CN109814488B - Cooperative numerical control machine tool control method based on Internet of things and computer readable medium - Google Patents
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Abstract
The invention discloses a cooperative numerical control machine tool control method based on the Internet of things, which comprises the following steps: collecting control information for controlling the numerical control machine tool by the first mobile terminal; receiving, by a first mobile terminal, a first reference signal sent by a nc machine control center, and estimating a first channel condition of a wireless channel between the first mobile terminal and the nc machine control center; based on the first channel condition and the size of the control information, calculating first time required for sending the control information to the numerical control machine control center by the first mobile terminal, and sending the first time to the numerical control machine control center; receiving, by the first mobile terminal, a second reference signal transmitted by the second mobile terminal, and estimating a second channel condition of a wireless channel between the first mobile terminal and the second mobile terminal; and calculating second time required for sending the control information to the second mobile terminal by the first mobile terminal, and sending the second time to the numerical control machine control center.
Description
Technical Field
The invention relates to the technical field of machine tool control, in particular to a cooperative numerical control machine tool control method based on the Internet of things and a computer readable medium.
Background
The major competitiveness in industrially developed countries comes from the manufacturing industry, and even in developing countries, the comprehensive strength is based on the manufacturing industry. The machining and manufacturing level, which is the basis of the manufacturing industry, is always the core index for measuring the manufacturing industry in various countries. The surface quality of the machined part reflects the level of machining, and the improvement of the surface quality plays an important role in the working performance, the service life, the appearance and the like of a mechanical product, so the method is always a research hotspot of the mechanical manufacturing industry. With the development of modern products towards high performance, high stability, attractive appearance and the like, higher requirements are put forward on the precision of a numerical control machine tool for part machining. The overall machining precision of the numerical control machine tool can be effectively improved within a certain range by adopting the mode of machine tool hardware error compensation and software error compensation.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a cooperative numerical control machine tool control method based on the Internet of things and a computer readable medium, which can overcome the defects of the prior art.
In order to achieve the purpose, the invention provides a cooperative numerical control machine control method based on the Internet of things, which comprises the following steps:
collecting control information for controlling the numerical control machine tool by the first mobile terminal;
receiving, by a first mobile terminal, a first reference signal sent by a nc machine control center, and estimating a first channel condition of a wireless channel between the first mobile terminal and the nc machine control center based on the first reference signal;
based on the first channel condition and the size of the control information, calculating first time required for sending the control information to the numerical control machine control center by the first mobile terminal, and sending the first time to the numerical control machine control center;
receiving, by the first mobile terminal, a second reference signal transmitted by the second mobile terminal, and estimating a second channel condition of a wireless channel between the first mobile terminal and the second mobile terminal based on the second reference signal;
calculating a second time required for sending the control information to the second mobile terminal by the first mobile terminal based on the second channel condition and the size of the control information, and sending the second time to the numerical control machine control center;
notifying, by the first mobile terminal, the size of the control information to the second mobile terminal;
receiving, by the second mobile terminal, the first reference signal transmitted by the nc machine control center, and estimating a third channel condition of a wireless channel between the second mobile terminal and the nc machine control center based on the first reference signal;
based on the third channel condition and the size of the control information, calculating third time required for sending the control information to the numerical control machine control center by the second mobile terminal, and sending the third time to the numerical control machine control center;
if the first time is shorter than the time threshold value, the first mobile terminal sends the control information to the numerical control machine control center; and
if the first time is longer than the time threshold value, the first mobile terminal informs the numerical control machine control center to schedule the transmission of the control information.
In a preferred embodiment, the first mobile terminal calculates the first time required for transmitting the control information to the nc controlling center based on the first channel condition and the size of the control information by using the following formula:
wherein, T1Representing a first time, the function ceil representing an upward integer, D representing the size of the control information, theta1Representing the transmission efficiency between the first mobile terminal and the NC machine control center, and t representing the size of information which can be transmitted per unit time under an ideal channel condition;
wherein, based on the second channel condition and the size of the control information, calculating, by the first mobile terminal, a second time required to transmit the control information to the second mobile terminal is performed by the following formula:
wherein, T2Represents a second time, θ2Representing the transmission efficiency between the first mobile terminal and the second mobile terminal.
In a preferred embodiment, the calculation of the third time required for the second mobile terminal to transmit the control information to the nc controlling center based on the third channel condition and the size of the control information is performed by the following formula:
wherein, T3Represents a third time, θ3Representing transmission efficiency between the second mobile terminal and the second cnc control center。
In a preferred embodiment, the cnc control center schedules the transmission of control information by:
judging whether the first time is greater than the sum of the second time and the third time;
and if the first time is less than the sum of the second time and the third time, the first mobile terminal is informed, so that the first mobile terminal directly sends control information to the numerical control machine control center.
In a preferred embodiment, the numerical control machine control center is further configured to:
if the first time is larger than the sum of the second time and the third time, the first mobile terminal is informed so that the first mobile terminal sends control information to the second mobile terminal;
and informing the second mobile terminal so that the second mobile terminal forwards the received control information sent by the first mobile terminal to the numerical control machine control center.
The present invention also provides a non-transitory computer-readable storage medium having program code stored thereon, the program code executable by a processor to:
collecting control information for controlling the numerical control machine tool by the first mobile terminal;
receiving, by a first mobile terminal, a first reference signal sent by a nc machine control center, and estimating a first channel condition of a wireless channel between the first mobile terminal and the nc machine control center based on the first reference signal;
based on the first channel condition and the size of the control information, calculating first time required for sending the control information to the numerical control machine control center by the first mobile terminal, and sending the first time to the numerical control machine control center;
receiving, by the first mobile terminal, a second reference signal transmitted by the second mobile terminal, and estimating a second channel condition of a wireless channel between the first mobile terminal and the second mobile terminal based on the second reference signal;
calculating a second time required for sending the control information to the second mobile terminal by the first mobile terminal based on the second channel condition and the size of the control information, and sending the second time to the numerical control machine control center;
notifying, by the first mobile terminal, the size of the control information to the second mobile terminal;
receiving, by the second mobile terminal, the first reference signal transmitted by the nc machine control center, and estimating a third channel condition of a wireless channel between the second mobile terminal and the nc machine control center based on the first reference signal;
based on the third channel condition and the size of the control information, calculating third time required for sending the control information to the numerical control machine control center by the second mobile terminal, and sending the third time to the numerical control machine control center;
if the first time is shorter than the time threshold value, the first mobile terminal sends the control information to the numerical control machine control center; and
if the first time is longer than the time threshold value, the first mobile terminal informs the numerical control machine control center to schedule the transmission of the control information.
In a preferred embodiment, the first mobile terminal calculates the first time required for transmitting the control information to the nc controlling center based on the first channel condition and the size of the control information by using the following formula:
wherein, T1Representing a first time, the function ceil representing an upward integer, D representing the size of the control information, theta1Representing the transmission efficiency between the first mobile terminal and the NC machine control center, and t representing the size of information which can be transmitted per unit time under an ideal channel condition;
wherein, based on the second channel condition and the size of the control information, calculating, by the first mobile terminal, a second time required to transmit the control information to the second mobile terminal is performed by the following formula:
wherein, T2Represents a second time, θ2Representing the transmission efficiency between the first mobile terminal and the second mobile terminal.
In a preferred embodiment, the calculation of the third time required for the second mobile terminal to transmit the control information to the nc controlling center based on the third channel condition and the size of the control information is performed by the following formula:
wherein, T3Represents a third time, θ3Representing the transmission efficiency between the second mobile terminal and the second cnc control center.
In a preferred embodiment, the cnc control center schedules the transmission of control information by:
judging whether the first time is greater than the sum of the second time and the third time;
and if the first time is less than the sum of the second time and the third time, the first mobile terminal is informed, so that the first mobile terminal directly sends control information to the numerical control machine control center.
In a preferred embodiment, the numerical control machine control center is further configured to:
if the first time is larger than the sum of the second time and the third time, the first mobile terminal is informed so that the first mobile terminal sends control information to the second mobile terminal;
and informing the second mobile terminal so that the second mobile terminal forwards the received control information sent by the first mobile terminal to the numerical control machine control center.
Compared with the prior art, the cooperative numerical control machine tool control method based on the Internet of things has the following advantages: with the great advance of industry 4.0 and Chinese intelligence, the practical requirement of implementing the internet of things in factories is more and more urgent. In future unmanned factories, numerical control machines are uniformly controlled by a central super computer, all information transmission is realized by an internet of things system, and the construction level of a physical network system determines the control effectiveness of the numerical control machines. However, it should be noted that the nodes in the physical network have their own characteristics, and if a control method suitable for the characteristics of the internet of things device cannot be designed, the concept of the internet of things and the numerical control machine cannot be well combined together. Generally, the control method based on the internet of things does not want to have a large delay for data transmission, and if the delay is too large, the control of the numerical control machine tool is delayed, and the production progress is hindered.
The method provides a cooperative numerical control machine tool control method, a control terminal and a control center can judge the time consumption of data transmission among different data transmission channels, meanwhile, the data transmission on the transmission channel with large time consumption is avoided based on the judged time consumption, and the data transmission on the transmission channel with low time consumption is carried out as much as possible, so that the low control delay in the control method is ensured.
Drawings
Fig. 1 is a flowchart of a method for controlling a cooperative numerical control machine based on the internet of things according to an embodiment of the invention.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
Fig. 1 is a flowchart of a method for controlling a cooperative numerical control machine based on the internet of things according to an embodiment of the invention. As shown in the figure, the control method of the present invention includes the following steps:
step 101: collecting control information for controlling the numerical control machine tool by the first mobile terminal;
step 102: receiving, by a first mobile terminal, a first reference signal sent by a nc machine control center, and estimating a first channel condition of a wireless channel between the first mobile terminal and the nc machine control center based on the first reference signal;
step 103: based on the first channel condition and the size of the control information, calculating first time required for sending the control information to the numerical control machine control center by the first mobile terminal, and sending the first time to the numerical control machine control center;
step 104: receiving, by the first mobile terminal, a second reference signal transmitted by the second mobile terminal, and estimating a second channel condition of a wireless channel between the first mobile terminal and the second mobile terminal based on the second reference signal;
step 105: calculating a second time required for sending the control information to the second mobile terminal by the first mobile terminal based on the second channel condition and the size of the control information, and sending the second time to the numerical control machine control center;
step 106: notifying, by the first mobile terminal, the size of the control information to the second mobile terminal;
step 107: receiving, by the second mobile terminal, the first reference signal transmitted by the nc machine control center, and estimating a third channel condition of a wireless channel between the second mobile terminal and the nc machine control center based on the first reference signal;
step 108: based on the third channel condition and the size of the control information, calculating third time required for sending the control information to the numerical control machine control center by the second mobile terminal, and sending the third time to the numerical control machine control center;
step 109: if the first time is shorter than the time threshold value, the first mobile terminal sends the control information to the numerical control machine control center; and
step 110: if the first time is longer than the time threshold value, the first mobile terminal informs the numerical control machine control center to schedule the transmission of the control information.
The time threshold value may be determined by first predefining a maximum allowable transmission time for various types of control information, for example, for some unimportant control information (e.g., control information required to provide a history of machine operation, control information providing basic information of the machine, etc.), the maximum allowable transmission time may be larger, and for some time-sensitive information (e.g., emergency shutdown information, information to change parameters of the machine) the maximum allowable transmission time may be smaller. Then, half of the maximum allowed transmission time, or 0.6 times of the maximum allowed transmission time, or 0.3 times of the maximum allowed transmission time is set as a time threshold (the specific times can be determined by means of simulation).
In a preferred embodiment, the first mobile terminal calculates the first time required for transmitting the control information to the nc controlling center based on the first channel condition and the size of the control information by using the following formula:
wherein, T1Representing a first time, the function ceil representing an upward integer, D representing the size of the control information, theta1Representing the transmission efficiency between the first mobile terminal and the NC machine control center, and t representing the size of information which can be transmitted per unit time under an ideal channel condition; the transmission efficiency represents the channel condition, and the better the channel condition, the closer the amount of data transmitted in the real state is to the size of information that can be transmitted per unit time under the ideal channel condition. Specifically, values for ideal channel conditions (e.g., channel maximum possible signal-to-noise ratio, signal-to-interference-and-noise ratio, snr, etc.) are first determined,Received power, etc., or empirically based maximum possible snr, sir, received power as determined from historical data), and then based on the measured channel conditions, a ratio of the measured channel conditions to the ideal channel conditions can be obtained, which is less than 1, which can be directly defined as the transmission efficiency.
Wherein, based on the second channel condition and the size of the control information, calculating, by the first mobile terminal, a second time required to transmit the control information to the second mobile terminal is performed by the following formula:
wherein, T2Represents a second time, θ2Representing the transmission efficiency between the first mobile terminal and the second mobile terminal.
In a preferred embodiment, the calculation of the third time required for the second mobile terminal to transmit the control information to the nc controlling center based on the third channel condition and the size of the control information is performed by the following formula:
wherein, T3Represents a third time, θ3Representing the transmission efficiency between the second mobile terminal and the second cnc control center.
In a preferred embodiment, the cnc control center schedules the transmission of control information by: judging whether the first time is greater than the sum of the second time and the third time; and if the first time is less than the sum of the second time and the third time, the first mobile terminal is informed, so that the first mobile terminal directly sends control information to the numerical control machine control center.
In a preferred embodiment, the numerical control machine control center is further configured to: if the first time is larger than the sum of the second time and the third time, the first mobile terminal is informed so that the first mobile terminal sends control information to the second mobile terminal; and informing the second mobile terminal so that the second mobile terminal forwards the received control information sent by the first mobile terminal to the numerical control machine control center.
The present invention also provides a non-transitory computer-readable storage medium having program code stored thereon, the program code executable by a processor to: collecting control information for controlling the numerical control machine tool by the first mobile terminal; receiving, by a first mobile terminal, a first reference signal sent by a nc machine control center, and estimating a first channel condition of a wireless channel between the first mobile terminal and the nc machine control center based on the first reference signal; based on the first channel condition and the size of the control information, calculating first time required for sending the control information to the numerical control machine control center by the first mobile terminal, and sending the first time to the numerical control machine control center; receiving, by the first mobile terminal, a second reference signal transmitted by the second mobile terminal, and estimating a second channel condition of a wireless channel between the first mobile terminal and the second mobile terminal based on the second reference signal; calculating a second time required for sending the control information to the second mobile terminal by the first mobile terminal based on the second channel condition and the size of the control information, and sending the second time to the numerical control machine control center; notifying, by the first mobile terminal, the size of the control information to the second mobile terminal; receiving, by the second mobile terminal, the first reference signal transmitted by the nc machine control center, and estimating a third channel condition of a wireless channel between the second mobile terminal and the nc machine control center based on the first reference signal; based on the third channel condition and the size of the control information, calculating third time required for sending the control information to the numerical control machine control center by the second mobile terminal, and sending the third time to the numerical control machine control center; if the first time is shorter than the time threshold value, the first mobile terminal sends the control information to the numerical control machine control center; and if the first time is longer than the time threshold value, the first mobile terminal informs the numerical control machine control center to schedule the transmission of the control information.
In a preferred embodiment, the first mobile terminal calculates the first time required for transmitting the control information to the nc controlling center based on the first channel condition and the size of the control information by using the following formula:
wherein, T1Representing a first time, the function ceil representing an upward integer, D representing the size of the control information, theta1Representing the transmission efficiency between the first mobile terminal and the NC machine control center, and t representing the size of information which can be transmitted per unit time under an ideal channel condition;
wherein, based on the second channel condition and the size of the control information, calculating, by the first mobile terminal, a second time required to transmit the control information to the second mobile terminal is performed by the following formula:
wherein, T2Represents a second time, θ2Representing the transmission efficiency between the first mobile terminal and the second mobile terminal.
In a preferred embodiment, the calculation of the third time required for the second mobile terminal to transmit the control information to the nc controlling center based on the third channel condition and the size of the control information is performed by the following formula:
wherein, T3Represents a third time, θ3Representing the transmission efficiency between the second mobile terminal and the second cnc control center.
In a preferred embodiment, the cnc control center schedules the transmission of control information by: judging whether the first time is greater than the sum of the second time and the third time; and if the first time is less than the sum of the second time and the third time, the first mobile terminal is informed, so that the first mobile terminal directly sends control information to the numerical control machine control center.
In a preferred embodiment, the numerical control machine control center is further configured to: if the first time is larger than the sum of the second time and the third time, the first mobile terminal is informed so that the first mobile terminal sends control information to the second mobile terminal; and informing the second mobile terminal so that the second mobile terminal forwards the received control information sent by the first mobile terminal to the numerical control machine control center.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (10)
1. A cooperative numerical control machine control method based on the Internet of things is characterized in that: the cooperative numerical control machine tool control method based on the Internet of things comprises the following steps:
collecting control information for controlling the numerical control machine tool by the first mobile terminal;
receiving, by a first mobile terminal, a first reference signal sent by a nc machine control center, and estimating, based on the first reference signal, a first channel condition of a wireless channel between the first mobile terminal and the nc machine control center;
based on the first channel condition and the size of the control information, calculating first time required for sending the control information to the numerical control machine control center by a first mobile terminal, and sending the first time to the numerical control machine control center;
receiving, by a first mobile terminal, a second reference signal transmitted by a second mobile terminal, and estimating a second channel condition of a wireless channel between the first mobile terminal and the second mobile terminal based on the second reference signal;
calculating, by the first mobile terminal, a second time required for transmitting the control information to the second mobile terminal based on the second channel condition and the size of the control information, and transmitting the second time to the nc machine tool control center;
notifying, by the first mobile terminal, the size of the control information to the second mobile terminal;
receiving, by a second mobile terminal, a first reference signal transmitted by a nc machine control center, and estimating a third channel condition of a wireless channel between the second mobile terminal and the nc machine control center based on the first reference signal;
calculating, by a second mobile terminal, a third time required to send the control information to the nc control center based on the third channel condition and the size of the control information, and sending the third time to the nc control center;
if the first time is shorter than a time threshold value, the first mobile terminal sends the control information to the numerical control machine control center; and
and if the first time is longer than the time threshold value, the first mobile terminal informs the numerical control machine control center to schedule the transmission of the control information.
2. The cooperative numerical control machine tool control method based on the internet of things according to claim 1, wherein: wherein, based on the first channel condition and the size of the control information, calculating, by the first mobile terminal, a first time required to send the control information to the nc machine control center is performed by the following formula:
wherein, T1Representing said first time, the function ceil representing an upward integer, D representing the size of said control information, θ1Representing the transmission efficiency between the first mobile terminal and the NC machine control center, and t representing the size of information that can be transmitted per unit time under ideal channel conditions;
wherein the calculating, by the first mobile terminal, a second time required to transmit the control information to the second mobile terminal based on the second channel condition and the size of the control information is performed by the following formula:
wherein, T2Represents said second time, θ2Representing the transmission efficiency between the first mobile terminal and the second mobile terminal.
3. The cooperative numerical control machine tool control method based on the internet of things as claimed in claim 2, wherein: wherein, based on the third channel condition and the size of the control information, calculating, by the second mobile terminal, a third time required to send the control information to the nc machine control center is performed by the following formula:
wherein, T3Represents said third time, θ3Representing the transmission efficiency between the second mobile terminal and the nc control center.
4. The cooperative numerical control machine tool control method based on the internet of things as claimed in claim 3, wherein: the numerical control machine control center schedules the transmission of the control information by the following steps:
judging whether the first time is greater than the sum of the second time and the third time;
and if the first time is judged to be less than the sum of the second time and the third time, the first mobile terminal is informed, so that the first mobile terminal directly sends the control information to the numerical control machine control center.
5. The cooperative numerical control machine tool control method based on the internet of things as claimed in claim 4, wherein: the NC machine control center is further configured to:
if the first time is larger than the sum of the second time and the third time, the first mobile terminal is informed so that the first mobile terminal can send the control information to the second mobile terminal;
and informing the second mobile terminal so that the second mobile terminal forwards the received control information sent by the first mobile terminal to the numerical control machine control center.
6. A non-transitory computer-readable storage medium having program code stored thereon, the program code executable by a processor to:
collecting control information for controlling the numerical control machine tool by the first mobile terminal;
receiving, by a first mobile terminal, a first reference signal sent by a nc machine control center, and estimating, based on the first reference signal, a first channel condition of a wireless channel between the first mobile terminal and the nc machine control center;
based on the first channel condition and the size of the control information, calculating first time required for sending the control information to the numerical control machine control center by a first mobile terminal, and sending the first time to the numerical control machine control center;
receiving, by a first mobile terminal, a second reference signal transmitted by a second mobile terminal, and estimating a second channel condition of a wireless channel between the first mobile terminal and the second mobile terminal based on the second reference signal;
calculating, by the first mobile terminal, a second time required for transmitting the control information to the second mobile terminal based on the second channel condition and the size of the control information, and transmitting the second time to the nc machine tool control center;
notifying, by the first mobile terminal, the size of the control information to the second mobile terminal;
receiving, by a second mobile terminal, a first reference signal transmitted by a nc machine control center, and estimating a third channel condition of a wireless channel between the second mobile terminal and the nc machine control center based on the first reference signal;
calculating, by a second mobile terminal, a third time required to send the control information to the nc control center based on the third channel condition and the size of the control information, and sending the third time to the nc control center;
if the first time is shorter than a time threshold value, the first mobile terminal sends the control information to the numerical control machine control center; and
and if the first time is longer than the time threshold value, the first mobile terminal informs the numerical control machine control center to schedule the transmission of the control information.
7. The non-transitory computer-readable storage medium of claim 6, wherein: wherein, based on the first channel condition and the size of the control information, calculating, by the first mobile terminal, a first time required to send the control information to the nc machine control center is performed by the following formula:
wherein, T1Representing said first time, the function ceil representing an upward integer, D representing the size of said control information, θ1Representing the transmission efficiency between the first mobile terminal and the NC machine control center, and t representing the size of information that can be transmitted per unit time under ideal channel conditions;
wherein the calculating, by the first mobile terminal, a second time required to transmit the control information to the second mobile terminal based on the second channel condition and the size of the control information is performed by the following formula:
wherein, T2Represents said second time, θ2Representing the transmission efficiency between the first mobile terminal and the second mobile terminal.
8. The non-transitory computer-readable storage medium of claim 7, wherein: wherein, based on the third channel condition and the size of the control information, calculating, by the second mobile terminal, a third time required to send the control information to the nc machine control center is performed by the following formula:
wherein, T3Represents said third time, θ3Representing the transmission efficiency between the second mobile terminal and the nc control center.
9. The non-transitory computer-readable storage medium of claim 8, wherein: the numerical control machine control center schedules the transmission of the control information by the following steps:
judging whether the first time is greater than the sum of the second time and the third time;
and if the first time is judged to be less than the sum of the second time and the third time, the first mobile terminal is informed, so that the first mobile terminal directly sends the control information to the numerical control machine control center.
10. The non-transitory computer-readable storage medium of claim 9, wherein: the NC machine control center is further configured to:
if the first time is larger than the sum of the second time and the third time, the first mobile terminal is informed so that the first mobile terminal can send the control information to the second mobile terminal;
and informing the second mobile terminal so that the second mobile terminal forwards the received control information sent by the first mobile terminal to the numerical control machine control center.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910136881.2A CN109814488B (en) | 2019-02-25 | 2019-02-25 | Cooperative numerical control machine tool control method based on Internet of things and computer readable medium |
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