CN112327749A - Method for realizing edge-finding correction processing based on capacitive sensor - Google Patents
Method for realizing edge-finding correction processing based on capacitive sensor Download PDFInfo
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- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to a method for realizing edge-finding correction processing based on a capacitive sensor, which comprises the steps of starting a capacitive jump enabling switch, starting follow-up from the current point, and waiting for a follow-up in-place signal; setting a latch switch, moving in the X-direction, reading a latch encoder value and recording the latch encoder value as C1; rollback is recorded as C2; setting a latch switch, moving towards the Y-direction, and reading a latch encoder value to record as A1; rollback is recorded as a 2; setting a latch switch, moving in the Y-direction until the capacitor jump signal is taken to stop moving, reading the latch position, and recording as B1; rollback is recorded as B2; and calculating the deflection angle and the original point position of the plate. By adopting the method for realizing edge finding correction processing based on the capacitive sensor, the problems of poor edge finding precision and large deviation of edge finding positioning position and angle caused by low edge finding precision and insufficient flatness of the edge of the plate in the plate locating process are solved, and the effects of high edge finding precision and high locating precision in the plate edge finding process are achieved.
Description
Technical Field
The invention relates to the field of plate cutting, in particular to the field of plate correction, and specifically relates to a method for realizing edge finding correction processing based on a capacitive sensor.
Background
In the prior art, the conventional edge-finding correction method has the following processing procedures:
step 1: starting a capacitor jump enabling switch, starting follow-up from the current point, and waiting for a follow-up in-place signal;
step 2: moving to the X-until a capacitance jump signal is received, stopping moving, closing the follow-up, and recording an edge point C;
and step 3: moving toward X + for a distance X of width multiplied by 20%, starting follow-up, and waiting for the follow-up to be in place;
and 4, step 4: moving to Y-until the capacitor jump signal is received and stopping moving, closing the follow-up, and recording an edge point A;
and 5: moving to X + and Y + to (C point X coordinate + X width X80%, C point Y coordinate), starting follow-up, and waiting for follow-up to be in place;
step 6: moving to the Y-direction until the capacitor jump signal is received, stopping moving, closing the follow-up, and recording an edge point B;
and 7: and calculating the deflection angle and the original point position of the plate through the ABC points.
The method has the following defects:
1. in the prior art, when the capacitance jump signal in steps 2, 4, and 6 is adopted, the implementation manner of recording the edge point results in that the position of the edge point is not recorded timely enough, the edge error is large, and the edge finding result is inaccurate.
2. In the prior art, a 3-point edge searching mode is adopted, so that a large edge error is easily caused on the edge searching result of a plate which is not smooth.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for realizing edge finding correction processing based on a capacitive sensor, which has the advantages of high edge finding precision, high positioning precision and high plate utilization rate.
In order to achieve the above object, the method for implementing edge-finding correction processing based on a capacitive sensor of the present invention comprises:
the method for realizing the edge-finding correction processing based on the capacitive sensor is mainly characterized by comprising the following steps of:
(1) starting a capacitor jump enabling switch, starting follow-up from the current point, and waiting for a follow-up in-place signal;
(2) setting a latch switch, moving in the X-direction until the capacitor jump signal is taken to stop moving, closing the latch switch to follow up, reading a latch encoder value, and recording an edge point C1;
(3) setting a latch switch, backing 20mm in the X + direction, backing 10mm in the Y-direction, moving in the X-direction until a capacitance jump signal is taken to stop moving, closing the latch switch to follow, reading a latch encoder value, and recording a boundary point C2;
(4) moving to the X + direction by 20% of the length of the plate, starting follow-up, and waiting for the follow-up to be in place;
(5) setting a latch switch, moving in the Y-direction until the capacitor jump signal is taken to stop moving, closing the latch switch to follow up, reading a latch encoder value, and recording an edge point A1;
(6) setting a latch switch, backing 20mm in the Y + direction, backing 10mm in the X-direction, moving in the Y-direction until a capacitance jump signal is taken to stop moving, closing the latch switch to follow, reading a latch encoder value, and recording an edge point A2;
(7) moving to the direction of X + and Y +, starting follow-up, and waiting for the follow-up to be in place;
(8) setting a latch switch, moving in the Y-direction until the capacitor jump signal is taken to stop moving, closing the latch switch to follow, reading the latch position, and recording the edge point as B1;
(9) setting a latch switch, backing 20mm in the Y + direction, backing 10mm in the X-direction, moving in the Y-direction until a capacitance jump signal is taken to stop moving, closing the latch switch to follow, reading a latch position, and recording a boundary point B2;
(10) and calculating the deflection angle and the original point position of the plate according to the calculated six points A1, A2, B1, B2, C1 and C2.
Preferably, the calculating the declination angle in the step (10) includes:
the declination angle is calculated according to the following formula:
wherein AX is the X-axis coordinate of the middle point between the two points A1 and A2, AY is the Y-axis coordinate of the middle point between the two points A1 and A2, BX is the X-axis coordinate of the middle point between the two points B1 and B2, and BY is the Y-axis coordinate of the middle point between the two points B1 and B2.
Preferably, the step (10) of calculating the origin position of the plate includes:
calculating the plate origin position according to the following formula:
b＝AY-(k×AX)；
wherein,
in the slope, AX is the X-axis coordinate of the midpoint between points a1 and a2, AY is the Y-axis coordinate of the midpoint between points a1 and a2, CX is the X-axis coordinate of the midpoint between points C1 and C2, and CY is the Y-axis coordinate of the midpoint between points C1 and C2.
Preferably, the method further comprises a step of automatic edge searching compensation, and specifically comprises the following steps:
(1-1) the edge searching angle and the O point precision depend on the A, B, C three-point precision of a lower computer, the edge is judged in a delay mode in a low-speed section, and the edge is judged in advance in a high-speed section;
and (1-2) increasing compensation for single-point edge outlet to increase single-point precision through actually measured data, and compensating according to different edge searching speeds.
By adopting the method for realizing edge finding correction processing based on the capacitive sensor, the problems of poor edge finding precision and large deviation of edge finding positioning position and angle caused by low edge finding precision and insufficient flatness of the edge of the plate in the plate locating process are solved, and the effects of high edge finding precision and high locating precision in the plate edge finding process are achieved.
Drawings
Fig. 1 is a schematic diagram illustrating a method of edge finding correction in the prior art.
FIG. 2 is a flowchart of a method for implementing edge-finding correction processing based on a capacitive sensor according to the present invention.
FIG. 3 is a diagram illustrating the result of the automatic edge-finding compensation of the method for implementing the edge-finding correction process based on the capacitive sensor according to the present invention.
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
The invention discloses a method for realizing edge-finding correction processing based on a capacitive sensor, which comprises the following steps:
(1) starting a capacitor jump enabling switch, starting follow-up from the current point, and waiting for a follow-up in-place signal;
(2) setting a latch switch, moving in the X-direction until the capacitor jump signal is taken to stop moving, closing the latch switch to follow up, reading a latch encoder value, and recording an edge point C1;
(3) setting a latch switch, backing 20mm in the X + direction, backing 10mm in the Y-direction, moving in the X-direction until a capacitance jump signal is taken to stop moving, closing the latch switch to follow, reading a latch encoder value, and recording a boundary point C2;
(4) moving to the X + direction by 20% of the length of the plate, starting follow-up, and waiting for the follow-up to be in place;
(5) setting a latch switch, moving in the Y-direction until the capacitor jump signal is taken to stop moving, closing the latch switch to follow up, reading a latch encoder value, and recording an edge point A1;
(6) setting a latch switch, backing 20mm in the Y + direction, backing 10mm in the X-direction, moving in the Y-direction until a capacitance jump signal is taken to stop moving, closing the latch switch to follow, reading a latch encoder value, and recording an edge point A2;
(7) moving to the direction of X + and Y +, starting follow-up, and waiting for the follow-up to be in place;
(8) setting a latch switch, moving in the Y-direction until the capacitor jump signal is taken to stop moving, closing the latch switch to follow, reading the latch position, and recording the edge point as B1;
(9) setting a latch switch, backing 20mm in the Y + direction, backing 10mm in the X-direction, moving in the Y-direction until a capacitance jump signal is taken to stop moving, closing the latch switch to follow, reading a latch position, and recording a boundary point B2;
(10) and calculating the deflection angle and the original point position of the plate according to the calculated six points A1, A2, B1, B2, C1 and C2.
As a preferred embodiment of the present invention, the calculating of the declination angle in the step (10) specifically includes:
the declination angle is calculated according to the following formula:
wherein AX is the X-axis coordinate of the middle point between the two points A1 and A2, AY is the Y-axis coordinate of the middle point between the two points A1 and A2, BX is the X-axis coordinate of the middle point between the two points B1 and B2, and BY is the Y-axis coordinate of the middle point between the two points B1 and B2.
As a preferred embodiment of the present invention, the step (10) of calculating the origin position of the plate material specifically includes:
calculating the plate origin position according to the following formula:
b＝AY-(k×AX)；
wherein,
in the slope, AX is the X-axis coordinate of the midpoint between points a1 and a2, AY is the Y-axis coordinate of the midpoint between points a1 and a2, CX is the X-axis coordinate of the midpoint between points C1 and C2, and CY is the Y-axis coordinate of the midpoint between points C1 and C2.
As a preferred embodiment of the present invention, the method further includes a step of automatic edge finding compensation, specifically including the following steps:
(1-1) the edge searching angle and the O point precision depend on the A, B, C three-point precision of a lower computer, the edge is judged in a delay mode in a low-speed section, and the edge is judged in advance in a high-speed section;
and (1-2) increasing compensation for single-point edge outlet to increase single-point precision through actually measured data, and compensating according to different edge searching speeds.
In a specific embodiment of the present invention, a method for implementing edge-finding correction processing based on a capacitive sensor includes the following steps:
step 1: starting a capacitor jump enabling switch, starting follow-up from the current point, and waiting for a follow-up in-place signal
Step 2: setting a latch switch, moving to X-until the capacitor jump signal is received and stopping moving, closing the latch switch to follow, reading the latch encoder value as an edge point C1
And step 3: setting a latch switch, backing 20mm in the X + direction, backing 10mm in the Y-direction, moving in the X-direction until a capacitance jump signal is taken to stop moving, closing the switch to follow, reading the value of the latch encoder as an edge point C2
And 4, step 4: moving to X + by 20% of the length of the plate, starting to follow, and waiting for the follow-up to be in place
And 5: setting a latch switch, moving to Y-until the capacitor jump signal is received and stopping moving, closing the latch switch to follow, reading the value of the latch encoder, and recording the value as A1
Step 6: setting a latch switch, backing 20mm in Y + direction, backing 10mm in X-direction, moving in Y-direction until a capacitance jump signal is taken to stop moving, closing the latch switch to follow, reading a latch encoder value, and recording as A2 of an edge point
And 7: moving to X + and Y + to (X coordinate of C point + 80% of plate length, Y coordinate of C point), starting follow-up, waiting for follow-up to be in place
And 8: setting a latch switch, moving to Y-until the capacitor jump signal is received and stopping moving, closing the latch switch to follow, reading the latch position, and recording as B1
And step 9: setting a latch switch, backing 20mm towards Y +, backing 10mm towards X-, moving towards Y-until a capacitance jump signal is taken to stop moving, closing the latch switch to follow, reading the latch position, and recording as B2 of an edge point
Step 10: calculating the deflection angle and the original point position of the plate through six points A1, A2, B1, B2, C1 and C2
The automatic edge searching algorithm comprises the following steps:
and (3) deflection angle calculation:
Δt＝math.atan((B.Y－A.Y)/(B.X－A.X))*180/PI；
and (4) calculating the O point:
1. as is known, the AB slope is k ═ (B.Y-A.Y)/(B.X-A.X), and CO is perpendicular to AB, the slope of CO is-1/k.
2. From the slope and the coordinates of the points on the line, we can obtain:
AB equation of a straight line: kx-y + b is 0
The linear equation of CO is-x/k-y + c is 0
3. The coordinates of the point of intersection O can be obtained by solving the following equation of a two-dimensional equation:
kx－y+b＝－x/k－y+c
automatic edge searching compensation:
the edge-searching angle and the O point precision mainly depend on the A, B, C point precision transmitted from the lower computer, so that the edge is judged in a delayed manner in a low-speed section (3000-. (the process is related to the follow-up detection of the capacitance jump signal mechanism and will not be explained in more detail here)
As shown in fig. 3, the single-point accuracy is increased by adding compensation for single-point edge out through actually measured data. And compensating according to different edge searching speeds, wherein y is a compensation value and x is an edge searching speed in the graph.
In the specific embodiment of the invention, the absolute error of the single point precision of 3-8m/min after self-test single point compensation is within 0.5 mm; the absolute error of 8-12m/min is within 1 mm; the absolute error of 12-15m/min is 1.5 mm.
The six-point edge finding results are as follows:
the three-point edge finding results are as follows:
by adopting the method for realizing edge finding correction processing based on the capacitive sensor, the problems of poor edge finding precision and large deviation of edge finding positioning position and angle caused by low edge finding precision and insufficient flatness of the edge of the plate in the plate locating process are solved, and the effects of high edge finding precision and high locating precision in the plate edge finding process are achieved.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (4)
1. A method for realizing edge-finding correction processing based on a capacitive sensor is characterized by comprising the following steps:
(1) starting a capacitor jump enabling switch, starting follow-up from the current point, and waiting for a follow-up in-place signal;
(2) setting a latch switch, moving in the X-direction until the capacitor jump signal is taken to stop moving, closing the latch switch to follow up, reading a latch encoder value, and recording an edge point C1;
(3) setting a latch switch, backing 20mm in the X + direction, backing 10mm in the Y-direction, moving in the X-direction until a capacitance jump signal is taken to stop moving, closing the latch switch to follow, reading a latch encoder value, and recording a boundary point C2;
(4) moving to the X + direction by 20% of the length of the plate, starting follow-up, and waiting for the follow-up to be in place;
(5) setting a latch switch, moving in the Y-direction until the capacitor jump signal is taken to stop moving, closing the latch switch to follow up, reading a latch encoder value, and recording an edge point A1;
(6) setting a latch switch, backing 20mm in the Y + direction, backing 10mm in the X-direction, moving in the Y-direction until a capacitance jump signal is taken to stop moving, closing the latch switch to follow, reading a latch encoder value, and recording an edge point A2;
(7) moving to the direction of X + and Y +, starting follow-up, and waiting for the follow-up to be in place;
(8) setting a latch switch, moving in the Y-direction until the capacitor jump signal is taken to stop moving, closing the latch switch to follow, reading the latch position, and recording the edge point as B1;
(9) setting a latch switch, backing 20mm in the Y + direction, backing 10mm in the X-direction, moving in the Y-direction until a capacitance jump signal is taken to stop moving, closing the latch switch to follow, reading a latch position, and recording a boundary point B2;
(10) and calculating the deflection angle and the original point position of the plate according to the calculated six points A1, A2, B1, B2, C1 and C2.
2. The method for realizing edge-finding correction processing based on the capacitive sensor according to claim 1, wherein the step (10) calculates the deflection angle specifically as follows:
the declination angle is calculated according to the following formula:
wherein AX is the X-axis coordinate of the middle point between the two points A1 and A2, AY is the Y-axis coordinate of the middle point between the two points A1 and A2, BX is the X-axis coordinate of the middle point between the two points B1 and B2, and BY is the Y-axis coordinate of the middle point between the two points B1 and B2.
3. The method for realizing edge-finding correction processing based on the capacitive sensor as claimed in claim 1, wherein the step (10) of calculating the origin position of the sheet material is specifically as follows:
calculating the plate origin position according to the following formula:
b＝AY-(k×AX)；
wherein,
in the slope, AX is the X-axis coordinate of the midpoint between points a1 and a2, AY is the Y-axis coordinate of the midpoint between points a1 and a2, CX is the X-axis coordinate of the midpoint between points C1 and C2, and CY is the Y-axis coordinate of the midpoint between points C1 and C2.
4. The method for implementing edge-seeking correction processing based on capacitive sensor as claimed in claim 1, wherein said method further comprises a step of automatic edge-seeking compensation, specifically comprising the steps of:
(1-1) the edge searching angle and the O point precision depend on the A, B, C three-point precision of a lower computer, the edge is judged in a delay mode in a low-speed section, and the edge is judged in advance in a high-speed section;
and (1-2) increasing compensation for single-point edge outlet to increase single-point precision through actually measured data, and compensating according to different edge searching speeds.
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Application publication date: 20210205 |