CN114924530A - Remote workpiece polishing debugging operation and maintenance system and method based on digital twinning technology - Google Patents
Remote workpiece polishing debugging operation and maintenance system and method based on digital twinning technology Download PDFInfo
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- CN114924530A CN114924530A CN202210528174.XA CN202210528174A CN114924530A CN 114924530 A CN114924530 A CN 114924530A CN 202210528174 A CN202210528174 A CN 202210528174A CN 114924530 A CN114924530 A CN 114924530A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32153—Exchange data between user, cad, caq, nc, capp
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a remote workpiece polishing, debugging, operation and maintenance system and method based on a digital twinning technology, wherein the system comprises a field operation subsystem and a digital twinning model corresponding to the field operation subsystem; the field operation subsystem comprises an intelligent sensing unit, a visual detection unit, an intelligent control decision unit, a workpiece conveying unit and a polishing execution unit; the digital twin model remotely controls the workpiece conveying unit and the polishing execution unit according to the information sent by the intelligent sensing unit and the visual detection unit; the intelligent control decision unit is used for processing the received information of whether the workpiece is ready and photographing and controlling the workpiece transmission unit to transmit the workpiece to be polished to the polishing area; and the workpiece transmission unit transmits the information of starting to polish to the polishing execution unit so as to start polishing the workpiece. The invention can save manpower and material resources and improve the debugging, operation and maintenance efficiency.
Description
Technical Field
The invention relates to the technical field of operation and maintenance systems, in particular to a remote workpiece polishing debugging operation and maintenance system and method based on a digital twinning technology.
Background
Due to the characteristics of the steel plate, the machined and processed workpieces are bent, deformed, slag is adhered and the like, so that the problem of unevenness is solved, and the workpieces need to be polished by researching and developing a polishing technology, so that the workpieces meet the requirements of subsequent processes. Because the equipment is mainly used in heavy industry and is inconvenient to debug on site in the early stage of research and development, the equipment is debugged only when the equipment arrives in a factory in the current method, and the requirement of a time node cannot be met under the general condition.
A digital twin technology is introduced, a digital mirror scene is established on an operation and maintenance platform, simulation and test are carried out at any time in the research and development period, products can reach a better state before entering a factory, and technical indexes and time nodes are met.
The digital twin system updates the parameters of the system in real time by utilizing the established mechanical physical three-dimensional model, the sensor model and the like to achieve the aim of copying the physical simulation process, and simultaneously can perform real-time feedback and correction on the obtained model by referring to the operation historical data, and all processes of the whole life cycle of the product are reflected by mapping of a virtual space and a real three-dimensional space in the process.
Disclosure of Invention
In view of the above, the invention provides a remote workpiece polishing, debugging, operation and maintenance system and method based on a digital twinning technology, which save manpower and material resources and improve the debugging, operation and maintenance efficiency.
The invention discloses a remote workpiece polishing, debugging, operation and maintenance system based on a digital twinning technology, which comprises a field operation subsystem and a digital twinning model corresponding to the field operation subsystem; the field operation subsystem comprises an intelligent sensing unit, a visual detection unit, an intelligent control decision unit, a workpiece conveying unit and a polishing execution unit;
the intelligent sensing unit is used for acquiring whether a workpiece is ready in place, the visual detection unit is used for photographing the workpiece, and meanwhile, the information of whether the workpiece is ready in place and photographing is wirelessly transmitted to the digital twin model; the digital twin model remotely controls the workpiece conveying unit and the grinding execution unit according to the received acquired information; the intelligent control decision unit is used for processing the received information of whether the workpiece is ready and taking a picture and controlling the workpiece conveying unit to convey the workpiece to be polished to a polishing area; and the workpiece transmission unit transmits information for starting to execute grinding to the grinding execution unit so as to start to grind the workpiece.
Furthermore, the digital twin model comprises an intelligent sensing unit model, a visual detection unit model, an intelligent control decision unit model, a workpiece conveying unit model and a polishing execution unit model, and the intelligent sensing unit model, the visual detection unit model, the intelligent control decision unit model, the workpiece conveying unit model and the polishing execution unit model correspond to those of the field operation subsystem.
Furthermore, the intelligent sensing unit model is used for receiving information of whether the workpiece is prepared in place or not acquired by the intelligent sensing unit, the visual detection unit model is used for receiving photographing information of the workpiece by the visual detection unit, and the intelligent control decision unit model is used for receiving information of whether the workpiece is prepared in place or not and photographing; the intelligent control decision unit model is used for judging whether the polishing can be carried out correctly in real time or not and controlling the workpiece conveying unit and the polishing execution unit in the field operation subsystem.
Further, the intelligent sensing unit comprises a weight sensor, and the weight sensor is used for obtaining weight information of the workpiece.
Further, the visual detection unit is used for obtaining a 2D image and a 3D point cloud through photographing.
Furthermore, the intelligent control decision unit is used for obtaining parameters required by the visual detection unit, initial force control parameters of the polishing execution unit and a position to be polished through fusion of the sensing data and the image data, and storing the parameters, the initial force control parameters and the position to be polished into configuration files.
Furthermore, the polishing execution unit is also used for transmitting the value of a force control sensor to the intelligent control decision-making unit.
The invention also discloses a method for debugging the operation and maintenance system by remote workpiece polishing based on the digital twinning technology, which comprises the following steps:
step 1: according to a 3D model of a mechanical structure of a grinding system on site, a digital virtual mapping system, namely a digital twin system, of the grinding system is established based on a data fusion driven modeling technology, and the system can completely map a full physical process;
and 2, step: the method comprises the steps that sensing data or an offline parameter configuration file can be updated in real time according to the current intelligent sensing unit to obtain simulation data;
and step 3: according to the sensing data of a read field operation scene, or importing an off-line parameter configuration file and a real-time 3D point cloud or 2D image or an off-line 3D point cloud or 2D image of a workpiece, and obtaining parameters required by an accurate polishing point and a visual detection unit of the workpiece to be polished and initial force control parameters of a polishing execution unit through fusion, simulation and calculation of an intelligent control decision unit;
and 4, step 4: transmitting the parameters required by the vision detection unit for calculating the accurate polishing point and debugging in a remote way, the initial force control parameters of the polishing execution unit and the force control parameters calculated in a real-time closed loop manner into an intelligent control and decision unit in the digital twin system in real time, and judging whether the polishing can be carried out correctly in real time;
and 5: in the polishing process, the system needs to monitor the force control value parameters obtained by the force control sensor in real time, and perform real-time simulation and feedback correction;
step 6: the system can monitor production conditions remotely, records data as historical data, can position in a digital twin system, modifies parameters and algorithms if problems occur, and guides all off-line configuration files into an intelligent control decision unit in an actual operation system after simulation is achieved, so that remote problem positioning and problem repair are completed.
Further, the step 4 further includes: if the polishing machine cannot polish, corresponding parameters need to be adjusted to meet actual requirements, closed-loop management is formed, and after the adjustment is completed, the obtained accurate polishing points, visual inspection parameters and force control parameters are remotely transmitted to an actual operation scene in a wireless mode to perform polishing operation.
The invention also discloses a method for debugging the operation and maintenance system by remote workpiece polishing based on the digital twinning technology, which comprises the following steps:
step 1: reading a signal of whether a workpiece obtained by a photoelectric sensor is in place from an intelligent sensing unit in an actual operation scene;
step 2: if the workpiece is in place, the weight sensor is required to obtain the weight information of the workpiece, then the visual detection unit is triggered to shoot to obtain a 2D image and a 3D point cloud, and the intelligent control decision unit obtains parameters required by the visual detection unit through fusion of the sensing data and the image data;
and step 3: initial force control parameters and positions to be polished of the polishing execution unit are stored into configuration files, and then the workpiece transmission unit is required to be controlled to convey workpieces to be polished to a polishing area;
and 4, step 4: after arriving the district of polishing, work piece conveying unit need for the execution unit that polishes begin the signal of polishing, the execution unit that polishes, need feed back the parameter of force control sensor in real time simultaneously and give intelligent control decision-making unit, supply the real-time calculation force control parameter of reality to also save the force control parameter of real-time calculation in the graphite file, guarantee to polish and can normally go on, realize remote debugging.
Due to the adoption of the technical scheme, the invention has the following advantages: according to the invention, by establishing a digital twin system, mirror image debugging is carried out, the polishing, debugging and operation of remote workpieces are realized, manpower and material resources are saved, and the debugging, operation and maintenance efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments described in the embodiments of the present invention, and it is obvious for those skilled in the art that other drawings may be obtained according to the drawings.
Fig. 1 is a schematic diagram of a remote workpiece grinding debugging operation and maintenance system based on a digital twinning technology according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, it being understood that the examples described are only some of the examples and are not intended to limit the invention to the embodiments described herein. All other embodiments available to those of ordinary skill in the art are intended to be within the scope of the embodiments of the present invention.
The first embodiment is as follows:
referring to fig. 1, the present invention provides an embodiment of a remote workpiece polishing debugging operation and maintenance system based on the digital twinning technology, which includes a field operation subsystem and a digital twinning model corresponding to the field operation subsystem; the field operation subsystem comprises an intelligent sensing unit, a visual detection unit, an intelligent control decision unit, a workpiece conveying unit and a polishing execution unit;
the intelligent sensing unit is used for acquiring whether a workpiece is ready in place or not, the visual detection unit is used for photographing the workpiece, and meanwhile, whether the workpiece is ready in place or not and photographing information are transmitted to the digital twin model in a wireless mode; the digital twin model remotely controls the workpiece conveying unit and the grinding execution unit according to the received acquired information; the intelligent control decision unit is used for processing the received information of whether the workpiece is ready and photographing, and controlling the workpiece transmission unit to transmit the workpiece to be polished to the polishing area; and the workpiece transmission unit transmits information for starting to execute grinding to the grinding execution unit so as to start to grind the workpiece.
In this embodiment, the digital twin model includes an intelligent sensing unit model, a visual detection unit model, an intelligent control decision unit model, a workpiece transfer unit model, and a polishing execution unit model, which correspond to the intelligent sensing unit, the visual detection unit, the intelligent control decision unit, the workpiece transfer unit, and the polishing execution unit of the field operation subsystem.
In this embodiment, the intelligent sensing unit model is configured to receive information that the intelligent sensing unit obtains whether a workpiece is ready, the visual detection unit model is configured to receive information that the visual detection unit photographs the workpiece, and the intelligent control decision unit model is configured to receive information that the workpiece is ready and photographs; the intelligent control decision unit model is used for judging whether the polishing can be carried out correctly in real time or not and controlling the workpiece conveying unit and the polishing execution unit in the field operation subsystem.
In this embodiment, the intelligent sensing unit includes a weight sensor, and the weight sensor is used for obtaining weight information of the workpiece.
In this embodiment, the visual detection unit is configured to obtain a 2D image and a 3D point cloud by photographing.
In this embodiment, the intelligent control decision unit is configured to obtain parameters required by the visual detection unit, initial force control parameters of the polishing execution unit, and a position to be polished by fusing the sensing data and the image data, and store the parameters, the initial force control parameters, and the position to be polished into the configuration file.
In this embodiment, the polishing execution unit is further configured to transmit a force control sensor value to the intelligent control decision unit.
Example two:
the invention also provides an embodiment of the method for debugging the operation and maintenance system by remote workpiece grinding based on the digital twinning technology, which comprises the following steps:
step 1: according to a 3D model of a mechanical structure of a grinding system on site, a digital virtual mapping system, namely a digital twin system, of the grinding system is established based on a data fusion driven modeling technology, and the system can completely map a full physical process;
step 2: the method comprises the steps that sensing data or an offline parameter configuration file can be updated in real time according to the current intelligent sensing unit to obtain simulation data;
and 3, step 3: according to the sensing data of a read field operation scene, or importing an off-line parameter configuration file and a real-time 3D point cloud or 2D image or an off-line 3D point cloud or 2D image of a workpiece, and obtaining parameters required by an accurate polishing point and a visual detection unit of the workpiece to be polished and initial force control parameters of a polishing execution unit through fusion, simulation and calculation of an intelligent control decision unit;
and 4, step 4: transmitting the parameters required by the vision detection unit for calculating the accurate polishing point and debugging in a remote way, the initial force control parameters of the polishing execution unit and the force control parameters calculated in a real-time closed loop manner into an intelligent control and decision unit in the digital twin system in real time, and judging whether the polishing can be carried out correctly in real time;
and 5: in the polishing process, the system needs to monitor the force control value parameters obtained by the force control sensor in real time, and perform real-time simulation and feedback correction;
step 6: the system can monitor production conditions remotely, records data as historical data, can position in a digital twin system, modifies parameters and algorithms if problems occur, and guides all off-line configuration files into an intelligent control decision unit in an actual operation system after simulation is achieved, so that remote problem positioning and problem repair are completed.
In this embodiment, step 4 further includes: if the polishing machine can not polish, corresponding parameters need to be adjusted to meet actual requirements, closed-loop management is formed, and after the adjustment is completed, the obtained accurate polishing point, visual inspection parameters and force control parameters are remotely transmitted to an actual operation scene in a wireless mode to perform polishing operation.
Example three:
the invention also provides an embodiment of the method for debugging the operation and maintenance system by remote workpiece grinding based on the digital twinning technology, which comprises the following steps:
step 1: reading a signal of whether a workpiece obtained by a photoelectric sensor is in place from an intelligent sensing unit in an actual operation scene;
and 2, step: if the workpiece is in place, the weight sensor is required to obtain the weight information of the workpiece, then the visual detection unit is triggered to shoot to obtain a 2D image and a 3D point cloud, and the intelligent control decision unit obtains parameters required by the visual detection unit through fusion of the sensing data and the image data;
and 3, step 3: initial force control parameters and positions to be polished of the polishing execution unit are stored into configuration files, and then the workpiece transmission unit is required to be controlled to convey workpieces to be polished to a polishing area;
and 4, step 4: after arriving the district of polishing, work piece conveying unit need for the execution unit that polishes begin the signal of polishing, the execution unit that polishes, need feed back the parameter of force control sensor in real time simultaneously and give intelligent control decision-making unit, supply the real-time calculation force control parameter of reality to also save the force control parameter of real-time calculation in the graphite file, guarantee to polish and can normally go on, realize remote debugging.
Example four:
the invention also provides a more specific embodiment:
referring to fig. 1, the system includes an actual operation scenario and a digital twin technical scenario, where functional units of the two scenarios are completely consistent, so as to ensure parameters debugged in the digital twin technical scenario, and the two scenarios can be completely adapted in an actual operation environment, the parameters debugged in the actual operation environment can also be correctly operated in the digital twin technical scenario, and a working mode of the digital twin scenario includes two modes, namely an online working mode and an offline working mode:
(1) in an online working mode, namely a remote debugging mode, firstly reading a signal of whether a workpiece obtained by a photoelectric sensor is in place from an intelligent sensing unit in an actual running scene, if the workpiece is in place, obtaining weight information of the workpiece by using the weight sensor, then triggering a visual detection unit to take a picture to obtain a 2D image and a 3D point cloud, obtaining parameters (exposure, gain and the like) required by the visual detection unit, initial force control parameters of a grinding execution unit, a position to be ground and the like by fusing sensing data and image data by an intelligent control decision unit, storing the parameters into a configuration file, then controlling a workpiece transmission unit to convey the workpiece to be ground to a grinding area, sending a grinding signal to the grinding execution unit by the workpiece transmission unit after the workpiece reaches the grinding area, grinding the execution unit to grind, and simultaneously feeding back the parameters of the force control sensor to the intelligent control decision unit in real time, the real-time calculation of the force control parameters is realized, the force control parameters calculated in real time are also stored in the graphite file, the polishing can be normally carried out, and the remote debugging is realized.
(2) In an off-line working mode, namely a remote operation and maintenance mode, if a certain workpiece runs abnormally on site, sensor data in all intelligent sensing units and visual parameters in a visual detection unit need to be stored into an off-line configuration file, simultaneously, the acquired 2D image and 3D point cloud are stored out, then the off-line configuration file, the 2D image and the 3D point cloud are led into a digital twin system in an off-line mode, then the acquired off-line sensing data, the 2D image and the 3D point cloud are fused, simulated and calculated through an intelligent control decision unit to obtain a position to be polished, then the workpiece is judged to be run to the polishing position, after the polishing position is reached, a workpiece transmission unit needs to give a polishing execution unit to start polishing signals, the polishing execution unit polishes the workpiece, and simultaneously, according to the value of a force control sensor, and if the polishing effect is good, parameters (exposure, gain and the like) of the visual detection unit calculated in the intelligent control decision unit and the force control parameters calculated in the closed loop are all exported to a parameter configuration file, and then the parameter configuration file is directly imported into the intelligent control decision unit in an actual operation system on site, so that corresponding operation can be executed without operating and debugging on site.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and substitutions to the specific embodiments of the present invention can be made without departing from the spirit and scope of the present invention, which should be construed to be within the scope of the appended claims.
Claims (10)
1. A remote workpiece polishing debugging operation and maintenance system based on a digital twinning technology is characterized by comprising a field operation subsystem and a digital twinning model corresponding to the field operation subsystem; the field operation subsystem comprises an intelligent sensing unit, a visual detection unit, an intelligent control decision unit, a workpiece conveying unit and a polishing execution unit;
the intelligent sensing unit is used for acquiring whether a workpiece is ready in place or not, the visual detection unit is used for photographing the workpiece, and meanwhile, whether the workpiece is ready in place or not and photographing information are transmitted to the digital twin model in a wireless mode; the digital twin model remotely controls the workpiece conveying unit and the grinding execution unit according to the received acquired information; the intelligent control decision unit is used for processing the received information of whether the workpiece is ready and photographing, and controlling the workpiece transmission unit to transmit the workpiece to be polished to the polishing area; and the workpiece transmission unit transmits information for starting to execute grinding to the grinding execution unit so as to start to grind the workpiece.
2. The remote workpiece grinding, debugging, operation and maintenance system based on digital twinning technology as claimed in claim 1, wherein said digital twinning model comprises an intelligent sensing unit model, a visual inspection unit model, an intelligent control decision unit model, a workpiece transfer unit model, a grinding execution unit model, which correspond to the intelligent sensing unit, the visual inspection unit, the intelligent control decision unit, the workpiece transfer unit, the grinding execution unit of said field operation subsystem.
3. The remote workpiece grinding, debugging, operation and maintenance system based on the digital twinning technology as claimed in claim 2, wherein the intelligent sensing unit model is used for receiving information that the intelligent sensing unit obtains whether the workpiece is ready, the visual detection unit model is used for receiving photographing information of the visual detection unit on the workpiece, and the intelligent control decision unit model is used for receiving information that the workpiece is ready and photographing; the intelligent control decision unit model is used for judging whether the polishing can be carried out correctly in real time or not and controlling the workpiece conveying unit and the polishing execution unit in the field operation subsystem.
4. The remote work-piece grinding debugging operation and maintenance system based on the digital twinning technology as claimed in claim 1, wherein said intelligent sensing unit comprises a weight sensor for obtaining weight information of the work-piece.
5. The remote workpiece grinding, debugging and operation system based on digital twinning technology as claimed in claim 1, wherein said vision detection unit is used for obtaining 2D image and 3D point cloud by taking pictures.
6. The remote workpiece grinding debugging operation and maintenance system based on the digital twinning technology as claimed in claim 1, wherein the intelligent control decision unit is used for obtaining parameters required by the visual detection unit, initial force control parameters of the grinding execution unit and a position to be ground through fusion of the sensing data and the image data, and storing the parameters, the initial force control parameters and the position to be ground into a configuration file.
7. The remote work-piece grinding commissioning operation and maintenance system based on digital twinning technology of claim 1, wherein the grinding execution unit is further configured to transmit a force control sensor value to the intelligent control decision unit.
8. A method for debugging an operation and maintenance system based on the digital twin technology for remote workpiece grinding is characterized by comprising the following steps:
step 1: according to a 3D model of a mechanical structure of a field polishing system, a digital virtual mapping system, namely a digital twin system, of the polishing system is established based on a data fusion driven modeling technology, and the system can completely map a full physical process;
step 2: the method comprises the steps that sensing data or an offline parameter configuration file can be updated in real time according to the current intelligent sensing unit to obtain simulation data;
and 3, step 3: according to the sensing data of a read field operation scene, or importing an off-line parameter configuration file and a real-time 3D point cloud or 2D image or an off-line 3D point cloud or 2D image of a workpiece, and obtaining an accurate polishing point of the workpiece to be polished, parameters required by a visual detection unit and initial force control parameters of a polishing execution unit through fusion, simulation and calculation of an intelligent control decision unit;
and 4, step 4: transmitting the parameters required by the vision detection unit for calculating the accurate polishing point and being debugged remotely, the initial force control parameters of the polishing execution unit and the force control parameters calculated in a real-time closed loop manner into an intelligent control and decision unit in the digital twin system in real time to judge whether the polishing can be carried out correctly in real time;
and 5: in the polishing process, the system needs to monitor the force control value parameters obtained by the force control sensor in real time, and perform real-time simulation and feedback correction;
and 6: the system can monitor production conditions remotely, records data as historical data, can position in a digital twin system, modifies parameters and algorithms if problems occur, and guides all off-line configuration files into an intelligent control decision unit in an actual operation system after simulation is achieved, so that remote problem positioning and problem repair are completed.
9. The method of claim 8, wherein the step 4 further comprises: if the polishing machine can not polish, corresponding parameters need to be adjusted to meet actual requirements, closed-loop management is formed, and after the adjustment is completed, the obtained accurate polishing point, visual inspection parameters and force control parameters are remotely transmitted to an actual operation scene in a wireless mode to perform polishing operation.
10. A method for debugging an operation and maintenance system based on the digital twin technology for remote workpiece grinding is characterized by comprising the following steps:
step 1: reading a signal of whether a workpiece obtained by a photoelectric sensor is in place from an intelligent sensing unit in an actual operation scene;
step 2: if the workpiece is in place, the weight sensor is required to obtain the weight information of the workpiece, then the visual detection unit is triggered to shoot to obtain a 2D image and a 3D point cloud, and the intelligent control decision unit obtains parameters required by the visual detection unit through fusion of the sensing data and the image data;
and step 3: initial force control parameters and positions to be polished of the polishing execution unit are stored into configuration files, and then the workpiece transmission unit is required to be controlled to convey workpieces to be polished to a polishing area;
and 4, step 4: after arriving the district of polishing, work piece conveying unit need give the execution unit of polishing and begin the signal of polishing, and the execution unit of polishing is polished, and the parameter that needs real-time feedback force control sensor simultaneously gives intelligent control decision-making unit, supplies real-time calculation force control parameter to also save the force control parameter of real-time calculation in the graphite file, guarantee to polish and can normally go on, realize remote debugging.
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| CN115880133A (en) * | 2023-01-31 | 2023-03-31 | 南京砺算科技有限公司 | Graphic processing unit and terminal equipment |
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