CN109048091B - Laser cutting speed planning method and device, storage medium and computer equipment - Google Patents
Laser cutting speed planning method and device, storage medium and computer equipment Download PDFInfo
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- CN109048091B CN109048091B CN201810785288.6A CN201810785288A CN109048091B CN 109048091 B CN109048091 B CN 109048091B CN 201810785288 A CN201810785288 A CN 201810785288A CN 109048091 B CN109048091 B CN 109048091B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
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- 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
- G05B19/416—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 control of velocity, acceleration or deceleration
- G05B19/4163—Adaptive control of feed or cutting velocity
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Abstract
The invention relates to a laser cutting speed planning method, a device, a storage medium and computer equipment, which are used for acquiring information of a current first cutting stroke and information of a current second cutting stroke in a cutting track to be processed; obtaining the corner speed of the connecting point according to the information of the current first cutting stroke and the information of the current second cutting stroke; updating the current first cutting stroke and the current second cutting stroke, and obtaining the corner speed of each cutting stroke connecting point in the cutting track to be processed; and determining the speed planning information of the cutting track to be processed according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point. The corner speed of the connecting point is obtained through the information calculation of the adjacent cutting strokes, and in the laser cutting process, the final speed of the current cutting stroke only needs to be reduced to the corner speed, so that the speed connection of the adjacent cutting strokes is smoother, the laser cutting time can be reduced, and the laser cutting efficiency is improved.
Description
Technical Field
The invention relates to the technical field of laser cutting, in particular to a laser cutting speed planning method, a laser cutting speed planning device, a storage medium and computer equipment.
Background
With the development of automation control technology, the application of laser cutting is more and more extensive. Laser cutting is to irradiate a material to be cut with a high-power laser beam, and the irradiated portion of the material to be cut is heated and evaporated to form a slit with a narrow width (e.g., about 0.1 mm). During the cutting process, the movement of the laser beam is controlled to control the forming position of the cutting seam, so that the laser cutting operation of the material to be cut is completed.
In the laser cutting process, the laser cutting speed needs to be planned to ensure the stability and high efficiency of the laser cutting motion control. In the traditional technology, a trapezoidal speed planning method is adopted to plan the laser cutting speed. As shown in fig. 1(a), the trapezoidal speed planning method refers to a speed planning process including acceleration, constant speed and deceleration in a cutting process, where the acceleration process refers to increasing the laser cutting speed from zero to a maximum cutting speed Vmax, the constant speed process refers to maintaining the cutting speed Vmax in the cutting process, and the deceleration process refers to decreasing the laser cutting speed from Vmax to zero. In addition, as shown in fig. 1(b) and 1(c), considering the cutting stroke path length, the trapezoidal velocity planning method may only include the acceleration-deceleration process.
However, in the trapezoidal speed planning method, since each cutting stroke needs to be accelerated from zero and finally decelerated to zero, it takes a certain time to perform an acceleration operation and a deceleration operation on the cutting speed in each cutting stroke, thereby increasing the laser cutting time and further resulting in low laser cutting efficiency.
Disclosure of Invention
In view of the above, there is a need to provide a laser cutting speed planning method, apparatus, storage medium and computer device that reduce cutting time and thereby improve cutting efficiency.
A laser cutting speed planning method, comprising:
acquiring information of a current first cutting stroke in a cutting track to be processed and information of a current second cutting stroke connected with the current first cutting stroke;
according to the information of the current first cutting stroke and the information of the current second cutting stroke, obtaining the corner speed of a connecting point of the current first cutting stroke and the current second cutting stroke through a speed planning model, wherein the speed planning model comprises an acceleration function model and a deceleration function model, and the corner speed is greater than zero;
updating the current first cutting stroke and the current second cutting stroke according to the current second cutting stroke and the cutting stroke connected with the current second cutting stroke in the cutting track to be processed;
returning to the step of acquiring the information of the current first cutting stroke in the cutting track to be processed and the information of the current second cutting stroke connected with the current first cutting stroke to obtain the corner speed of each cutting stroke connecting point in the cutting track to be processed;
and determining the speed planning information of the cutting track to be processed through the speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point.
A laser cutting speed planning apparatus comprising:
the information acquisition module is used for acquiring the information of the current first cutting stroke in the cutting track to be processed and the information of the current second cutting stroke connected with the current first cutting stroke;
the speed calculation module is used for obtaining the corner speed of a connection point of the current first cutting stroke and the current second cutting stroke through a speed planning model according to the information of the current first cutting stroke and the information of the current second cutting stroke, the speed planning model comprises an acceleration function model and a deceleration function model, and the corner speed is greater than zero;
the stroke updating module is used for updating the current first cutting stroke and the current second cutting stroke according to the current second cutting stroke and the cutting stroke connected with the current second cutting stroke in the cutting track to be processed;
the speed calculation module is further configured to, after the travel update module updates the current first cutting travel and the current second cutting travel, and the information acquisition module acquires updated information on the current first cutting travel and updated information on the current second cutting travel, obtain, through a speed planning model, corner speeds of connection points of the current first cutting travel and the current second cutting travel according to the updated information on the current first cutting travel and the updated information on the current second cutting travel, and obtain the corner speeds of the connection points of the cutting travels in the cutting trajectory to be processed;
and the speed planning module is used for determining the speed planning information of the cutting track to be processed through the speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point.
A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the above-mentioned laser cutting speed planning method when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned laser cutting speed planning method.
According to the laser cutting speed planning method, the laser cutting speed planning device, the storage medium and the computer equipment, firstly, information of a current first cutting stroke and a current second cutting stroke in a cutting track to be processed is obtained, and the corner speed of a connecting point is obtained according to the obtained information of the current first cutting stroke and the current second cutting stroke; then updating the current first cutting stroke and the current second cutting stroke, and obtaining the corner speed of each cutting stroke connecting point in the cutting track to be processed by using the same calculation method; and finally, carrying out speed planning according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point to obtain speed planning information. The corner speed of the adjacent cutting stroke connecting point is obtained through the information calculation of the adjacent cutting stroke, in the laser cutting process, the final speed of the current cutting stroke only needs to be reduced to the corner speed, so that the speed connection of the adjacent cutting stroke is smoother, and the final speed of each cutting stroke does not need to be reduced to zero, thereby reducing the time spent by each cutting stroke, reducing the laser cutting time and improving the laser cutting efficiency.
Drawings
FIGS. 1(a), 1(b), and 1(c) are velocity diagrams of trapezoidal velocity planning in the conventional art;
FIG. 2 is a schematic flow chart of a method for laser cutting speed planning in one embodiment;
FIG. 3 is a diagram illustrating a pending cut trajectory for laser cutting in one embodiment;
FIG. 4(a) is a speed diagram of an "S" type speed plan in the prior art;
FIG. 4(b) is a schematic acceleration diagram of a "S" type velocity profile in the prior art;
FIG. 5(a) is a first calculation function f in one embodimenta(x) Graph of the function of (a);
FIG. 5(b) is a second calculation function f in one embodimentb(x) Graph of the function of (a);
FIG. 6 is a schematic diagram of the corner velocity for forward and reverse calculations in one embodiment;
fig. 7 is a schematic structural diagram of a laser cutting speed planning apparatus in one embodiment.
Detailed Description
In one embodiment, as shown in fig. 2, there is provided a laser cutting speed planning method, comprising the steps of:
and step S100, acquiring the information of the current first cutting stroke in the cutting track to be processed and the information of the current second cutting stroke connected with the current first cutting stroke.
In this step, the cutting trajectory to be processed is a trajectory of laser cutting, and generally consists of a straight line and/or an arc, and a section of the straight line or the arc represents a section of cutting stroke with a corresponding shape. Specifically, as shown in fig. 3, a schematic diagram of a to-be-processed cutting track of laser cutting is provided, which illustrates that the to-be-processed cutting track comprises a cutting stroke Li、Li+1And Li+2. When planning the speed, the corner speed of the connecting point of two adjacent cutting strokes needs to be calculated, when the corner speed of a certain connecting point is calculated,the cutting stroke before the connecting point is defined as the current first cutting stroke, and the cutting stroke after the connecting point is defined as the current second cutting stroke. Taking the cutting stroke and the connection point in FIG. 3 as an example, the connection point P is calculatediAt a corner speed of (1), in a cutting stroke LiFor the current first cutting stroke, with a cutting stroke Li+1Is the current second cutting stroke; at the calculation connection point Pi+1At a corner speed of (1), then by a cutting stroke Li+1For the current first cutting stroke, with a cutting stroke Li+2The current second cutting stroke. The information on the cutting stroke includes end point position information, speed information, and the like of the cutting stroke, for example, in fig. 3, the cutting stroke LiStarting point of (1) is Pi-1(xi-1，yi-1) Starting velocity vi-1Cutting stroke LiEnd point (L)i+1Starting point of) is Pi(xi，yi) Cutting stroke Li+1Has an end point of Pi+1(xi+1，yi+1) And the like.
It should be noted that, the position of the first selected current first cutting stroke is not limited, for example, the first selected current first cutting stroke may be a cutting stroke located at a starting position in the cutting trajectory to be processed, or may be another cutting stroke located at a non-starting position in the cutting trajectory to be processed, and may be specifically selected according to an actual operation process of laser cutting.
And S200, obtaining the corner speed of the connecting point of the current first cutting stroke and the current second cutting stroke through a speed planning model according to the information of the current first cutting stroke and the information of the current second cutting stroke. Wherein the corner velocity is greater than zero.
In this step, the speed planning model is a model that expresses a speed change process in the laser cutting process by using a fixed function according to information of the cutting stroke, and the cutting stroke can be correspondingly planned in speed change by the speed planning model, and the corner speed of the connecting point of the cutting stroke is calculated. The speed planning model comprises an acceleration function model and a deceleration function model, wherein the acceleration function model and the deceleration function model are fixed functions and are respectively used for expressing an acceleration process and a deceleration process. The acceleration function model comprises a first calculation function, the variable value range of the first calculation function is 0 to 1, the first calculation function is continuous in the range of 0 to 1, and when the variable value is 0, the function value of the first calculation function is 0; when the variable value is 1, the function value of the first calculation function is 1, and the maximum function value of the first calculation function is 1; the deceleration function model comprises a second calculation function, the variable value range of the second calculation function is 0 to 1, the second calculation function is continuous in the range of 0 to 1, and when the variable value is 0, the function value of the second calculation function is 1; when the variable value is 1, the function value of the second calculation function is 0, and the maximum function value of the second calculation function is 1.
In particular, two functions f are defineda(x) And fb(x) The following conditions are respectively satisfied:
fa(0)＝0，fa(1)＝1，max|fa(x)|＝1，0≤x≤1
fb(0)＝1，fb(1)＝0，max|fb(x)|＝1，0≤x≤1 (1)
when f isa(x) And fb(x) When x is 0. ltoreq. x.ltoreq.1, f can be useda(x) And fb(x) As a fixed function of the acceleration and deceleration processes. When the corner speed of a certain cutting stroke connecting point is calculated, after the information of the current first cutting stroke and the information of the current second cutting stroke corresponding to the connecting point are obtained, the function f is used for calculating the corner speed of the connecting point of the certain cutting strokea(x) And fb(x) Corresponding speed change planning can be carried out on the cutting stroke, and the corner speed of the connecting point of the cutting stroke is calculated. When the corner speed of a certain connection point is calculated, the corner speed of the connection point is calculated according to the information of the current first cutting stroke and the information of the current second cutting stroke corresponding to the connection point by assuming that the end speed of the current second cutting stroke corresponding to the connection point is 0.
And step S300, updating the current first cutting stroke and the current second cutting stroke according to the current second cutting stroke and the cutting stroke connected with the current second cutting stroke in the cutting track to be processed.
After the corner speed of the connection point of the current first cutting stroke and the current second cutting stroke is obtained, the current first cutting stroke and the current second cutting stroke need to be updated, at this time, the current second cutting stroke before updating is used as the current updated first cutting stroke, and the next cutting stroke of the current second cutting stroke before updating is used as the current updated second cutting stroke. For example, in FIG. 3, connection point P is calculatediAt a corner speed of (1), in a cutting stroke LiFor the current first cutting stroke, with a cutting stroke Li+1Is the current second cutting stroke; at the calculated connection point PiWill then cut a stroke Li+1Updating the current first cutting stroke to be the cutting stroke Li+2Updated to the current second cutting stroke to calculate the connection point Pi+1The corner speed of (1).
And step S400, returning to the step of acquiring the information of the current first cutting stroke in the cutting track to be processed and the information of the current second cutting stroke connected with the current first cutting stroke, and obtaining the corner speed of each cutting stroke connecting point in the cutting track to be processed.
Specifically, after the updated current first cutting stroke and the updated current second cutting stroke are obtained, the steps of obtaining the information of the current first cutting stroke in the cutting track to be processed and the information of the current second cutting stroke connected with the current first cutting stroke are returned to calculate the corner speed of the connection point of the updated current first cutting stroke and the current second cutting stroke, and the steps are repeated until the calculation of the corner speed of the connection point of all the cutting strokes is completed.
And S600, determining the speed planning information of the cutting track to be processed through a speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point.
In this step, the speed planning model is further configured to perform speed planning processing on the cutting trajectory to be processed after the corner speed of each cutting stroke connection point is obtained through calculation. And after the calculation of the corner speeds of all the cutting stroke connecting points is finished, determining the speed planning information of the cutting track to be processed through a speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point. In laser cutting, the speed planning information specifically refers to a laser cutting displacement amount in each interpolation period (unit time), that is, the displacement amount of each interpolation period is controlled, so that the purpose of controlling the laser cutting speed is achieved.
The embodiment provides a laser cutting speed planning method, the corner speed of the connecting point of the adjacent cutting strokes is obtained through the calculation of the information of the adjacent cutting strokes, in the laser cutting process, the final speed of the current cutting stroke only needs to be reduced to the corner speed, so that the speed connection of the adjacent cutting strokes is smoother, and the final speed of each cutting stroke does not need to be reduced to zero, thereby reducing the time spent by each cutting stroke, reducing the laser cutting time and improving the laser cutting efficiency.
In the conventional technology, the speed planning method further includes an "S" type speed planning method, as shown in fig. 4(a) and 4(b), fig. 4(a) is a speed diagram in the "S" type speed planning, and fig. 4(b) is an acceleration diagram in the "S" type speed planning. The S-shaped speed planning model can eliminate the sudden change of the acceleration and the deceleration, so that the acceleration and the deceleration process become smooth, and the problems of unstable processing process and low precision of processed workpieces can be well solved. However, as shown in fig. 4(b), in the "S" type speed planning, the acceleration needs to be gradually increased to the maximum acceleration amax, or gradually decreased from the maximum acceleration amax to 0, so that there is a problem that the acceleration and deceleration process takes too long, so that the overall processing speed is decreased; in addition, in the process of increasing the speed, the acceleration needs to be increased from 0 to the maximum acceleration, then the maximum acceleration is maintained, and then the maximum acceleration is reduced to 0, in the process of reducing the speed, the acceleration needs to be changed from 0 to the maximum negative acceleration, then the maximum negative acceleration is maintained, and then the maximum negative acceleration is changed to 0, and the above calculation process is too complicated, so that a longer interpolation period is needed, and the processing precision of laser cutting is reduced.
The application provides a speed planning model, which can simplify the calculation process in speed planning and shorten the interpolation period compared with an S-shaped speed planning method by expressing the speed change process in the laser cutting process by using a fixed function, thereby improving the interpolation precision.
In one embodiment, the model is programmed according to a function f in the velocitya(x) And fb(x) The following definitions are made:
let VstartIs an initial velocity, VendIs final speed, VmaxIs the target speed. In the calculation of the speed plan, the acceleration and deceleration processes can be expressed by the following two expressions:
and (3) an acceleration stage:
v(x)＝fa(x)(Vmax-Vstart)+Vstart (6)
and (3) a deceleration stage:
v(x)＝fb(x)(Vmax-Vend)+Vend (7)
let taAnd tbRespectively representing the time used in the acceleration stage and the time used in the deceleration stage, and if t is a time variable, the expression of the speed in the acceleration and deceleration process is as follows:
and (3) an acceleration stage:
v(t)＝fa(t/ta)(Vmax-Vstart)+Vstart，0≤t≤ta (8)
and (3) a deceleration stage:
v(t)＝fb(t/tb)(Vmax-Vend)+Vend，0≤t≤tb (9)
the maximum speed and the maximum acceleration of the acceleration phase can be expressed as:
Vmax＝max|Vstart+(Vmax-Vstart)fa(t/ta)| (10)
the following can be obtained:
ta＝(Vmax-Vstart)Ra/Amax (12)
similarly, the maximum speed and the maximum acceleration during the deceleration stage can be respectively expressed as:
Vmax＝max|Vend+(Vmax-Vend)fb(t/tb)| (13)
the following can be obtained:
tb＝(Vmax-Vend)Rb/Amax (15)
let TsFor the interpolation period, the total number of interpolation periods required for the acceleration process and the deceleration process can be further determined as：
The displacement amount allocated to the nth interpolation period is:
and (3) an acceleration stage:
and (3) a deceleration stage:
the total displacement amounts of the whole acceleration and deceleration stages are respectively as follows:
and (3) an acceleration stage:
and (3) a deceleration stage:
according to the above calculation formula, the whole speed planning process can pass through the fixed function fa(x) And fb(x) The whole speed planning process comprises the steps of calculating the corner speed and calculating the displacement of the interpolation period, the calculation process is greatly simplified, and different functions f are defineda(x) And fb(x) Different speed planning procedures can be obtained.
In the embodiment, the speed planning in the laser cutting process is completed through the speed planning model, the calculation process can be simplified, the interpolation period is shortened, and therefore the interpolation precision is improved.
In one embodiment, a specific example of a velocity planning model is provided. According to conditional formula (1), the following two functions are defined, respectively:
fa(x)＝xa(x-1)，0≤x≤1 (22)
fb(x)＝1-xa(x-1)，0≤x≤1 (23)
where a is any real number. If a is 5, fa(x) And fb(x) As shown in fig. 5(a) and 5(b), respectively, from fa(x) And fb(x) It can be seen from the curve characteristics of (1), in the acceleration and deceleration stages, the speed change is very smooth; in the stages of acceleration reduction and deceleration reduction, the speed change process is properly accelerated, and the acceleration and deceleration speed is improved in the two stages, so that the functional characteristic can meet the balance requirement of laser processing speed and precision control, and in practical application, only a proper a value is set according to the performance of a machine tool, and a relatively ideal speed planning curve can be obtained.
In one embodiment, when calculating the corner speed, a plurality of factors are generally considered, different corner speeds can be calculated according to different factors, and after obtaining a plurality of selectable corner speeds, a most appropriate value is selected as the corner speed. Specifically, obtaining the corner speed of the connection point of the current first cutting stroke and the current second cutting stroke through a speed planning model according to the information of the current first cutting stroke and the information of the current second cutting stroke includes: and obtaining selectable corner speeds through a speed planning model according to the information of the current first cutting stroke, the information of the current second cutting stroke and a preset speed constraint condition, and selecting the minimum speed in the selectable corner speeds as the corner speed of the connecting point of the current first cutting stroke and the current second cutting stroke.
Specifically, a plurality of selectable corner speeds are calculated by the speed planning calculation formula in the above embodiment through the information of the current first cutting stroke, the information of the current second cutting stroke, and a plurality of factor constraints. After obtaining a plurality of selectable corner speeds, a most appropriate value is selected as the corner speed, and generally, a minimum speed of the selectable corner speeds can satisfy constraints of a plurality of factors at the same time, so that the minimum speed of the selectable corner speeds is selected as the corner speed of a connection point of the current first cutting stroke and the current second cutting stroke.
In the embodiment, the limitation of multiple factors on the corner speed in the laser cutting process is comprehensively considered, and the minimum speed under various limiting conditions is taken as the corner speed, so that the calculated corner speed meets the processing requirement of the actual laser cutting process.
Wherein, in one embodiment, the first selectable corner velocity is calculated considering the limitation of the maximum acceleration at the corner to the corner velocity. In this embodiment, the information of the current first cutting stroke includes an endpoint coordinate of the current first cutting stroke, the information of the current second cutting stroke includes an endpoint coordinate of the current second cutting stroke, and the preset speed constraint condition includes a maximum allowable corner acceleration and an interpolation period in the laser cutting operation. Specifically, obtaining the selectable corner speed through a speed planning model according to the information of the current first cutting stroke, the information of the current second cutting stroke and a preset speed constraint condition, includes: calculating to obtain an included angle between the current first cutting stroke and the current second cutting stroke according to the endpoint coordinates of the current first cutting stroke and the endpoint coordinates of the current second cutting stroke; and calculating to obtain a first optional corner speed according to the speed planning model, the maximum allowable corner acceleration, the interpolation period and the included angle between the current first cutting stroke and the current second cutting stroke.
Referring to FIG. 3, Li、Li+1At a joint velocity vi，viAt the edge LiDirection of rotation Li+1In the direction of the machine, the acceleration generated cannot exceed the maximum permissible corner acceleration of the machine, otherwise the machine will vibrate during operation. V. theiVelocity value before and after change of direction is vAAnd vBThe included angle between the front and back stroke tracks is theta: (Theta is more than 0 and less than pi), and the maximum allowable corner acceleration of the machine tool is AmaxThe interpolation period is TsThe following expression can be obtained:
the following can be obtained:
it should be noted that in the special case where θ is equal to 0 degrees and 180 degrees, it cannot be calculated according to the above formula because in the case where θ is equal to 0 degrees, the direction of the velocity is completely changed, v is equal to 0 degreesiThe steering is stably achieved only by lowering the steering angle to 0; whereas in the case where θ is equal to 180 degrees, the direction of the velocity is not changed, viIs not constrained by the acceleration at the corners.
In one embodiment, the second selectable corner speed and the third selectable corner speed are calculated by considering the limitation of the length of the cutting stroke track before and after the connecting point on the corner speed. In this embodiment, the information of the current first cutting stroke includes a track length of the current first cutting stroke, the information of the current second cutting stroke includes a track length of the current second cutting stroke, and the preset speed constraint condition includes an acceleration in the laser cutting operation and a maximum allowable corner acceleration. Specifically, obtaining the selectable corner speed through a speed planning model according to the information of the current first cutting stroke, the information of the current second cutting stroke and a preset speed constraint condition, includes: calculating to obtain a second optional corner speed according to the speed planning model, the track length and the acceleration of the current first cutting stroke and the maximum allowable corner acceleration; and calculating to obtain a third optional corner speed according to the acceleration function model, the deceleration function model, the track length of the current second cutting stroke, the acceleration and the maximum allowable corner acceleration.
Specifically, the lengths of the tracks required for the complete acceleration process and the complete deceleration process are respectively set to be SaAnd SbThe lengths of the tracks of the front and rear cutting strokes of the connecting point are respectively LiAnd Li+1Then, there are several cases:
(1) if L isi≥SaThe trajectory length of the previous cutting stroke of the joining point is said to be sufficient to perform the acceleration process from the initial speed to the maximum speed, in which case the other constraints are not taken into account:
vi＝vmax (28)
(2) if L isi＜SaIt is stated that the trajectory length of the previous cutting stroke of the joining point is not sufficient to complete the acceleration from the initial speed to the maximum speed, in which case the other constraints are not taken into account:
(3) if L isi+1≥SbThe length of the trajectory of the latter cutting stroke of the joining point is sufficient to complete the deceleration process from the maximum speed to the final speed, in which case viIs not limited by the length of the next segment of the line;
(4) if L isi+1＜SbIt is stated that the trajectory length of the latter cutting stroke of the joining point is not sufficient to complete the acceleration process from the initial speed to the maximum speed, in which case the other constraints are not taken into account:
in one embodiment, the maximum allowable machine tool tolerance is taken into accountAnd calculating to obtain a fourth optional corner speed according to the limit of the cutting speed. In this embodiment, the preset speed constraint includes a maximum allowable cutting speed v in the laser cutting operationmaxMaximum allowable cutting speed vmaxIs a fourth selectable corner speed.
The first, second, third and fourth selectable corner speeds can be obtained through the above embodiments, respectively, and after a plurality of selectable corner speeds are obtained, a most suitable value needs to be selected as the corner speed, and since the minimum speed of the plurality of selectable corner speeds can simultaneously satisfy the constraint conditions of a plurality of factors, the minimum speed of the plurality of selectable corner speeds is selected as the corner speed of the connection point.
In particular, the combination of (27), (29), (30) and the maximum allowable cutting speed vmaxTaking the minimum speed under various limiting conditions, and finally obtaining the calculation method of the speed at the corner as follows:
in the embodiment, the limitation of multiple factors on the corner speed in the laser cutting process is comprehensively considered, and the minimum speed in the selectable corner speeds is taken as the corner speed after the selectable corner speeds under various limiting conditions are calculated, so that the calculated corner speed is more scientific and reasonable, and the processing requirement of the actual laser cutting process can be met.
In one embodiment, after obtaining the corner speed of each cutting stroke connection point in the cutting track to be processed, before determining the speed planning information of the cutting track to be processed through the speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connection point, the laser cutting speed planning method further includes taking the last cutting stroke in the cutting track to be processed as a current first cutting stroke, taking the cutting stroke connected with the last cutting stroke as a current second cutting stroke, and reversely calculating and obtaining the corner speed of each cutting stroke connection point in the cutting track to be processed through the speed planning model.
The corner speed calculated in the above embodiment is calculated assuming that the final speed of the second cutting stroke of all corners is 0, but in practice, the final speed of the second cutting stroke is generally not 0, so that the corner speed needs to be calculated again by taking the current last cutting stroke as the starting cutting stroke. In recalculating the corner velocity, the calculation is the same as the first forward calculation, except that the final velocity of the second cutting pass for each corner is no longer assumed to be 0, but rather takes the previously calculated corner velocity.
Specifically, as shown in fig. 6, a schematic diagram of the corner velocity obtained by the forward calculation and the backward calculation is shown, wherein the dotted line represents the corner velocity obtained by the first forward calculation, and the solid line represents the corner velocity obtained by the second backward calculation. In this step, the corner speed is calculated forward one by one in a reverse direction until the calculation of the first cutting stroke in the cutting track is completed, and the result of the second reverse calculation is used to cover the result of the first calculation as the final corner speed, as can be seen from fig. 6, since the final speed of the second cutting stroke of many corners is no longer 0 in the second calculation, the calculated new corner speed is greater than the corner speed obtained in the first calculation.
And further, after the last cutting stroke in the cutting track to be processed is taken as the current first cutting stroke and the cutting stroke connected with the last cutting stroke is taken as the current second cutting stroke, the corner speed of each cutting stroke connecting point in the cutting track to be processed is reversely calculated and obtained again through the speed planning model, and the speed planning information of the cutting track to be processed is determined through the speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point obtained again. Because the corner speed obtained by recalculation (reverse calculation) is greater than the corner speed obtained by calculation (forward calculation), the whole cutting speed and the processing stability can be improved, the cutting time is further shortened, and the cutting efficiency is improved in the actual laser cutting process.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 7, a laser cutting speed planning apparatus is provided, which includes an information obtaining module 100, a speed calculating module 200, a trip updating module 300, and a speed planning module 400.
The information acquiring module 100 is configured to acquire information of a current first cutting trip in the cutting trajectory to be processed, and information of a current second cutting trip connected to the current first cutting trip.
And the speed calculation module 200 is configured to obtain, according to the information of the current first cutting stroke and the information of the current second cutting stroke, a corner speed of a connection point of the current first cutting stroke and the current second cutting stroke through a speed planning model, where the corner speed is greater than zero.
And a stroke updating module 300, configured to update the current first cutting stroke and the current second cutting stroke according to the current second cutting stroke and the cutting stroke connected to the current second cutting stroke in the to-be-processed cutting trajectory.
The speed calculation module 200 is further configured to update the current first cutting stroke and the current second cutting stroke in the stroke update module 300, and after the information acquisition module 100 acquires the updated information of the current first cutting stroke and the updated information of the current second cutting stroke, obtain, through the speed planning model, the corner speed of the connection point of the current first cutting stroke and the current second cutting stroke according to the updated information of the current first cutting stroke and the updated information of the current second cutting stroke, and obtain the corner speed of the connection point of each cutting stroke in the cutting trajectory to be processed.
And the speed planning module 400 is configured to determine speed planning information of the cutting trajectory to be processed through a speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connection point.
In one embodiment, the speed calculation module 200 is further configured to reversely calculate and obtain the corner speed of each cutting stroke connection point in the cutting trajectory to be processed through the speed planning model, with the last cutting stroke in the cutting trajectory to be processed as the current first cutting stroke and the cutting stroke connected to the last cutting stroke as the current second cutting stroke.
The embodiment provides a laser cutting speed planning device, the corner speed of adjacent cutting stroke tie point is calculated through the information of adjacent cutting stroke, in laser cutting process, the last speed of current cutting stroke only need reduce to this corner speed can for the speed of adjacent cutting stroke links up more smoothly, the last speed of every cutting stroke need not reduce to zero, thereby can reduce the time that every cutting stroke spent, reduce laser cutting time, improve laser cutting efficiency.
For the specific definition of the laser cutting speed planning device, reference may be made to the above definition of the laser cutting speed planning method, which is not described herein again. The modules in the laser cutting speed planning device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring information of a current first cutting stroke in a cutting track to be processed and information of a current second cutting stroke connected with the current first cutting stroke;
according to the information of the current first cutting stroke and the information of the current second cutting stroke, the corner speed of a connecting point of the current first cutting stroke and the current second cutting stroke is obtained through a speed planning model, the speed planning model comprises an acceleration function model and a deceleration function model, and the corner speed is larger than zero;
updating the current first cutting stroke and the current second cutting stroke according to the current second cutting stroke and the cutting stroke connected with the current second cutting stroke in the cutting track to be processed;
returning to the step of acquiring the information of the current first cutting stroke in the cutting track to be processed and the information of the current second cutting stroke connected with the current first cutting stroke to obtain the corner speed of each cutting stroke connecting point in the cutting track to be processed;
and determining the speed planning information of the cutting track to be processed through a speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point.
In one embodiment, the processor, when executing the computer program, further performs the steps of: obtaining an optional corner speed through a speed planning model according to the information of the current first cutting stroke, the information of the current second cutting stroke and a preset speed constraint condition; the smallest one of the selectable corner speeds is selected as the corner speed of the point of connection of the current first cutting pass with the current second cutting pass.
In one embodiment, the processor, when executing the computer program, further performs the steps of: calculating to obtain an included angle between the current first cutting stroke and the current second cutting stroke according to the endpoint coordinates of the current first cutting stroke and the endpoint coordinates of the current second cutting stroke; and calculating to obtain a first optional corner speed according to the speed planning model, the maximum allowable corner acceleration, the interpolation period and the included angle between the current first cutting stroke and the current second cutting stroke.
In one embodiment, the processor, when executing the computer program, further performs the steps of: calculating to obtain a second optional corner speed according to the speed planning model, the track length and the acceleration of the current first cutting stroke and the maximum allowable corner acceleration; and calculating to obtain a third optional corner speed according to the acceleration function model, the deceleration function model, the track length of the current second cutting stroke, the acceleration and the maximum allowable corner acceleration.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and taking the last cutting stroke in the cutting track to be processed as a current first cutting stroke, taking the cutting stroke connected with the last cutting stroke as a current second cutting stroke, and reversely calculating and obtaining the corner speed of each cutting stroke connecting point in the cutting track to be processed again through the speed planning model.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and determining the speed planning information of the cutting track to be processed through a speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point obtained again.
Above-mentioned computer equipment calculates the corner speed that obtains adjacent cutting stroke tie point through the information of adjacent cutting stroke, and in the laser cutting process, the last speed of current cutting stroke only need reduce to this corner speed can for the speed of adjacent cutting stroke links up more smoothly, and the last speed of every cutting stroke need not reduce to zero, thereby can reduce the time that every cutting stroke spent, reduces laser cutting time, improves laser cutting efficiency.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring information of a current first cutting stroke in a cutting track to be processed and information of a current second cutting stroke connected with the current first cutting stroke;
according to the information of the current first cutting stroke and the information of the current second cutting stroke, the corner speed of a connecting point of the current first cutting stroke and the current second cutting stroke is obtained through a speed planning model, the speed planning model comprises an acceleration function model and a deceleration function model, and the corner speed is larger than zero;
updating the current first cutting stroke and the current second cutting stroke according to the current second cutting stroke and the cutting stroke connected with the current second cutting stroke in the cutting track to be processed;
returning to the step of acquiring the information of the current first cutting stroke in the cutting track to be processed and the information of the current second cutting stroke connected with the current first cutting stroke to obtain the corner speed of each cutting stroke connecting point in the cutting track to be processed;
and determining the speed planning information of the cutting track to be processed through a speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point.
In one embodiment, the computer program when executed by the processor further performs the steps of: obtaining an optional corner speed through a speed planning model according to the information of the current first cutting stroke, the information of the current second cutting stroke and a preset speed constraint condition; the smallest one of the selectable corner speeds is selected as the corner speed of the point of connection of the current first cutting pass with the current second cutting pass.
In one embodiment, the computer program when executed by the processor further performs the steps of: calculating to obtain an included angle between the current first cutting stroke and the current second cutting stroke according to the endpoint coordinates of the current first cutting stroke and the endpoint coordinates of the current second cutting stroke; and calculating to obtain a first optional corner speed according to the speed planning model, the maximum allowable corner acceleration, the interpolation period and the included angle between the current first cutting stroke and the current second cutting stroke.
In one embodiment, the computer program when executed by the processor further performs the steps of: calculating to obtain a second optional corner speed according to the speed planning model, the track length and the acceleration of the current first cutting stroke and the maximum allowable corner acceleration; and calculating to obtain a third optional corner speed according to the acceleration function model, the deceleration function model, the track length of the current second cutting stroke, the acceleration and the maximum allowable corner acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of: and taking the last cutting stroke in the cutting track to be processed as a current first cutting stroke, taking the cutting stroke connected with the last cutting stroke as a current second cutting stroke, and reversely calculating and obtaining the corner speed of each cutting stroke connecting point in the cutting track to be processed again through the speed planning model.
In one embodiment, the computer program when executed by the processor further performs the steps of: and determining the speed planning information of the cutting track to be processed through a speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point obtained again.
According to the storage medium, the corner speed of the adjacent cutting stroke connecting point is obtained through the information calculation of the adjacent cutting stroke, in the laser cutting process, the final speed of the current cutting stroke only needs to be reduced to the corner speed, so that the speed connection of the adjacent cutting stroke is smoother, and the final speed of each cutting stroke does not need to be reduced to zero, so that the time spent by each cutting stroke can be reduced, the laser cutting time is reduced, and the laser cutting efficiency is improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of laser cutting speed planning, comprising:
acquiring information of a current first cutting stroke in a cutting track to be processed and information of a current second cutting stroke connected with the current first cutting stroke;
according to the information of the current first cutting stroke and the information of the current second cutting stroke, the corner speed of the connection point of the current first cutting stroke and the current second cutting stroke is obtained through forward calculation of a speed planning model, and the corner speed is larger than zero; when the corner speed of the connecting point is calculated in the forward direction, the final speed of the current second cutting stroke corresponding to the connecting point is assumed to be 0;
updating the current first cutting stroke and the current second cutting stroke according to the current second cutting stroke and the cutting stroke connected with the current second cutting stroke in the cutting track to be processed;
returning to the step of acquiring the information of the current first cutting stroke in the cutting track to be processed and the information of the current second cutting stroke connected with the current first cutting stroke to obtain the corner speed of each cutting stroke connecting point in the cutting track to be processed;
taking the last cutting stroke in the cutting track to be processed as a current first cutting stroke, taking the cutting stroke connected with the last cutting stroke as a current second cutting stroke, and reversely calculating and obtaining the corner speed of each cutting stroke connecting point in the cutting track to be processed again through a speed planning model; when the corner speed of the connecting point is calculated reversely, the final speed of the current second cutting stroke corresponding to the connecting point is assumed to be the corner speed obtained by forward calculation;
determining the speed planning information of the cutting track to be processed through the speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point obtained again;
wherein the speed planning model is a model for expressing cutting speed variation by using a fixed function.
2. The method for planning laser cutting speed according to claim 1, wherein the step of obtaining the corner speed of the connection point of the current first cutting stroke and the current second cutting stroke through a speed planning model according to the information of the current first cutting stroke and the information of the current second cutting stroke comprises:
obtaining an optional corner speed through the speed planning model according to the information of the current first cutting stroke, the information of the current second cutting stroke and a preset speed constraint condition;
selecting a minimum speed of the selectable corner speeds as a corner speed of the current first cutting stroke to current second cutting stroke connection point.
3. The laser cutting speed planning method according to claim 2, wherein the information of the current first cutting stroke includes an end point coordinate of the current first cutting stroke, the information of the current second cutting stroke includes an end point coordinate of the current second cutting stroke, and the preset speed constraint condition includes a maximum allowable corner acceleration and an interpolation period in the laser cutting operation;
the step of obtaining the selectable corner speed through the speed planning model according to the information of the current first cutting stroke, the information of the current second cutting stroke and a preset speed constraint condition comprises the following steps:
calculating to obtain an included angle between the current first cutting stroke and the current second cutting stroke according to the endpoint coordinate of the current first cutting stroke and the endpoint coordinate of the current second cutting stroke;
and calculating to obtain a first optional corner speed according to the speed planning model, the maximum allowable corner acceleration, the interpolation period and the included angle between the current first cutting stroke and the current second cutting stroke.
4. The laser cutting speed planning method according to claim 2, wherein the speed planning model includes an acceleration function model and a deceleration function model, and the acceleration function model and the deceleration function model are fixed functions for expressing an acceleration process and a deceleration process, respectively.
5. The laser cutting speed planning method according to claim 4, wherein the acceleration function model includes a first calculation function having a variable value ranging from 0 to 1, the first calculation function being continuous in a range of 0 to 1, the first calculation function having a function value of 0 when the variable value is 0, the first calculation function having a function value of 1 when the variable value is 1, the first calculation function having a maximum function value of 1;
the deceleration function model includes a second calculation function having a variable value range of 0 to 1, the second calculation function being continuous in a range of 0 to 1, the function value of the second calculation function being 1 when the variable value is 0, the function value of the second calculation function being 0 when the variable value is 1, the maximum function value of the second calculation function being 1.
6. The laser cutting speed planning method according to claim 4, wherein the information of the current first cutting stroke comprises a track length of the current first cutting stroke, the information of the current second cutting stroke comprises a track length of the current second cutting stroke, and the preset speed constraints comprise an acceleration in the laser cutting operation and a maximum allowable corner acceleration;
the step of obtaining the selectable corner speed through the speed planning model according to the information of the current first cutting stroke, the information of the current second cutting stroke and a preset speed constraint condition comprises the following steps:
calculating to obtain a second optional corner speed according to the speed planning model, the track length of the current first cutting stroke, the acceleration and the maximum allowable corner acceleration;
and calculating to obtain a third optional corner speed according to the acceleration function model, the deceleration function model, the track length of the current second cutting stroke, the acceleration and the maximum allowable corner acceleration.
7. The laser cutting speed planning method of claim 2, wherein the preset speed constraints include a maximum allowable cutting speed in the laser cutting operation, the maximum allowable cutting speed being a fourth selectable corner speed.
8. A laser cutting speed planning apparatus, comprising:
the information acquisition module is used for acquiring the information of the current first cutting stroke in the cutting track to be processed and the information of the current second cutting stroke connected with the current first cutting stroke;
the speed calculation module is used for obtaining the corner speed of a connecting point of the current first cutting stroke and the current second cutting stroke through forward calculation of a speed planning model according to the information of the current first cutting stroke and the information of the current second cutting stroke, wherein the corner speed is greater than zero; when the corner speed of the connecting point is calculated in the forward direction, the final speed of the current second cutting stroke corresponding to the connecting point is assumed to be 0;
the stroke updating module is used for updating the current first cutting stroke and the current second cutting stroke according to the current second cutting stroke and the cutting stroke connected with the current second cutting stroke in the cutting track to be processed;
the speed calculation module is further configured to, after the travel update module updates the current first cutting travel and the current second cutting travel, and the information acquisition module acquires updated information on the current first cutting travel and updated information on the current second cutting travel, obtain, through a speed planning model, corner speeds of connection points of the current first cutting travel and the current second cutting travel according to the updated information on the current first cutting travel and the updated information on the current second cutting travel, and obtain the corner speeds of the connection points of the cutting travels in the cutting trajectory to be processed;
the speed calculation module is further used for taking the last cutting stroke in the cutting track to be processed as a current first cutting stroke, taking the cutting stroke connected with the last cutting stroke as a current second cutting stroke, and reversely calculating and obtaining the corner speed of each cutting stroke connecting point in the cutting track to be processed again through a speed planning model; when the corner speed of the connecting point is calculated reversely, the final speed of the current second cutting stroke corresponding to the connecting point is assumed to be the corner speed obtained by forward calculation;
the speed planning module is used for determining the speed planning information of the cutting track to be processed through the speed planning model according to the information of each cutting stroke and the corner speed of each cutting stroke connecting point obtained again;
wherein the speed planning model is a model for expressing cutting speed variation by using a fixed function.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the laser cutting speed planning method according to any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for laser cutting speed planning of any of claims 1 to 7.
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