CN109814488A - Collaborative numerically-controlled machine tool control method and computer-readable medium based on Internet of Things - Google Patents
Collaborative numerically-controlled machine tool control method and computer-readable medium based on Internet of Things Download PDFInfo
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Abstract
The collaborative numerically-controlled machine tool control method based on Internet of Things that the invention discloses a kind of includes the following steps: to collect the control information for controlling numerically-controlled machine tool by first movement formula terminal；The first reference signal sent by numerically-controlled machine tool control centre is received by first movement formula terminal, and estimates the first channel conditions of the wireless channel between first movement formula terminal and numerically-controlled machine tool control centre；Size based on the first channel conditions and control information is calculated from first movement formula terminal and is sent required for controlling information at the first time to numerically-controlled machine tool control centre, and is sent to numerically-controlled machine tool control centre；The second reference signal sent by the second mobile terminal is received by first movement formula terminal, and estimates the second channel situation of the wireless channel between first movement formula terminal and the second mobile terminal；It is calculated from first movement formula terminal and sends the second time required for controlling information to the second mobile terminal, and be sent to numerically-controlled machine tool control centre.
Description
Technical field
The present invention relates to Machine-Tool Control technical fields, especially with regard to a kind of collaborative numerically-controlled machine tool based on Internet of Things
Control method and computer-readable medium.
Background technique
The main competitiveness of industrially developed country is from manufacturing industry, even in developing country, overall national strength
It is based on manufacturing industry.And as manufacturing basis, i.e. machining manufacture level, it is always that various countries' measurement is manufacturing
Core index.And the surface quality of machined part reflects the level of machining, and the raising of its surface quality is to machine
Working performance, service life, beauty of tool product etc. have played important function, therefore the research hotspot of always machinery manufacturing industry.With
Modern product develops to high-performance, high stability and beauty etc., proposes more to the Precision of NC Machine Tool processed for part
High requirement.By the way of the compensation of lathe hardware error and Software error compensation, numerical control can be effectively improved in a certain range
Lathe overall processing precision.
The information disclosed in the background technology section is intended only to increase the understanding to general background of the invention, without answering
When being considered as recognizing or imply that the information constitutes the prior art already known to those of ordinary skill in the art in any form.
Summary of the invention
The collaborative numerically-controlled machine tool control method and computer that the purpose of the present invention is to provide a kind of based on Internet of Things can
The shortcomings that reading medium, the prior art can be overcome.
To achieve the above object, the collaborative numerically-controlled machine tool control method based on Internet of Things that the present invention provides a kind of, packet
Include following steps:
Control information for controlling numerically-controlled machine tool is collected by first movement formula terminal；
The first reference signal sent by numerically-controlled machine tool control centre is received by first movement formula terminal, and based on the first ginseng
Signal is examined, estimates the first channel conditions of the wireless channel between first movement formula terminal and numerically-controlled machine tool control centre；
Size based on the first channel conditions and control information, is calculated to numerically-controlled machine tool from first movement formula terminal and is controlled
Center is sent required for control information at the first time, and will be sent to numerically-controlled machine tool control centre at the first time；
The second reference signal sent by the second mobile terminal is received by first movement formula terminal, and based on the second reference
Signal estimates the second channel situation of the wireless channel between first movement formula terminal and the second mobile terminal；
Size based on second channel situation and control information is calculated mobile whole to second from first movement formula terminal
End sends the second time required for control information, and the second time was sent to numerically-controlled machine tool control centre；
The size of control information is notified from first movement formula terminal to the second mobile terminal；
The first reference signal sent by numerically-controlled machine tool control centre is received by the second mobile terminal, and based on the first ginseng
Signal is examined, estimates the third channel conditions of the wireless channel between the second mobile terminal and numerically-controlled machine tool control centre；
Size based on third channel conditions and control information, is calculated to numerically-controlled machine tool from the second mobile terminal and is controlled
Center sends the third time required for control information, and the third time is sent to numerically-controlled machine tool control centre；
If being shorter than time gate limit value at the first time, numerically-controlled machine tool is sent to by information is controlled by first movement formula terminal
Control centre；And
If being longer than time gate limit value at the first time, adjusted by first movement formula terminal notification numerically-controlled machine tool control centre
The transmission of degree control information.
In a preferred embodiment, wherein the size based on the first channel conditions and control information is moved by first
Dynamic formula terminal is calculated and sent required for control information to numerically-controlled machine tool control centre to be carried out by following formula at the first time
:
Wherein, T1It represents at the first time, function ceil indicates that the number that rounds up, D represent the size of control information, θ1It represents
Efficiency of transmission between first movement formula terminal and numerically-controlled machine tool control centre, t represent ideal communication channel situation lower unit time energy
The information size enough transmitted；
Wherein, the size based on second channel situation and control information, is calculated to second from first movement formula terminal and is moved
Second time required for dynamic formula terminal transmission control information is carried out by following formula:
Wherein, T2Represent the second time, θ2Represent the transmission effect between first movement formula terminal and the second mobile terminal
Rate.
In a preferred embodiment, wherein the size based on third channel conditions and control information is moved by second
Dynamic formula terminal calculate to numerically-controlled machine tool control centre send control information required for the third time be to be carried out by following formula
:
Wherein, T3Represent third time, θ3Represent the transmission between the second mobile terminal and numerically-controlled machine tool control centre
Efficiency.
In a preferred embodiment, numerically-controlled machine tool control centre is by following steps come the biography of scheduling control information
It is defeated:
Judge whether be greater than the sum of the second time and third time at the first time；
If it is determined that first movement formula terminal is then notified at the first time less than the sum of the second time and third time, so that
It obtains first movement formula terminal and directly sends control information to numerically-controlled machine tool control centre.
In a preferred embodiment, numerically-controlled machine tool control centre is also configured to
If it is determined that being greater than the sum of the second time and third time at the first time, then first movement formula terminal is notified, so that
It obtains first movement formula terminal and sends control information to the second mobile terminal；
The second mobile terminal is notified, so that the second mobile terminal is sent out received by first movement formula terminal
The control information sent is transmitted to numerically-controlled machine tool control centre.
The present invention also provides a kind of non-transitory computer-readable storage media, non-transitory computer-readable storage mediums
Program code is stored in matter, program code can be executed by processor to perform the following operation:
Control information for controlling numerically-controlled machine tool is collected by first movement formula terminal；
The first reference signal sent by numerically-controlled machine tool control centre is received by first movement formula terminal, and based on the first ginseng
Signal is examined, estimates the first channel conditions of the wireless channel between first movement formula terminal and numerically-controlled machine tool control centre；
Size based on the first channel conditions and control information, is calculated to numerically-controlled machine tool from first movement formula terminal and is controlled
Center is sent required for control information at the first time, and will be sent to numerically-controlled machine tool control centre at the first time；
The second reference signal sent by the second mobile terminal is received by first movement formula terminal, and based on the second reference
Signal estimates the second channel situation of the wireless channel between first movement formula terminal and the second mobile terminal；
Size based on second channel situation and control information is calculated mobile whole to second from first movement formula terminal
End sends the second time required for control information, and the second time was sent to numerically-controlled machine tool control centre；
The size of control information is notified from first movement formula terminal to the second mobile terminal；
The first reference signal sent by numerically-controlled machine tool control centre is received by the second mobile terminal, and based on the first ginseng
Signal is examined, estimates the third channel conditions of the wireless channel between the second mobile terminal and numerically-controlled machine tool control centre；
Size based on third channel conditions and control information, is calculated to numerically-controlled machine tool from the second mobile terminal and is controlled
Center sends the third time required for control information, and the third time is sent to numerically-controlled machine tool control centre；
If being shorter than time gate limit value at the first time, numerically-controlled machine tool is sent to by information is controlled by first movement formula terminal
Control centre；And
If being longer than time gate limit value at the first time, adjusted by first movement formula terminal notification numerically-controlled machine tool control centre
The transmission of degree control information.
In a preferred embodiment, wherein the size based on the first channel conditions and control information is moved by first
Dynamic formula terminal is calculated and sent required for control information to numerically-controlled machine tool control centre to be carried out by following formula at the first time
:
Wherein, T1It represents at the first time, function ceil indicates that the number that rounds up, D represent the size of control information, θ1It represents
Efficiency of transmission between first movement formula terminal and numerically-controlled machine tool control centre, t represent ideal communication channel situation lower unit time energy
The information size enough transmitted；
Wherein, the size based on second channel situation and control information, is calculated to second from first movement formula terminal and is moved
Second time required for dynamic formula terminal transmission control information is carried out by following formula:
Wherein, T2Represent the second time, θ2Represent the transmission effect between first movement formula terminal and the second mobile terminal
Rate.
In a preferred embodiment, wherein the size based on third channel conditions and control information is moved by second
Dynamic formula terminal calculate to numerically-controlled machine tool control centre send control information required for the third time be to be carried out by following formula
:
Wherein, T3Represent third time, θ3Represent the transmission between the second mobile terminal and numerically-controlled machine tool control centre
Efficiency.
In a preferred embodiment, numerically-controlled machine tool control centre is by following steps come the biography of scheduling control information
It is defeated:
Judge whether be greater than the sum of the second time and third time at the first time；
If it is determined that first movement formula terminal is then notified at the first time less than the sum of the second time and third time, so that
It obtains first movement formula terminal and directly sends control information to numerically-controlled machine tool control centre.
In a preferred embodiment, numerically-controlled machine tool control centre is also configured to
If it is determined that being greater than the sum of the second time and third time at the first time, then first movement formula terminal is notified, so that
It obtains first movement formula terminal and sends control information to the second mobile terminal；
The second mobile terminal is notified, so that the second mobile terminal is sent out received by first movement formula terminal
The control information sent is transmitted to numerically-controlled machine tool control centre.
Compared with prior art, the collaborative numerically-controlled machine tool control method of the invention based on Internet of Things has following excellent
Point: as industry is carried forward vigorously for what industry 4.0, Chinese intelligence were made, the current demand of Internet of Things is realized increasingly in factory
Urgently.In the unmanned factory in future, numerically-controlled machine tool will be uniformly controlled by central supercomputer, and the transmission of all information will be by
Internet of things system realizes that Physical Network system builds the horizontal validity that will determine numerically-controlled machine tool control.It should be noted, however, that
It is that the node in Physical Network has its own feature, if a kind of control of suitable internet of things equipment own characteristic cannot be designed
Internet of things concept and numerically-controlled machine tool can not be then well bonded to together by method.In general, the controlling party based on Internet of Things
Method is it is not desirable that the transmission of data has very big delay, if delay will lead to greatly very much the lag of numerically-controlled machine tool control, obstruction life
Production progress.
Method of the invention proposes a kind of collaborative numerically-controlled machine tool control method, and controlling terminal and control centre can
Judge the time-consuming that data are transmitted between different data transmission channel, while being avoided based on the time-consuming duration judged big time-consuming
Transmission channel on carry out data transmission, carry out data transmission in the transmission channel in low consumption as far as possible, to guarantee the present invention
Control method in low control delay.
Detailed description of the invention
Fig. 1 is the collaborative numerically-controlled machine tool control method flow chart based on Internet of Things according to an embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention will be described in detail, it is to be understood that guarantor of the invention
Shield range is not limited by the specific implementation.
Unless otherwise explicitly stated, otherwise in entire disclosure and claims, term " includes " or its change
Changing such as "comprising" or " including " etc. will be understood to comprise stated element or component, and not exclude other members
Part or other component parts.
Fig. 1 is the collaborative numerically-controlled machine tool control method flow chart based on Internet of Things according to an embodiment of the present invention.
As shown, control method of the invention includes the following steps:
Step 101: the control information for controlling numerically-controlled machine tool is collected by first movement formula terminal；
Step 102: the first reference signal sent by numerically-controlled machine tool control centre, and base are received by first movement formula terminal
In the first reference signal, the first channel shape of the wireless channel between first movement formula terminal and numerically-controlled machine tool control centre is estimated
Condition；
Step 103: the size based on the first channel conditions and control information is calculated from first movement formula terminal to numerical control
Machine-Tool Control center is sent required for control information at the first time, and will be sent to numerically-controlled machine tool control centre at the first time；
Step 104: the second reference signal sent by the second mobile terminal being received by first movement formula terminal, and is based on
Second reference signal estimates the second channel situation of the wireless channel between first movement formula terminal and the second mobile terminal；
Step 105: the size based on second channel situation and control information is calculated from first movement formula terminal to second
Mobile terminal sends the second time required for control information, and the second time was sent to numerically-controlled machine tool control centre；
Step 106: the size of control information is notified from first movement formula terminal to the second mobile terminal；
Step 107: the first reference signal sent by numerically-controlled machine tool control centre, and base are received by the second mobile terminal
In the first reference signal, the third channel shape of the wireless channel between the second mobile terminal and numerically-controlled machine tool control centre is estimated
Condition；
Step 108: the size based on third channel conditions and control information is calculated from the second mobile terminal to numerical control
Machine-Tool Control center sends the third time required for control information, and the third time is sent to numerically-controlled machine tool control centre；
Step 109: if being shorter than time gate limit value at the first time, being sent to by first movement formula terminal by information is controlled
Numerically-controlled machine tool control centre；And
Step 110: if being longer than time gate limit value at the first time, being controlled by first movement formula terminal notification numerically-controlled machine tool
The transmission of scheduling control information is carried out at center.
Wherein, time gate limit value can be determined with following steps, it is necessary first to predefined for all kinds of control information
Maximum allowable transmission time, for example, for some unessential control information (such as, it is desirable that the control of machine history run is provided
Information provides control information of machine essential information etc.), which may be larger, for some times
Sensitive information (for example, emergency shutdown information, changes the information of machine parameter) the maximum allowable transmission time may be smaller.Then
By the half of maximum allowable transmission time or 0.6 times of maximum allowable transmission time or 0.3 times of maximum allowable transmission
Time is set as time gate limit value (specific multiple can determine by way of analogue simulation).
In a preferred embodiment, wherein the size based on the first channel conditions and control information is moved by first
Dynamic formula terminal is calculated and sent required for control information to numerically-controlled machine tool control centre to be carried out by following formula at the first time
:
Wherein, T1It represents at the first time, function ceil indicates that the number that rounds up, D represent the size of control information, θ1It represents
Efficiency of transmission between first movement formula terminal and numerically-controlled machine tool control centre, t represent ideal communication channel situation lower unit time energy
The information size enough transmitted；Wherein, efficiency of transmission embodies channel conditions, because channel conditions are better, transmits under time of day
The information size that the amount of data can be transmitted closer to the ideal communication channel situation lower unit time.Specifically it is first determined ideal
The value of channel conditions (such as channel maximum possible signal-to-noise ratio, Signal to Interference plus Noise Ratio, receives power etc., or pass through historical data
The channel maximum possible signal-to-noise ratio based on experience of judgement, receives power at Signal to Interference plus Noise Ratio), then according to the channel conditions of measurement,
The ratio can be directly defined as by the channel conditions of available measurement and the ratio of ideal communication channel situation, the ratio less than 1
Efficiency of transmission.
Wherein, the size based on second channel situation and control information, is calculated to second from first movement formula terminal and is moved
Second time required for dynamic formula terminal transmission control information is carried out by following formula:
Wherein, T2Represent the second time, θ2Represent the transmission effect between first movement formula terminal and the second mobile terminal
Rate.
In a preferred embodiment, wherein the size based on third channel conditions and control information is moved by second
Dynamic formula terminal calculate to numerically-controlled machine tool control centre send control information required for the third time be to be carried out by following formula
:
Wherein, T3Represent third time, θ3Represent the transmission between the second mobile terminal and numerically-controlled machine tool control centre
Efficiency.
In a preferred embodiment, numerically-controlled machine tool control centre is by following steps come the biography of scheduling control information
It is defeated: to judge whether be greater than the sum of the second time and third time at the first time；If it is determined that at the first time less than the second time and
The sum of third time then notifies first movement formula terminal, so that first movement formula terminal is directly to numerically-controlled machine tool control centre
Send control information.
In a preferred embodiment, numerically-controlled machine tool control centre is also configured to if it is determined that being greater than at the first time
The sum of second time and third time then notify first movement formula terminal, so that first movement formula terminal is mobile to second
Terminal sends control information；The second mobile terminal is notified, so that the second mobile terminal is moved received by first
The control information that dynamic formula terminal is sent is transmitted to numerically-controlled machine tool control centre.
The present invention also provides a kind of non-transitory computer-readable storage media, non-transitory computer-readable storage mediums
It is stored with program code in matter, program code can be executed by processor to perform the following operation: being received by first movement formula terminal
Collect the control information for controlling numerically-controlled machine tool；Sent by numerically-controlled machine tool control centre first is received by first movement formula terminal
Reference signal, and it is based on the first reference signal, estimate the wireless communication between first movement formula terminal and numerically-controlled machine tool control centre
First channel conditions in road；Size based on the first channel conditions and control information, is calculated from first movement formula terminal to number
It controls Machine-Tool Control center to send required for control information at the first time, and will be sent at the first time in numerically-controlled machine tool control
The heart；The second reference signal sent by the second mobile terminal is received by first movement formula terminal, and is based on the second reference signal,
Estimate the second channel situation of the wireless channel between first movement formula terminal and the second mobile terminal；Based on second channel shape
Condition and the size for controlling information are calculated from first movement formula terminal and are sent required for controlling information to the second mobile terminal
Second time, and the second time was sent to numerically-controlled machine tool control centre；From first movement formula terminal to the second mobile terminal
The size of notice control information；The first reference signal sent by numerically-controlled machine tool control centre is received by the second mobile terminal,
And it is based on the first reference signal, estimate that the third of the wireless channel between the second mobile terminal and numerically-controlled machine tool control centre is believed
Road situation；Size based on third channel conditions and control information, is calculated to numerically-controlled machine tool from the second mobile terminal and is controlled
Center sends the third time required for control information, and the third time is sent to numerically-controlled machine tool control centre；If first
Time is shorter than time gate limit value, then is sent to numerically-controlled machine tool control centre for information is controlled by first movement formula terminal；And such as
Fruit is longer than time gate limit value at the first time, then by first movement formula terminal notification numerically-controlled machine tool control centre come scheduling control information
Transmission.
In a preferred embodiment, wherein the size based on the first channel conditions and control information is moved by first
Dynamic formula terminal is calculated and sent required for control information to numerically-controlled machine tool control centre to be carried out by following formula at the first time
:
Wherein, T1It represents at the first time, function ceil indicates that the number that rounds up, D represent the size of control information, θ1It represents
Efficiency of transmission between first movement formula terminal and numerically-controlled machine tool control centre, t represent ideal communication channel situation lower unit time energy
The information size enough transmitted；
Wherein, the size based on second channel situation and control information, is calculated to second from first movement formula terminal and is moved
Second time required for dynamic formula terminal transmission control information is carried out by following formula:
Wherein, T2Represent the second time, θ2Represent the transmission effect between first movement formula terminal and the second mobile terminal
Rate.
In a preferred embodiment, wherein the size based on third channel conditions and control information is moved by second
Dynamic formula terminal calculate to numerically-controlled machine tool control centre send control information required for the third time be to be carried out by following formula
:
Wherein, T3Represent third time, θ3Represent the transmission between the second mobile terminal and numerically-controlled machine tool control centre
Efficiency.
In a preferred embodiment, numerically-controlled machine tool control centre is by following steps come the biography of scheduling control information
It is defeated: to judge whether be greater than the sum of the second time and third time at the first time；If it is determined that at the first time less than the second time and
The sum of third time then notifies first movement formula terminal, so that first movement formula terminal is directly to numerically-controlled machine tool control centre
Send control information.
In a preferred embodiment, numerically-controlled machine tool control centre is also configured to if it is determined that being greater than at the first time
The sum of second time and third time then notify first movement formula terminal, so that first movement formula terminal is mobile to second
Terminal sends control information；The second mobile terminal is notified, so that the second mobile terminal is moved received by first
The control information that dynamic formula terminal is sent is transmitted to numerically-controlled machine tool control centre.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or unit
It connects, can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
The aforementioned description to specific exemplary embodiment of the invention is in order to illustrate and illustration purpose.These descriptions
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to the above instruction, can much be changed
And variation.The purpose of selecting and describing the exemplary embodiment is that explaining specific principle of the invention and its actually answering
With so that those skilled in the art can be realized and utilize a variety of different exemplary implementation schemes of the invention and
Various chooses and changes.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (10)
1. a kind of collaborative numerically-controlled machine tool control method based on Internet of Things, it is characterised in that: the cooperation based on Internet of Things
Formula numerically-controlled machine tool control method includes the following steps:
Control information for controlling numerically-controlled machine tool is collected by first movement formula terminal；
The first reference signal sent by numerically-controlled machine tool control centre is received by first movement formula terminal, and based on first ginseng
Signal is examined, estimates the first channel shape of the wireless channel between the first movement formula terminal and the numerically-controlled machine tool control centre
Condition；
Size based on first channel conditions and the control information, is calculated from first movement formula terminal to the numerical control
Machine-Tool Control center is sent required for the control information at the first time, and the first time is sent to the numerical control machine
Bed control centre；
The second reference signal sent by the second mobile terminal is received by first movement formula terminal, and based on second reference
Signal estimates the second channel situation of the wireless channel between the first movement formula terminal and second mobile terminal；
Size based on the second channel situation and the control information, is calculated from first movement formula terminal to described second
Mobile terminal sends the second time required for the control information, and second time is sent to the numerically-controlled machine tool
Control centre；
The size of the control information is notified from first movement formula terminal to second mobile terminal；
The first reference signal sent by numerically-controlled machine tool control centre is received by the second mobile terminal, and based on first ginseng
Signal is examined, estimates the third channel shape of the wireless channel between second mobile terminal and the numerically-controlled machine tool control centre
Condition；
Size based on the third channel conditions and the control information, is calculated from the second mobile terminal to the numerical control
Machine-Tool Control center sends the third time required for the control information, and the third time is sent to the numerical control machine
Bed control centre；
If the first time is shorter than time gate limit value, the control information is sent to by first movement formula terminal described
Numerically-controlled machine tool control centre；And
If the first time is longer than the time gate limit value, the control of the numerically-controlled machine tool as described in first movement formula terminal notification
Center come dispatch it is described control information transmission.
2. the collaborative numerically-controlled machine tool control method based on Internet of Things as described in claim 1, it is characterised in that: wherein, base
In first channel conditions and the size of the control information, calculated from first movement formula terminal to the numerically-controlled machine tool control
Center processed is sent required for the control information to be carried out by following formula at the first time:
Wherein, T1The first time is represented, function ceil indicates that the number that rounds up, D represent the size of the control information, θ1
The efficiency of transmission between the first movement formula terminal and the numerically-controlled machine tool control centre is represented, t represents ideal communication channel situation
The information size that the lower unit time can transmit；
Wherein, the size based on the second channel situation and the control information, is calculated from first movement formula terminal to institute
Stating the second mobile terminal and sending the second time required for the control information is carried out by following formula:
Wherein, T2Represent second time, θ2It represents between the first movement formula terminal and second mobile terminal
Efficiency of transmission.
3. the collaborative numerically-controlled machine tool control method based on Internet of Things as claimed in claim 2, it is characterised in that: wherein, base
In the third channel conditions and the size of the control information, calculated from the second mobile terminal to the numerically-controlled machine tool control
Center processed, which sends the third time required for the control information, to be carried out by following formula:
Wherein, T3Represent the third time, θ3Represent second mobile terminal and numerically-controlled machine tool control centre it
Between efficiency of transmission.
4. the collaborative numerically-controlled machine tool control method based on Internet of Things as claimed in claim 3, it is characterised in that: the numerical control
The transmission of the control information is dispatched by following steps in Machine-Tool Control center:
Judge whether the first time is greater than the sum of second time and the third time；
If it is determined that the first time is less than the sum of second time and the third time, then the first movement is notified
Formula terminal, so that the first movement formula terminal directly sends the control information to the numerically-controlled machine tool control centre.
5. the collaborative numerically-controlled machine tool control method based on Internet of Things as claimed in claim 4, it is characterised in that: the numerical control
Machine-Tool Control center is also configured to
If it is determined that the first time is greater than the sum of second time and the third time, then the first movement is notified
Formula terminal, so that the first movement formula terminal sends the control information to second mobile terminal；
Second mobile terminal is notified, so that second mobile terminal is by received by the first movement
The control information that formula terminal is sent is transmitted to the numerically-controlled machine tool control centre.
6. a kind of non-transitory computer-readable storage media, journey is stored in the non-transitory computer-readable storage media
Sequence code, said program code can be executed by processor to perform the following operation:
Control information for controlling numerically-controlled machine tool is collected by first movement formula terminal；
The first reference signal sent by numerically-controlled machine tool control centre is received by first movement formula terminal, and based on first ginseng
Signal is examined, estimates the first channel shape of the wireless channel between the first movement formula terminal and the numerically-controlled machine tool control centre
Condition；
Size based on first channel conditions and the control information, is calculated from first movement formula terminal to the numerical control
Machine-Tool Control center is sent required for the control information at the first time, and the first time is sent to the numerical control machine
Bed control centre；
The second reference signal sent by the second mobile terminal is received by first movement formula terminal, and based on second reference
Signal estimates the second channel situation of the wireless channel between the first movement formula terminal and second mobile terminal；
Size based on the second channel situation and the control information, is calculated from first movement formula terminal to described second
Mobile terminal sends the second time required for the control information, and second time is sent to the numerically-controlled machine tool
Control centre；
The size of the control information is notified from first movement formula terminal to second mobile terminal；
The first reference signal sent by numerically-controlled machine tool control centre is received by the second mobile terminal, and based on first ginseng
Signal is examined, estimates the third channel shape of the wireless channel between second mobile terminal and the numerically-controlled machine tool control centre
Condition；
Size based on the third channel conditions and the control information, is calculated from the second mobile terminal to the numerical control
Machine-Tool Control center sends the third time required for the control information, and the third time is sent to the numerical control machine
Bed control centre；
If the first time is shorter than time gate limit value, the control information is sent to by first movement formula terminal described
Numerically-controlled machine tool control centre；And
If the first time is longer than the time gate limit value, the control of the numerically-controlled machine tool as described in first movement formula terminal notification
Center come dispatch it is described control information transmission.
7. non-transitory computer-readable storage media as claimed in claim 6, it is characterised in that: wherein, based on described the
The size of one channel conditions and the control information, is calculated to the numerically-controlled machine tool control centre from first movement formula terminal and is sent out
Sending required for the control information is carried out by following formula at the first time:
Wherein, T1The first time is represented, function ceil indicates that the number that rounds up, D represent the size of the control information, θ1
The efficiency of transmission between the first movement formula terminal and the numerically-controlled machine tool control centre is represented, t represents ideal communication channel situation
The information size that the lower unit time can transmit；
Wherein, the size based on the second channel situation and the control information, is calculated from first movement formula terminal to institute
Stating the second mobile terminal and sending the second time required for the control information is carried out by following formula:
Wherein, T2Represent second time, θ2It represents between the first movement formula terminal and second mobile terminal
Efficiency of transmission.
8. non-transitory computer-readable storage media as claimed in claim 7, it is characterised in that: wherein, based on described the
The size of three channel conditions and the control information, is calculated to the numerically-controlled machine tool control centre from the second mobile terminal and is sent out
Sending the third time required for the control information is carried out by following formula:
Wherein, T3Represent the third time, θ3Represent second mobile terminal and numerically-controlled machine tool control centre it
Between efficiency of transmission.
9. non-transitory computer-readable storage media as claimed in claim 8, it is characterised in that: the numerically-controlled machine tool control
The transmission of the control information is dispatched by following steps in center:
Judge whether the first time is greater than the sum of second time and the third time；
If it is determined that the first time is less than the sum of second time and the third time, then the first movement is notified
Formula terminal, so that the first movement formula terminal directly sends the control information to the numerically-controlled machine tool control centre.
10. non-transitory computer-readable storage media as claimed in claim 9, it is characterised in that: the numerically-controlled machine tool control
Center processed is also configured to
If it is determined that the first time is greater than the sum of second time and the third time, then the first movement is notified
Formula terminal, so that the first movement formula terminal sends the control information to second mobile terminal；
Second mobile terminal is notified, so that second mobile terminal is by received by the first movement
The control information that formula terminal is sent is transmitted to the numerically-controlled machine tool control centre.
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