CN113917886B - Motion control method, motion control device and computer readable storage medium - Google Patents
Motion control method, motion control device and computer readable storage medium Download PDFInfo
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- 238000012545 processing Methods 0.000 claims abstract description 218
- 238000003754 machining Methods 0.000 claims abstract description 112
- 238000010586 diagram Methods 0.000 claims abstract description 46
- 238000004364 calculation method Methods 0.000 claims description 24
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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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- 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
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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
- B23K26/702—Auxiliary equipment
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
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Abstract
The application provides a motion control method, a motion control device and a computer readable storage medium, wherein the motion control method comprises the following steps: acquiring all available machining motion starting points on the machining vector diagram, and correspondingly acquiring all initial machining track vectors on the machining vector diagram aiming at the available machining motion starting points; obtaining a plurality of idle stroke track vectors based on idle stroke motion starting points and all available machining motion starting points, and calculating included angles between all idle stroke track vectors and corresponding initial machining track vectors; selecting a target initial processing track vector from all initial processing track vectors based on the included angle degrees; and controlling the movement of the laser by referring to the vector direction of the initial processing track vector of the target and the corresponding processing movement starting point. By implementing the scheme, the initial machining direction and the position are adaptively selected by referring to the included angles of each initial machining track and the corresponding idle track, the machining flexibility is stronger, and the machining effect under a complex machining scene is ensured.
Description
Technical Field
The present disclosure relates to the field of laser processing technologies, and in particular, to a motion control method, a motion control device, and a computer readable storage medium.
Background
In the laser processing field, after a processing vector diagram of a laser is set, the laser needs to be idle-moved from an initial position to a starting processing position of the processing vector diagram in a state of no light emission, and then the laser needs to be processing-moved from the starting processing position in a state of light emission. For each machining vector diagram, there are a plurality of optional initial machining positions, however, in the related art, a fixed initial machining position is generally adopted for machining, so that the machining flexibility is poor, and the machining effect in a complex machining scene cannot be ensured.
Disclosure of Invention
The embodiment of the application provides a motion control method, a motion control device and a computer readable storage medium, which at least can solve the problems that in the related art, a fixed initial processing position is adopted for processing, the processing flexibility is poor, and the processing effect in a complex processing scene cannot be ensured.
A first aspect of the present embodiment provides a motion control method applied to a laser processing apparatus provided with a laser, including:
acquiring all available machining motion starting points on a machining vector diagram, and correspondingly acquiring all initial machining track vectors on the machining vector diagram aiming at the available machining motion starting points;
obtaining a plurality of idle stroke track vectors based on idle stroke motion starting points and all available machining motion starting points, and calculating included angles between all idle stroke track vectors and corresponding initial machining track vectors;
selecting a target initial processing track vector from all the initial processing track vectors based on the included angle degrees;
and controlling the movement of the laser by referring to the vector direction of the target initial processing track vector and the corresponding processing movement starting point.
A second aspect of the embodiments of the present application provides a motion control device applied to a laser processing apparatus provided with a laser, including:
the acquisition module is used for acquiring all available processing motion starting points on the processing vector diagram and correspondingly acquiring all initial processing track vectors on the processing vector diagram aiming at the available processing motion starting points;
the calculation module is used for obtaining a plurality of idle stroke track vectors based on idle stroke motion starting points and all available machining motion starting points, and calculating included angles between all idle stroke track vectors and corresponding initial machining track vectors;
the selection module is used for selecting a target initial processing track vector from all the initial processing track vectors based on the included angle degrees;
and the control module is used for controlling the movement of the laser by referring to the vector direction of the target initial processing track vector and the corresponding processing movement starting point.
A third aspect of an embodiment of the present application provides an electronic device, including: the motion control method according to the first aspect of the embodiment of the present application includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement each step in the motion control method according to the first aspect of the embodiment of the present application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the motion control method provided in the first aspect of the embodiments of the present application.
From the above, according to the motion control method, the motion control device and the computer readable storage medium provided by the scheme of the application, all available processing motion starting points on the processing vector diagram are obtained, and all initial processing track vectors on the processing vector diagram are correspondingly obtained aiming at the available processing motion starting points; obtaining a plurality of idle stroke track vectors based on idle stroke motion starting points and all available machining motion starting points, and calculating included angles between all idle stroke track vectors and corresponding initial machining track vectors; selecting a target initial processing track vector from all initial processing track vectors based on the included angle degrees; and controlling the movement of the laser by referring to the vector direction of the initial processing track vector of the target and the corresponding processing movement starting point. By implementing the scheme, the initial machining direction and the position are adaptively selected by referring to the included angles of each initial machining track and the corresponding idle track, the machining flexibility is stronger, and the machining effect under a complex machining scene is ensured.
Drawings
Fig. 1 is a schematic flow chart of a motion control method according to a first embodiment of the present application;
fig. 2 is a processing vector diagram provided in the first embodiment of the present application;
FIG. 3 is a schematic diagram of defining an included angle according to a first embodiment of the present disclosure;
FIG. 4 is a schematic program module of a motion control apparatus according to a second embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device according to a third embodiment of the present application.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In order to solve the problem that in the related art, a fixed initial processing position is adopted for processing, the processing flexibility is poor, and the processing effect in a complex processing scene cannot be ensured, the first embodiment of the present application provides a motion control method, which is applied to a laser processing device provided with a laser, where the laser processing device may be a laser marking device or a laser cutting device, as shown in fig. 1, which is a basic flowchart of the motion control method provided in the present embodiment, and the motion control method includes the following steps:
and 101, acquiring all available machining motion starting points on the machining vector diagram, and correspondingly acquiring all initial machining track vectors on the machining vector diagram aiming at the available machining motion starting points.
In particular, in practical applications, the laser machines a corresponding pattern on the material according to a machining vector diagram, which usually does not have only a single starting point of the machining movement (i.e. a machining starting point), and which usually does not have only a single starting machining path starting from the same starting point of the machining movement. As shown in fig. 2, a machining vector diagram provided in this embodiment is shown, where the machining vector diagram has A, B, C, D available machining motion starting points, and of course, in practical application, the four available machining motion starting points are only theoretically available, but not all of the four available machining motion starting points are actually available, and in order to reduce the data throughput, further screening can be further performed by referring to the machining motion starting points that are theoretically available at the initial position of the laser, and a part of the machining motion starting points are selected as the finally determined available machining motion starting points; in fig. 2, for each machining motion start point, there are two types of initial machining tracks (i.e., a track on the machining vector diagram that starts machining first after starting from the machining motion start point), for example, there are two types of initial machining tracks A1 and A2 for the point a, and the directions are respectively given to the two types of initial machining tracks, so that an initial machining track vector can be obtained, for example, A1 is given a vertically downward direction, and A2 is given a horizontally rightward direction.
Step 102, obtaining a plurality of idle stroke track vectors based on idle stroke motion starting points and available machining motion starting points, and calculating included angles between the idle stroke track vectors and corresponding initial machining track vectors.
Specifically, in practical application, a machining task completed at one time involves both idle motion and machining motion, the idle motion refers to a motion process from which a laser does not emit light to a machining position, and the machining motion refers to a motion process from which the laser emits light to machine a pattern. The starting point of the idle stroke movement is the initial position of the laser when a single pattern is processed, and the starting point of the idle stroke movement can be the final position when the laser finishes processing the previous pattern when a plurality of patterns are processed continuously. Fig. 3 shows a schematic diagram of the definition of the included angle provided in this embodiment, where the point E of the drawing indicates the start point of the idle stroke movement, E1 indicates the idle stroke track, a direction toward the start point a of the processing movement is given to the idle stroke track to obtain an idle stroke track vector, fig. 3 (a) shows the included angle θ of the idle stroke track vector and the initial processing track vector corresponding to the initial processing track A1 in fig. 2, and fig. 3 (b) shows the included angle θ of the idle stroke track vector and the initial processing track vector corresponding to the initial processing track A2 in fig. 2.
In some implementations of this embodiment, when the track shape of the initial processing track vector is irregular, the step of calculating an included angle between each idle track vector and the corresponding initial processing track vector includes: extracting a target vector line segment with a rule degree meeting the requirement at one end of the initial processing track vector close to the processing motion starting point; and calculating the included angle between each idle path track vector and the corresponding initial processing track vector by adopting a target vector line segment.
Specifically, in practical application, the processing track may be an irregular track, and the included angle is usually an angle formed by two intersecting straight lines, so that in this embodiment, a track segment that is approximately a straight line may be extracted at the near-start point end of the processing track, and then the included angle between the idle track and the track segment may be calculated, as the included angle between the idle track vector and the initial processing track vector.
And 103, selecting a target initial processing track vector from all initial processing track vectors based on the degrees of the included angles.
Specifically, the specific implementation manner of selecting the target initial processing track vector from all initial processing track vectors based on the included angle degrees in the embodiment includes, but is not limited to, the following two types:
in the first mode, a target initial processing track vector with the largest included angle degree with the idle path track vector is selected from all initial processing track vectors.
Specifically, in practical application, after the laser reaches the initial processing position, a debouncing delay (delay for eliminating the influence of jitter) is referred to at the initial processing position to stop, so that the processing track during laser processing does not generate jitter. However, when the processing data in the actual processing scene is more, the number of idle stroke movements is correspondingly more, the debounce delay introduced will be very large, and the processing efficiency will be greatly affected. Based on this, if the debounce delay can be reduced only to a certain extent without improving the processing efficiency in the related art, there is a case where the influence of the debounce cannot be completely overcome.
It should be noted that, in the actual machining process, as the included angle between the idle path vector and the initial machining path vector is smaller, the deviation degree between the idle path motion direction and the initial machining motion direction is larger, the influence of the laser shake generated by the idle path motion on the subsequent machining motion is larger, so that larger debouncing delay is required, based on the concept, the starting point of the initial machining path vector with the largest included angle with the idle path vector is selected as the machining cutting-in point, and the vector direction is selected as the machining direction, so that the required debouncing delay is relatively lowest, and the influence of the shake can be eliminated to the greatest extent even when the debouncing delay fixedly set in the actual machining scene is lower, so as to ensure the laser machining effect.
With continued reference to fig. 3, the included angle in fig. 3 (a) is an acute angle close to 50 °, and the included angle in fig. 3 (b) is an obtuse angle close to 140 °, so that the processing motion trend of the processing track A2 in fig. 3 (b) is closer to the idle motion trend of the idle track E1, the influence of the idle motion on the shake caused by the processing motion is smaller, and the de-shake delay required in theory is lower.
And secondly, inputting the degrees of each included angle and the vector length of the corresponding idle stroke track vector into a preset comprehensive index calculation formula, and selecting a target initial processing track vector with the maximum comprehensive index calculation result from all initial processing track vectors. Wherein, the comprehensive index calculation formula is expressed as: r=m×θ+n/L, R represents the calculation result of the comprehensive index, M represents the angle coefficient, N represents the length coefficient, M, N values are all greater than 0, θ represents the angle degree, and L represents the vector length.
Specifically, in practical application, the factor affecting the machining efficiency is not only debounce delay, but also the distance of the idle stroke movement is an important consideration factor, and in practical application, the longer the idle stroke movement distance is, the lower the machining efficiency is, therefore, the embodiment comprehensively considers the included angle degree and the idle stroke track length to select a reasonable initial machining track vector, and through the comprehensive index calculation formula of the embodiment, the purpose is to select an initial machining track vector with the included angle degree formed by the idle stroke track vector as large as possible, and meanwhile, the vector length of the idle stroke track vector is also as short as possible, so as to consider the machining efficiency and the machining effect.
In some implementations of this embodiment, after the step of selecting the target start machining trajectory vector having the largest angle with respect to the idle trajectory vector, the method further includes: calculating the actual de-jitter time delay required by the laser based on the included angle degrees; and after the idle stroke movement of the laser is controlled to the corresponding processing movement starting point, stopping the actual debounce delay for a corresponding time length.
In particular, in practical applications, the debounce delay set by the related art for eliminating the jitter effect is usually only a fixed delay, and the fixed delay may be set to be relatively large in order to ensure that the jitter effect is eliminated to the greatest extent, and in some motion scenes, such a long debounce delay is not actually required, which inevitably results in unnecessary pauses. Based on the above, the debounce delay is adaptively set according to the included angle between the idle track vector and the initial processing track vector, and the debounce delay is dynamically adjusted to adapt to the actual motion scene.
Further, in some implementations of the present embodiment, the step of calculating the actual debounce delay required by the laser based on the angle degrees specifically includes: inputting the included angle degrees into a preset delay calculation formula, and calculating the actual debounce delay required by the laser; wherein, the time delay calculation formula is expressed as: t2=t1 (1+kcos θ); θ represents the angle degree, k represents the adjustment coefficient, T2 represents the actual debounce delay, and T1 represents the standard debounce delay corresponding to the 90 ° angle.
Specifically, the value of k in this embodiment is generally 1, T1 is a fixed delay set by default, which is generally a delay required when the angle between the machining track vector and the idle track vector is a right angle, and by the above delay calculation formula, when the angle is 90 °, the calculated actual debounce delay is also the fixed delay set by default, and when the angle is 180 °, t2=0; when the included angle approaches 0 °, t2=2t1.
And 104, referring to the vector direction of the initial processing track vector of the target and the corresponding processing motion starting point, performing motion control on the laser.
Specifically, in this embodiment, the idle motion of the laser is controlled according to the idle motion starting point and the processing motion starting point corresponding to the actually selected target initial processing track vector, and the processing motion of the laser is controlled according to the vector direction of the target initial processing track vector and the corresponding processing motion starting point. Therefore, the embodiment performs look-ahead management on the data to be processed, calculates the data to be processed after the idle stroke, adaptively selects the processing access point according to the included angle formed by the data and the idle stroke track, improves the processing flexibility, and ensures the processing effect under the complex processing scene.
In some implementations of this embodiment, after the step of selecting the target start machining trajectory vector having the largest angle with respect to the idle trajectory vector, the method further includes: and determining the idle running speed of the target based on the degree of the included angle between the initial processing track vector and the idle running track vector. Correspondingly, the step of controlling the movement of the laser by the vector direction of the initial processing track vector of the reference target and the corresponding processing movement starting point comprises the following steps: and controlling the idle stroke movement of the laser by referring to the idle stroke movement speed of the target and the processing movement starting point of the initial processing track vector of the target, and controlling the processing movement of the laser by referring to the vector direction of the initial processing track vector of the target and the corresponding processing movement starting point.
Specifically, in practical application, the movement speed of the idle movement of the laser is also an important factor affecting the processing efficiency, and if the idle movement speed is faster, the time consumption is shorter, and the overall processing efficiency is higher. Based on the above, under the condition of debouncing delay fixed setting, the idle running speed can be dynamically set, the idle running speed is positively correlated with the degree of the included angle, when the included angle between the initial processing track and the idle running track vector is larger, the space for resisting the influence of the debouncing is larger, then the idle running speed can be improved, and the processing efficiency is ensured; on the contrary, when the included angle between the initial processing track and the idle track vector is smaller, the space for resisting the jitter influence is smaller, so that the idle movement speed can be reduced, the jitter influence is reduced, and the processing effect is ensured.
In some implementations of this embodiment, after the step of selecting the target initial processing trajectory vector from all initial processing trajectory vectors based on the degrees of included angle, the method further includes: the target initial processing track vector and the image characteristic of the processing vector diagram are associated and recorded in an index database; and when a new processing task is received, inquiring an index database according to the image characteristics of the newly acquired processing vector diagram to acquire a corresponding target initial processing track vector.
Specifically, in this embodiment, the association relation between the processing vector diagram and the motion control planning result may be recorded for all the processing vector diagrams that are subjected to motion control planning according to the foregoing algorithm, and stored in a database, in the subsequent processing process, the processing vector diagram for the new processing task may be queried in advance according to the image feature to determine whether the motion data has been planned for the similar processing vector diagram, if yes, the motion data of the similar processing vector diagram in the database is directly invoked to serve as a motion control reference for the new processing task, otherwise, the complete motion control algorithm is executed from the foregoing step 101 for the processing vector diagram for the new processing task, thereby effectively reducing the data processing amount.
Based on the technical scheme of the embodiment of the application, all available processing motion starting points on the processing vector diagram are obtained, and all initial processing track vectors on the processing vector diagram are correspondingly obtained aiming at the available processing motion starting points; obtaining a plurality of idle stroke track vectors based on idle stroke motion starting points and all available machining motion starting points, and calculating included angles between all idle stroke track vectors and corresponding initial machining track vectors; selecting a target initial processing track vector from all initial processing track vectors based on the included angle degrees; and controlling the movement of the laser by referring to the vector direction of the initial processing track vector of the target and the corresponding processing movement starting point. By implementing the scheme, the initial machining direction and the position are adaptively selected by referring to the included angles of each initial machining track and the corresponding idle track, the machining flexibility is stronger, and the machining effect under a complex machining scene is ensured.
Fig. 4 is a schematic diagram of a motion control device according to a second embodiment of the present application. The motion control apparatus may be used to implement the motion control method in the foregoing embodiment. As shown in fig. 4, the motion control apparatus mainly includes:
an obtaining module 401, configured to obtain all available processing motion starting points on the processing vector diagram, and correspondingly obtain all initial processing track vectors on the processing vector diagram for the available processing motion starting points;
a calculation module 402, configured to obtain a plurality of idle stroke track vectors based on the idle stroke motion start point and each available processing motion start point, and calculate an included angle between each idle stroke track vector and a corresponding initial processing track vector;
a selection module 403, configured to select a target initial processing track vector from all initial processing track vectors based on the degrees of the included angle;
the control module 404 is configured to reference the vector direction of the target start processing track vector and the corresponding processing motion start point, and perform motion control on the laser.
In some implementations of this embodiment, when the track shape of the initial processing track vector is an irregular shape, the calculation module is specifically configured to: extracting a target vector line segment with a rule degree meeting the requirement at one end of the initial processing track vector close to the processing motion starting point; and calculating the included angle between each idle path track vector and the corresponding initial processing track vector by adopting a target vector line segment.
In some implementations of this embodiment, the selecting module is specifically configured to: and selecting a target initial processing track vector with the largest included angle degree with the idle path track vector from all initial processing track vectors. In other implementations of this embodiment, the selecting module is specifically configured to: inputting the degree of each included angle and the vector length of the corresponding idle stroke track vector into a preset comprehensive index calculation formula, and selecting a target initial processing track vector with the maximum comprehensive index calculation result from all initial processing track vectors; wherein, the comprehensive index calculation formula is expressed as: r=m×θ+n/L, R represents the calculation result of the comprehensive index, M represents the angle coefficient, N represents the length coefficient, M, N values are all greater than 0, θ represents the angle degree, and L represents the vector length.
In some implementations of this embodiment, the computing module is further configured to: the actual de-jitter delay required by the laser is calculated based on the angle degrees. Correspondingly, the control module is also used for: and after the idle stroke movement of the laser is controlled to the corresponding processing movement starting point, stopping the actual debounce delay for a corresponding time length.
Further, in some implementations of the present embodiment, the calculating module, when performing the function of calculating the actual debounce delay required by the laser based on the angle degrees, is further configured to: inputting the included angle degrees into a preset delay calculation formula, and calculating the actual debounce delay required by the laser; wherein, the time delay calculation formula is expressed as: t2=t1 (1+kcos θ); θ represents the angle degree, k represents the adjustment coefficient, T2 represents the actual debounce delay, and T1 represents the standard debounce delay corresponding to the 90 ° angle.
In some implementations of this embodiment, the motion control apparatus further comprises: and the determining module is used for determining the target idle running movement speed based on the degree of the included angle between the target initial processing track vector and the idle running track vector. Correspondingly, the control module is specifically configured to: and controlling the idle stroke movement of the laser by referring to the idle stroke movement speed of the target and the processing movement starting point of the initial processing track vector of the target, and controlling the processing movement of the laser by referring to the vector direction of the initial processing track vector of the target and the corresponding processing movement starting point.
In some implementations of this embodiment, the motion control apparatus further comprises: and the recording module is used for recording the target initial processing track vector and the image characteristic association of the processing vector diagram in the index database. Correspondingly, the acquisition module is further used for: and when a new processing task is received, inquiring an index database according to the image characteristics of the newly acquired processing vector diagram to acquire a corresponding target initial processing track vector.
It should be noted that, the motion control method in the first embodiment may be implemented based on the motion control device provided in the first embodiment, and those skilled in the art can clearly understand that, for convenience and brevity of description, the specific working process of the motion control device described in the first embodiment may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
According to the motion control device provided by the embodiment, all available processing motion starting points on the processing vector diagram are obtained, and all initial processing track vectors on the processing vector diagram are correspondingly obtained aiming at the available processing motion starting points; obtaining a plurality of idle stroke track vectors based on idle stroke motion starting points and all available machining motion starting points, and calculating included angles between all idle stroke track vectors and corresponding initial machining track vectors; selecting a target initial processing track vector from all initial processing track vectors based on the included angle degrees; and controlling the movement of the laser by referring to the vector direction of the initial processing track vector of the target and the corresponding processing movement starting point. By implementing the scheme, the initial machining direction and the position are adaptively selected by referring to the included angles of each initial machining track and the corresponding idle track, the machining flexibility is stronger, and the machining effect under a complex machining scene is ensured.
Referring to fig. 5, fig. 5 is an electronic device according to a third embodiment of the present application. The electronic device may be used to implement the motion control method in the foregoing embodiments. As shown in fig. 5, the electronic device mainly includes:
memory 501, processor 502, bus 503, and a computer program stored in memory 501 and executable on processor 502, memory 501 and processor 502 being connected by bus 503. The processor 502, when executing the computer program, implements the motion control method in the foregoing embodiment. Wherein the number of processors may be one or more.
The memory 501 may be a high-speed random access memory (RAM, random Access Memory) memory or a non-volatile memory (non-volatile memory), such as a disk memory. The memory 501 is used for storing executable program codes, and the processor 502 is coupled to the memory 501.
Further, the embodiment of the application further provides a computer readable storage medium, which may be provided in the electronic device in each embodiment, and the computer readable storage medium may be a memory in the embodiment shown in fig. 5.
The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the motion control method of the foregoing embodiment. Further, the computer-readable medium may be any medium capable of storing a program code, such as a usb (universal serial bus), a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a readable storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned readable storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all necessary for the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The foregoing is a description of the motion control method, apparatus and computer readable storage medium provided herein, and it is not intended that the present disclosure be limited to the specific embodiments and applications described herein, as long as the modifications will be readily apparent to those skilled in the art in light of the teachings of the embodiments of the present disclosure.
Claims (9)
1. A motion control method applied to a laser processing apparatus provided with a laser, characterized by comprising:
acquiring all available machining motion starting points on a machining vector diagram, and correspondingly acquiring all initial machining track vectors on the machining vector diagram aiming at the available machining motion starting points;
obtaining a plurality of idle stroke track vectors based on idle stroke motion starting points and all available machining motion starting points, and calculating included angles between all idle stroke track vectors and corresponding initial machining track vectors;
selecting a target initial processing track vector from all the initial processing track vectors based on the included angle degrees;
the target initial processing track vector and the image characteristic of the processing vector diagram are associated and recorded in an index database;
when a new processing task is received, inquiring the index database according to the image characteristics of the newly acquired processing vector diagram to acquire the corresponding target initial processing track vector;
and controlling the movement of the laser by referring to the vector direction of the target initial processing track vector and the corresponding processing movement starting point.
2. The motion control method according to claim 1, wherein when the track shape of the initial processing track vector is irregular, the step of calculating an included angle between each of the idle track vectors and the corresponding initial processing track vector includes:
extracting a target vector line segment with a rule degree meeting the requirement from one end of the initial processing track vector, which is close to the processing motion starting point;
and calculating the included angle between each idle stroke track vector and the corresponding initial processing track vector by adopting the target vector line segment.
3. The motion control method of claim 1, wherein the step of selecting a target start machining trajectory vector from all of the start machining trajectory vectors based on the degrees of included angles comprises:
selecting a target initial processing track vector with the largest included angle degree with the idle path track vector from all the initial processing track vectors;
or inputting the degrees of each included angle and the vector length of the corresponding idle stroke track vector into a preset comprehensive index calculation formula, and selecting a target initial processing track vector with the maximum comprehensive index calculation result from all the initial processing track vectors; wherein, the comprehensive index calculation formula is expressed as: r=m×θ+n/L, where R represents the calculation result of the comprehensive index, M represents an angle coefficient, N represents a length coefficient, values of M, N are all greater than 0, θ represents the degree of the included angle, and L represents the vector length.
4. The method of claim 3, wherein after the step of selecting the target start machining trajectory vector having the greatest degree of included angle with the idle trajectory vector, further comprising:
calculating the actual de-jitter delay required by the laser based on the included angle degrees;
and stopping the corresponding time length of the actual debouncing delay after the idle stroke movement of the laser is controlled to the corresponding processing movement starting point.
5. The method of claim 4, wherein the step of calculating an actual de-jitter delay time required for the laser based on the angle degree comprises:
inputting the included angle degrees into a preset delay calculation formula, and calculating the actual de-jitter delay required by the laser; wherein, the delay calculation formula is expressed as: t2=t1 (1+kcos θ);
and θ represents the included angle degree, k represents an adjustment coefficient, T2 represents the actual debounce delay, and T1 represents the standard debounce delay corresponding to the included angle of 90 degrees.
6. The method of claim 3, wherein after the step of selecting the target start machining trajectory vector having the greatest degree of included angle with the idle trajectory vector, further comprising:
determining a target idle running speed based on the degree of an included angle between the target initial processing track vector and the idle running track vector;
the step of performing motion control on the laser with reference to the vector direction of the target initial processing track vector and the corresponding processing motion start point includes:
and performing idle motion control on the laser by referring to the target idle motion speed and the processing motion starting point of the target initial processing track vector, and performing processing motion control on the laser by referring to the vector direction of the target initial processing track vector and the corresponding processing motion starting point.
7. A motion control apparatus applied to a laser processing device provided with a laser, characterized by comprising:
the acquisition module is used for acquiring all available processing motion starting points on the processing vector diagram and correspondingly acquiring all initial processing track vectors on the processing vector diagram aiming at the available processing motion starting points;
the calculation module is used for obtaining a plurality of idle stroke track vectors based on idle stroke motion starting points and all available machining motion starting points, and calculating included angles between all idle stroke track vectors and corresponding initial machining track vectors;
the selection module is used for selecting a target initial processing track vector from all the initial processing track vectors based on the included angle degrees;
the recording module is used for recording the target initial processing track vector and the image characteristic association of the processing vector diagram in an index database;
the acquisition module is further configured to: when a new processing task is received, inquiring the index database according to the image characteristics of the newly acquired processing vector diagram to acquire the corresponding target initial processing track vector;
and the control module is used for controlling the movement of the laser by referring to the vector direction of the target initial processing track vector and the corresponding processing movement starting point.
8. An electronic device, comprising: memory, processor, and bus;
the bus is used for realizing connection communication between the memory and the processor;
the processor is used for executing the computer program stored on the memory;
the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 6.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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