CN115657601A - Processing state information fusion system based on spatial position - Google Patents
Processing state information fusion system based on spatial position Download PDFInfo
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- CN115657601A CN115657601A CN202211409409.XA CN202211409409A CN115657601A CN 115657601 A CN115657601 A CN 115657601A CN 202211409409 A CN202211409409 A CN 202211409409A CN 115657601 A CN115657601 A CN 115657601A
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Abstract
A spatial location-based processing state information fusion system, comprising: a data source layer, a fusion layer and a display layer, wherein: the data source layer collects real-time position information and real-time sensing information under each timestamp on line from the numerical control system of the machine tool and a sensor thereof, the fusion layer structurally summarizes the collected information under each timestamp to obtain spatial position and sensing information data fusion and real-time tool pose transformation, and the display layer respectively presents a workpiece, a tool, a cutting path fusing a machining state and a machining state legend through four units. According to the invention, through the digital twin model of the machining process, the interaction between the cutter and the workpiece is more intuitively and effectively obtained in the real-time monitoring of the machining process, more transparent and image-bearing information support is provided, and meanwhile, all links of the machining process are comprehensively and systematically reproduced in the backtracking of the machining history, so that the data readability is improved.
Description
Technical Field
The invention relates to a technology in the field of auxiliary machining, in particular to a machining state information fusion system based on a spatial position.
Background
Numerical control machining is a mechanical machining method for controlling displacement of parts and tools by using digital information, but is limited by the sealing property of a numerical control machine and a numerical control system, and the visibility of the numerical control machining process is low, so that the deep understanding of the machining process is limited. The existing visualization means for the processing process comprise one-dimensional real-time numbers and two-dimensional real-time curves, and visual processing process description cannot be provided, so that the technical threshold for understanding data is improved, and the data analysis efficiency is reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a processing state information fusion system based on a spatial position, through a processing process digital twin model, the interaction between a cutter and a workpiece is more intuitively and effectively obtained in real-time processing process monitoring, more transparent and image-bearing information support is provided, all links of the processing process are comprehensively and systematically reproduced in the process of processing history backtracking, and the data readability is improved.
The invention is realized by the following technical scheme:
the invention relates to a processing state information fusion system based on a space position, which comprises: a data source layer, a fusion layer and a display layer, wherein: the data source layer collects real-time position information and real-time sensing information under each timestamp on line from the numerical control system of the machine tool and a sensor thereof, the fusion layer carries out structured summarization on the collected information under each timestamp to obtain spatial position and sensing information data fusion and real-time tool pose transformation, and the display layer respectively presents a workpiece, a tool, a cutting path fusing a machining state and a machining state legend through four units.
The real-time location information comprises: tool tip point coordinates X, Y, Z and tool direction vector A, B, C, where: the tool point coordinate is in the workpiece coordinate system.
The real-time sensing information comprises: spindle load, spindle speed, feed rate, feed current, vibration signal, cutting force signal, and acoustic emission signal.
And the spatial position and the sensing information are subjected to data fusion, and a data structure is obtained through data fusion according to the tool nose point coordinate in the real-time position information and the real-time sensing information.
The fusion layer comprises: the device comprises a workpiece display unit, a cutter display unit, a cutting path display unit fusing machining states and a machining state legend display unit.
Technical effects
Compared with the traditional numerical control machining process monitoring system which only uses a data acquisition and two-dimensional oscilloscope, the invention introduces a data fusion layer between acquisition and display to realize the time sequence alignment of the spatial position and the sensing information and calculate the pose transformation of a real-time tool; in addition, the three-dimensional data visualization technology is applied to the display layer, the parts, the cutters, the processing paths and the sensing information are displayed in a three-dimensional space, the limitation that a two-position oscilloscope can only display time sequence information is broken through, the information of the parts, the cutters, the three-dimensional cutting paths, the processing process states and the like in the numerical control processing process is displayed in the form of three-dimensional animation, the three-dimensional animation is completely driven by real-time data and is completely synchronous with the actual processing process, the real-time virtual mapping of the processing process is provided, and the data intuition and the processing transparency of the monitoring of the numerical control processing process are improved.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a diagram of an example data structure;
fig. 3 is a schematic diagram showing the output effect of the layer.
Detailed Description
As shown in fig. 1, the present embodiment relates to a processing state information fusion system based on spatial position, which includes: a data source layer, a fusion layer and a display layer, wherein: the data source layer collects real-time position information and real-time sensing information under each timestamp on line from the numerical control system of the machine tool and a sensor thereof, the fusion layer carries out structured summarization on the collected information under each timestamp to obtain spatial position and sensing information data fusion and real-time tool pose transformation, and the display layer respectively presents a workpiece, a tool, a cutting path fusing a machining state and a machining state legend through four units.
The spatial position and the sensing information are subjected to data fusion, a data structure shown in figure 2 is obtained through data fusion according to the tool nose point coordinate in the real-time position information and the real-time sensing information, the data structure is a two-dimensional matrix, the timestamp is used as a data synchronization standard, the spatial information and the sensing information are aligned along the timestamp, and the spatial information and the sensing information are dynamically added along with the timestamp along with the processing.
The real-time tool pose transformation is obtained by performing space translation and rotation on the tool coordinate according to real-time information and real-time position information, and the specific implementation steps are divided into three steps: firstly, the tool coordinate is subtracted by the tool point coordinate (X) of the last moment t-1 ,Y t-1 ,Z t-1 ) So that the tool nose point is translated to the original point; the second step is based on the current time tool direction vector (A) t ,B t ,C t ) And the tool direction vector (A) at the previous time t-1 ,B t-1 ,C t-1 ) Respectively solving a rotating shaft through a vector outer product and a rotating angle through a vector inner product, and carrying out corresponding space rotation transformation on a tool coordinate; finally, the coordinates of the tool and the current tool point coordinate (X) are compared t ,Y t ,Z t ) And adding and translating to the current position of the cutter to finish the real-time pose transformation of the cutter.
As shown in fig. 3, the display layer includes: workpiece show unit, cutter show unit, fuse cutting path show unit and the processing state legend show unit of processing state, wherein: the workpiece display unit defines positioning information of the workpiece model according to the relative position of the clamped workpiece in the numerical control machine tool, the workpiece model needs to be translated and rotated to a specified position according to the positioning information before display, and the position of the workpiece model is not changed in the middle of the machining process; the tool display unit determines the position of the tool model according to the real-time position information, displays the tool model as a transformed tool according to the original coordinate in the imported model, and records the coordinate (X) of the initial tool point 0 ,Y 0 ,Z 0 ) And initial tool orientation vector (A) 0 ,B 0 ,C 0 ) (ii) a Along with the processing, the cutter display unit acquires the coordinates (X) of the cutter point according to the real-time t ,Y t ,Z t ) And a tool direction vector (A) t ,B t ,C t ) The tool pose transformation is realized through three steps of translation-rotation-translation, and virtual pose is always ensuredThe relative pose of the simulated cutter and the virtual workpiece is consistent with the relative pose of the solid cutter and the solid workpiece in the actual processing process, namely the interaction relation of the cutter and the workpiece in the actual processing is reproduced in a virtual space in the form of dynamic cutter cutting animation; the cutting path display unit in the fused processing state displays the cutting path and the additional sensing information in the processing process in the form of a dynamic color three-dimensional curve, and updates the color three-dimensional curve according to the cutting path in the real-time fused processing state to obtain the dynamic color three-dimensional curve which is continuously prolonged along with the processing process, namely the cutting path in the fused processing state contains five-dimensional information such as one-dimensional time, three-dimensional space and one-dimensional processing state. The types of the processing states can be switched as required, but only one type of sensing information can be displayed at the same time; and the processing state legend unit displays the mapping relation between colors and sensing information data in the processing state, and intuitively obtains spatial fields of different types of processing states along the cutting path of the tool through color changes of different spatial positions.
The workpiece display is that the workpiece is a static model in a three-dimensional view in the processing process, and the triangular patch information of the workpiece model is defined by STL or other types of files.
The tool shows that the tool is a dynamic model in a three-dimensional view in the machining process, and the information of the triangular patch of the tool model is defined by STL or other types of files.
The cutting path is defined by tool nose coordinates X, Y, Z acquired in real time, the cutting path display unit draws a three-dimensional broken line graph according to a space information matrix (3 x n) containing X, Y, Z coordinates, and the curve is consistent with an actual cutting history path of a tool.
The additional sensing information is defined by an additional sensing information vector, taking a main shaft load L as an example, because the alignment synchronization work is completed in the fusion layer, the main shaft load vector (1 x n) is as long as the space matrix and corresponds to the space position, the vector and the space matrix form a new matrix (4 x n) containing the space information and the processing state information, wherein X, Y, Z is used for drawing the shape of a three-dimensional curve, L is used for drawing the color of a corresponding space point, and the two act together to form a color three-dimensional curve.
The chromatogram is preset before display, and the scalar range of the chromatogram is updated in real time according to the maximum and minimum values of the real-time processing state data.
Through specific practical experiments, under the machining conditions of a five-axis machining center and a Siemens 840D numerical control system, a standard blade finish machining process is executed, the system is operated at a sampling interval of 50ms, the operation effect shown in FIG. 3 can be obtained, the operation frame rate can be maintained at 20 frames/second, and the delay with the actual machining can be controlled within 10 ms.
Compared with the prior art, the method for monitoring the machining process based on the spatial position introduces a fusion layer for aligning multi-source data and a display layer for supporting three-dimensional data visualization, breaks through the limitation that only two-dimensional time sequence data are displayed and the actual machining condition cannot be effectively mastered in the prior art, fuses the real-time cutting path of the three-dimensional cutter and the two-dimensional time sequence sensing data, displays five-dimensional information such as time, three-dimensional path of the cutter, machining process state and the like in the form of three-dimensional animation, provides real-time virtual mapping of the machining process, and improves the data intuitiveness and the machining transparency of the numerical control machining process monitoring.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (7)
1. A processing state information fusion system based on spatial position is characterized by comprising: a data source layer, a fusion layer and a display layer, wherein: the data source layer collects real-time position information and real-time sensing information under each timestamp on line from the numerical control system of the machine tool and a sensor thereof, the fusion layer carries out structured summarization on the collected information under each timestamp to obtain spatial position and sensing information data fusion and real-time tool pose transformation, and the display layer respectively presents a workpiece, a tool, a cutting path fusing a machining state and a machining state legend through four units;
the real-time location information comprises: tool tip point coordinates X, Y, Z and tool direction vector A, B, C, where: the tool point coordinate is under the workpiece coordinate system;
the real-time sensing information comprises: spindle load, spindle speed, feed rate, feed current, vibration signal, cutting force signal, and acoustic emission signal.
2. The spatial position based processing state information fusion system of claim 1 wherein the spatial position is data fused with the sensing information to obtain the data structure based on the tool nose point coordinates in the real time position information and the real time sensing information.
3. The spatial locality-based process state information fusion system of claim 1, wherein the fusion layer comprises: the device comprises a workpiece display unit, a cutter display unit, a cutting path display unit fusing machining states and a machining state legend display unit.
4. The spatial location-based processing state information fusion system of claim 1, wherein the real-time tool pose transformation is obtained by spatially translating and rotating tool coordinates according to real-time information and real-time location information, and specifically comprises:
1) Subtracting the tool coordinate from the last-time tool point coordinate (X) t-1 ,Y t-1 ,Z t-1 ) So that the tool nose point is translated to the original point;
2) According to the direction vector (A) of the tool at the current moment t ,B t ,C t ) And the tool direction vector (A) at the previous time t-1 ,B t-1 ,C t-1 ) Respectively solving a rotating shaft through a vector outer product and a rotating angle through a vector inner product, and carrying out corresponding space rotation transformation on a tool coordinate;
3) The coordinates of the tool and the current tool point coordinate (X) t ,Y t ,Z t ) Adding and translating to a knifeThe tool has the current position, and the tool pose transformation is completed in real time.
5. The spatial position-based processing state information fusion system according to claim 3, wherein the workpiece display unit defines positioning information of the workpiece model according to the relative position of the clamped workpiece in the numerical control machine tool, and before displaying, the workpiece model needs to be translated and rotated to a specified position according to the positioning information, and the position of the workpiece model does not change any more in the middle of the processing; the tool display unit determines the position of the tool model according to the real-time position information, displays the tool model as a transformed tool according to the original coordinates in the imported model, and records the coordinates (X) of the initial tool point 0 ,Y 0 ,Z 0 ) And initial tool orientation vector (A) 0 ,B 0 ,C 0 ) (ii) a Along with the processing, the cutter display unit acquires the coordinates (X) of the cutter point according to the real-time t ,Y t ,Z t ) And tool direction vector (A) t ,B t ,C t ) The tool pose transformation is realized through three steps of translation-rotation-translation, and the relative pose of the virtual tool and the virtual workpiece is always ensured to be consistent with the relative pose of the solid tool and the solid workpiece in the actual processing process, namely the interaction relation of the tool and the workpiece in the actual processing is reproduced in a virtual space in the form of dynamic tool cutting animation; the cutting path display unit in the fused processing state displays the cutting path and the additional sensing information in the processing process in a dynamic color three-dimensional curve form, and updates the color three-dimensional curve according to the cutting path in the real-time fused processing state to obtain a dynamic color three-dimensional curve which is continuously prolonged along with the processing process, namely the cutting path in the fused processing state comprises five-dimensional information such as one-dimensional time, three-dimensional space and one-dimensional processing state; and the processing state legend unit displays the mapping relation between colors and sensing information data in the processing state, and intuitively obtains spatial fields of different types of processing states along the cutting path of the tool through color changes of different spatial positions.
6. The spatial location-based processing state information fusion system of claim 3 or 5, wherein the workpiece display is a static model in a three-dimensional view of the processing process, and the triangle patch information of the workpiece model is defined by STL or other types of files;
according to the tool display, a tool is a dynamic model in a three-dimensional view in the machining process, and the information of a triangular patch of the tool model is defined by STL or other types of files;
the cutting path is defined by tool nose coordinates X, Y, Z acquired in real time, the cutting path display unit draws a three-dimensional broken line graph according to a space information matrix (3 x n) containing X, Y, Z coordinates, and the curve is consistent with an actual cutting history path of a tool.
7. The spatial position based processing state information fusion system of claim 5, wherein the additional sensing information is defined by an additional sensing information vector, for example, a main axis load L, and since the alignment synchronization work is completed in the fusion layer, the main axis load vector (1 xn) is equal to the spatial matrix and corresponds to the spatial position, and then the vector will form a new matrix (4 xn) containing the spatial information and the processing state information with the spatial matrix, wherein X, Y, Z is used to draw the shape of the three-dimensional curve, and L is used to draw the color of the corresponding spatial point, and the two cooperate to form a colored three-dimensional curve.
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