阅读说明：本技术 一种目标物的加工方法及相关设备 (Target object processing method and related equipment ) 是由 龙祥 陈文军 熊保全 洪汉明 肖成柱 于 2021-10-20 设计创作，主要内容包括：本申请实施例公开了一种目标物的加工方法及相关设备,应用于机械加工领域,包括：加工设备根据目标物的加工轨迹,将目标物分给第一部分和第二部分。加工设备利用第一处理器控制第一加工头对目标物的第一部分进行加工,利用第二处理器控制第二加工头对目标物的第二部分进行加工。其中,加工设备控制第一加工头和第二加工头之间的距离不小于安全距离。上述方法可以利用多个加工头在加工材料上同时加工同一个目标物,同时还可以规避掉多个加工头发生碰撞的现象,提高了加工效率。(The embodiment of the application discloses a processing method of a target object and related equipment, which are applied to the field of machining and comprise the following steps: the processing device divides the object into a first portion and a second portion according to a processing trajectory of the object. The processing equipment controls the first processing head to process a first part of the target object by using the first processor, and controls the second processing head to process a second part of the target object by using the second processor. Wherein the processing equipment controls the distance between the first processing head and the second processing head to be not less than a safety distance. The method can utilize a plurality of processing heads to simultaneously process the same target object on the processing material, and simultaneously can avoid the phenomenon that the plurality of processing heads collide, thereby improving the processing efficiency.)

1. A method of processing an object, comprising:

the processing equipment divides the target object into a first part and a second part according to the processing track of the target object;

the processing equipment controls a first processing head to process a first part of the target object by utilizing a first processor, and controls a second processing head to process a second part of the target object by utilizing a second processor;

wherein the processing apparatus controls a distance between the first processing head and the second processing head to be not less than a safety distance.

2. The process of claim 1, further comprising:

the processing equipment determines a first coordinate system corresponding to the first processor and a second coordinate system corresponding to the second processor; the X axes of the first coordinate system and the second coordinate system are parallel to each other, positive directions corresponding to the X axes are the same, and the Y axes of the first coordinate system and the second coordinate system are parallel to each other, and positive directions corresponding to the Y axes are opposite;

the processing equipment determines a positive half shaft of the central axis of the target object on a Y axis corresponding to the first coordinate system and a positive half shaft of the central axis of the target object on the Y axis corresponding to the first coordinate system;

the processing equipment divides the target object into a first part and a second part according to the processing track of the target object, and comprises:

the processing equipment divides the target into the first part and the second part according to the central axis of the target.

3. The method of claim 2, wherein the processing tool controls a first processing head with a first processor to process a first portion of the target object, comprising:

the processing tool determining, with the first processor, first position coordinates of the first processing head in the first coordinate system;

the processing equipment determines a first target block corresponding to the first position coordinate by using the first processor; wherein the first portion of the target comprises a plurality of partitions;

the machining apparatus controls the first machining head by using the first processor, and performs continuous interpolation machining on the target block starting from the first position coordinate.

4. The process of claim 3, further comprising:

the processing equipment acquires second position coordinates of the second processing head in the second coordinate system by using the first processor;

the processing equipment acquires a second target block corresponding to the second position coordinate by using the first processor; wherein the second portion of the target comprises a plurality of partitions;

the processing equipment judges whether a coincident Y-axis coordinate area exists between the first target block and the second target block or not by using the first processor;

and the processing equipment controls the first processing head by using the first processor according to the judgment result.

5. A machining method as claimed in claim 4, in which the machining apparatus controls the first machining head using the first processor in dependence on the determination, including:

determining, by the processing device, a maximum boundary Y coordinate of the first target segment and the second target segment using the first processor;

the processing equipment determines that the coincident Y-axis coordinate area does not exist in the first target block and the second target block according to the maximum boundary Y coordinate of the first target block and the second target block;

the processing tool determines that the first processor and the second processor independently control the first processing head and the second processing head.

6. A machining method as claimed in claim 4, in which the machining apparatus controls the first machining head using the first processor in dependence on the determination, including:

determining, by the processing device, a maximum boundary Y coordinate of the first target segment and the second target segment using the first processor;

the processing equipment determines that the coincident Y-axis coordinate area exists between the first target block and the second target block according to the maximum boundary Y coordinate of the first target block and the second target block;

the processing device monitoring the position of the second processing head in real time by means of the first processor;

the processing apparatus determines the first processor and controls the position of the first processing head in dependence on the position of the second processing head so that the position of the first processing head is different to the position of the second processing head.

7. A machining method as claimed in claim 6 in which the machining apparatus determines the first processor and controlling the position of the first machining head in dependence on the position of the second machining head comprises:

the processing tool determining, with the first processor, a direction of movement of the second processing head;

if the movement direction of the second processing head is away from the first processing head, the processing equipment controls the movement direction of the first processing head to be kept unchanged by using the first processor;

if the motion direction of the second processing head is the direction close to the first processing head, the processing equipment determines that the motion direction of the first processing head is the direction far away from the second processing head by using the first processor.

8. An apparatus for processing an object, comprising:

the processing unit is used for dividing the target object into a first part and a second part according to the processing track of the target object;

the first control unit is used for controlling the first processing head to process the first part of the target object;

the second control unit is used for controlling the second processing head to process a second part of the target object;

wherein the first control unit and the second control unit of the processing equipment are also used for controlling the distance between the first processing head and the second processing head to be not less than a safety distance.

9. The processing equipment of the target object is characterized by comprising a processor, a communication interface, a memory and a communication bus; wherein the content of the first and second substances,

the processor, the communication interface and the processor communicate through the communication bus;

the memory is used for storing a computer program;

the processor is configured to execute the computer program stored in the memory to implement the processing method according to any one of claims 1 to 7.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the machining method according to any one of claims 1 to 7.

Technical Field

The embodiment of the application relates to the field of machining, in particular to a method for machining a target object and related equipment.

Background

The laser machine is a general name of a laser engraving machine, a laser cutting machine and a laser marking machine. The working principle of high temperature of laser is utilized to act on the surface of the processed material, and characters or figures needed by a customer are drawn according to the figures input into the laser machine. The laser machine is widely popularized in various industries and can be suitable for various processing scenes. The method can meet the processing requirements of medium and small artware, and can be applied to industrial production and processing.

Laser machines typically use a laser machining head to perform the machining process based on a coordinate system. The method comprises the steps of firstly determining the position coordinates of a target object to be processed in a coordinate system, then determining the coordinates of a processing point based on the position coordinates, then utilizing a laser processing head to carry out operations such as carving, cutting or marking on the processing point according to the coordinates of the processing point, and finally drawing the target object on a processing material to finish the processing process.

With the continuous development of laser machines, the laser machines generally include a plurality of laser processing heads, and in order to improve the processing efficiency, a plurality of laser processing heads are often required to simultaneously draw the same target object. Therefore, how to more efficiently control the processing processes of the plurality of laser processing heads and avoid collision of the plurality of laser processing heads becomes a problem to be solved urgently.

Disclosure of Invention

The embodiment of the application provides a processing method of a target object and related equipment, which can simultaneously process the same target object on a processing material by utilizing a plurality of laser processing heads. Each processor independently controls one laser processing head, then the plurality of processors finish the processing of a target object based on a plurality of associated coordinate systems, and the processing direction, the processing speed and the like of the laser processing head are controlled by monitoring the position of the laser processing head so as to avoid the phenomenon that the laser processing head collides.

A first aspect of an embodiment of the present application provides a method for processing a target object, including:

the processing device divides the object into a first portion and a second portion according to a processing trajectory of the object.

The processing equipment controls the first processing head to process a first part of the target object by using the first processor, and controls the second processing head to process a second part of the target object by using the second processor.

Wherein the processing equipment controls the distance between the first processing head and the second processing head to be not less than a safety distance.

In an optional embodiment, the method further comprises:

the processing equipment determines a first coordinate system corresponding to the first processor and a second coordinate system corresponding to the second processor. The X axes of the first coordinate system and the second coordinate system are parallel to each other, positive directions corresponding to the X axes are the same, and the Y axes of the first coordinate system and the second coordinate system are parallel to each other, and positive directions corresponding to the Y axes are opposite.

The processing equipment determines that the central axis of the target object is on the positive half axis of the Y axis corresponding to the first coordinate system and the central axis of the target object is on the positive half axis of the Y axis corresponding to the first coordinate system.

The processing equipment divides the object into a first part and a second part according to the processing track of the object, and comprises:

the processing equipment divides the object into a first part and a second part according to the central axis of the object.

In an alternative embodiment, a processing apparatus for controlling a first processing head to process a first portion of a target object using a first processor, includes:

the processing device determines first position coordinates of the first processing head in a first coordinate system using a first processor.

The processing equipment utilizes the first processor to determine a first target block corresponding to the first position coordinate. Wherein the first portion of the target comprises a plurality of segments.

The machining apparatus controls the first machining head by the first processor, and performs continuous interpolation machining on the target block starting from the first position coordinate.

In an optional embodiment, the method further comprises:

the processing device acquires, with the first processor, second position coordinates of the second processing head in a second coordinate system.

And the processing equipment acquires a second target block corresponding to the second position coordinate by using the first processor. Wherein the second portion of the target comprises a plurality of segments.

And the processing equipment judges whether a coincident Y-axis coordinate area exists between the first target block and the second target block or not by using the first processor.

The processing equipment controls the first processing head by using the first processor according to the judgment result.

In an alternative embodiment, the processing tool controls the first processing head with the first processor based on the determination, including:

the processing device determines, using the first processor, a maximum boundary Y coordinate of the first target segment and the second target segment.

And the processing equipment determines a Y-axis coordinate area where the first target block and the second target block are not overlapped according to the maximum boundary Y coordinate of the first target block and the second target block.

The processing tool determines that the first and second processors independently control the first and second processing heads.

In an alternative embodiment, the processing tool controls the first processing head with the first processor based on the determination, including:

the processing device determines, using the first processor, a maximum boundary Y coordinate of the first target segment and the second target segment.

And the processing equipment determines a Y-axis coordinate area where the first target block and the second target block are overlapped according to the maximum boundary Y coordinate of the first target block and the second target block.

The processing tool monitors the position of the second processing head in real time using the first processor.

The processing apparatus determines a first processor which controls the position of the first processing head in dependence on the position of the second processing head so that the position of the first processing head is different from the position of the second processing head.

In an alternative embodiment, the processing apparatus determines a first processor to control the position of the first processing head in dependence on the position of the second processing head, comprising:

the processing apparatus determines a direction of movement of the second processing head using the first processor.

If the movement direction of the second processing head is away from the first processing head, the processing equipment controls the movement direction of the first processing head to be kept unchanged by using the first processor.

The processing apparatus determines, using the first processor, that the direction of movement of the first processing head is away from the second processing head if the direction of movement of the second processing head is towards the first processing head.

A second aspect of embodiments of the present application provides a processing apparatus for a target object, including:

and the processing unit is used for dividing the target object into the first part and the second part according to the processing track of the target object.

And the first control unit is used for controlling the first processing head to process the first part of the target object.

And the second control unit is used for controlling the second processing head to process the second part of the target object.

The first control unit and the second control unit of the processing equipment are also used for controlling the distance between the first processing head and the second processing head to be not less than the safety distance.

In an alternative embodiment, the processing device further comprises a determination unit.

And the determining unit is used for determining a first coordinate system corresponding to the first processor and a second coordinate system corresponding to the second processor. The X axes of the first coordinate system and the second coordinate system are parallel to each other, positive directions corresponding to the X axes are the same, and the Y axes of the first coordinate system and the second coordinate system are parallel to each other, and positive directions corresponding to the Y axes are opposite.

The determining unit is further used for determining a positive half axis of the central axis of the target object on the Y axis corresponding to the first coordinate system and a positive half axis of the central axis of the target object on the Y axis corresponding to the first coordinate system.

The processing unit is specifically used for dividing the target into a first part and a second part according to the central axis of the target.

In an alternative embodiment, the first control unit is used in particular for determining a first position coordinate of the first machining head in a first coordinate system. And determining a first target block corresponding to the first position coordinate. Wherein the first portion of the target comprises a plurality of segments. And controlling the first machining head to perform continuous interpolation machining on the target block from the first position coordinate.

In an alternative embodiment, the first control unit is further configured to acquire, with the first processor, second position coordinates of the second processing head in a second coordinate system. And acquiring a second target block corresponding to the second position coordinate. Wherein the second portion of the target comprises a plurality of segments. And judging whether the first target block and the second target block have a superposed Y-axis coordinate area. And controlling the first processing head by using the first processor according to the judgment result.

In an alternative embodiment, the first control unit is specifically configured to determine a maximum boundary Y coordinate of the first target block and the second target block.

And the determining unit is further used for determining a Y-axis coordinate area where the first target block and the second target block do not coincide with each other according to the maximum boundary Y coordinate of the first target block and the second target block. It is determined that the first and second processors independently control the first and second processing heads.

In an alternative embodiment, the first control unit is specifically configured to determine a maximum boundary Y coordinate of the first target block and the second target block.

And the determining unit is further used for determining a Y-axis coordinate area where the first target block and the second target block are overlapped according to the maximum boundary Y coordinate of the first target block and the second target block.

The first control unit is also used for monitoring the position of the second processing head in real time.

A determination unit for determining a first control unit for controlling the position of the first processing head in dependence on the position of the second processing head so that the position of the first processing head is different from the position of the second processing head.

In an alternative embodiment, the first control unit is in particular adapted to determine the direction of movement of the second machining head by means of the first processor. And if the movement direction of the second processing head is away from the first processing head, controlling the movement direction of the first processing head to be kept unchanged. If the direction of movement of the second processing head is in a direction closer to the first processing head, the direction of movement of the first processing head is determined to be in a direction away from the second processing head.

A third aspect of the embodiments of the present application provides an apparatus for processing an object, including a processor, a communication interface, a memory, and a communication bus. Wherein the processor, the communication interface and the processor communicate via a communication bus.

A memory for storing a computer program.

And the processor is used for executing the computer program stored in the memory and realizing the processing method of any one of the first aspect to the first aspect of the embodiments of the application.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the processing method according to any one of the first aspect to the first aspect of the embodiments of the present application.

Drawings

Fig. 1 is a network architecture diagram of a processing apparatus for a target object according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a method for processing a target object according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram of a coordinate system corresponding to a processing head according to an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart of another processing method provided in the embodiments of the present application;

fig. 5 is a schematic flow chart corresponding to an obstacle avoidance strategy according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a target processing apparatus according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of another object processing apparatus according to an embodiment of the present disclosure.

Detailed Description

The embodiment of the application provides a processing method of a target object and related equipment, which can realize that a plurality of laser processing heads simultaneously process the same target object on a processing material. Each processor independently controls one laser processing head, then the plurality of processors finish the processing of a target object based on a plurality of associated coordinate systems, and the processing direction, the processing speed and the like of the laser processing head are controlled by monitoring the position of the laser processing head so as to avoid the phenomenon that the laser processing head collides.

Technical terms used in the embodiments of the present invention are only used for illustrating specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Further, the use of "including" and/or "comprising" in the specification is intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and/or components.

The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below, if any, are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed.

The laser machine is a general name of a laser engraving machine, a laser cutting machine and a laser marking machine. The working principle of high temperature of laser is utilized to act on the surface of the processed material, and characters or figures needed by a customer are drawn according to the figures input into the laser machine. The laser machine is widely popularized in various industries and can be suitable for various processing scenes. The method can meet the processing requirements of medium and small artware, and can be applied to industrial production and processing.

In general, a laser machine may determine coordinates of a machining point based on a coordinate system, then drive a machining head to move to the machining point by using a motor, and finally control the machining head to machine a material at the machining point. It can be understood that the laser machine can control the processing head to move continuously according to the processing track, and finally draw preset characters or figures on the processing material. In order to increase the machining rate, it is often possible to machine simultaneously with a plurality of machining heads. For example, a pattern may be drawn by two laser heads, a first laser head performing one part of the pattern and a second laser head performing another part of the pattern. Therefore, the processing time can be greatly reduced, and the processing efficiency is improved. However, a new problem arises in that a plurality of processing heads simultaneously process a target pattern, and the distances between the respective portions of the target pattern are very close, which easily causes the processing heads to collide with each other, and not only causes great damage to the laser machine, but also fails to complete the drawing of the target pattern. Therefore, the movements of the plurality of machining heads should be coordinated and matched with each other to avoid the situation that the machining heads collide.

Typically, the laser machine utilizes the same processor to control the movement of both laser machining heads simultaneously. In this case, the processor ensures that both laser processing heads move independently and that no collision occurs between the two laser processing heads. For the same processor, the processor would require a very complex control algorithm. While the computational effort is also particularly large. These will eventually affect the processing speed of the laser processing head, reducing the performance of the laser machine. Therefore, the laser machine can utilize the plurality of processors to control different laser processing heads respectively, so that each processor controls the movement of one laser processing head, the calculated amount can be balanced, and the movement speed of each laser processing head is ensured. However, the multiple processors need to communicate with each other, share the motion conditions of other laser processing heads in real time, determine necessary evasive rules, and avoid collision of the motions among the multiple laser processing heads, namely collision of the laser processing heads. Therefore, how to communicate among the processors and how to jointly control the laser processing heads becomes an urgent problem to be solved.

In view of the above problem, embodiments of the present application provide a method for processing an object, where a processing apparatus includes a plurality of controllers, and each controller independently controls the movement of one laser processing head. The processing efficiency of the target object is improved, and meanwhile, the processing speed of each processing head is guaranteed. Simultaneously, intercommunication between a plurality of treater to obtain the processing state of other processing heads, through the monitoring to other processing heads, avoid the problem that the processing route of a plurality of processing heads takes place the conflict, make keep safe distance all the time between per two processing heads, avoid appearing the collision between the processing head, thereby improve processing equipment's life-span, guarantee processing safety, and then improve the machining efficiency of target.

Before describing the processing method provided by the embodiment of the present application, a structure of a processing apparatus in the embodiment of the present application is described. Fig. 1 is a network architecture diagram of a processing apparatus for an object according to an embodiment of the present invention, as shown in fig. 1, the processing apparatus includes a plurality of central processing units CPU, each of which can independently control one or more processing heads. And the CPUs communicate with each other by means of a dual port memory DPRAM. The DPRAM can be built in an FPGA chip, and the two CPUs access the FPGA chip and then access the internal DPRAM, so that the important information of the two CPUs is shared. Wherein each CPU controls the machining head on the basis of a different coordinate system, i.e. the first CPU needs to determine machining point coordinates in the first coordinate system and then use the machining point coordinates to control the movement of the first machining head. And the second CPU needs to determine the coordinates of the processing point in the second coordinate system and then control the movement of the second processing head by using the coordinates of the processing point. Therefore, the control processes of different CPUs are mutually independent, the motion processes of different processing heads are also independent, and different processing heads can have different processing speeds, processing modes, processing directions and the like, and are not limited specifically. When different machining heads work simultaneously, the movement of the machining heads is independent, and the situation that the laser heads collide is avoided only by changing the movement state based on the operation states of other machining heads.

Based on the network architecture, fig. 2 is a schematic flow chart of a processing method of a target object according to an embodiment of the present application, including:

201. the processing equipment divides the target object into a first part and a second part.

When the processing apparatus needs to trace an object on a processing material, a plurality of processing heads may be used to perform processing simultaneously. First, the target object is divided into two parts according to the processing trajectory of the target object. The first part is processed by a first processing head controlled by a first processor and the second part is processed by a second processing head controlled by a second processor. Thereby improving the processing speed and the processing efficiency.

For example, the processing equipment may be divided according to the contour of the entire object and the processing surface. In a preferred mode, the control tasks (processing tasks of the processing heads) of the two processors need to be balanced as much as possible, and the overall processing time of each processing head is approximately the same, so that the maximum double-head simultaneous processing is ensured, and the processing efficiency is improved.

As shown in fig. 3, a schematic diagram of a coordinate system corresponding to a processing head according to an embodiment of the present application is provided. Since the coordinate systems corresponding to the plurality of processors are different from each other, the coordinate system corresponding to the first processing head can be determined as the coordinate system configured by X1 and Y1. The coordinate system corresponding to the second processing head is determined as the coordinate system consisting of X2 and Y2. Wherein, X1 and X2 are parallel to each other and have the same positive direction. The straight lines of Y1 and Y2 coincide, but the positive directions of Y1 and Y2 are opposite. In this case the first machining head may be driven by two motors, one to control movement of the first machining head in the X direction and the other to control movement of the first machining head in the Y direction. Similarly, the second machining head can also be driven by two motors, one of which controls the second machining head to move in the X direction and the other of which controls the second machining head to move in the Y direction,

in this case, the central axis of the object (a plurality of processing patterns) may be determined, and then the object may be divided into two parts by the central axis, and then the first processing head may be controlled to process a part above and the second processing head may be controlled to process a part below.

202. A first processor determines a first coordinate position of the first machining head in a first coordinate system and determines a first target segment of the first portion from the first coordinate position;

based on fig. 3, each processing head is responsible for completing its corresponding portion and, ultimately, the entire pattern. Each processing head can also be divided into blocks in the processing process of the processing head, and then a plurality of blocks are processed. In fig. 3, the first processor may segment the first portion based on the interference line 1, then obtain the current position of the first processing head, determine the processing sequence of the first processing head based on the current position of the first processing head, process the first half segment of the first portion if the first processing head is above the interference line 1, and then re-process the second half segment after processing. It is to be understood that the blocking strategy may be various, and the blocking may be performed based on different directions, which is not limited specifically. Similarly, the process of controlling the second processing head by the second processor is similar to the process of controlling the first processor and is not limited herein.

203. The first processor obtains boundary data of the first target block and boundary data of the second target block included in the second portion provided by the second processor.

The first processor determines the second target block and then determines the boundary data of the first target block, as shown in fig. 3, and the first processor needs to determine the Y coordinate of the highest point of the first target block to evaluate whether the first processing head collides with another processing head during the processing, and it can be understood that when the first processing head and the second processing head simultaneously process the boundary portion, if no collision occurs, the whole processing process will not collide. If collision is possible, the motion condition needs to be detected, and collision of the processing head is avoided through evasive methods.

204. And the first processor judges whether the problem of processing conflict occurs or not according to the boundary data of the first target block and the second target block. If there is no conflict, step 105 is executed, and if there is a conflict, step 106 is executed.

It will be appreciated that the first and second processors may be operable to transmit the process state data of their respective process heads to the random access memory, from which the first processor may retrieve the process state data of the other process heads.

205. The first processor maintains a processing state of the first processing head and processes the first target block.

If the first processor judges through the boundary data corresponding to the two processing heads that the two processing heads cannot collide in the whole processing process, each processor can independently process part of the target object, the original processing speed, processing direction, processing track and the like are kept, and the whole processing process of the target object is finally completed.

206. The first processor monitors the motion state of the second processing head and controls the motion of the first processing head according to the motion state of the second processing head.

If the first processor determines that a collision event may occur between the two heads during the machining process, the first processor may need to monitor the motion of the second head in real time while machining the first part. The presence of a safety distance between the second machining head and the first machining head is controlled. That is, when the first processor detects that the second processing head is too close to the first processing head, the processing direction of the first processing head needs to be changed, and the first processing head is controlled to move in the direction away from the second processing head. Therefore, the problem of collision among a plurality of processing heads can be effectively avoided, and the processing efficiency is improved.

With reference to the above description, fig. 4 is a schematic flow chart of another processing method provided in the embodiment of the present application, and as shown in fig. 4, the method includes:

step S1: and starting the machining. The first processor reads the native file.

Step S2: and reading the boundary data of the local target block from the file.

And updating the current coordinate, speed and other key data of the first processing head corresponding to the local machine in real time. These critical data may be placed in the DPRAM for real-time reading of the data by the second processor.

Step S3: and acquiring the boundary data of the current block of the second processing head corresponding to the second processor from the DPRAM, and judging whether the processing blocks corresponding to the two processors have interference or not by combining the boundary data of the block to be processed. If there is no interference between the two sets of processing patterns, the process proceeds to S41, and if there is interference, the process proceeds to S42.

Step S41: if the two blocks do not interfere with each other, whether an obstacle avoidance strategy is called or not needs to be further judged in the previous execution process of the local machine. If the obstacle avoidance strategy is not called before, the block and the previous block can be continuously and freely processed, and the step is not specially processed. If the rollback obstacle avoidance strategy was called in the previous time, the machining logic site needs to be restored, including the operations of clearing the blocking mark, restoring the position of the XY axis to the coordinate before rollback and the like, and then the step S5 is executed.

Step S42: if the two blocks interfere with each other, it is indicated that the processing data of the local block is unsafe, but it does not indicate that collision of two groups of processing will occur, and at this time, step S5 is further performed after the obstacle avoidance strategy is invoked.

Step S5: and calling a continuous track planning algorithm of the XY plane to perform continuous interpolation processing on the block data.

Step S6: and judging whether all the data are processed or not, if not, turning to S2 to read the next processing block data and continuing the whole logic flow, and if the file is processed, turning to S7.

Step S7: after the machining of the present file is completed, the XY is returned to the original point of the coordinate system, so that the machine does not interfere with the machining head of the other side, and the machining of the machine is completed.

The following describes an obstacle avoidance process corresponding to an obstacle avoidance policy in detail, and fig. 5 is a schematic flow chart corresponding to an obstacle avoidance policy provided in an embodiment of the present application, where the process includes:

step 501: entering an obstacle avoidance strategy, and reading or updating information such as line segment coordinates, speed and the like in the interpolation period.

Step 502, determining whether the block is no longer an interference region (which may be due to the fact that the processing track of the opposite side has deviated from the interference region according to the boundary data of the DPRAM), or determining whether the block data has been processed, and if any one of the two is satisfied, ending the obstacle avoidance strategy. Otherwise, go to step 503.

Step 503, determining whether the corresponding line segment in the present period moves away from the Y axis, that is, for the coordinate system 1 shown in fig. 3, whether the line segment moves toward the Y axis negative direction as a whole. If yes, go to step 504; if not, go to step 505.

And step 504, if the corresponding line segment in the period moves far away, the controller does not perform special processing, and the motion in the period is interpolated according to a speed strategy planned in advance.

And 505, if the line segment in the period does not move far away and the actual danger of collision exists, reading key information in the DPRAM, such as the current/target positions of two processing heads, the safety distance reserved by a controller algorithm and the like, and determining whether a distance of the line can be interpolated in the period, if so, executing 506, otherwise, executing 507.

Step 506, in the period, the danger of collision exists, but a linear distance can be operated, at this time, the controller re-obtains the highest bearing speed of a new target point according to the current positions of the two ends in the DPRAM, the current speed, the direction of the speed vector and other conditions, the speed is limited by a plurality of factors, if the current position, the current speed and the direction of the speed vector cannot exceed the original planned speed, enough deceleration distance needs to be reserved to prevent the two ends from colliding, and the like, and then the period is interpolated according to the new plan

And step 507, the rest line segments of the corresponding straight lines in the period are in danger of collision and do not meet the requirement of continuous interpolation. The processing head is forced to retreat and avoid, and the DPRAM acquires the target position of the opposite side and determines the avoiding point of the local machine to avoid. Then go to step 501 to continue the control of the whole flow loop.

Fig. 6 is a schematic structural diagram of a target object processing apparatus according to a second aspect of the embodiment of the present application, where the target object processing apparatus includes:

the processing unit 601 is configured to divide the target object into a first portion and a second portion according to the processing trajectory of the target object.

A first control unit 602, configured to control the first processing head to process the first portion of the target object.

A second control unit 603 for controlling the second processing head to process a second portion of the target object.

The first control unit and the second control unit of the processing equipment are also used for controlling the distance between the first processing head and the second processing head to be not less than the safety distance.

In an alternative embodiment, the processing device further comprises a determination unit 604.

A determining unit 604, configured to determine a first coordinate system corresponding to the first processor and a second coordinate system corresponding to the second processor. The X axes of the first coordinate system and the second coordinate system are parallel to each other, positive directions corresponding to the X axes are the same, and the Y axes of the first coordinate system and the second coordinate system are parallel to each other, and positive directions corresponding to the Y axes are opposite.

The determining unit 604 is further configured to determine a positive half axis of the central axis of the target object on the Y axis corresponding to the first coordinate system and a positive half axis of the central axis of the target object on the Y axis corresponding to the first coordinate system.

The processing unit 601 is specifically configured to divide the target into a first portion and a second portion according to a central axis of the target.

In an alternative embodiment, the first control unit 602 is specifically configured to determine first position coordinates of the first processing head in the first coordinate system. And determining a first target block corresponding to the first position coordinate. Wherein the first portion of the target comprises a plurality of segments. And controlling the first machining head to perform continuous interpolation machining on the target block from the first position coordinate.

In an alternative embodiment, the first control unit 602 is further configured to acquire, using the first processor, second position coordinates of the second processing head in a second coordinate system. And acquiring a second target block corresponding to the second position coordinate. Wherein the second portion of the target comprises a plurality of segments. And judging whether the first target block and the second target block have a superposed Y-axis coordinate area. And controlling the first processing head by using the first processor according to the judgment result.

In an optional embodiment, the first control unit 602 is specifically configured to determine a maximum boundary Y coordinate of the first target block and the second target block.

The determining unit 604 is further configured to determine, according to the maximum boundary Y coordinate of the first target block and the second target block, a Y-axis coordinate region where the first target block and the second target block do not coincide with each other. It is determined that the first and second processors independently control the first and second processing heads.

In an optional embodiment, the first control unit 602 is specifically configured to determine a maximum boundary Y coordinate of the first target block and the second target block.

The determining unit 604 is further configured to determine a Y-axis coordinate area where the first target block and the second target block coincide with each other according to the maximum boundary Y coordinate of the first target block and the second target block.

The first control unit 602 is also used to monitor the position of the second processing head in real time.

A determination unit 604 for determining a first control unit for controlling the position of the first processing head in dependence on the position of the second processing head so that the position of the first processing head is different from the position of the second processing head.

In an alternative embodiment, the first control unit 602 is specifically configured to determine the direction of movement of the second processing head using the first processor. And if the movement direction of the second processing head is away from the first processing head, controlling the movement direction of the first processing head to be kept unchanged. If the direction of movement of the second processing head is in a direction closer to the first processing head, the direction of movement of the first processing head is determined to be in a direction away from the second processing head.

Referring to fig. 7, a schematic structural diagram of another object processing apparatus according to an embodiment of the present disclosure is shown, where the object processing apparatus includes: a processor 701, a memory 702, and a communication interface 703.

The processor 701, the memory 702, and the communication interface 703 are connected to each other by a bus; the bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.

The memory 702 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD); the memory 402 may also comprise a combination of memories of the kind described above.

The processor 701 may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP. The processor 701 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.

The communication interface 703 may be a wired communication interface, such as an ethernet interface, a wireless communication interface, or a combination thereof. The ethernet interface may be an optical interface, an electrical interface, or a combination thereof. The wireless communication interface may be a WLAN interface, a cellular network communication interface, a combination thereof, or the like.

Optionally, the memory 702 may also be configured to store program instructions, and the processor 701 invokes the program instructions stored in the memory 702, and may execute steps in the method embodiment shown in fig. 2 or fig. 5, or an optional implementation manner thereof, so that the face recognition apparatus implements the steps in the method, which is not described herein again.

The present application further provides a chip or a chip system, where the chip or the chip system includes at least one processor and a communication interface, the communication interface and the at least one processor are interconnected by a line, and the at least one processor executes instructions or a computer program to perform one or more steps in the method embodiments shown in fig. 2 or fig. 5.

The communication interface in the chip may be an input/output interface, a pin, a circuit, or the like.

In a possible implementation, the chip or chip system described above further comprises at least one memory, in which instructions are stored. The memory may be a storage unit inside the chip, such as a register, a cache, etc., or may be a storage unit of the chip (e.g., a read-only memory, a random access memory, etc.).

The embodiment of the application also provides a computer storage medium, and computer program instructions in the processing method for realizing the target object provided by the embodiment of the application are stored in the computer storage medium.

The embodiment of the present application further provides a computer program product, where the computer program product includes computer software instructions, and the computer software instructions can be loaded by a processor to implement the flow in the processing method of the target object shown in fig. 2 or fig. 5.

Technical terms used in the embodiments of the present invention are only used for illustrating specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Further, the use of "including" and/or "comprising" in the specification is intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and/or components.

The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below, if any, are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed.