CN115430926A - Corner processing method, device and equipment for laser cutting and storage medium - Google Patents
Corner processing method, device and equipment for laser cutting and storage medium Download PDFInfo
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- 238000003698 laser cutting Methods 0.000 title claims abstract description 40
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Abstract
The invention relates to a corner processing method, a device, equipment and a storage medium for laser cutting.A first speed array of a corner section is intercepted, then a starting point acceleration vector and an end point acceleration vector of the corner section are determined, speed curve fitting is carried out by taking a slope corresponding to the vectors as a starting point slope and an end point slope of a speed curve, the fitted speed curve is converted into a second speed array with the length consistent with that of the first speed array, then the difference between the sum of the second speed array and the sum of the first speed array is determined, the difference is filtered to obtain a smoothly-changing difference array, finally the second speed array and the difference array are superposed to obtain an output speed array, and the output speed array is output by replacing the first speed array. Because the cutting optimization is only carried out on the corner section, when the laser cutting corner processing method is used for cutting the circular arc, the vibration of speed inhibition can not occur, and the distortion of the circular arc processing track is effectively avoided.
Description
Technical Field
The invention relates to the field of laser processing, in particular to a corner processing method, a corner processing device, corner processing equipment and a storage medium for laser cutting.
Background
In laser cutting, smooth connection is difficult to realize at the position where two sections of tracks are connected because of corners, the traditional cutting method ignores the fluctuation on a single-axis speed caused by the curvature change of the corners, and the fluctuation can cause the vibration of a machine tool and easily damage the machine tool.
In order to solve the vibration problem, the conventional cutting method adds a filter behind the fluctuating speed to reduce the influence of speed change and further reduce vibration, but for a curve with speed direction change, such as an arc, the filter can inhibit the speed change, so when the cutting method is used for cutting an arc track, the vibration with velocity inhibition occurs, and further the distortion of the arc machining track is caused.
Disclosure of Invention
The invention aims to provide a corner processing method for laser cutting, and aims to solve the problem that in the prior art, when an arc track is cut, speed-inhibiting vibration occurs, and further the arc processing track is distorted.
In a first aspect, the present invention provides a corner processing method for laser cutting, including: intercepting a first speed array of the corner section; determining a starting point acceleration vector and an ending point acceleration vector of the corner section according to data adjacent to the starting point and the ending point of the corner section; performing speed curve fitting by using the slope corresponding to the starting point acceleration vector and the end point acceleration vector as the starting point slope and the end point slope of a speed curve; converting the fitted speed curve into a second speed array with the length consistent with that of the first speed array; determining the difference value between the sum of the second speed array and the sum of the first speed array, and filtering the difference value to obtain a smoothly-changing difference value array; and superposing the second speed array and the difference array to obtain an output speed array, and outputting the output speed array instead of the first speed array, wherein the sum of the second speed array and the sum of the difference array is equal to the sum of the output speed arrays.
Further, the performing speed curve fitting according to the slope corresponding to the start-point acceleration vector and the end-point acceleration vector as the start-point slope and the end-point slope of the speed curve specifically includes: and calculating the slope of the starting point and the slope of the ending point of the speed curve by adopting a B-Spline fitting method to obtain a fitted speed curve.
Further, said converting the fitted speed profile into a second speed data set length consistent with the first speed data set length specifically comprises: and processing the speed curve to obtain the second speed data group with the length consistent with the length of the first speed data group.
Further, the determining a difference between the sum of the second velocity array and the sum of the first velocity array, and filtering the difference to obtain a smoothly varying difference array specifically includes: and processing the difference value into a smoothly-changed difference value array consistent with the first speed array number through an FIR filter by taking the length of the first speed array as the size of a filter window.
Further, the processing, with the length of the first velocity array as the size of the filtering window, the difference value into a smoothly varying difference value array consistent with the first velocity array number by the FIR filter specifically includes: the FIR filter processes the difference values into a smoothly varying array of difference values consistent with the first array of velocity values using sliding weight filtering.
Further, before intercepting the first speed group of the corner section, the method further includes: and identifying the stroke to be processed, and if the stroke to be processed is identified as a corner section, executing the step of intercepting the first speed array of the corner section.
In a second aspect, the information acquisition module is configured to intercept a first speed array of the corner section; the vector calculation module is used for determining a starting point acceleration vector and an end point acceleration vector of the corner section according to data adjacent to the starting point and the end point of the corner section; the curve fitting module is used for performing speed curve fitting by taking the slope corresponding to the starting point acceleration vector and the end point acceleration vector as the starting point slope and the end point slope of a speed curve; the curve calculation module is used for converting the fitted speed curve into a second speed array with the length consistent with that of the first speed array; the filtering calculation module is used for determining the difference value between the sum of the second speed arrays and the sum of the first speed arrays and filtering the difference value to obtain a smoothly-changing difference value array; and the output array calculation module is used for superposing the second speed array and the difference array to obtain an output speed array and outputting the output speed array instead of the first speed array, wherein the sum of the second speed array and the difference array is equal to the sum of the output speed arrays.
Further, the curve fitting module comprises a B-Spline calculation sub-module for calculating a start point slope and an end point slope of the speed curve by using a B-Spline fitting method to obtain a fitted speed curve.
In a third aspect, the present invention also provides a laser cutting apparatus, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the method of corner processing for laser cutting as described in the first aspect above.
In a fourth aspect, the present invention also provides a computer readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the corner processing method of laser cutting according to the first aspect.
The invention has the beneficial effects that: cutting optimization is only carried out on the corner section, firstly, a first speed array of the corner section is intercepted, then, a starting point acceleration vector and an end point acceleration vector of the corner section are determined according to data adjacent to a starting point and an end point of the corner section, then, speed curve fitting is carried out according to the slope corresponding to the starting point acceleration vector and the end point acceleration vector as a starting point slope and an end point slope of a speed curve, then, the fitted speed curve is converted into a second speed array with the length consistent with that of the first speed array, then, the difference value of the sum of the second speed array and the sum of the first speed array is determined, the difference value is filtered to obtain a smoothly-changing difference array, finally, the second speed array and the difference array are superposed to obtain an output speed array, and the output speed array replaces the first speed array to be output. Because the cutting optimization is only carried out on the corner section, the processing path except the corner section cannot be involved, when the laser cutting corner processing method is used for cutting the circular arc, the vibration of speed inhibition cannot occur, and the distortion of the circular arc processing track is effectively avoided.
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The following detailed description of embodiments of the invention will be made with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a laser processing method of an embodiment of the present invention;
FIG. 2 is a detailed flow chart of a laser processing method according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating the sub-steps of step S130 according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating sub-steps of step S140 according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating sub-steps of step S150 according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating sub-steps of step S151 according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of a laser dicing line without a laser diced corner processing method employing an embodiment of the present invention;
FIG. 8 is a schematic view of a laser cut line after applying the corner processing method of laser cutting of an embodiment of the present invention;
FIG. 9 is a schematic block diagram of laser machining of an embodiment of the present invention;
FIG. 10 is a detailed schematic block diagram of a curve fitting module according to an embodiment of the invention;
the figures are numbered:
1. an information acquisition module; 2. a vector calculation module; 3. a curve fitting module; 31. b-spline calculation submodule; 4. a curve calculation module; 5. a filtering calculation module; 6. and outputting the array calculation module.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
In the prior art, a full processing range filtering algorithm is adopted, and when the command speed changes too fast, the change of the speed is suppressed, for example, the original command speed is x10y10, and in order to ensure the smoothness with the last output speed, the filtered command speed is suppressed to x8y8. For cutting corner sections, the full processing range filtering algorithm can indeed cut the influence of deceleration change, so that vibration is reduced, and the machine tool is prevented from being damaged.
However, the cutting paths are diversified, the laser cutting paths not only have straight lines and corners, but also have curves with speed direction changes, such as arcs, and when the arc tracks are cut by adopting the full processing range filtering algorithm, the filtering can inhibit the speed changes, so that the speed inhibited vibration can occur, and further the arc processing tracks are distorted, and the distortion of the processing tracks can influence the quality and the aesthetic property of products and is difficult to accept.
In view of the above problems, an embodiment of the present invention provides a corner processing method for laser cutting, which is used for cutting a first cutting stroke, a second cutting stroke, and corner segments between the first cutting stroke and the second cutting stroke, where the corner segments in this embodiment refer to a set of speed data with a large speed vector change rate, and the first cutting stroke and the second cutting stroke are two sets of speed data with a small speed vector change rate connecting the head and the tail of the corner segments. In the actual cutting, the first cutting stroke is illustratively a straight-line track stroke, the corner section is a bending track stroke connecting the straight-line cutting stroke, and the second cutting stroke is illustratively a straight-line track stroke connecting the bending track stroke. It will of course be appreciated that the cutting strokes and corner segments in this embodiment may be of other types.
As shown in fig. 1-2, the corner processing method of laser cutting includes the steps of:
s1101: identifying the stroke to be processed, and if the stroke to be processed is a corner section, executing step S110: a first velocity array for the corner segment is intercepted.
In this embodiment, a speed group is intercepted by using a method of interpolating an initial position, which is a process of performing speed calculation and decomposing and calculating a position variation of a single axis for a certain track, so that a connection stage (a transition stage from the end of an upper section to the beginning of a lower section) between two tracks can be marked as a corner section. In this embodiment, the two tracks are the first cutting route and the second cutting route, a corner section can be marked through a system interpolation operation process, and a speed interpolation value is truncated before and after the corner section.
S110: intercepting a first speed array of the corner section;
specifically, the speed curve of the first corner section is composed of a plurality of points, and each point of the speed curve corresponds to speed data, so that the speed curve of the first corner section is formed. The length of the first speed array is consistent with the number of points of the speed curve forming the first corner section, and the speed data of each point of the speed curve of the first corner section is correspondingly stored in the first speed array, for example, the first speed array stores the following numerical values: [0.127322,0.12058,0.233333,0.360655,0.696981,0.836352,0.972678,1].
S120: determining a starting point acceleration vector and an end point acceleration vector of the corner section according to data adjacent to the starting point and the end point of the corner section;
in step S110, two end points of the corner segment are determined, and according to the velocity values of the corner segment adjacent to the two end points, a start point acceleration vector and an end point acceleration vector of the corner segment can be determined, and the slope corresponding to the start point acceleration vector and the end point acceleration vector can be obtained by using the start point acceleration vector and the end point acceleration vector. For example, if the speed value adjacent to the above "0.127322" is "0.057636", and the speed value adjacent to the above "1" is "1.112754", the slope K corresponding to the starting acceleration vector can be obtained 1 ＝0.127322-0.057636＝0069686, the slope of the end point acceleration vector is K 2 ＝1.112754-1＝0.112754。
S130: performing speed curve fitting by using the slope corresponding to the starting point acceleration vector and the end point acceleration vector as the starting point slope and the end point slope of the speed curve;
the speed curve is fitted to be a curve with speed change, the slope of the starting point of the speed curve is consistent with the slope of the starting point corresponding to the acceleration vector of the starting point, and the slope of the ending point of the speed curve is consistent with the slope of the ending point corresponding to the acceleration vector of the ending point.
In a specific embodiment, as shown in fig. 1 and 3, step S130 specifically includes:
s131: and calculating the slope of the starting point and the slope of the end point of the speed curve by adopting a B-Spline fitting method to obtain a fitted speed curve.
B-Spline is a special representation of the Spline curve in mathematical sub-discipline numerical analysis, created by Isaac Jacob Schoenberg, a shorthand of Basis splines. It is a linear combination of B-spline base curves. B-Spline is a generalization of the Betz curve, which can be further generalized as non-uniform rational B-splines (NURBS), enabling us to build accurate models for more general geometries.
In particular, by K 1 、K 2 And corner start and end point data, establishing a slave point P 1 (0, 0.127322) to a point P 2 Cubic spline curve of (7, 1): f (x) = Ax 3 +Bx 2 + cx + D. Wherein K is 1 、K 2 Slope representing start and end points, P 1 、P 2 Representing a starting point and an end point. The values of A, B, C and D are obtained according to the following mode, and P is defined according to a cubic spline interpolation algorithm 1 Transverse and longitudinal axis of (a) is x 1 ,y 1 ,P 2 Transverse and longitudinal axis of x 2 ,y 2 Note E = x 2 -x 1 Then, then
And because; a = FB = G-F (x) 1 +x 2 )；
Thus, A = -0.00137 is calculated; b =0.021507; c =0.030768; d =0.076413. And finally, substituting the coefficients of the ABCD into f (x) to obtain a fitted speed curve.
S140: converting the fitted speed curve into a second speed array with the length consistent with that of the first speed array;
the fitted speed curve is composed of a plurality of points, and each point of the fitted speed curve corresponds to speed data, so that the fitted speed curve is formed. The length of the second speed array is consistent with the number of points forming the fitted speed curve, and speed data of each point of the fitted speed curve are correspondingly stored in the second speed array.
In a specific embodiment, as shown in fig. 1 and 4, step S140 specifically includes:
s141: the velocity profile is processed to obtain a second velocity array having a length that is consistent with the length of the first velocity array.
By the curve formula f (x) = Ax 3 +Bx 2 + cx + D eight data sets with x between 0 and 7 are obtained as the array: [0.127322,0.213639503,0.327318192,0.459176018,0.600227138,0.742280134,0.877938016,1]The sum being S 2 =4.337016 and the sum in the first speed count example above is S 1 =4.347901, thereby obtaining S 2 And S 1 The difference was-0.01089.
S150: determining the difference value between the sum of the second speed array and the sum of the first speed array, and filtering the difference value to obtain a smoothly-changing difference value array;
filtering is essentially some algorithm that processes the data into the desired form, where the filtering is to decompose the difference data, in filtered form, into a continuous smooth difference array that starts and ends at 0, to be superimposed with the second velocity array.
In a specific embodiment, as shown in fig. 1 and 5, step S150 specifically includes:
s151: and processing the difference value into a smoothly-changed difference value array consistent with the first speed array number through an FIR filter by taking the length of the first speed array as the size of a filter window.
The FIR (Finite Impulse Response) filter is a Finite single-bit Impulse Response filter, also called a non-recursive filter, and is the most basic element in a digital signal processing system, and it can guarantee any amplitude-frequency characteristic and at the same time has strict linear phase-frequency characteristic, and its unit sampling Response is Finite, so that the filter is a stable system.
In a specific embodiment, as shown in fig. 1 and 6, step S151 specifically includes:
s1511: the FIR filter processes the difference values using sliding weighted filtering into a smoothly varying array of difference values corresponding to the first number of velocity arrays.
According to the fitted speed curve, the total displacement amount under the fitted speed curve can be obtained, the total displacement amount can deviate from the total displacement amount of the corner section before the corner section is processed by the corner processing method without adopting the laser cutting, the deviation can cause the change of the starting point and the end point of the second cutting stroke, in order to avoid the change of the deviation, the part needing to be corrected is subjected to deviation, under the condition that the acceleration of the starting point and the end point of the corner section is not changed, the difference value is corrected in a curve superposition mode, the main principle is that when a speed curve (the speed curve corresponding to the second speed array) with the speed and the acceleration meeting the conditions at the starting point and the end point is known, a speed smooth curve (the speed curve corresponding to the difference value array) constructed by the displacement difference value is superposed, the finally obtained curve is also continuous, at the moment, a weighting smooth filtering method can be used, the continuous speed curve can be obtained by the known time and the total displacement amount, and the curve accords with the cosine function change trend and is a continuous curve.
For example, the difference is processed to match the start and end points to 0 by sliding weight filtering, and belongs to smooth data, in this case, the sliding weight filtering is processed in such a way that each input data is processed to a set of smooth output data by constructing a set of smoothly varying weight distributions, and here, the weights are constructed by using the characteristics of cos cosine function, and the cosine function is processed
Has a value of [0-1 ]]Taking values, and then controlling the sum of all weights to be 1, the weights [0,0.053787171,0.174645848,0.271566981, 0.174645848,0.053787171,0]The difference value is output according to the weight in turn, namely the difference value can be decomposed into 8 data, the 8 data satisfy the rule that the head and the tail are 0 and the middle is smooth, namely the difference value data are processed into [0, -0.000585473, -0.00190102, -0.002956007, -0.002956007, -0.00190102, -0.000585473 and 0]Then, in step S160, the smoothly varying difference array is added to the second speed array to obtain the output speed arrays [0.127322,0.21305403,0.325417172,0.456220011,0.597271131,0.740379114,0.877352543,1]。
S160: and superposing the second speed array and the difference array to obtain an output speed array, and outputting the output speed array instead of the first speed array, wherein the sum of the second speed array and the sum of the difference array is equal to the sum of the output speed arrays.
The output speed array is obtained after the corner processing method of laser cutting according to this embodiment, and is used to replace the first speed array for outputting, and the output speed array stores speed data corresponding to all points forming a speed curve.
The corner processing method for laser cutting only carries out cutting optimization on the corner section, so that distortion only occurs on the corner, the distortion is acceptable, only speed jumping when the corner changes is repaired, vibration is reduced, a machine tool is prevented from being damaged, a motion control algorithm in a normal straight line circular arc is relatively simple, problems generally do not occur, data of the corner section is intercepted for recalculation, the calculation mode of a first cutting stroke and a second cutting stroke does not need to be changed, and the method is easy to implement.
Fig. 7 and 8 are schematic diagrams of a laser cutting line of a corner processing method without using the laser cutting of the embodiment, and a schematic diagram of a laser cutting line after using the corner processing method with the laser cutting of the embodiment, respectively. As can be seen from fig. 7 and 8, according to the present embodiment, when the arc is cut, the arc machining trajectory is effectively prevented from being distorted without generating a vibration of a suppressed speed.
The embodiment of the invention discloses a corner processing method for laser cutting, as shown in fig. 1, the corner processing method for laser cutting only performs cutting optimization on a corner section, firstly a first speed array of the corner section is intercepted, then a starting point acceleration vector and an end point acceleration vector of the corner section are determined according to data adjacent to a starting point and an end point of the corner section, then speed curve fitting is performed according to a starting point slope and an end point slope of a speed curve which are slopes corresponding to the starting point acceleration vector and the end point acceleration vector, then the fitted speed curve is converted into a second speed array with the length consistent with the length of the first speed array, then a difference value between the sum of the second speed array and the sum of the first speed array is determined, the difference value is filtered to obtain a smoothly-changing difference value array, and finally the second speed array and the difference value array are superposed to obtain an output speed array, and the output speed array replaces the first speed array to be output. Because only the corner section is cut and optimized, the processing path except the corner section cannot be involved, so that when the corner processing method for laser cutting is used for cutting the circular arc, the vibration of speed inhibition cannot occur, and the distortion of the circular arc processing track is effectively avoided.
Fig. 9 is a schematic block diagram of a laser cutting apparatus according to an embodiment of the present invention. As shown in fig. 9, the present invention also provides a laser cutting apparatus corresponding to the above corner processing method of laser cutting. This laser cutting device includes: the device comprises an information acquisition module 1, a vector calculation module 2, a curve fitting module 3, a curve calculation module 4, a filtering calculation module 5 and an output array calculation module 6. The information acquisition module 1 is used for intercepting a first speed array of the corner section. The vector calculation module 2 is used for calculating a starting point acceleration vector and an ending point acceleration vector of the corner section according to the adjacent data of the corner section. The curve fitting module 3 is used. And the curve calculation module 4 is used for calculating a second speed array with the length consistent with that of the first speed array according to the fitted speed curve. The filtering calculation module 5 is configured to calculate a difference between the sum of the second velocity array and the first velocity array, and perform filtering calculation on the difference to obtain a smoothly varying difference array. The output array calculation module 6 is configured to calculate an output speed array that is consistent with the sum of the first speed array by using the second speed array and the difference array, and output the output speed array instead of the first speed array.
In a particular embodiment, as shown in FIG. 10, the curve fitting module 3 includes a B-Spline computation sub-module 31, the B-Spline computation sub-module 31 being configured to compute the start-point slope and the end-point slope of the velocity curve using a B-Spline fitting method to obtain a fitted velocity curve.
It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation process of each module of the laser cutting apparatus may refer to the corresponding description in the foregoing method embodiment, and for convenience and brevity of description, no further description is provided herein.
The embodiment of the present invention further provides a laser cutting device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the corner processing method of laser cutting as in the preceding method embodiments.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the corner processing method of laser cutting in the foregoing method embodiments.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The readable storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
It should be understood that the above embodiments are only for illustrating the technical solutions of the present invention, and not for limiting the same, and those skilled in the art can modify the technical solutions described in the above embodiments, or make equivalent substitutions for some technical features; and all such modifications and alterations should fall within the scope of the appended claims.
Claims (10)
1. A corner processing method for laser cutting for cutting a first cutting pass, a second cutting pass, and corner segments between the first cutting pass and the second cutting pass, comprising the steps of:
intercepting a first speed array of the corner section;
determining a starting point acceleration vector and an ending point acceleration vector of the corner section according to data adjacent to the starting point and the ending point of the corner section;
performing speed curve fitting according to the starting point acceleration vector and the slope corresponding to the end point acceleration vector as the starting point slope and the end point slope of a speed curve;
converting the fitted velocity profile into a second velocity array of a length consistent with the first velocity array;
determining a difference value between the sum of the second speed array and the sum of the first speed array, and filtering the difference value to obtain a smoothly-varying difference value array;
and superposing the second speed array and the difference array to obtain an output speed array, and outputting the output speed array instead of the first speed array, wherein the sum of the second speed array and the sum of the difference array is equal to the sum of the output speed arrays.
2. The method for processing the corner by laser cutting according to claim 1, wherein the step of performing velocity curve fitting by using the slope corresponding to the start-point acceleration vector and the end-point acceleration vector as the start-point slope and the end-point slope of a velocity curve specifically comprises:
and calculating the slope of the starting point and the slope of the ending point of the speed curve by adopting a B-Spline fitting method to obtain a fitted speed curve.
3. The laser-diced corner processing method of claim 2, wherein said converting the fitted velocity profile to a second velocity data set that is consistent with the first velocity data set length specifically comprises:
and processing the speed curve to obtain the second speed array with the length consistent with the length of the first speed array.
4. The method of claim 3, wherein the determining a difference between the sum of the second velocity array and the sum of the first velocity array and filtering the difference to obtain a smoothly varying difference array comprises:
and processing the difference value into a smoothly-changed difference value array consistent with the first speed array number through an FIR (finite Impulse response) filter by taking the length of the first speed array as the size of a filter window.
5. The method for processing the corner of the laser cutting according to claim 4, wherein the processing the difference value through the FIR filter into the smoothly varying difference value array with the same number as the first velocity array with the length of the first velocity array as the size of the filter window specifically comprises:
the FIR filter processes the difference values into a smoothly varying array of difference values consistent with the first array of velocity values using sliding weight filtering.
6. The laser-cut corner processing method according to any one of claims 1-5, wherein prior to said intercepting the first set of velocity values of the corner segment, further comprising:
and identifying the stroke to be processed, and if the stroke to be processed is identified as a corner section, executing the step of intercepting the first speed array of the corner section.
7. A laser cutting apparatus, comprising:
the information acquisition module is used for intercepting a first speed array of the corner section;
the vector calculation module is used for determining a starting point acceleration vector and an end point acceleration vector of the corner section according to data adjacent to the starting point and the end point of the corner section;
the curve fitting module is used for performing speed curve fitting by taking the slope corresponding to the starting point acceleration vector and the end point acceleration vector as the starting point slope and the end point slope of a speed curve;
the curve calculation module is used for converting the fitted speed curve into a second speed array with the length consistent with that of the first speed array;
the filtering calculation module is used for determining the difference value between the sum of the second speed arrays and the sum of the first speed arrays and filtering the difference value to obtain a smoothly-changing difference value array;
and the output array calculation module is used for superposing the second speed array and the difference array to obtain an output speed array and outputting the output speed array instead of the first speed array, wherein the sum of the second speed array and the difference array is equal to the sum of the output speed arrays.
8. The laser cutting apparatus according to claim 7, wherein: the curve fitting module comprises a B-Spline calculation sub-module which is used for calculating the slope of the starting point and the slope of the finishing point of the speed curve by adopting a B-Spline fitting method so as to obtain a fitted speed curve.
9. A laser cutting apparatus, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the laser-cut corner processing method of any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the laser-cut corner processing method according to any one of claims 1-6.
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| CN202110627462.6A CN115430926B (en) | 2021-06-04 | Corner processing method, device and equipment for laser cutting and storage medium |
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