Abstract: A method and a device for curve velocity planning based on NURBS (non-uniform rational B-splines) curve interpolation as well as a numerical control machining route data processing method using NURBS curve interpolation velocity planning are provided. The method includes: obtaining numerical control machining route data with a NURBS curve; obtaining an acceleration within a parameter step length on the NURBS curve; comparing each the acceleration with a maximum allowable acceleration to determine an acceleration sensitive point and an acceleration sensitive interval; determining an intermediate point of the acceleration sensitive interval as a demarcation point of the acceleration and the deceleration; calculating a velocity value of the intermediate point as a target velocity; and planning the acceleration and deceleration of the acceleration sensitive interval based on the target velocity to obtain the numerical control machining route data with the planned NURBS curve.

Abstract: The present disclosure provides a method, devices, a numerical control machine, and a computer storage medium for detecting machine processing trajectory space. The method includes: obtaining data of a trajectory AB of a machine processing and spatial data of a specified space area; converting a function of the data of the trajectory AB into a univariate function P=f (u) with respect to a trajectory parameter u; determining a point set Ui of the trajectory AB on an inner side of each curved surface Si based on spatial data of the individual curved surfaces Si forming the specified space area and the function P=f(u); and determining a positional relationship between the trajectory AB and the specified space area based on the point sets Ui.

Abstract: The present disclosure provides an operation instruction response control method and terminal for a human-machine interface. An operation instruction is compared with an operation instruction at the tail of an operation instruction queue while the human-machine interface is in a busy state, and stored in the operation instruction queue while the operation instruction is inequivalent to the operation instruction at the tail of the operation instruction queue; the operation instruction is stored in the operation instruction queue directly while the human-machine interface is not in the busy state. The present disclosure is capable of keeping receiving operation instructions while the human-machine interface is busy, and filtering out invalid operation instructions to avoid the backlog, which shortens the delay time of the response to the operation instructions.

Abstract: The present disclosure provides a simultaneous display method, system, and computer numerical control machine tool based on QT embedded. The method includes triggering a target QT paint event which displays a first display content; executing a drawing function corresponding to the QT paint event, and meanwhile, triggering a predefined first triggering event; wherein, the first triggering event is used to trigger a frame buffer operation to display a second display content, and the second display content and the first display content are contents required to be simultaneously displayed; displaying the first display content and the second display content simultaneously by a display device. The present disclosure can guarantee that the frame buffer operation is executed after executing the target QT paint event, to ensure that the frame buffer operation and QT embedded drawing are displayed simultaneously, avoiding displaying errors and improving the user experience.

Abstract: The present disclosure provides an industrial robot safety control system, a back-up safety circuit and a safety module. The safety module includes a first safety circuit and a second safety circuit. The first safety circuit and the second safety circuit receive a warning signal at a same time. The first safety circuit is configured to respond to the warning signal. The second safety circuit include a delay system and an event response circuit. The delay system sets a time delay when receiving the warning signal, wherein, when the delay system does not receive a first control signal indicating that the first safety circuit has responded to the warning signal during the time delay, the delay system controls the event response circuit to respond to the warning signal. The present disclosure may help avoid the problem of common mode failure of the back-up safety mechanism.

Abstract: A method for cutter path planning is disclosed. The method includes: obtaining a first and a second programmed path of a workpiece, computing for a corresponding first cutter path based on the first programmed path and a radius of the cutter, and computing for a corresponding second cutter path based on the second programmed path and the radius of the cutter; and computing for a transition path connecting an end point of the first cutter path and a start point of the second cutter path based on the first and second cutter paths, wherein the distance from any one point on the transition path to either the first or second programmed path would be greater than or equal to the radius of the cutter. An apparatus for cutter path planning, a method and an apparatus for workpiece machining are also disclosed.

Abstract: The present disclosure provides an industrial robot safety control system, a back-up safety circuit and a safety module. The safety module includes a first safety circuit and a second safety circuit. The first safety circuit and the second safety circuit receive a warning signal at a same time. The first safety circuit is configured to respond to the warning signal. The second safety circuit include a delay system and an event response circuit. The delay system sets a time delay when receiving the warning signal, wherein, when the delay system does not receive a first control signal indicating that the first safety circuit has responded to the warning signal during the time delay, the delay system controls the event response circuit to respond to the warning signal. The present disclosure may help avoid the problem of common mode failure of the back-up safety mechanism.

Abstract: The present disclosure discloses a method and device for straight line detection and image processing. The straight line detection method includes: dividing a horizontal axis and a vertical axis of a straight line parameter space equally, so as to divide the straight line parameter space into a plurality of parameter areas; voting for the plurality of parameter areas utilizing a coordinate of each sample pixel to obtain a vote amount of each of the parameter areas; extracting a straight line parameter and the vote amount of each of the parameter areas having the vote amount larger than a voting threshold, and grouping the straight line parameters into a group; and weighting and averaging the straight line parameter of each group and the vote amount respectively to obtain the straight line parameter of a detected straight line. The present disclosure also discloses a robot and a numerical control machine.

Abstract: The present disclosure provides a numerical control system and a numerical control machine tool. The NCS includes a storage and a MCU capable of reading data from and writing data into the storage. The MCU includes a data buffer, the storage includes an internal memory and a flash memory, the internal memory is configured to store data and programs which are needed when the MCU is in operation. The flash memory includes at least one of SD card memory and eMMC memory, and a built-in NAND-Flash memory. The NAND-Flash memory is configured to store system files of the NCS, and the SD card memory and the eMMC memory both are configured to store the system files and user data of the NCS, which enables the NCS to be workable in the absence of external SD card memory.