Instruction throttling and look-ahead smoothing methods and systems for measurement device controllers

Abstract

The application discloses a kind of instruction throttling and forward-looking smoothing method and system for measuring equipment controller, belong to the technical field of measuring equipment control.The method includes generating initial path point sequence;According to path type, speed, sampling density and controller capacity, forward-looking planning is carried out, and forward-looking segment buffer area is formed;Resampling is carried out to the path point in buffer area with equal arc length or equal time;Conversion into instruction;Obtain controller execution feedback;Accordingly, the instruction consumption rate is estimated and the dynamic sending window is calculated;According to the dynamic sending window, the instruction is sent, so that the continuous execution of the controller end can be kept in the preset safety range within the forward-looking length.The application cooperates the three of forward-looking prestorage, smoothing reparameterization and feedback dynamic throttling, so that the controller always has appropriate forward-looking length, avoids the pause caused by insufficient instruction and the jitter caused by instruction overload, and realizes the smooth, uniform and efficient continuous scanning measurement.

Description

Technical Field

[0001] This invention relates to the field of industrial measurement equipment control technology, and in particular to a method and system for command throttling and look-ahead smoothing for measurement equipment controllers. It can be applied to coordinate measuring machines, contour scanning equipment, roundness / cylindricity measuring equipment, robot measuring equipment, automatic scanning measuring equipment, and other industrial measurement systems that require continuous motion or measurement commands to be sent from a host computer to the controller. For portable measuring arms, laser trackers, and other devices, this invention is suitable for scenarios where they have the ability to automatically track, automatically measure processes, and issue batch measurement or scanning commands. Background Technology

[0002] In industrial measurement software, the host computer typically needs to continuously send motion commands, sampling commands, scanning commands, or measurement process commands to the measurement equipment controller. For example, when scanning circles, cylinders, curves, continuous sections, contours, or freeform surfaces, the host computer generates a large number of continuous path points or measurement points and converts them into a sequence of commands that the controller can execute.

[0003] In existing technologies, common methods for sending commands include: 1. Issue commands one by one according to the measurement process sequence, such as MoveTo(P1)→Measure→MoveTo(P2)→Measure→…; 2. Send instructions to the controller in batches according to a fixed number, fixed time interval, or fixed buffer length.

[0004] The above methods are still feasible in simple, low-speed, and discrete point measurement scenarios, but in continuous scanning, dense point sampling, or paths with significant curvature changes, the following technical problems will be exposed: 1. A mismatch between the command issuance rhythm and the controller's execution capability can easily lead to a vicious cycle of "command congestion - equipment stoppage - sudden speed change"; 2. The controller-side cache lacks adaptive adjustment. The static configuration cannot adapt to the dynamic changes in path, speed and controller load. Either the cache is too full, causing response lag, or the cache is insufficient, causing idle stoppage. 3. Mainstream measurement and control protocols, such as I++ and DMIS, only specify the instruction format and basic feedback, without providing an instruction flow rhythm control mechanism. The host computer cannot dynamically adjust the sending window according to the real-time status of the controller. 4. The direct issuance of discrete and uneven path points causes uneven motion, with uneven arc lengths and time between adjacent commands, which can easily lead to sudden speed changes, discontinuous acceleration, motion jitter, and reduced sampling quality. Summary of the Invention

[0005] This invention provides a method and system for command throttling and look-ahead smoothing for measurement device controllers, in order to solve the technical problems in the prior art, such as the mismatch between command issuance rhythm and controller execution capability, lack of adaptive adjustment of controller buffer, lack of command flow rhythm control mechanism in mainstream measurement and control protocols, and motion non-smoothness caused by direct issuance of discrete and non-uniform path points.

[0006] This invention is not simply instruction throttling, but rather a closed-loop control formed by the coordinated action of three elements: pre-storing future path points in the look-ahead buffer, performing continuous reparameterization smoothing of the path points with equal arc length / equal time and velocity / acceleration / jump, and dynamically calculating the transmission window based on the controller execution feedback and throttling the transmission accordingly. This is different from conventional communication flow control or static buffer management.

[0007] To address the aforementioned technical problems, this invention provides a method for command throttling and look-ahead smoothing for measurement device controllers, comprising the following steps: Obtain the path to be tested or the measurement task, and generate an initial path point sequence or an initial measurement instruction sequence based on the path to be tested or the measurement task; Based on at least one of path type, measurement speed requirements, sampling density requirements, and controller execution capability, look-ahead planning is performed on the initial path point sequence or initial measurement command sequence to form a look-ahead buffer segment. The path points within the look-ahead buffer are reparameterized to ensure that the path points have equal arc length or equal time sampling intervals and satisfy at least one of velocity continuity, acceleration continuity, or jerk constraints. The reparameterized path points are converted into control instructions that can be executed by the measurement equipment controller. Obtain the execution feedback from the controller of the measuring device; The command consumption rate of the measuring device controller is estimated based on the execution feedback, and the dynamic sending window is calculated; The control command is sent to the measurement device controller according to the dynamic sending window to keep the continuously executable look-ahead length at the measurement device controller end within a preset safety range.

[0008] In a preferred embodiment of the present invention, the capacity of the look-ahead buffer is determined according to at least one of the following: path length, estimated execution time, or number of path points.

[0009] In a preferred embodiment of the present invention, the method for reparameterization processing is as follows: When the path to be tested is a circular path, the circular path is resampled with equal arc length according to the arc parameters; When the path to be measured is a cylindrical scanning path, joint reparameterization is performed based on the axial parameters and circumferential angle parameters of the cylinder; When the path to be tested is a free curve, it is reparameterized based on the cumulative result of the spline curve or broken line arc length.

[0010] In a preferred embodiment of the present invention, the execution feedback includes at least one of the following: acknowledgment feedback (ACK), busy status, controller buffer level, round-trip time (RTT), instruction execution completion status, alarm status, and current location status.

[0011] In a preferred embodiment of the present invention, the dynamic transmission window is determined based on at least one of the following factors: controller ACK feedback interval, controller Busy state duration, controller buffer level, communication round-trip time (RTT), average instruction execution time and transmission success rate within a preset time window, controller alarm status, path local curvature, target measurement speed, sampling interval, or sampling frequency.

[0012] In a preferred embodiment of the present invention, when the buffer level at the controller of the measuring device is lower than a preset lower limit, the dynamic sending window is increased or the command sending rate is increased; when the buffer level is higher than a preset upper limit, or the round-trip time (RTT) exceeds a preset threshold, or the controller is in Busy state, the dynamic sending window is decreased or the sending of control commands is suspended.

[0013] In a preferred embodiment of the present invention, the dynamic transmission window is converted into a path length window, a time window, or a sampling point window; wherein, the path length window is determined based on the cumulative value of the path arc length corresponding to the control command to be transmitted, and the time window is determined based on the target measurement speed and the path arc length.

[0014] To address the aforementioned technical problems, this invention also discloses a command throttling and look-ahead smoothing measurement control system for measurement equipment controllers, comprising: The measurement task parsing module is used to obtain the path to be measured or the measurement task, and generate an initial path point sequence or an initial measurement instruction sequence. The look-ahead planning module, connected to the measurement task parsing module, is used to receive the initial path point sequence or the initial measurement instruction sequence, and to form a look-ahead segment buffer based on at least one of the path type, measurement speed requirements, sampling density requirements, and controller execution capabilities. The trajectory smoothing module, connected to the look-ahead planning module, is used to reparameterize the path points in the look-ahead buffer so that the path points satisfy the sampling interval of equal arc length or equal time, and satisfy at least one of velocity continuity, acceleration continuity or jerk constraint. The instruction generation module, connected to the trajectory smoothing module, is used to convert the reparameterized path point sequence into control instructions that can be executed by the measurement equipment controller. The controller feedback acquisition module is used to acquire the execution feedback of the measuring device controller; The instruction throttling module, connected to the controller feedback acquisition module, is used to estimate the instruction consumption rate of the measuring device controller based on the execution feedback and to calculate the dynamic transmission window; A sending buffer module, connected to the instruction generation module and the instruction throttling module, is used to cache the control instructions and send the control instructions to the measurement device controller according to the dynamic sending window calculated by the instruction throttling module, so that the continuously executable look-ahead length at the measurement device controller end is kept within a preset safety range.

[0015] To address the aforementioned technical problems, the present invention also discloses an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor performs the aforementioned method.

[0016] To address the aforementioned technical problems, the present invention also discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0017] The beneficial effects of this invention are as follows: Compared with the prior art, the instruction throttling and look-ahead smoothing method and system for measurement device controllers of this invention have the following beneficial effects: First, this invention forms a closed-loop control through the synergistic effect of look-ahead buffering, path reparameterization smoothing, and a dynamic window driven by controller feedback. This synergistic mechanism ensures uninterrupted controller command supply through look-ahead buffering, eliminates speed abrupt changes through reparameterization smoothing, and adaptively matches the transmission rate to the controller's processing capacity through the feedback-driven window, thereby fundamentally avoiding command congestion and equipment downtime under fixed transmission or static buffering methods.

[0018] Secondly, the present invention uses a look-ahead buffer mechanism to ensure that the controller always maintains a certain length of continuously executable path, thereby reducing the short pauses caused by the controller waiting for instructions from the host computer.

[0019] Third, this invention transforms the originally discrete and uneven sampling instructions into a smoother executable trajectory by reparameterizing the path under constraints of equal arc length, equal time, or equal speed, thereby suppressing speed abrupt changes, acceleration abrupt changes, and scanning jitter.

[0020] Fourth, the present invention can adopt different reparameterization strategies for different path types such as circles, cylinders, and free curves, thereby improving the stability and adaptability of scanning measurements.

[0021] Fifth, this invention does not rely on any specific control protocol and can be adapted to I++, DMIS, vendor proprietary protocols, or other industrial measurement and control protocols, thus possessing good engineering versatility. Attached Figure Description

[0022] Figure 1 This is a flowchart illustrating the command throttling and look-ahead smoothing method for a measurement device controller according to the present invention. Figure 2 This is a schematic diagram of the module structure of the command throttling and look-ahead smoothing system for a measurement equipment controller according to the present invention. Figure 3 A schematic diagram illustrating how the command throttling module dynamically adjusts the sending window based on controller feedback; Figure 4 A schematic diagram illustrating the length of the controller's continuous execution path for the look-ahead buffer; Figure 5 A schematic diagram of reparameterization and speed smoothing for a circular scan path; Figure 6 This diagram illustrates the relationship between buffer level, communication round-trip time, transmission window, and device speed curve. Detailed Implementation

[0023] The following is in conjunction with the attached figures. Figures 1 to 6 Specific embodiments of the present invention will be described in detail below. Figure 1 This is a schematic diagram of the overall process of the method of the present invention. Figure 2 This is a schematic diagram of the module structure of the system of the present invention. Figures 3 to 6 These are used to illustrate dynamic window adjustment, look-ahead buffer maintenance, circular scan smoothing, and the relationship between key parameter curves.

[0024] The present invention provides a method and system for command throttling and look-ahead smoothing for measurement equipment controllers. Its core is to solve the problems of command congestion, pauses and non-smooth motion of measurement equipment controllers during continuous scanning by coordinating look-ahead planning and dynamic throttling.

[0025] For ease of description, in this invention: ACK represents acknowledgment feedback, Busy represents busy state, and RTT represents round-trip time.

[0026] Specifically, the method of the present invention mainly includes the following steps: Task Analysis: Obtain the path to be measured or the measurement task, and generate an initial path point sequence or measurement instruction sequence. Specifically, this step can automatically select an appropriate sampling strategy based on the measurement task type, such as circle, cylinder, or free curve, for example, equal angle, equal arc length, or equal parameter.

[0027] Look-ahead planning: Based on the path type, measurement speed, sampling density, or controller execution capability, a look-ahead buffer is established for the above initial path point sequence or initial measurement command sequence. The length of the buffer can be determined by at least one of the following: path length (e.g., 10 mm), expected execution time (e.g., 0.5 to 1.5 seconds), or number of path points (e.g., 200 points), and can be dynamically adjusted to adapt to changes in controller load.

[0028] Reparameterization and smoothing: Path points within the buffer are resampled with equal arc lengths or equal time intervals, and velocity planning is applied with at least one of the following constraints: velocity continuity, acceleration continuity, or jerk constraints. Specifically, targeted reparameterization methods are used for different geometric paths such as circles, cylinders, and free curves. Furthermore, velocity planning can be added to ensure that the velocity curves satisfy S-shaped or polynomial acceleration / deceleration constraints, thereby suppressing abrupt acceleration changes and jerk exceedances.

[0029] Instruction conversion and buffering: The smoothed path points are converted into control instructions that the controller can execute, such as I++, DMIS or proprietary protocol instructions, and written to the send buffer.

[0030] Feedback Acquisition: Real-time acquisition of controller execution feedback, including but not limited to ACK, Busy, buffer level, RTT, execution completion status, alarm status, and current location. Acquisition can be performed via polling or interrupt-driven methods, and the sampling period can be adjusted according to the communication protocol and real-time requirements, for example, from 10ms to 100ms.

[0031] Dynamic window calculation: The controller's instruction consumption rate is estimated based on feedback, and a dynamic transmission window is calculated. The window size can be determined comprehensively based on at least one of the following factors: ACK interval, Busy duration, buffer level, RTT, average instruction latency and success rate, path curvature, target speed, sampling interval, etc. Calculation methods can include token bucket, sliding window, adaptive window increment / decrement, proportional-integral adjustment, or a combination thereof.

[0032] Throttling: Instructions are sent to the controller according to a dynamic transmission window. This ensures that the controller can continuously execute the look-ahead length for the remaining path length, estimated time, or number of instructions received but not yet completed, always maintaining it within a preset safety range, such as a buffer level of 20% to 80% or a look-ahead length of 0.5 to 1.5 seconds. When the buffer level is low, the window is increased or the transmission rate is raised; when the buffer level is high, the RTT increases, or the controller is in Busy mode, the window is decreased or transmission is paused. In practical implementation, the dynamic transmission window can be converted into a path length window, time window, or sampling point window to unify with the physical dimensions of the look-ahead buffer, allowing the controller to intuitively determine whether the instruction supply is sufficient based on the remaining path length or time.

[0033] Through the above closed-loop adjustment, the host computer can adaptively match the instruction processing rhythm of the controller, effectively avoiding instruction congestion, equipment stoppage and speed change. At the same time, by reparameterizing the path points and smoothing the speed, motion jitter and sampling errors are significantly reduced, making it particularly suitable for continuous scanning measurement tasks such as circles, cylinders and freeform surfaces.

[0034] like Figure 2 As shown, the present invention also provides a system comprising the following modules, specifically: a measurement task parsing module for generating an initial sequence; a look-ahead planning module for establishing a look-ahead buffer; a trajectory smoothing module for reparameterization and velocity planning; an instruction generation module for converting control instructions; a controller feedback acquisition module for acquiring execution feedback; an instruction throttling module for calculating a dynamic transmission window; and a transmission buffer module for caching and transmitting instructions, and transmitting them according to the dynamic transmission window calculated by the instruction throttling module, so that the look-ahead length at the controller end remains within a preset safety range.

[0035] The technical solution of the present invention will be described in detail below with reference to specific embodiments.

[0036] Example 1 Command throttling and look-ahead smoothing control methods for circular scan This embodiment uses industrial measurement software to control a measuring device to perform circular scanning as an example.

[0037] During circular scanning, the host computer first generates an initial arc path point sequence based on the center, radius, scanning start and end angles, target scanning speed, and sampling interval of the circle to be measured. If this initial path point sequence is sent to the controller point by point, speed jitter can easily occur due to uneven point spacing, such as unequal arc lengths caused by using a fixed angle step size, controller buffer fluctuations, or communication delays.

[0038] Therefore, this embodiment adopts the following processing method.

[0039] First, the host computer calculates the path points that need to be executed within a preset time period based on the arc length and the target scanning speed, forming a look-ahead buffer (see...). Figure 4 The look-ahead buffer can correspond to the scan path from 0.5 seconds to 1.5 seconds in the future.

[0040] Secondly, the host computer performs equal-arc-length resampling of the circular path within the look-ahead buffer (see...). Figure 5 This ensures that the arc length spacing between adjacent path points is basically consistent. For example, for a circular arc path with radius R, path points can be generated according to the angle increment Δθ, so that the arc length R·Δθ between adjacent points meets the set sampling interval.

[0041] Furthermore, the host computer performs speed smoothing processing on the path point sequence based on the target scanning speed, the controller's maximum acceleration, and the allowable jump, so that the speed changes between path points are continuous and the controller avoids sudden acceleration or deceleration between adjacent path points.

[0042] Then, the host computer converts the processed path points into motion commands or scanning commands that the controller can recognize, and writes them into the transmission buffer.

[0043] During transmission, the host computer continuously acquires feedback status from the controller. For example, the controller returns an ACK confirmation after each instruction is executed, or periodically returns information such as busy status, remaining buffer capacity, current position, and execution status. The host computer uses this feedback to estimate the controller instruction consumption rate.

[0044] If the controller's buffer level falls below the preset lower limit, it indicates that the controller is about to lack subsequent instructions. The host computer then increases the sending window to quickly replenish the instructions.

[0045] If the controller's buffer level is higher than the preset limit, or the controller remains busy for an extended period, or the communication round-trip time is significantly increased compared to the historical average, it indicates that the controller is under high processing pressure or the communication link is congested. The host computer then reduces the sending window (see [link]). Figure 3 (This could even involve suspending sending to avoid further backlog.)

[0046] In this way, the controller always maintains an appropriate amount of look-ahead path, without missing instructions or excessive accumulation, thereby achieving smooth speed and continuous point acquisition during the circular scanning process.

[0047] A comparative experiment was conducted using the same circular scanning path (radius 50mm, scanning speed 100mm / s). Scanning was performed using both the traditional fixed-buffer, line-by-line method and the method of this invention. The controller buffer level, dynamic transmission window size, real-time device speed, and number of pauses were recorded. The results show that the traditional method resulted in severe buffer level fluctuations, large speed fluctuations, and multiple noticeable pauses during scanning. In contrast, the method of this invention stabilized the buffer level within a preset safety range, the dynamic transmission window adaptively adjusted, speed fluctuations were significantly reduced, the number of pauses was reduced to zero, acceleration changes were continuous, and the uniformity of the collected data was significantly improved.

[0048] The above comparative data demonstrates that this invention effectively solves the problems of sudden speed changes and pauses in continuous scanning through the coordinated control of look-ahead buffering, path smoothing, and feedback throttling. The relationships between buffer level, transmission window, device speed, and communication round-trip time during the above process can be found in [reference needed]. Figure 6 .

[0049] Example 2 Command throttling and look-ahead smoothing control methods for cylindrical scan In cylindrical scanning scenarios, the measurement path typically involves both circumferential and axial motion. For example, the probe may perform a helical scan along the cylindrical surface, i.e., rotating around the cylindrical axis while moving along the axial direction, or perform a multi-section scan of the circular cross-section at different heights.

[0050] In this embodiment, the host computer represents the cylindrical scanning path as a combination of the axial coordinate z and the circumferential angle θ. For the helical scanning path, the spatial coordinates of the path points can be represented as: P(θ) = C + R·(cosθ·u + sinθ·v) + z(θ)·w Where C represents the coordinates of the cylinder's reference center point, R is the cylinder's radius, u and v are two mutually orthogonal unit direction vectors within the cylinder's cross-sectional plane, w is the unit vector along the cylinder's axis, and z(θ) represents the function of axial displacement as a function of circumferential angle. For constant-pitch helical scanning, z(θ) = (h·θ) / (2π), where h is the pitch.

[0051] The host computer reparameterizes the parameterized path according to the target scanning speed and sampling density requirements, either by equal arc length or equal time, to ensure that the spatial distance between adjacent path points is approximately equal and the expected execution time is approximately consistent. For equal-pitch helical scanning, the corresponding angle increment can be solved by a fixed arc length step, and then the corresponding axial displacement can be calculated to ensure that the spatial distance between adjacent path points is approximately equal. For multi-section scanning, the equal-arc length resampling method in Example 1 is used for each circular section at each height.

[0052] When the local curvature of the path changes significantly or the direction of motion changes rapidly, the host computer automatically reduces the scanning speed of the local target or increases the path point density in that area, enabling the controller to smoothly complete the scanning action with smaller speed fluctuations and acceleration changes. Speed ​​adjustment can employ an S-shaped speed curve or polynomial speed planning to ensure continuity of speed, acceleration, and acceleration.

[0053] Meanwhile, in the instruction transmission phase, the host computer employs the same instruction throttling mechanism as in Embodiment 1: it continuously acquires execution feedback from the controller, including acknowledgment feedback (ACK), Busy status, buffer level, and round-trip time (RTT). Based on this, it estimates the controller's instruction consumption rate and dynamically adjusts the transmission window to ensure that the controller always maintains an appropriate continuous execution path length, such as 0.5 to 1.5 seconds. When the buffer level is low, the window is increased to supplement instructions; when the buffer level is high, the RTT increases, or the controller is busy, the window is decreased or transmission is paused.

[0054] Using the above method, the measuring device can maintain a continuous and stable motion state during cylindrical scanning, effectively avoiding scanning interruptions, local pauses and speed changes caused by insufficient command supply or overload, thereby obtaining uniform and reliable sampling data.

[0055] Example 3 Instruction throttling strategy based on a combination of token bucket and sliding window This embodiment provides a specific method for calculating the dynamic sending window, which adopts a combination of token bucket and sliding window.

[0056] The host computer maintains a token bucket, where tokens represent the number of commands that can be sent. Tokens are dynamically generated based on the estimated controller command consumption rate. Specifically, when the controller returns an ACK normally and the buffer level is within a preset safety range, the token generation rate remains basically stable or moderately increases; when the number of controller Busy states increases, the RTT increases, or the buffer level is too high, the token generation rate decreases accordingly.

[0057] Meanwhile, the host computer maintains a sliding window to limit the maximum number of instructions that can be sent within a preset time window, in order to prevent the controller from being overloaded by sending too many instructions in a short period of time.

[0058] By using a combination of token bucket and sliding window control, two extreme situations can be avoided simultaneously: first, too few tokens can cause the controller to become idle due to a lack of instructions ("starving the controller"); second, too many sudden instructions can cause the controller's buffer to overflow or its processing to become congested ("overwhelming the controller"). This combined strategy can both smooth the sending rate and suppress sudden traffic, making the instruction sending rhythm more stable.

[0059] Example 4 This embodiment also provides a command throttling and look-ahead smoothing measurement control system for measurement equipment controllers, which can be deployed in a host computer. (Refer to...) Figure 2 The system includes the following modules: 1. Measurement Task Analysis Module It is used to acquire the geometric object to be measured, measurement strategy, scanning speed, sampling interval and measurement path parameters, and generate an initial path point sequence or an initial measurement command sequence.

[0060] 2. Forward-looking planning module Connected to the measurement task parsing module, it receives an initial path point sequence or a measurement command sequence and forms a look-ahead buffer based on at least one of the following: path type, measurement speed requirements, sampling density requirements, and controller execution capability. This buffer can be determined according to at least one of the following: path length, expected execution time, or number of path points.

[0061] 3. Trajectory Smoothing Module Connected to the look-ahead planning module, it is used to reparameterize path points within the look-ahead buffer, ensuring that the path points meet the requirements of equal arc length or equal time sampling intervals, and satisfy at least one of the constraints of velocity continuity, acceleration continuity, or jerk. For different geometric paths, such as circles, cylinders, and free curves, targeted reparameterization methods are used, and further velocity planning processing can be performed.

[0062] 4. Instruction Generation Module Connected to the trajectory smoothing module, it is used to convert the reparameterized path points into control commands that can be executed by the measurement equipment controller, such as motion commands, point acquisition commands, or scanning commands.

[0063] 5. Controller Feedback Acquisition Module Used to obtain execution feedback returned by the controller in real time, including at least one of the following: acknowledgment feedback ACK, Busy status, controller buffer level, round-trip time (RTT), current location, alarm status, and instruction execution completion status.

[0064] 6. Instruction Throttling Module It connects to the controller feedback acquisition module and is used to estimate the command consumption rate and calculate the dynamic transmission window based on the controller feedback.

[0065] 7. Send Buffer Module It is connected to the instruction generation module and the instruction throttling module, and is used to cache the control instructions and send the control instructions to the measurement equipment controller according to the dynamic sending window calculated by the instruction throttling module, so as to keep the continuously executable look-ahead length of the measurement equipment controller within a preset safety range.

[0066] The modules described above can be deployed within the same industrial measurement software, or they can be partially deployed in a host computer, edge controller, or intermediate gateway as needed. The modules are connected sequentially according to the data flow order to form a closed-loop control system.

[0067] In engineering implementation, the above modules can be implemented as independent software components, for example: The measurement task parsing module is implemented as a task parser; The forward planning module is implemented as a forward planner; The trajectory smoothing module is implemented as a trajectory smoother; The instruction generation module is implemented as an instruction generator; The send buffer module is implemented as an instruction buffer; The controller feedback acquisition module is implemented as a feedback monitor; The instruction throttling module is implemented as a flow controller.

[0068] These components can work together via event bus, message queue, callback interface, or synchronous call. For example, after the feedback monitor receives an ACK from the controller, it triggers the flow controller to recalculate the sending window, and the flow controller then notifies the instruction buffer to allow the sending of a new batch of instructions.

[0069] This implementation is compatible with measurement software architectures that use I++, DMIS, or vendor proprietary protocols.

[0070] Data Recording and Evaluation: In practical applications, this invention can also be configured with a data recording module to record at least one of the following: dynamic transmission window size curve, controller buffer level curve, communication round-trip time (RTT) curve, device speed curve, acceleration curve, jerk curve, number of pauses, number of command retransmissions, number of controller busy events, and timestamps of measurement data. The recorded data can be used for subsequent debugging, quality traceability, performance evaluation, and control parameter optimization. This module is not essential for implementing this invention, but it helps to further improve the debuggability and maintainability of the system.

[0071] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for command throttling and look-ahead smoothing for measurement device controllers, characterized in that, Includes the following steps: Obtain the path to be tested or the measurement task, and generate an initial path point sequence or an initial measurement instruction sequence based on the path to be tested or the measurement task; Based on at least one of path type, measurement speed requirements, sampling density requirements, and controller execution capability, look-ahead planning is performed on the initial path point sequence or initial measurement command sequence to form a look-ahead buffer segment. The path points within the look-ahead buffer are reparameterized to ensure that the path points have equal arc length or equal time sampling intervals and satisfy at least one of velocity continuity, acceleration continuity, or jerk constraints. The reparameterized path points are converted into control instructions that can be executed by the measurement equipment controller. Obtain the execution feedback from the controller of the measuring device; The command consumption rate of the measuring device controller is estimated based on the execution feedback, and the dynamic sending window is calculated; The control command is sent to the measurement device controller according to the dynamic sending window to keep the continuously executable look-ahead length at the measurement device controller end within a preset safety range.

2. The method according to claim 1, characterized in that, The capacity of the look-ahead buffer is determined according to at least one of the following: path length, estimated execution time, or number of path points.

3. The method according to claim 1, characterized in that, The method for reparameterization is as follows: When the path to be tested is a circular path, the circular path is resampled with equal arc length according to the arc parameters; When the path to be measured is a cylindrical scanning path, joint reparameterization is performed based on the axial parameters and circumferential angle parameters of the cylinder; When the path to be tested is a free curve, it is reparameterized based on the cumulative result of the spline curve or broken line arc length.

4. The method according to claim 1, characterized in that, The execution feedback includes at least one of the following: acknowledgment feedback (ACK), busy status, controller buffer level, round-trip time (RTT), instruction execution completion status, alarm status, and current location status.

5. The method according to claim 1, characterized in that, The dynamic transmission window is determined based on at least one of the following factors: controller ACK feedback interval, controller Busy state duration, controller buffer level, communication round-trip time (RTT), average instruction execution time and transmission success rate within the preset time window, controller alarm status, path local curvature, target measurement speed, sampling interval, or sampling frequency.

6. The method according to claim 5, characterized in that, When the buffer level at the controller of the measuring device is lower than the preset lower limit, the dynamic transmission window is increased or the command transmission rate is increased; when the buffer level is higher than the preset upper limit, or the round-trip time (RTT) exceeds the preset threshold, or the controller is in Busy state, the dynamic transmission window is decreased or the transmission of control commands is suspended.

7. The method according to claim 5, characterized in that, The dynamic transmission window is converted into a path length window, a time window, or a sampling point window; wherein, the path length window is determined based on the cumulative value of the path arc length corresponding to the control command to be transmitted, and the time window is determined based on the target measurement speed and the path arc length.

8. A command throttling and look-ahead smoothing measurement control system for a measurement equipment controller, characterized in that, include: The measurement task parsing module is used to obtain the path to be measured or the measurement task, and generate an initial path point sequence or an initial measurement instruction sequence. The look-ahead planning module, connected to the measurement task parsing module, is used to receive the initial path point sequence or the initial measurement instruction sequence, and to form a look-ahead segment buffer based on at least one of the path type, measurement speed requirements, sampling density requirements, and controller execution capabilities. The trajectory smoothing module, connected to the look-ahead planning module, is used to reparameterize the path points in the look-ahead buffer so that the path points satisfy the sampling interval of equal arc length or equal time, and satisfy at least one of velocity continuity, acceleration continuity or jerk constraint. The instruction generation module, connected to the trajectory smoothing module, is used to convert the reparameterized path point sequence into control instructions that can be executed by the measurement equipment controller. The controller feedback acquisition module is used to acquire the execution feedback of the measuring device controller; The instruction throttling module, connected to the controller feedback acquisition module, is used to estimate the instruction consumption rate of the measuring device controller based on the execution feedback and to calculate the dynamic transmission window; A sending buffer module, connected to the instruction generation module and the instruction throttling module, is used to cache the control instructions and send the control instructions to the measurement device controller according to the dynamic sending window calculated by the instruction throttling module, so that the continuously executable look-ahead length at the measurement device controller end is kept within a preset safety range.

9. An electronic device, characterized in that, include: At least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, which, when executed by the at least one processor, causes the at least one processor to perform the 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 method as described in any one of claims 1 to 7.

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