torque value according to the relationship between the torque and the gravity can include: determining a functional relationship between the torque value, the lead screw pitch, the mechanical efficiency, and the load weight and the gravity acceleration according to the relationship between the torque and the gravity. It can be understood that this embodiment determines a static scene formula according to the relationship between the torque and the gravity: when the torque acts on the vertical lifting system, the load weight calculation formula is: ; wherein, T is torque (N.m), P is screw pitch (m); η is mechanical efficiency, g is gravity acceleration (9.8 m / s2). For example, the torque value of the motor without any cutter is calculated: when the head itself transmission weight is 2 kg, the screw pitch is 2 mm, and the efficiency is 25%, the torque value T = 2 kg x 9.8 m / s x 0.002 mm ÷ 6.28 ÷ 0.25 = 0.25 (N\cdotpm); when the cutter is added by 1 kg, the torque value T = 3 kg x 9.8 m / s x 0.002 ÷ 6.28 ÷ 0.25 = 0.37 (N\cdotpm). The embodiment gives a specific function relationship, improves the accuracy of determining the weight of the cutter, and automatically identifies different cutting tools according to the torque value of the servo motor and the weight of the different cutters.

[0065] It should be further pointed out that, based on any of the above embodiments, before determining the weight of the cutter according to the height torque value corresponding to the height motor of the flexible material cutting machine, and determining the type of the cutter according to the weight of the cutter, the method can further include:

[0066] Step 1: determining that the flexible material cutting machine is set to zero, and that there is no cutter in the head of the cutting machine, obtaining the corresponding no-load torque value at the current no-load time;

[0067] Step 2: determining that the flexible material cutting machine is powered on and reset, obtaining the corresponding height torque value under the current installation of the cutter;

[0068] Step 3: determining the difference between the height torque value and the no-load torque value;

[0069] Step 4: when the current difference is not a positive number, determining that there is no cutter in the head.

[0070] Step 5: when the difference is positive, it is determined that the cutter has been installed in the head, and the step of determining the weight of the cutter according to the height torque value corresponding to the height motor of the flexible material cutting machine, and determining the type of the cutter according to the weight of the cutter is executed.

[0071] This embodiment takes into account that due to the error of the mechanical structure, the load value of different height motors may be erroneous, and is used after zero setting. When the height motor is in no-load state, it is set to 0, and when different cutters are installed, the weight of the cutters is different, which can be fed back to the upper computer to provide data stream for identifying different cutters, which will be described in detail in Figure 2 , Figure 2A button force setting flowchart is provided for the embodiment of the present application, the cutting machine is reset after power-on, and the movement shafts respectively find their original position information. There is no tool in the head of the cutting machine, the host computer software selects the "height motor button torque setting button", and the height motor torque value at this time will be saved in the host computer. The button torque setting process is completed. In the use stage (any tool identification process), after the cutting machine reset action is completed, the motor button force identification is always monitored in real time, and any time different tools are replaced will be effective, and the host computer automatically modifies the tool information and parameters, see Figure 3 , Figure 3 An automatic tool identification flowchart is provided for the embodiment of the present application, after the cutting machine is reset after power-on, since the host computer has saved the torque value at the time of button torque setting, the torque value read by the host computer in real time will be compared with the saved torque value: real-time button force value - host computer saved torque value = positive number. When the calculation result is not a positive number, it can be concluded that there is no tool in the head. When the calculation result is a positive number, it can be concluded that the tool has been installed in the head.

[0072] According to the size of the tool torque value, the torque value corresponding to the weight table of different tools in the host computer is queried (Table 1), and the corresponding tool ID is given according to the range of the value. The host computer changes the icon and parameters of the current tool in real time. The automatic tool identification process is completed. For ease of understanding, please refer to Table 1, which is a schematic table of tool weight corresponding to tool type provided by the embodiment of the present application. For example, the calculation formula is: T=(2+1.5)kg×9.8m / s×0.002mm÷6.28÷0.25=0.43(N\cdotpm).

[0073] Table 1 is a schematic table of tool weight corresponding to tool type

[0074]

[0075] S102, determine tool parameters according to tool types, and cut based on the tool parameters to determine the corresponding rotation torque value of the rotation motor of the flexible material cutting machine in the cutting process.

[0076] In this embodiment, different tool types correspond to different tool parameters, and tool parameters corresponding to tool types and cutting materials can be established, so that cutting can be directly performed based on the tool parameters. The rotation motor in this embodiment is a device that converts electrical energy into continuous rotary mechanical energy.

[0077] S103, compare the rotation torque value with the corresponding rotation torque threshold to determine the tool breakage detection result.

[0078] The embodiment does not limit the specific method for determining the end tool detection based on the comparison between the rotary torque value and the corresponding rotary torque threshold. For example, the embodiment can compare the rotary torque value with the corresponding rotary torque maximum threshold, and if it is greater than the rotary torque maximum threshold, it is determined that there is a broken tool condition. Alternatively, the embodiment can compare the selected torque value with the corresponding rotary minimum threshold, and if it is less than the rotary minimum threshold, it is determined that there is a broken tool.

[0079] It should be further noted that based on any of the above embodiments, the determination of the broken tool detection result based on the comparison between the rotary torque value and the corresponding rotary torque threshold can include:

[0080] S1031, determining that the rotary torque threshold includes a rotary torque minimum threshold and a rotary torque maximum threshold.

[0081] S1032, determining whether the rotary torque value is greater than the rotary torque minimum threshold and less than the rotary torque maximum threshold.

[0082] S1033, when the rotary torque value is less than the rotary torque minimum threshold, or the rotary torque value is greater than the rotary torque maximum threshold, determining that the broken tool detection result is that the current tool has been broken.

[0083] The rotary torque threshold in the embodiment includes a rotary torque minimum threshold and a rotary torque maximum threshold. It can be understood that the torque value of the rotary motor will be in a certain interval in the normal working state, so it is necessary to determine the rotary torque minimum threshold and the rotary torque maximum threshold to improve the accuracy of the broken tool detection. For ease of understanding, please refer to Figure 4 , Figure 4 A schematic diagram of the broken tool detection provided by the embodiment of the application is provided. The cutting machine starts cutting, the servo of the height shaft falls, the rotary shaft motor drives the blade to run the cutting trajectory. When the blade is normal, the torque value of the rotary motor remains at a certain load. If the host computer reads the torque value of the rotary motor suddenly drops (i.e. the actual output rotary torque of the motor shaft end is significantly lower than the normal value or the expected value of the control system in a short time), it indicates that the torque value of the rotary motor becomes smaller, the blade running trajectory is not loaded to the rotary motor, the broken blade is judged, the machine is paused, and the host computer prompts the broken blade. For ease of understanding, please refer to Figure 5 , Figure 5 A rotary motor torque diagram is provided for real-time monitoring of the host computer software provided by the embodiment of the application, Figure 5 The set alarm threshold in the

[0084] It needs to be further explained that based on any of the above embodiments, before determining whether the rotation torque value is greater than the rotation torque minimum threshold and less than the rotation torque maximum threshold, it can also include: determining the rotation load weight corresponding to the rotation motor; determining whether the rotation load weight is within the set load range; when the rotation load weight is within the set load range, determining to perform the step of determining whether the rotation torque value is greater than the rotation torque minimum threshold and less than the rotation torque maximum threshold; when the rotation load weight is not within the load range, determining that there is no flexible cutting material at present. For example, the rotation motor idle torque value: T = 1 kg x 9.8 m / s x 0.002 ÷ 6.28 ÷ 0.25 = 0.012 (N pm); the torque value when the rotation motor cuts the material: T = 10 kg x 9.8 m / s x 0.002 ÷ 6.28 ÷ 0.25 = 0.12 (N pm). This embodiment only determines whether there is flexible cutting material to be cut before performing the broken knife detection, thereby reducing the resource consumption of the broken knife detection. In order to facilitate understanding of the flexible material cutting machine, please refer to Figure 6 and Figure 7 , Figure 6 a schematic view of a tool head provided by an embodiment of the application, Figure 7 a schematic view of a tool installation after completion.

[0085] The broken knife detection method provided by the embodiment of the application can include: S101, determining the tool weight according to the height torque value corresponding to the height motor of the flexible material cutting machine, and determining the tool type according to the tool weight; S102, determining the tool parameter according to the tool type, and cutting based on the tool parameter to determine the rotation torque value corresponding to the rotation motor of the flexible material cutting machine in the cutting process; S103, comparing the rotation torque value with the corresponding rotation torque threshold to determine the broken knife detection result. Compared with the current manual determination of whether there is a broken knife through vision, the application determines whether the tool has a broken knife condition according to the torque value change of the rotation motor in motion, thereby improving the intelligence, accuracy and efficiency of the broken knife detection, and different tools can be automatically identified.

[0086] The broken knife detection device provided by the embodiment of the application will be introduced below, and the broken knife detection device described below can be correspondingly referred to with the broken knife detection method described above.

[0087] For details, please refer to Figure 8 , Figure 8 a structure schematic view of a broken knife detection device provided by an embodiment of the application, which can include:

[0088] The tool type determination module 100 is configured to determine the tool weight according to the height torque value corresponding to the height motor of the flexible material cutting machine, and determine the tool type according to the tool weight.

[0089] The rotational torque value determination module 200 is used to determine the tool parameters according to the tool type, and to perform cutting based on the tool parameters, and to determine the rotational torque value corresponding to the rotary motor of the flexible material cutting machine during the cutting process;

[0090] The broken tool detection module 300 is used to determine the broken tool detection result by comparing the rotational torque value with the corresponding rotational torque threshold.

[0091] Furthermore, based on any of the above embodiments, the above-mentioned broken blade detection device may further include:

[0092] The function relationship determination module is used to determine the functional relationship between load weight and torque value based on the relationship between torque and gravity.

[0093] The mapping relationship determination module is used to determine the mapping relationship between the height torque value and the tool weight based on the functional relationship;

[0094] Correspondingly, the tool type determination module 100 includes:

[0095] The tool weight determination unit is used to determine the tool weight based on the height torque value corresponding to the height motor of the flexible material cutting machine, using the mapping relationship.

[0096] Furthermore, based on any of the above embodiments, the function relation determination module may include:

[0097] The function relationship determination unit is used to determine the function relationship between the torque value, the screw pitch, the mechanical efficiency, the gravitational acceleration, and the load weight based on the relationship between the torque and gravity.

[0098] Furthermore, based on any of the above embodiments, the above-mentioned broken blade detection device may further include:

[0099] The positioning module is used to determine when the flexible material cutting machine is positioned and zeroed, and when there is no tool in the cutting machine head, and to obtain the no-load torque value corresponding to the current no-load condition.

[0100] The height torque value determination module is used to determine the height torque value corresponding to the current tool installation condition when the flexible material cutting machine is powered on and reset.

[0101] A difference determination module is used to determine the difference between the height torque value and the no-load torque value;

[0102] A tool determination module is used to determine that there is no tool in the machine head when the current difference is not a positive number.

[0103] A tool type determination module is determined to be executed when the difference is positive, to determine that a tool is installed in the head, to execute steps of determining a height torque value corresponding to a height motor of the flexible material cutting machine, determining a tool weight, and determining a tool type according to the tool weight.

[0104] Further, based on any of the above embodiments, the tool breakage detection module 300 can include:

[0105] A threshold determination unit is configured to determine that the rotation torque threshold includes a rotation torque minimum threshold and a rotation torque maximum threshold.

[0106] A threshold-based judgment unit is configured to determine whether the rotation torque value is greater than the rotation torque minimum threshold and less than the rotation torque maximum threshold.

[0107] A threshold-based tool breakage determination unit is configured to determine that the tool breakage detection result is that the current tool has been broken when the rotation torque value is less than the rotation torque minimum threshold or the rotation torque value is greater than the rotation torque maximum threshold.

[0108] Further, based on any of the above embodiments, the tool breakage detection device can further include:

[0109] A rotation load weight determination module is configured to determine a rotation load weight corresponding to the rotation motor.

[0110] A rotation load weight-based judgment module is configured to determine whether the rotation load weight is within a set load range.

[0111] A threshold-based determination execution module is configured to determine to execute a step of determining whether the rotation torque value is greater than the rotation torque minimum threshold and less than the rotation torque maximum threshold when the rotation load weight is within the set load range.

[0112] An absence of material determination module is configured to determine that there is currently no flexible cutting material when the rotation load weight is not within the load range.

[0113] Further, based on any of the above embodiments, the tool type determination module 100 can include:

[0114] A tool type determination unit is configured to determine that the tool type includes a sharp tool, an indentation tool, a bevel tool, and a flat tool.

[0115] It should be noted that the order of the modules and units in the above tool breakage detection device can be changed without affecting the logic.

[0116] The knife breakage detection device provided by the embodiment of the application can comprise: a cutter type determination module 100, configured to determine the cutter weight according to the height torque value corresponding to the height motor of the flexible material cutting machine, and determine the cutter type according to the cutter weight; a rotating torque value determination module 200, configured to determine the cutter parameter according to the cutter type, and determine the rotating torque value corresponding to the rotating motor of the flexible material cutting machine in the cutting process based on the cutter parameter; and a knife breakage detection module 300, configured to compare the rotating torque value with the corresponding rotating torque threshold value, and determine the knife breakage detection result. Compared with the current manual determination of whether there is a broken knife through vision, the application determines whether the cutter has a broken knife condition according to the torque value change of the rotating motor in the motion, thereby improving the accuracy and efficiency of the knife breakage detection.

[0117] The following describes a knife breakage detection device provided by the embodiment of the application. The knife breakage detection device described below can be referred to in correspondence with the knife breakage detection method described above.

[0118] Please refer to Figure 9 , Figure 9 The structure diagram of the knife breakage detection device provided by the embodiment of the application can comprise:

[0119] The memory 10 is configured to store a computer program.

[0120] The processor 20 is configured to execute the computer program to implement the above-described knife breakage detection method.

[0121] The memory 10, the processor 20, and the communication interface 30 can communicate with each other through the communication bus 40.

[0122] In the embodiment of the application, the memory 10 stores one or more programs. The program can include program code, and the program code includes computer operation instructions. In the embodiment of the application, the memory 10 can store programs for implementing the following functions:

[0123] Determine the cutter weight according to the height torque value corresponding to the height motor of the flexible material cutting machine, and determine the cutter type according to the cutter weight.

[0124] Determine the cutter parameter according to the cutter type, and determine the rotating torque value corresponding to the rotating motor of the flexible material cutting machine in the cutting process based on the cutter parameter.

[0125] Compare the rotating torque value with the corresponding rotating torque threshold value, and determine the knife breakage detection result.

[0126] In a possible implementation, the memory 10 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function, etc.; and the data storage area can store data created during use.

[0127] In addition, the memory 10 can include a read-only memory and a random access memory, and provide instructions and data for the processor. A part of the memory can also include an NVRAM. The memory stores an operating system and operation instructions, executable modules or data structures, or a subset of them, or an extended set of them, wherein the operation instructions can include various operation instructions for implementing various operations. The operating system can include various system programs for implementing various basic tasks and processing hardware-based tasks.

[0128] The processor 20 can be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic device, and the processor 20 can be a microprocessor or any conventional processor, etc. The processor 20 can invoke a program stored in the memory 10.

[0129] The communication interface 30 can be an interface of a communication module, used for connecting with other devices or systems.

[0130] Of course, it needs to be explained that, Figure 9 The structures shown do not constitute a limitation on the knife detection device in the embodiments of the application, and the knife detection device in actual application can include more or fewer components than Figure 9 those shown, or combine certain components.

[0131] The computer readable storage medium provided by the embodiments of the application is introduced below, and the computer readable storage medium described below can be referred to each other corresponding to the above-described knife detection method.

[0132] The application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the above-described knife detection method.

[0133] The computer readable storage medium can include a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0134] The various embodiments described in the specification are progressive in nature, and each embodiment highlights the differences from other embodiments. The same or similar parts among the various embodiments can be mutually referred to. For the apparatus disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method.

[0135] Those skilled in the art will further appreciate that the individual steps of the example units and algorithm steps described in connection with the embodiments disclosed herein can be embodied directly in hardware, in computer software, or in combinations thereof. To clearly illustrate the interchangeability of hardware and software, and to avoid obscuring the disclosure with details of the example implementations and in order to stay within the scope of the present application, the description has been presented above in general terms. The embodiments described above are illustrative of the principles of the present application, and various modifications can be implemented by those skilled in the art without departing from the scope of the present application. The scope of the present application is limited only by the claims that follow.

[0136] Finally, it should be noted that the terms such as first and second, etc., are used herein merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations. In addition, the terms "comprises", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or inherent to such a process, method, article, or apparatus.

[0137] The above describes in detail the method, device, equipment and computer readable storage medium provided by the present application. The principle and implementation mode of the present application are described by using specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. For those skilled in the art, according to the idea of the present application, the specific implementation mode and application range can be changed. The above description of the present application should not be understood as a limitation.

Claims

1. A method for detecting broken blades, characterized in that, include: The weight of the cutting tool is determined based on the height torque value corresponding to the height motor of the flexible material cutting machine, and the type of cutting tool is determined based on the weight of the cutting tool. The tool parameters are determined according to the tool type, and cutting is performed based on the tool parameters. The rotational torque value of the rotary motor of the flexible material cutting machine is determined during the cutting process. The broken tool detection result is determined by comparing the rotational torque value with the corresponding rotational torque threshold.

2. The method for detecting broken blades according to claim 1, characterized in that, Before determining the tool weight based on the height torque value corresponding to the height motor of the flexible material cutting machine, and before determining the tool type based on the tool weight, the process further includes: Determine the functional relationship between load weight and torque value based on the relationship between torque and gravity; The mapping relationship between the height torque value and the tool weight is determined based on the aforementioned functional relationship; Accordingly, based on the height torque value corresponding to the height motor of the flexible material cutting machine, the tool weight is determined, including: The weight of the cutting tool is determined using the mapping relationship based on the height torque value corresponding to the height motor of the flexible material cutting machine.

3. The method for detecting broken blades according to claim 2, characterized in that, The functional relationship between load weight and torque value is determined based on the relationship between torque and gravity, including: Based on the relationship between torque and gravity, determine the functional relationships between the torque value, screw pitch, mechanical efficiency, gravitational acceleration, and load weight.

4. The method for detecting broken blades according to claim 1, characterized in that, Before determining the tool weight based on the height torque value corresponding to the height motor of the flexible material cutting machine, and before determining the tool type based on the tool weight, the process further includes: When the flexible material cutting machine is set to zero and there is no tool in the cutting head, the no-load torque value corresponding to the current no-load condition is obtained. When the flexible material cutting machine is powered on and reset, the height torque value corresponding to the current tool installation condition is obtained; Determine the difference between the height torque value and the no-load torque value; When the difference is not positive, it is determined that there is no cutting tool inside the machine head; When the difference is positive, it is determined that a tool has been installed in the head, and the steps of determining the tool weight based on the height torque value corresponding to the height motor of the flexible material cutting machine, and determining the tool type based on the tool weight are executed.

5. The method for detecting broken tools according to any one of claims 1 to 4, characterized in that, Based on the comparison between the rotational torque value and the corresponding rotational torque threshold, the broken tool detection result is determined, including: The rotational torque threshold is determined by including a minimum rotational torque threshold and a maximum rotational torque threshold; Determine whether the rotational torque value is greater than the minimum rotational torque threshold and less than the maximum rotational torque threshold; When the rotational torque value is less than the minimum rotational torque threshold, or when the rotational torque value is greater than the maximum rotational torque threshold, the tool breakage detection result is determined to be that the current tool has broken.

6. The method for detecting broken blades according to claim 5, characterized in that, Before determining whether the rotational torque value is greater than the minimum rotational torque threshold and less than the maximum rotational torque threshold, the method further includes: Determine the rotational load weight corresponding to the rotary motor; Determine whether the weight of the rotating load is within the set load range; When the weight of the rotating load is within the set load range, the step of determining whether the rotating torque value is greater than the minimum rotating torque threshold and less than the maximum rotating torque threshold is executed. When the rotational load weight is outside the load range, it is determined that there is currently no flexible cutting material.

7. The method for detecting broken blades according to claim 1, characterized in that, The tool weight is determined based on the height torque value corresponding to the height motor of the flexible material cutting machine, and the tool type is determined based on the tool weight, including: The types of cutting tools are defined as including pointed knives, indentation knives, beveling knives, and flat-edged knives.

8. A broken knife detection device, characterized in that, include: The tool type determination module is used to determine the tool weight based on the height torque value corresponding to the height motor of the flexible material cutting machine, and to determine the tool type based on the tool weight; The rotational torque value determination module is used to determine the tool parameters according to the tool type, and to perform cutting based on the tool parameters, and to determine the rotational torque value corresponding to the rotary motor of the flexible material cutting machine during the cutting process; The broken tool detection module is used to determine the broken tool detection result by comparing the rotational torque value with the corresponding rotational torque threshold.

9. A broken knife detection device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the broken knife detection method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the broken blade detection method as described in any one of claims 1 to 7.

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