CN114911194A - Laser cutting control method, device, equipment and medium - Google Patents
Laser cutting control method, device, equipment and medium Download PDFInfo
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- CN114911194A CN114911194A CN202110169019.9A CN202110169019A CN114911194A CN 114911194 A CN114911194 A CN 114911194A CN 202110169019 A CN202110169019 A CN 202110169019A CN 114911194 A CN114911194 A CN 114911194A
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- 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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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The embodiment of the invention discloses a laser cutting control method, which comprises the following steps: determining discrete points on a basic numerical control curve of a part to be cut, determining corner discrete points according to coordinates of the discrete points, finding sudden change of a machine tool track in advance, and carrying out deceleration processing on part of the corner discrete points based on the corner curvature radius so that the feeding speed is always kept within an allowable range when the cutting processing of the corner discrete points is carried out. Meanwhile, the numerical control platform and the laser pulse control device are linked to process, track mutation discovered in advance is combined, and the laser power control frequency and the duty ratio are correspondingly controlled according to the change adjustment of the feeding speed, so that the uniform synchronization of the machine tool speed control and the laser power control is realized, and the optimization of laser cutting is ensured. Furthermore, a laser cutting control device, a computer device and a storage medium are proposed.
Description
Technical Field
The invention relates to the technical field of part processing and manufacturing, in particular to a laser cutting control method, a laser cutting control device, laser cutting control equipment and a laser cutting control medium.
Background
Parts are often machined by means of laser cutting, and a laser cutting control system involves control over laser power and feed speed, both of which affect the quality of the machined part.
The existing laser cutting control method usually selects fixed parameters after experiments to carry out cutting operation, so that when the corner position of a part is cut, a good processing effect cannot be obtained. For the feeding speed, if the laser keeps the same and faster feeding speed for cutting, the machined part is easy to cause profile errors; if the laser is cut with the same slow feed rate, the machining efficiency is greatly sacrificed, which is not entirely desirable. For the laser power, the effective part of the plate is easily burnt out due to overlarge power, and the plate is easily cut through or the surface effect of the cutting part is rough due to too small power. It is important to have reasonable control over the laser cutting at the corner points.
Disclosure of Invention
In view of the above, it is necessary to provide a laser cutting control method, apparatus, device, and medium that reasonably control the feeding speed, laser frequency, and duty ratio in view of the above problems.
A method of laser cutting control, the method comprising:
acquiring part information of a part to be cut, and decomposing the part information to obtain at least one basic numerical control curve of the part to be cut;
determining a plurality of discrete points on each basic numerical control curve, acquiring discrete point coordinates of the discrete points, determining corner discrete points in the discrete points according to the discrete point coordinates, acquiring corner curvature radius of the corner discrete points, and determining the allowable feeding speed of each corner discrete point according to the corner curvature radius;
acquiring a preset feeding speed, and performing deceleration processing on the preset feeding speed corresponding to the corner discrete points according to the allowable feeding speed to acquire a corrected feeding speed of each corner discrete point after deceleration processing;
acquiring the planning frequency and the planning duty ratio of the corner discrete point, and correcting the planning frequency and the planning duty ratio of the corresponding discrete point of the corner according to the correction feeding speed to obtain the correction frequency and the correction duty ratio of each corner discrete point;
when the laser is driven to cut the corner discrete point, the laser is driven to output the target laser with the corrected frequency and the corrected duty ratio, and the target discrete point is cut at the corrected feeding speed.
In one embodiment, the modifying the planning frequency and the planning duty ratio of the corresponding discrete point of the corner according to the modified feeding speed to obtain the modified frequency and the modified duty ratio of each discrete point of the corner includes:
acquiring the corrected feeding speed at the discrete point to be corrected, and calculating the speed ratio of the corrected feeding speed at the discrete point to be corrected to the preset feeding speed;
and correcting the planning frequency and the planning duty ratio according to the speed ratio to obtain a correction frequency and a correction duty ratio at the discrete point to be corrected.
In one embodiment, the determining a corner discrete point of the number of discrete points from the discrete point coordinates comprises:
acquiring a first vector and a second vector of a target discrete point, wherein the first vector is a vector formed by the target discrete point and a previous discrete point, and the second vector is a vector formed by the target discrete point and a next discrete point;
calculating a target curvature radius and a target vector included angle at a target discrete point according to the first vector and the second vector, judging whether the target curvature radius is smaller than a curvature radius threshold value or not, and judging whether the target vector included angle is larger than a vector included angle threshold value or not;
and if the target curvature radius is smaller than the curvature radius threshold value and/or the target vector included angle is larger than the vector included angle threshold value, taking the target discrete point as the corner discrete point.
In one embodiment, the decelerating the preset feeding speed of the corresponding corner discrete point according to the allowable feeding speed includes:
calculating a speed difference value between the preset feeding speed and an allowable feeding speed at a target corner discrete point, and comparing the speed difference value with a preset speed threshold value;
and if the speed difference is larger than the preset speed threshold, decelerating the preset feeding speed at the discrete point of the target corner until the speed difference is smaller than or equal to the preset speed threshold.
In one embodiment, after obtaining the corrected feeding speed of each corner discrete point after the deceleration processing, the method further includes:
calculating discrete point acceleration and discrete point acceleration rate according to the corrected feeding speed of every two adjacent corner discrete points;
and acquiring a preset acceleration extreme value and an acceleration change rate extreme value, and adjusting the discrete point acceleration and the discrete point acceleration change rate according to the acceleration extreme value and the acceleration change rate extreme value, so that the discrete point acceleration is smaller than the acceleration extreme value and the discrete point acceleration change rate is smaller than the acceleration change rate extreme value.
In one embodiment, before the driving the laser to cut the corner discrete point, the method further comprises:
acquiring the real-time feeding speed of each corner discrete point, and calculating the length of an interpolation line segment at each corner discrete point according to the real-time feeding speed and the correction frequency;
obtaining the relative distance between each corner discrete point and the origin of the basic numerical control curve, and substituting the relative distance into the direction component of the coordinate axis to obtain the relative coordinate of each corner discrete point;
and determining a target interpolation track at each corner discrete point according to the length of the interpolation line segment and the relative coordinates, and sequentially connecting the target interpolation tracks according to the relative coordinates to generate the actual machining track.
In one embodiment, the decomposing the part information to obtain at least one basic numerical control curve of the part to be cut includes:
decomposing the part information of the same machining plane belonging to the part to be cut to obtain a cutting motion path of each machining plane;
decomposing each cutting motion path according to a preset curve decomposition method to obtain a basic numerical control curve on each cutting motion path; the preset curve decomposition method is any one of a direct decomposition method, a function approximation method and a curve fitting method.
A laser cutting control apparatus, the apparatus comprising:
the decomposition module is used for acquiring part information of a part to be cut, decomposing the part information and obtaining at least one basic numerical control curve of the part to be cut;
the allowable feeding speed calculation module is used for determining a plurality of discrete points on each basic numerical control curve, acquiring discrete point coordinates of the discrete points, determining a corner discrete point in the discrete points according to the discrete point coordinates, acquiring a corner curvature radius of the corner discrete point, and determining the allowable feeding speed of each corner discrete point according to the corner curvature radius;
the first correction module is used for acquiring a preset feeding speed, carrying out deceleration processing on the preset feeding speed corresponding to the corner discrete points according to the allowable feeding speed, and acquiring the corrected feeding speed of each corner discrete point after deceleration processing;
the second correction module is used for acquiring the planning frequency and the planning duty ratio of the corner discrete point, and correcting the planning frequency and the planning duty ratio of the corresponding discrete point of the corner according to the correction feeding speed to obtain the correction frequency and the correction duty ratio of each corner discrete point;
and the cutting control module is used for driving a laser to output the target laser with the corrected frequency and the corrected duty ratio when the laser is driven to cut the corner discrete point, and cutting the target discrete point at the corrected feeding speed.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
acquiring part information of a part to be cut, and decomposing the part information to obtain at least one basic numerical control curve of the part to be cut;
determining a plurality of discrete points on each basic numerical control curve, acquiring discrete point coordinates of the discrete points, determining corner discrete points in the discrete points according to the discrete point coordinates, acquiring corner curvature radius of the corner discrete points, and determining the allowable feeding speed of each corner discrete point according to the corner curvature radius;
acquiring a preset feeding speed, and performing deceleration processing on the preset feeding speed corresponding to the corner discrete points according to the allowable feeding speed to acquire a corrected feeding speed of each corner discrete point after deceleration processing;
acquiring the planning frequency and the planning duty ratio of the corner discrete point, and correcting the planning frequency and the planning duty ratio of the corresponding corner discrete point according to the correction feeding speed to obtain the correction frequency and the correction duty ratio of each corner discrete point;
when the laser is driven to cut the corner discrete point, the laser is driven to output the target laser with the corrected frequency and the corrected duty ratio, and the target discrete point is cut at the corrected feeding speed.
A laser cutting control apparatus comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of:
acquiring part information of a part to be cut, and decomposing the part information to obtain at least one basic numerical control curve of the part to be cut;
determining a plurality of discrete points on each basic numerical control curve, acquiring discrete point coordinates of the discrete points, determining corner discrete points in the discrete points according to the discrete point coordinates, acquiring corner curvature radiuses of the corner discrete points, and determining the allowable feeding speed of each corner discrete point according to the corner curvature radiuses;
acquiring a preset feeding speed, and performing deceleration processing on the preset feeding speed corresponding to the corner discrete points according to the allowable feeding speed to acquire a corrected feeding speed of each corner discrete point after deceleration processing;
acquiring the planning frequency and the planning duty ratio of the corner discrete point, and correcting the planning frequency and the planning duty ratio of the corresponding discrete point of the corner according to the correction feeding speed to obtain the correction frequency and the correction duty ratio of each corner discrete point;
when the laser is driven to cut the corner discrete point, the laser is driven to output the target laser with the corrected frequency and the corrected duty ratio, and the target discrete point is cut at the corrected feeding speed.
The invention provides a laser cutting control method, a laser cutting control device, laser cutting control equipment and a laser cutting control medium, wherein discrete points on a basic numerical control curve of a part to be cut are determined, corner discrete points are determined according to coordinates of the discrete points, so that sudden change of a machine tool track is found in advance, and the speed of part of the corner discrete points is reduced based on a corner curvature radius, so that the feeding speed is always kept within an allowable range during cutting processing of the corner discrete points. Meanwhile, the numerical control platform and the laser pulse control device are in linkage processing, track mutation discovered in advance is combined, and the laser power control frequency and the duty ratio are correspondingly controlled according to the change adjustment of the feeding speed, so that the uniform synchronization of the machine tool speed control and the laser power control is realized, and the optimization of laser cutting is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Wherein:
FIG. 1 is a schematic flow chart of a laser cutting control method according to an embodiment;
FIG. 2 is a schematic diagram of the operation of the NC platform and the laser pulse control apparatus according to an embodiment;
FIG. 3 is a schematic illustration of discrete points in one embodiment;
FIG. 4 is a schematic structural diagram of a laser cutting control apparatus according to an embodiment;
fig. 5 is a block diagram showing the structure of a laser cutting control apparatus in one embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
As shown in fig. 1, fig. 1 is a schematic flow chart of a laser cutting control method in an embodiment. The laser cutting control method is based on a PC (Personal Computer) numerical control platform 100 and a laser pulse control device 200, see fig. 2, wherein the PC numerical control platform 100 is mainly used for adjusting the feeding speed of the laser, and the laser pulse control device 200 is mainly used for adjusting the frequency and duty ratio of the laser output by the laser, and the specific implementation steps are detailed below.
The laser cutting control method in the embodiment includes the steps of:
102, acquiring part information of the part to be cut, and decomposing the part information to obtain at least one basic numerical control curve of the part to be cut.
The part information comprises geometric information and process information of the part to be cut. The basic numerical control curve is a simple curve such as a straight line, a circular arc, an ellipse, a parabola, a hyperbola, a spiral line, a spline curve and the like.
In one embodiment, the part information is subdivided into substantially numerically controlled curves by performing a machined surface decomposition and a motion path decomposition on the part information. Firstly, a NC (Numerical Control) program input by a user is subjected to decoding, conversion and other processing to obtain part information, the part information can be specifically in the form of part numbers and part images, the part information belonging to the same processing plane can be determined according to the types of the part numbers of different parts in a plane coding field, and sub-images of the same processing plane are divided in the part images according to the divided part information, so that a cutting motion path in each processing plane is obtained. However, the cutting motion path is still formed by combining a series of complex curves, and the numerical control platform still cannot directly control the machine tool to perform precise cutting machining according to the cutting motion path. Furthermore, each cutting motion path is decomposed according to a preset curve decomposition method, such as a direct decomposition method, a function approximation method, a curve fitting method and the like, so that a basic numerical control curve on each cutting motion path can be obtained, and finally the basic numerical control curve is sent to the tail of a queue of the data buffer area to facilitate access.
And 104, determining a plurality of discrete points on each basic numerical control curve, acquiring discrete point coordinates of the discrete points, determining corner discrete points in the discrete points according to the discrete point coordinates, acquiring corner curvature radii of the corner discrete points, and determining the allowable feeding speed of each corner discrete point according to the corner curvature radii.
In this embodiment, the laser is preset to move at a preset speed V and output at a preset frequency P, an interval L is determined based on the preset speed V and the preset frequency P, and a discrete point is determined at the interval L from the head end along the cutting direction of the basic numerical control curve until the tail end of the basic numerical control curve is reached. And constructing a coordinate system by taking any vertex of the machine tool as an origin, and taking the horizontal and vertical axis coordinates of each discrete point relative to the origin as discrete point coordinates. The corner discrete point is a discrete point with a 'turning' condition in the discrete points and can be judged through the corner curvature radius and the vector included angle. The allowable feeding speed is the maximum moving speed of the laser allowed at the discrete point of the corner, and is an important basis for whether to perform deceleration processing and adjust the frequency and duty ratio subsequently in the embodiment. Beyond this allowable feed rate at the discrete points of the corner, the machined part is prone to profile errors. For each corner discrete point, the determination principle between the corner curvature radius and the allowable feed speed is that the smaller the corner curvature radius is, the smaller the allowable feed speed is set, and specifically, the calculation relation is set empirically by a human being.
In one embodiment, referring to FIG. 3, FIG. 3 is a schematic illustration of discrete points in one embodiment. To judge the target discrete point P i Whether the corner discrete points are taken as an example or not is specifically performed by the following steps: firstly, acquiring a discrete point P at a target i First vector of
And a second vector
Wherein the first vector
Is a target discrete point P i And the last discrete point P i-1 Formed vector, second vector
Is a target discrete point P i And the next discrete point P i+1 The constructed vector. Then according to the first vector
And a second vector
Calculating at a target discrete point P i The target curvature radius rho is calculated by the formula:
at the same time, according to the first vector
And a second vector
Calculating at a target discrete point P i The target vector included angle alpha is calculated by the following formula:
and finally, judging whether the target curvature radius is smaller than a curvature radius threshold value or not, and judging whether the target vector included angle is larger than a vector included angle threshold value or not. And if the target curvature radius is smaller than the curvature radius threshold value and/or the target vector included angle is larger than the vector included angle threshold value, taking the target discrete point as a corner discrete point.
And 106, acquiring a preset feeding speed, performing speed reduction processing on the preset feeding speed of the corresponding corner discrete point according to the allowable feeding speed, and acquiring the corrected feeding speed of each corner discrete point after speed reduction processing.
In the implementation, the preset feeding speed at the discrete points of the corners of the part is subjected to deceleration treatment, so that the cutting machining operation at the discrete points of the corners can meet the speed constraint condition, and the contour error of the part caused by too high speed can be avoided.
In one embodiment, whether to perform deceleration processing on the corner discrete point is determined by comparing the difference of the speeds. The preset feeding speed at each discrete point is the same, a target corner discrete point is sequentially selected from the head of a queue of the data buffer area, the speed difference value between the preset feeding speed and the allowable feeding speed at the target corner discrete point is calculated, and then the speed difference value is compared with the preset speed threshold value. If the speed difference is greater than the preset speed threshold, it means that the target corner discrete point must be subjected to early deceleration processing, at this time, the preset feeding speed at the target corner discrete point is reduced, for example, the iteration is multiplied by a preset coefficient K smaller than 1, until the speed difference is smaller than or equal to the preset speed threshold, and finally, the corrected feeding speed after deceleration processing is sent to the tail of the queue of the data buffer for access.
Furthermore, in order to realize the optimization of the feeding speed, the acceleration and the acceleration change rate on the whole, avoid the situation that the laser shakes violently in the cutting process due to overlarge speed change, and optimize the parameters of the corrected feeding speed after deceleration processing. Firstly, an acceleration limit value a is set according to a machining requirement and machine tool characteristics max And an extreme value j of acceleration rate max For example, when the machining accuracy is higher, the control acceleration extreme value a max And an extreme value j of acceleration rate max As small as possible. And calculating the discrete point acceleration a and the discrete point acceleration change rate j according to the corrected feed speed of each two adjacent corner discrete points. Finally, according to the acceleration extreme value a max And an extreme value j of acceleration rate max Finding out the corner discrete points which do not satisfy the two constraint conditions, selecting a plurality of corner discrete points which take the abnormal corner discrete points as the center as smooth areas for the abnormal corner discrete points, and smoothing the corrected feeding speed in the smooth areas, so that the discrete point acceleration a of all the corner discrete points is smaller than the acceleration extreme value a max And the acceleration change rate j of the discrete point is less than the extreme value j of the acceleration change rate max 。
And 108, acquiring the planning frequency and the planning duty ratio of the corner discrete points, and correcting the planning frequency and the planning duty ratio of the discrete points corresponding to the corners according to the correction feeding speed to obtain the correction frequency and the correction duty ratio of each corner discrete point.
The laser output power is specifically affected by the frequency and duty cycle of the output laser, and the output power is controlled by adjusting the frequency and duty cycle in this embodiment. Referring to fig. 2, machine tool information is acquired through communication between an industrial control bus of a laser pulse control device and an upper computer, a planned frequency and a planned duty ratio preset at each discrete point of a laser are received, and then the planned frequency and the planned duty ratio are sent to an FPGA (Field Programmable Gate Array) processor. The FPGA is a hardware programming language, and for the frequency of 1-50kHz, a timer comparison circuit can be designed in a segmented mode according to the performance of equipment, for example, the timer comparison circuit is divided into 10 segments, namely 1-5kHz, 5-10kHz, 10-15kHz, 15-20kHz, 20-25kHz, 25-30kHz, 30-35kHz, 35-40kHz, 40-45kHz and 45-50 kHz. Based on the planned frequency, the theoretical output frequency range can then be determined. The same method can be further subdivided if higher accuracy is required.
The numerical control platform also transmits the corrected feeding speed related to the speed control forward-looking to the laser pulse control device through the data buffer area so as to synchronously correct the planned frequency and the planned duty ratio at the discrete points of part of corners, realize the uniform synchronization of the machine tool speed control and the laser power control and ensure the smoothness of the laser cutting processing.
In one embodiment, the corner discrete points subjected to the deceleration processing are used as discrete points to be corrected, only the planning frequency and the planning duty ratio of the discrete points to be corrected are corrected, and the original planning frequency and the planning duty ratio of the remaining corner discrete points are kept. In order to realize the consistency of the effective power areas output by the laser under different feeding speeds, the correction feeding speed of the discrete points to be corrected is obtained, the speed ratio of the correction feeding speed at the discrete points to be corrected to the preset feeding speed is calculated, and then the speed ratio is multiplied by the planning frequency to obtain the correction frequency at the discrete points to be corrected, wherein the specific calculation formula is as follows:
wherein S i To preset feed speed, S o To correct the feed rate, F i To plan the frequency, F o To correct the frequency. Based on the correction frequency, the frequency range that should be actually output can be determined.
Similarly, the speed ratio is multiplied by the planned duty cycle to obtain the correction duty cycle at the discrete point to be corrected, and the specific calculation formula is as follows:
wherein D is t To program duty cycle, D o To modify the duty cycle.
And 110, when the laser is driven to cut the corner discrete point, the laser is driven to output target laser with the corrected frequency and the corrected duty ratio, so that the target discrete point is cut at the corrected feeding speed.
In this embodiment, before cutting, data is further densified in the space between the corner discrete points by line interpolation to form a desired part profile, thereby controlling the feed direction of the laser. The line segment interpolation is a process of approximating an interpolated curve by tiny straight line segments from a starting point to an ending point for some simple basic numerical control curves continuously. Specifically, a real-time feeding speed at each corner discrete point is obtained, wherein for corner discrete points which are not corrected, the real-time feeding speed is equal to a preset feeding speed; and for the corrected corner discrete points, the real-time feeding speed is equal to the corrected feeding speed. Correspondingly, for corner discrete points which are not corrected, the length of the interpolation line segment is the product of the preset feeding speed and the preset frequency; for the corrected corner discrete point, the length of the interpolated line segment is the product of the corrected feed speed and the corrected frequency at the point, so that the length of the interpolated line segment at different corner discrete points can be calculated. Further, in order to determine the direction of the interpolation line segment, the relative distance between each corner discrete point and the origin of the basic numerical control curve is obtained, the relative distance is substituted into the coordinate axis direction component, so that the relative coordinate of each corner discrete point is obtained, and the direction of the interpolation line segment can be determined according to the relative coordinate of the discrete point and the previous corner discrete point or the relative coordinate of the discrete point and the next corner discrete point. And (3) at the corner discrete point of the target, taking the corner discrete point as the origin of the interpolation track, extending the distance of the length of the interpolation line segment along the calculated direction so as to generate the target interpolation track at the corner discrete point, repeating the processes until the end point is reached, and sequentially connecting the target interpolation tracks according to the relative coordinates to generate the actual processing track.
And when cutting, controlling the laser to traverse each corner discrete point along the actual processing track so as to cut the target discrete point at the corrected feeding speed. And the FPGA processor enters the frequency and duty ratio generating circuit of the corresponding segment to generate a corresponding frequency duty ratio signal. The laser pulse control device outputs the frequency duty ratio signal to a control interface of the laser, and directly controls the laser to output target laser with corresponding power.
The laser cutting control method determines discrete points on a basic numerical control curve of a part to be cut, determines corner discrete points according to coordinates of the discrete points, finds abrupt change of a machine tool track in advance, and performs deceleration processing on part of the corner discrete points based on the corner curvature radius, so that the feeding speed is always kept within an allowable range when the cutting processing of the corner discrete points is performed. Meanwhile, the numerical control platform and the laser pulse control device are in linkage processing, track mutation discovered in advance is combined, and the laser power control frequency and the duty ratio are correspondingly controlled according to the change adjustment of the feeding speed, so that the uniform synchronization of the machine tool speed control and the laser power control is realized, and the optimization of laser cutting is ensured.
In one embodiment, as shown in fig. 4, there is provided a laser cutting control apparatus including:
the decomposition module 402 is used for acquiring part information of a part to be cut, decomposing the part information and obtaining at least one basic numerical control curve of the part to be cut;
an allowable feeding speed calculation module 404, configured to determine a plurality of discrete points on each basic numerical control curve, obtain discrete point coordinates of the plurality of discrete points, determine a corner discrete point of the plurality of discrete points according to the discrete point coordinates, obtain a corner curvature radius of the corner discrete point, and determine an allowable feeding speed of each corner discrete point according to the corner curvature radius;
the first correction module 406 is configured to obtain a preset feeding speed, perform deceleration processing on the preset feeding speed of the corresponding corner discrete point according to the allowable feeding speed, and obtain a corrected feeding speed of each corner discrete point after the deceleration processing;
the second correction module 408 is configured to obtain a planned frequency and a planned duty ratio of the corner discrete point, and correct the planned frequency and the planned duty ratio of the discrete point corresponding to the corner according to the correction feeding speed to obtain a correction frequency and a correction duty ratio of each corner discrete point;
and the cutting control module 410 is used for driving the laser to output target laser with a corrected frequency and a corrected duty ratio when the laser is driven to cut the corner discrete point, so as to cut the target discrete point at a corrected feeding speed.
The laser cutting control device determines discrete points on a basic numerical control curve of a part to be cut, determines corner discrete points according to coordinates of the discrete points, finds abrupt change of a machine tool track in advance, and performs deceleration processing on part of the corner discrete points based on the corner curvature radius, so that the feeding speed is always kept within an allowable range when the cutting processing of the corner discrete points is performed. Meanwhile, the numerical control platform and the laser pulse control device are linked to process, track mutation discovered in advance is combined, and the laser power control frequency and the duty ratio are correspondingly controlled according to the change adjustment of the feeding speed, so that the uniform synchronization of the machine tool speed control and the laser power control is realized, and the optimization of laser cutting is ensured.
In one implementation, the second modification module 408 is further specifically configured to: acquiring the corrected feeding speed at the discrete point to be corrected, and calculating the speed ratio of the corrected feeding speed at the discrete point to be corrected to the preset feeding speed; and correcting the planned frequency and the planned duty ratio according to the speed ratio to obtain the corrected frequency and the corrected duty ratio at the discrete point to be corrected.
In one implementation, the allowed feed rate calculation module 404 is further specifically configured to: acquiring a first vector and a second vector of a target discrete point, wherein the first vector is a vector formed by the target discrete point and a previous discrete point, and the second vector is a vector formed by the target discrete point and a next discrete point; calculating a target curvature radius and a target vector included angle at a target discrete point according to the first vector and the second vector, judging whether the target curvature radius is smaller than a curvature radius threshold value or not, and judging whether the target vector included angle is larger than a vector included angle threshold value or not; and if the target curvature radius is smaller than the curvature radius threshold value and/or the target vector included angle is larger than the vector included angle threshold value, taking the target discrete point as a corner discrete point.
In one implementation, the first modification module 406 is further specifically configured to: calculating a speed difference value between a preset feeding speed and an allowable feeding speed at a target corner discrete point, and comparing the speed difference value with a preset speed threshold value; and if the speed difference is greater than the preset speed threshold, decelerating the preset feeding speed at the discrete point of the target corner until the speed difference is less than or equal to the preset speed threshold.
In one implementation, the laser cutting control apparatus further comprises a speed optimization module for: calculating the discrete point acceleration and the discrete point acceleration rate change according to the corrected feeding speed of each two adjacent corner discrete points; and acquiring a preset acceleration extreme value and an acceleration change rate extreme value, and adjusting the discrete point acceleration and the discrete point acceleration change rate according to the acceleration extreme value and the acceleration change rate extreme value, so that the discrete point acceleration is smaller than the acceleration extreme value and the discrete point acceleration change rate is smaller than the acceleration change rate extreme value.
In one embodiment, the laser cutting control apparatus further includes a track interpolation module configured to:
acquiring the real-time feeding speed of each corner discrete point, and calculating the length of an interpolation line segment at each corner discrete point according to the real-time feeding speed and the correction frequency; obtaining the relative distance between each corner discrete point and the origin of the basic numerical control curve, substituting the relative distance into the component of the coordinate axis direction to obtain the relative coordinate of each corner discrete point; and determining a target interpolation track at each corner discrete point according to the length of the interpolation line segment and the relative coordinates, and sequentially connecting the target interpolation tracks according to the relative coordinates to generate an actual processing track.
In an embodiment, the decomposition module 402 is specifically configured to: decomposing the part information of the same processing plane belonging to the part to be cut to obtain the cutting motion path of each processing plane; and decomposing each cutting motion path according to a preset curve decomposition method to obtain a basic numerical control curve on each cutting motion path.
Fig. 5 shows an internal structural view of the laser cutting control apparatus in one embodiment. As shown in fig. 5, the laser cutting control apparatus includes a processor, a memory, and a network interface connected by a system bus. The memory comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the laser cutting control device stores an operating system and also stores a computer program, and when the computer program is executed by a processor, the computer program can enable the processor to realize the laser cutting control method. The internal memory may also have a computer program stored therein, which when executed by the processor, causes the processor to execute the laser cutting control method. It will be understood by those skilled in the art that the structure shown in fig. 5 is a block diagram of only a part of the structure relevant to the present application, and does not constitute a limitation on the laser cutting control device to which the present application is applied, and a specific laser cutting control device may include more or less components than those shown in the drawings, or combine some components, or have a different arrangement of components.
A laser cutting control apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring part information of a part to be cut, and decomposing the part information to obtain at least one basic numerical control curve of the part to be cut; determining a plurality of discrete points on each basic numerical control curve, acquiring discrete point coordinates of the discrete points, determining corner discrete points in the discrete points according to the discrete point coordinates, acquiring corner curvature radius of the corner discrete points, and determining the allowable feeding speed of each corner discrete point according to the corner curvature radius; acquiring a preset feeding speed, and performing deceleration processing on the preset feeding speed of the corresponding corner discrete point according to the allowable feeding speed to acquire a corrected feeding speed of each corner discrete point after the deceleration processing; acquiring the planning frequency and the planning duty ratio of the corner discrete points, and correcting the planning frequency and the planning duty ratio of the corresponding discrete points of the corner according to the correction feeding speed to obtain the correction frequency and the correction duty ratio of each corner discrete point; when the laser is driven to cut the corner discrete point, the laser is driven to output target laser with a corrected frequency and a corrected duty ratio so as to cut the target discrete point at a corrected feeding speed.
In one embodiment, the correcting the planned frequency and the planned duty ratio of the discrete point corresponding to the corner according to the corrected feeding speed to obtain the corrected frequency and the corrected duty ratio of each discrete point of the corner includes: acquiring the corrected feeding speed at the discrete point to be corrected, and calculating the speed ratio of the corrected feeding speed at the discrete point to be corrected to the preset feeding speed; and correcting the planned frequency and the planned duty ratio according to the speed ratio to obtain the corrected frequency and the corrected duty ratio at the discrete point to be corrected.
In one embodiment, determining a corner discrete point of the number of discrete points from the discrete point coordinates comprises: acquiring a first vector and a second vector of a target discrete point, wherein the first vector is a vector formed by the target discrete point and a previous discrete point, and the second vector is a vector formed by the target discrete point and a next discrete point; calculating a target curvature radius and a target vector included angle at a target discrete point according to the first vector and the second vector, judging whether the target curvature radius is smaller than a curvature radius threshold value or not, and judging whether the target vector included angle is larger than a vector included angle threshold value or not; and if the target curvature radius is smaller than the curvature radius threshold value and/or the target vector included angle is larger than the vector included angle threshold value, taking the target discrete point as a corner discrete point.
In one embodiment, the decelerating process of the preset feeding speed of the corresponding corner discrete point according to the allowable feeding speed comprises the following steps: calculating a speed difference value between the preset feeding speed and the allowable feeding speed at the discrete point of the target corner, and comparing the speed difference value with a preset speed threshold value; and if the speed difference is greater than the preset speed threshold, decelerating the preset feeding speed at the discrete point of the target corner until the speed difference is less than or equal to the preset speed threshold.
In one embodiment, after obtaining the corrected feeding speed of each corner discrete point after the deceleration process, the method further comprises: calculating the discrete point acceleration and the discrete point acceleration rate change according to the corrected feeding speed of each two adjacent corner discrete points; and acquiring a preset acceleration extreme value and an acceleration change rate extreme value, and adjusting the discrete point acceleration and the discrete point acceleration change rate according to the acceleration extreme value and the acceleration change rate extreme value, so that the discrete point acceleration is smaller than the acceleration extreme value and the discrete point acceleration change rate is smaller than the acceleration change rate extreme value.
In one embodiment, before the driving the laser to cut the corner discrete point, the method further comprises: acquiring the real-time feeding speed of each corner discrete point, and calculating the length of an interpolation line segment at each corner discrete point according to the real-time feeding speed and the correction frequency; obtaining the relative distance between each corner discrete point and the origin of the basic numerical control curve, and substituting the relative distance into the direction component of the coordinate axis to obtain the relative coordinate of each corner discrete point; and determining a target interpolation track of each corner discrete point according to the length of the interpolation line segment and the relative coordinates, and sequentially connecting the target interpolation tracks according to the relative coordinates to generate an actual processing track.
In one embodiment, decomposing the part information to obtain at least one substantially numerically controlled curve of the part to be cut comprises: decomposing the part information of the same processing plane belonging to the part to be cut to obtain the cutting motion path of each processing plane; and decomposing each cutting motion path according to a preset curve decomposition method to obtain a basic numerical control curve on each cutting motion path.
A computer-readable storage medium, storing a computer program which, when executed by a processor, performs the steps of: acquiring part information of a part to be cut, and decomposing the part information to obtain at least one basic numerical control curve of the part to be cut; determining a plurality of discrete points on each basic numerical control curve, acquiring discrete point coordinates of the discrete points, determining corner discrete points in the discrete points according to the discrete point coordinates, acquiring corner curvature radius of the corner discrete points, and determining the allowable feeding speed of each corner discrete point according to the corner curvature radius; acquiring a preset feeding speed, performing deceleration processing on the preset feeding speed of the corresponding corner discrete point according to the allowable feeding speed, and acquiring the corrected feeding speed of each corner discrete point after deceleration processing; acquiring the planning frequency and the planning duty ratio of the corner discrete points, and correcting the planning frequency and the planning duty ratio of the corresponding discrete points of the corner according to the correction feeding speed to obtain the correction frequency and the correction duty ratio of each corner discrete point; when the laser is driven to cut the corner discrete point, the laser is driven to output target laser with a corrected frequency and a corrected duty ratio so as to cut the target discrete point at a corrected feeding speed.
In one embodiment, the correcting the planned frequency and the planned duty ratio of the discrete point corresponding to the corner according to the corrected feeding speed to obtain the corrected frequency and the corrected duty ratio of each discrete point of the corner includes: acquiring the corrected feeding speed at the discrete point to be corrected, and calculating the speed ratio of the corrected feeding speed at the discrete point to be corrected to the preset feeding speed; and correcting the planned frequency and the planned duty ratio according to the speed ratio to obtain the corrected frequency and the corrected duty ratio at the discrete point to be corrected.
In one embodiment, determining a corner discrete point of the number of discrete points from the discrete point coordinates comprises: acquiring a first vector and a second vector of a target discrete point, wherein the first vector is a vector formed by the target discrete point and a previous discrete point, and the second vector is a vector formed by the target discrete point and a next discrete point; calculating a target curvature radius and a target vector included angle at a target discrete point according to the first vector and the second vector, judging whether the target curvature radius is smaller than a curvature radius threshold value or not, and judging whether the target vector included angle is larger than a vector included angle threshold value or not; and if the target curvature radius is smaller than the curvature radius threshold value and/or the target vector included angle is larger than the vector included angle threshold value, taking the target discrete point as a corner discrete point.
In one embodiment, the decelerating process of the preset feeding speed of the corresponding corner discrete point according to the allowable feeding speed comprises the following steps: calculating a speed difference value between the preset feeding speed and the allowable feeding speed at the discrete point of the target corner, and comparing the speed difference value with a preset speed threshold value; and if the speed difference is greater than the preset speed threshold, decelerating the preset feeding speed at the discrete point of the target corner until the speed difference is less than or equal to the preset speed threshold.
In one embodiment, after obtaining the corrected feeding speed of each corner discrete point after the deceleration processing, the method further comprises: calculating the discrete point acceleration and the discrete point acceleration rate change according to the corrected feeding speed of each two adjacent corner discrete points; and acquiring a preset acceleration extreme value and an acceleration change rate extreme value, and adjusting the discrete point acceleration and the discrete point acceleration change rate according to the acceleration extreme value and the acceleration change rate extreme value so that the discrete point acceleration is smaller than the acceleration extreme value and the discrete point acceleration change rate is smaller than the acceleration change rate extreme value.
In one embodiment, before the driving the laser to cut the corner discrete point, the method further comprises: acquiring the real-time feeding speed of each corner discrete point, and calculating the length of an interpolation line segment at each corner discrete point according to the real-time feeding speed and the correction frequency; obtaining the relative distance between each corner discrete point and the origin of the basic numerical control curve, and substituting the relative distance into the direction component of the coordinate axis to obtain the relative coordinate of each corner discrete point; and determining a target interpolation track of each corner discrete point according to the length of the interpolation line segment and the relative coordinates, and sequentially connecting the target interpolation tracks according to the relative coordinates to generate an actual processing track.
In one embodiment, decomposing the part information to obtain at least one substantially numerically controlled curve of the part to be cut comprises: decomposing the part information of the same processing plane belonging to the part to be cut to obtain the cutting motion path of each processing plane; and decomposing each cutting motion path according to a preset curve decomposition method to obtain a basic numerical control curve on each cutting motion path.
It should be noted that the laser cutting control method, apparatus, device and computer readable storage medium described above belong to a general inventive concept, and the contents in the embodiments of the laser cutting control method, apparatus, device and computer readable storage medium may be mutually applicable.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus (Rambus) direct RAM (RDRAM), direct bused dynamic RAM (DRDRAM), and bused dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. A method of laser cutting control, the method comprising:
acquiring part information of a part to be cut, and decomposing the part information to obtain at least one basic numerical control curve of the part to be cut;
determining a plurality of discrete points on each basic numerical control curve, acquiring discrete point coordinates of the discrete points, determining corner discrete points in the discrete points according to the discrete point coordinates, acquiring corner curvature radiuses of the corner discrete points, and determining the allowable feeding speed of each corner discrete point according to the corner curvature radiuses;
acquiring a preset feeding speed, and performing deceleration processing on the preset feeding speed corresponding to the corner discrete points according to the allowable feeding speed to acquire a corrected feeding speed of each corner discrete point after deceleration processing;
acquiring the planning frequency and the planning duty ratio of the corner discrete point, and correcting the planning frequency and the planning duty ratio of the corresponding corner discrete point according to the correction feeding speed to obtain the correction frequency and the correction duty ratio of each corner discrete point;
when the laser is driven to cut the corner discrete point, the laser is driven to output the target laser with the corrected frequency and the corrected duty ratio, and the target discrete point is cut at the corrected feeding speed.
2. The method according to claim 1, wherein the modifying the planned frequency and the planned duty cycle of the corner corresponding discrete point according to the modified feeding speed to obtain the modified frequency and the modified duty cycle of each corner discrete point comprises:
acquiring the corrected feeding speed at the discrete point to be corrected, and calculating the speed ratio of the corrected feeding speed at the discrete point to be corrected to the preset feeding speed;
and correcting the planning frequency and the planning duty ratio according to the speed ratio to obtain a corrected frequency and a corrected duty ratio at the discrete point to be corrected.
3. The method of claim 1, wherein said determining corner discrete points of said number of discrete points from said discrete point coordinates comprises:
acquiring a first vector and a second vector of a target discrete point, wherein the first vector is a vector formed by the target discrete point and a previous discrete point, and the second vector is a vector formed by the target discrete point and a next discrete point;
calculating a target curvature radius and a target vector included angle at a target discrete point according to the first vector and the second vector, judging whether the target curvature radius is smaller than a curvature radius threshold value or not, and judging whether the target vector included angle is larger than a vector included angle threshold value or not;
and if the target curvature radius is smaller than the curvature radius threshold value and/or the target vector included angle is larger than the vector included angle threshold value, taking the target discrete point as the corner discrete point.
4. The method according to claim 1, wherein the decelerating the preset feeding speed of the corresponding corner discrete point according to the allowable feeding speed comprises:
calculating a speed difference value between the preset feeding speed and an allowable feeding speed at a target corner discrete point, and comparing the speed difference value with a preset speed threshold value;
and if the speed difference is larger than the preset speed threshold, decelerating the preset feeding speed at the discrete point of the target corner until the speed difference is smaller than or equal to the preset speed threshold.
5. The method according to claim 1, further comprising, after said obtaining the corrected feed speed for each of the corner discrete points after the deceleration process:
calculating discrete point acceleration and discrete point acceleration change rate according to the corrected feed speed of every two adjacent corner discrete points;
and acquiring a preset acceleration extreme value and an acceleration change rate extreme value, and adjusting the discrete point acceleration and the discrete point acceleration change rate according to the acceleration extreme value and the acceleration change rate extreme value so as to enable the discrete point acceleration to be smaller than the acceleration extreme value and the discrete point acceleration change rate to be smaller than the acceleration change rate extreme value.
6. The method of claim 1, further comprising, prior to said driving a laser to cut said corner discrete points:
acquiring the real-time feeding speed of each corner discrete point, and calculating the length of an interpolation line segment at each corner discrete point according to the real-time feeding speed and the correction frequency;
obtaining the relative distance between each corner discrete point and the origin of the basic numerical control curve, substituting the relative distance into the direction component of the coordinate axis to obtain the relative coordinate of each corner discrete point;
and determining a target interpolation track of each corner discrete point according to the length of the interpolation line segment and the relative coordinates, and sequentially connecting the target interpolation tracks according to the relative coordinates to generate the actual processing track.
7. The method of claim 1, wherein said decomposing the part information to obtain at least one substantially numerically controlled curve for the part to be cut comprises:
decomposing the part information of the same machining plane belonging to the part to be cut to obtain a cutting motion path of each machining plane;
decomposing each cutting motion path according to a preset curve decomposition method to obtain a basic numerical control curve on each cutting motion path; the preset curve decomposition method is any one of a direct decomposition method, a function approximation method and a curve fitting method.
8. A laser cutting control apparatus, the apparatus comprising:
the decomposition module is used for acquiring part information of a part to be cut, decomposing the part information and obtaining at least one basic numerical control curve of the part to be cut;
the allowable feeding speed calculation module is used for determining a plurality of discrete points on each basic numerical control curve, obtaining discrete point coordinates of the discrete points, determining corner discrete points in the discrete points according to the discrete point coordinates, obtaining corner curvature radiuses of the corner discrete points, and determining the allowable feeding speed of each corner discrete point according to the corner curvature radiuses;
the first correction module is used for acquiring a preset feeding speed, carrying out deceleration processing on the preset feeding speed corresponding to the corner discrete points according to the allowable feeding speed, and acquiring the corrected feeding speed of each corner discrete point after deceleration processing;
the second correction module is used for acquiring the planning frequency and the planning duty ratio of the corner discrete point, and correcting the planning frequency and the planning duty ratio of the corresponding discrete point of the corner according to the correction feeding speed to obtain the correction frequency and the correction duty ratio of each corner discrete point;
and the cutting control module is used for driving the laser to output the target laser with the corrected frequency and the corrected duty ratio when the laser is driven to cut the corner discrete point, and cutting the target discrete point at the corrected feeding speed.
9. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
10. A laser cutting control apparatus comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the method of any one of claims 1 to 7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115283857A (en) * | 2022-10-10 | 2022-11-04 | 江苏跃格智能装备有限公司 | Intelligent control method of laser cutting machine based on machine vision |
| CN116174941A (en) * | 2023-04-26 | 2023-05-30 | 弗斯迈智能科技(江苏)有限公司 | Laser cutting perovskite film cutting positioning method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115283857A (en) * | 2022-10-10 | 2022-11-04 | 江苏跃格智能装备有限公司 | Intelligent control method of laser cutting machine based on machine vision |
| CN116174941A (en) * | 2023-04-26 | 2023-05-30 | 弗斯迈智能科技(江苏)有限公司 | Laser cutting perovskite film cutting positioning method |
| CN116174941B (en) * | 2023-04-26 | 2023-09-08 | 弗斯迈智能科技(江苏)有限公司 | Laser cutting perovskite film cutting positioning method |
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