CN116604178B - Control method, device and system of scanning device, equipment and storage medium - Google Patents
Control method, device and system of scanning device, equipment and storage medium Download PDFInfo
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- CN116604178B CN116604178B CN202310551457.0A CN202310551457A CN116604178B CN 116604178 B CN116604178 B CN 116604178B CN 202310551457 A CN202310551457 A CN 202310551457A CN 116604178 B CN116604178 B CN 116604178B
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- 238000004590 computer program Methods 0.000 claims description 9
- 238000005520 cutting process Methods 0.000 abstract description 14
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/082—Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/082—Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head
- B23K26/0821—Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head using multifaceted mirrors, e.g. polygonal mirror
Abstract
The embodiment of the invention discloses a control method, a device, a system, equipment and a storage medium of a scanning device, by which a reflecting mirror is controlled to rotate according to a target scanning angle to change the reflecting angle of a laser beam in real time to form a continuous scanning track, so that a rotary scanning system is realized, the scanning or cutting speed is increased, and the working efficiency is improved; meanwhile, a current displacement compensation value is determined through a current rotation angle, a target scanning angle and a scanning radius, and based on the current displacement compensation value, the scanning device is controlled to conduct linear motion along a target coordinate axis of a coordinate system of an optical center of which the origin is a reflecting mirror, after the concave mirror forms the laser beam of the target arc-shaped motion track to reflect, the target linear motion track is formed on the outer structure, so that the motion track acted on the outer structure is a straight line, the thickness of the target linear motion track is uniform, and the laser beam is perpendicularly and directly irradiated on a processing surface, and inclined plane cuts are prevented.
Description
Technical Field
The present invention relates to the field of optical control technologies, and in particular, to a method, a device, a system, a device, and a storage medium for controlling a scanning device.
Background
The laser processing technology is a door processing technology for cutting, welding, surface treatment, punching, micro-processing and the like of materials (including metals and non-metals) by utilizing the interaction characteristic of laser beams and substances. The laser processing is widely applied to national economy important departments such as automobile, electronics, electric appliances, aviation, metallurgy, mechanical manufacturing and the like as an advanced manufacturing technology, and plays an increasingly important role in improving the product quality, labor productivity, automation, no pollution, reducing material consumption and the like.
In the field of intelligent engraving and cutting tools, most laser processing equipment on the market scans or cuts by means of scanner or laser movement in the X-axis and Y-axis directions, and as the laser processing speed is limited by the motor speeds in the X-axis and Y-axis, the working efficiency of laser processing is low, and the user demands of daily growth cannot be met. Moreover, the problems of inconsistent thickness of scanning cutting lines and brightness of patterns and even inclined plane gaps are easy to occur, and the efficiency of laser processing is reduced.
Disclosure of Invention
The invention mainly aims to provide a control method, a control device, a control system, control equipment and a control storage medium of a scanning device, which can solve the problem of low working efficiency of laser processing in the prior art.
To achieve the above object, a first aspect of the present invention provides a control method of a scanning device, the control method being applied to a control system including at least a scanning device including at least a laser emitter and a reflecting assembly including at least a reflecting mirror for reflecting a laser beam emitted from the laser emitter to the concave mirror, and a concave mirror for reflecting the laser beam to an external structure, and the laser beam being perpendicular to a processing surface of the external structure, the method comprising:
when a laser scanning instruction is received, acquiring a preset scanning radius of the scanning device, controlling the laser transmitter to transmit a laser beam to the reflecting mirror, and controlling the reflecting mirror to rotate according to a target scanning angle in the laser scanning instruction so as to change the reflecting direction of the laser beam, so that the laser beam forms a target arc-shaped movement track on the concave mirror;
Collecting the current rotation angle of the reflecting mirror;
determining a current displacement compensation value of the scanning device by using the current rotation angle, the target scanning angle and the scanning radius;
and controlling the scanning device according to the current displacement compensation value, performing linear motion along a target coordinate axis of a preset scanning device coordinate system, and returning to execute the step of determining the current displacement compensation value of the scanning device by using the current rotation angle, the target scanning angle and the scanning radius until the current rotation angle is equal to the target scanning angle, wherein after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, a target linear motion track is formed on the external structure, the scanning device coordinate system is a rectangular coordinate system established by taking the optical center of the reflecting mirror as an origin, and the target coordinate axis is a coordinate axis parallel to the laser beam reflected by the optical center in the scanning device coordinate system.
In one possible implementation, the determining the current displacement compensation value of the scanning device using the current rotation angle, the target scanning angle, and the scanning radius includes:
Determining a target chord length corresponding to the target arc-shaped motion track according to the target scanning angle and the target arc-shaped motion track;
and determining a current displacement compensation value of the scanning device by using the target chord length, the current rotation angle, the target scanning angle and the scanning radius.
In one possible implementation, the determining the current displacement compensation value of the scanning device by using the target chord length, the current rotation angle, the target scanning angle and the scanning radius includes:
determining a first trigonometric function value of the current rotation angle by using the target chord length, the current rotation angle and the scanning radius;
determining a second trigonometric function value of the target scanning angle by using the target chord length, the target scanning angle and the scanning radius;
and determining the current displacement compensation value of the scanning device according to the first trigonometric function value, the second trigonometric function value and the scanning radius.
In one possible implementation manner, the determining the current displacement compensation value of the scanning device according to the first trigonometric function value, the second trigonometric function value and the scanning radius includes:
Determining a first difference between the first cosine value and the second cosine value;
and inputting the first difference value and the scanning radius into a preset displacement compensation algorithm to obtain a current displacement compensation value output by the displacement compensation algorithm.
In one possible implementation, the displacement compensation algorithm includes the following mathematical expression:
PE＝OP*(COSβ-COSα)；
wherein PE is the current displacement compensation value, OP is the scanning radius, beta is the current rotation angle, and alpha is the target scanning angle.
In order to achieve the above object, a second aspect of the present invention provides a control device for a scanning device, the control device being applied to a control system, the control system including at least a scanning device, the scanning device including at least a laser emitter and a reflecting assembly, the reflecting assembly including at least a reflecting mirror for reflecting a laser beam emitted from the laser emitter to the concave mirror, the concave mirror for reflecting the laser beam to an external structure, and the laser beam being perpendicular to a processing surface of the external structure, the control device comprising:
the instruction receiving module: when a laser scanning instruction is received, acquiring a preset scanning radius of the scanning device, controlling the laser transmitter to transmit a laser beam to the reflecting mirror, and controlling the reflecting mirror to rotate according to a target scanning angle in the laser scanning instruction so as to change the reflecting direction of the laser beam, so that the laser beam forms a target arc-shaped movement track on the concave mirror;
The angle acquisition module is used for: the device is used for collecting the current rotation angle of the reflecting mirror;
and a displacement compensation module: the method comprises the steps of determining a current displacement compensation value of the scanning device by using the current rotation angle, a target scanning angle and the scanning radius;
and the compensation control module is used for: and controlling the scanning device according to the current displacement compensation value, performing linear motion along a target coordinate axis of a preset scanning device coordinate system, and returning to execute the step of determining the current displacement compensation value of the scanning device by using the current rotation angle, the target scanning angle and the scanning radius until the current rotation angle is equal to the target scanning angle, wherein after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, a target linear motion track is formed on the external structure, the scanning device coordinate system is a rectangular coordinate system established by taking the optical center of the reflecting mirror as an origin, and the target coordinate axis is a coordinate axis parallel to the laser beam reflected by the optical center in the scanning device coordinate system.
In order to achieve the above object, a third aspect of the present invention provides a control system of a scanning device, the control system at least including a control apparatus and a scanning device, the control apparatus being electrically connected to the scanning device;
The control device is configured to perform the steps of the method as described in the first aspect and any possible implementation manner;
the scanning device at least comprises a laser emitter and a reflecting component, wherein the reflecting component at least comprises a reflecting mirror and a concave mirror, the reflecting mirror is used for reflecting laser beams emitted by the laser emitter to the concave mirror, and the concave mirror is used for reflecting the laser beams to an external structure.
In one possible implementation, the scanning device further includes: a housing; the reflective assembly further comprises a driver; the shell is provided with a light outlet; the laser transmitters and the reflecting component are arranged in the shell; the driving piece drives the reflecting mirror to rotate based on the target scanning angle; the concave mirror is used for reflecting the laser beam to the external structure through the light outlet.
To achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor causes the processor to perform the steps of the method as described in the first aspect and any possible implementation manner.
To achieve the above object, a fifth aspect of the present invention provides a computer device 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 as described in the first aspect and any possible implementation manner.
The embodiment of the invention has the following beneficial effects:
the invention provides a control method of a scanning device, the control method is applied to a control system, the control system at least comprises a scanning device, the scanning device at least comprises a laser emitter and a reflecting component, the reflecting component at least comprises a reflecting mirror and a concave mirror, the reflecting mirror is used for reflecting a laser beam emitted by the laser emitter to the concave mirror, the concave mirror is used for reflecting the laser beam to an external structure, and the laser beam is perpendicular to a processing surface of the external structure, the control method comprises:
when a laser scanning instruction is received, a preset scanning radius of the scanning device is obtained, the laser transmitter is controlled to send a laser beam to the reflecting mirror, and the reflecting mirror is controlled to rotate according to a target scanning angle in the laser scanning instruction so as to change the reflecting direction of the laser beam, so that the laser beam forms a target arc-shaped movement track on the concave mirror; collecting the current rotation angle of the reflecting mirror; determining a current displacement compensation value of the scanning device by using the current rotation angle, the target scanning angle and the scanning radius; and controlling the scanning device according to the current displacement compensation value, performing linear motion along a target coordinate axis of a preset scanning device coordinate system, and returning to execute the step of determining the current displacement compensation value of the scanning device by utilizing the current rotation angle, the target scanning angle and the scanning radius until the current rotation angle is equal to the target scanning angle, wherein after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, the target linear motion track is formed on an external structure, the scanning device coordinate system is a rectangular coordinate system established by taking the optical center of the reflecting mirror as an origin, and the target coordinate axis is a coordinate axis parallel to the laser beam reflected by the optical center in the scanning device coordinate system.
By the mode, the reflecting mirror is controlled to rotate according to the target scanning angle, the reflecting angle of the laser beam is changed in real time to form a continuous scanning track, a rotary scanning system is realized, the scanning or cutting speed is improved, and the working efficiency is further improved; meanwhile, a current displacement compensation value can be determined through the current rotation angle, the target scanning angle and the scanning radius, and then the current displacement compensation value is used for controlling the scanning device to conduct linear motion along the direction of a target coordinate axis of a coordinate system of which the origin is a light center of the reflecting mirror, so that after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, the target linear motion track can be formed on the external structure, the motion track acted on the external structure is a straight line, and the arc track is prevented from being formed on the external structure. And, after passing through the mirror assembly, the laser beam is projected onto the machining surface at an angle perpendicular to the machining surface of the external structure. Therefore, after passing through the reflecting component, the laser beam has the same focal length at any point on the processing surface, forms a linear motion track with uniform thickness, and can prevent the processing surface from generating bevel cuts when cutting and scanning.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Wherein:
FIG. 1 is a block diagram of a control system of a scanning device according to an embodiment of the present invention;
FIG. 2 is a flowchart of a control method of a scanning device according to an embodiment of the invention;
FIG. 3 is a schematic diagram showing a reflection path of a laser beam according to an embodiment of the present invention;
FIG. 4 (a) is another block diagram of a control system of a scanning device according to an embodiment of the present invention;
FIG. 4 (b) is a block diagram illustrating a control system of a scanning device according to an embodiment of the present invention;
FIG. 5 is another flowchart of a control method of a scanning device according to an embodiment of the invention;
FIG. 6 is a block diagram illustrating a control device of a scanning device according to an embodiment of the present invention;
fig. 7 is a block diagram of a computer device in an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a block diagram illustrating a control system of a scanning apparatus according to an embodiment of the present invention, where, as shown in fig. 1, a control system 000 includes at least a control device 100 and a scanning apparatus 200, and the control device is electrically connected to the scanning apparatus 200;
the control apparatus 100 may be used to perform the steps of the control method of the scanning device shown in the present application; the scanning device 200 at least comprises a laser emitter 210 and a reflecting component 220, the reflecting component 220 at least comprises a reflecting mirror 221 and a concave mirror 222, the reflecting mirror 221 is used for reflecting the laser beam emitted by the laser emitter 210 to the concave mirror 222, the concave mirror 222 is used for reflecting the laser beam to the external structure 300, and the reflected laser beam is perpendicular to the processing surface of the external structure, and the processing surface can be a horizontal surface or a vertical surface or a plane formed by any two track points (laser points) formed on the external structure based on any two laser beams, namely, the arrangement direction of the scanning device can be adjusted based on the arrangement direction of the external structure such as a workpiece, so that the reflected laser beam is perpendicular to the processing surface of the external structure. Further, the problem of forming a bevel on the external structure due to the laser beam during the scanning process such as cutting the external structure can be reduced.
By way of example, the control device includes, but is not limited to, a field control unit of a Distributed Control System (DCS), a Programmable Logic Controller (PLC), a Remote Terminal Unit (RTU), and the like, which are unit devices for performing production process control, where the control device may control the operation of the laser transmitter and the emission component, and may monitor the operation data of the laser transmitter and the emission component, and obtain the operation data of the laser transmitter and the emission component during the operation, where the control device is electrically connected to the laser transmitter and the emission component, respectively.
The scanning device is used for scanning the external structure with laser light, and further, the scanning device 200 at least includes a laser emitter 210 and a reflecting component 220, where the laser emitter 210 may emit a laser beam, and the laser emitter 210 may be a device capable of emitting laser light, such as a laser. The reflecting component 220 includes a reflecting mirror and a concave mirror, where the concave mirror is an annular concave mirror (or called an arc-shaped concave mirror) or an annular transparent mirror (or called an arc-shaped transparent mirror), and the controlling device can control the reflecting mirror to rotate, so that the laser beam can be reflected on the concave mirror in different reflecting directions to form an arc-shaped motion track (abbreviated as an arc track or an arc track), and the concave mirror reflects the laser beam in different reflecting directions to an external structure, and forms another linear motion track on the external structure, where the external structure includes, but is not limited to, a workpiece to be processed, and the like.
It should be noted that, in order to form a linear motion track on the external structure, that is, form a linear scan line on the external structure, the conversion needs to be performed by the control method of the scanning device shown in the present application, and the following is specifically referred to.
Referring to fig. 2, fig. 2 is a flowchart of a control method of a scanning device according to an embodiment of the invention, where the control method shown in fig. 2 is applied to a control system of the scanning device, and the control method includes the following steps:
201. when a laser scanning instruction is received, acquiring a preset scanning radius of the scanning device, controlling the laser transmitter to transmit a laser beam to the reflecting mirror, and controlling the reflecting mirror to rotate according to a target scanning angle in the laser scanning instruction so as to change the reflecting direction of the laser beam, so that the laser beam forms a target arc-shaped movement track on the concave mirror;
it should be noted that, in order to perform laser scanning on an external structure, a laser scanning instruction needs to be sent out, where the laser scanning instruction may be sent out by a user at a preset control interface, and then the laser scanning instruction is received by a control device, where the laser scanning instruction is used to control the scanning device so that the scanning device starts laser scanning processing, specifically, when the control device receives the laser scanning instruction, it needs to control a laser emitter and a reflection component to start working, specifically, when the control device receives the laser scanning instruction, a preset scanning radius of the scanning device is obtained, and the laser emitter is controlled to send out a laser beam to a reflection mirror, and the reflection mirror is controlled to perform a rotation motion according to a target scanning angle in the laser scanning instruction, so that a reflection direction of the laser beam is changed, and a target arc-shaped motion track is formed on the concave mirror. The laser scanning device comprises a laser scanning device, a reflecting mirror, a laser scanning instruction, a laser scanning module and a laser scanning module, wherein the scanning radius is a scanning beam radius, the scanning radius is the installation distance from the optical center of the reflecting mirror to the reflecting mirror, the reflecting mirror can be an annular reflecting mirror or an annular transparent mirror, the laser scanning instruction at least comprises a target scanning angle, the target scanning angle is the maximum scanning angle which can be generated in the laser scanning process, and the target scanning angle can be determined by a user according to different scanning requirements and is unchanged in the scanning process.
202. Collecting the current rotation angle of the reflecting mirror;
further, in order to convert the target arc-shaped motion track formed by the laser beam on the concave mirror into the linear motion track, the current rotation angle of the reflecting mirror needs to be collected in the rotation process of the reflecting mirror, the current rotation angle is the current rotation angle of the reflecting mirror, and gradually changes along with the rotation motion of the reflecting mirror until the current rotation angle is equal to the target scanning angle, so that the current rotation angle can reflect the reflection direction of the current laser beam, and further, based on the current rotation angle, the point A, the point P or the point B of the laser beam reflected on the concave mirror can be determined, so that each track point in the target arc-shaped motion track formed on the concave mirror can be converted into the track point of the linear motion track in real time.
For example, referring to fig. 3, fig. 3 is a schematic diagram of a reflection path of a laser beam in an embodiment of the present invention, where the schematic diagram of the reflection path is based on a rectangular coordinate system established by using an optical center as an origin of coordinates, and then is drawn based on an actual reflection process of the laser beam in the rectangular coordinate system, in fig. 3, the optical center is a center of a circle 0, the target scanning angle is α, the current rotation angle is β, the arc motion track on the concave mirror is an arc line AB, and the straight line AB is an arc line AB with chord length of the arc line AB; the scan radius is 0A, 0B or 0P, wherein the target scan angle is α, and wherein the current scan angle is β. Wherein, the vertical distance from the P point to the X axis is PC, the distance from the P point to the straight line AB is PE, and the intersection point of the straight line AB and the Y axis is F.
203. Determining a current displacement compensation value of the scanning device by using the current rotation angle, the target scanning angle and the scanning radius;
204. and controlling the scanning device according to the current displacement compensation value, performing linear motion along a target coordinate axis of a preset scanning device coordinate system, and returning to execute the step of determining the current displacement compensation value of the scanning device by using the current rotation angle, the target scanning angle and the scanning radius until the current rotation angle is equal to the target scanning angle, wherein after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, a target linear motion track is formed on the external structure, the scanning device coordinate system is a rectangular coordinate system established by taking the optical center of the reflecting mirror as an origin, and the target coordinate axis is a coordinate axis parallel to the laser beam reflected by the optical center in the scanning device coordinate system.
Further, after the current rotation angle, the target scanning angle and the scanning radius are obtained, a current displacement compensation value of the scanning device can be determined according to the geometric position relationship among the current rotation angle, the target scanning angle and the scanning radius, wherein the current displacement compensation value is used for reflecting the displacement of the scanning device under the current rotation angle when the target arc-shaped motion track corresponding to the target scanning angle is converted into the target linear motion track (abbreviated as the linear track). And then the scanning device with the reflector at the current rotation angle can be controlled to perform linear motion along the target coordinate axis with the origin as the optical center of the reflector, so that an arc track can be converted into a linear track. The target coordinate axis is used for reflecting the direction of the laser beam passing through the optical center of the reflector, and is a coordinate axis parallel to the laser beam reflected by the optical center in the coordinate system of the scanning device, so that the target coordinate axis is perpendicular to the target linear track. It will be appreciated that the scanning device may change the actual mounting direction based on the pattern or shape to be processed on the external structure, but the preset scanning device coordinate system will not change due to the change of the mounting direction no matter how the mounting direction changes, wherein the scanning device coordinate system is a rectangular coordinate system, the origin of the rectangular coordinate system is the optical center of the reflecting mirror, one coordinate axis of the rectangular coordinate system is parallel to the direction of the laser beam reflected by the optical center, as shown in fig. 3, the coordinate axis may be defined as the Y axis, and the other coordinate axis is perpendicular to the direction of the laser beam reflected by the optical center, as shown in fig. 3, the coordinate axis may be defined as the X axis.
With continued reference to fig. 3, the coordinate system of the scanning device in fig. 3 is illustrated as X0Y, where the origin of the coordinate axis is the center 0, the center 0 is the optical center of the mirror, the first track point of the target arc motion track corresponding to the current rotation angle in fig. 3 is the point P, the target linear motion track is AB, that is, the chord length corresponding to the target arc motion track, so that the scanning device may perform linear motion along the target coordinate axis of the coordinate system X0Y, where the direction of the target coordinate axis is illustrated as Y axis in fig. 3, if the positions of the Y axis and the X axis in the coordinate axis illustrated in fig. 3 are interchanged, the direction of the target coordinate axis is the X axis, where the origin of the position of the scanning device may not be regarded as the center 0, then the scanning device moves in the positive direction or the negative direction of the Y axis, where the current displacement compensation value has a displacement value in the motion direction, where the motion direction is determined relative to the center 0, where the target arc motion track is to be converted into the chord length, the current displacement compensation value may be PE in the graph, and the current displacement compensation value may be obtained by converting the current compensation value into the position of the geometric motion along the Y axis, and performing linear motion along the current coordinate axis when the current position of the coordinate axis is the current axis, and thus obtaining the current displacement value may be regarded as the linear motion.
The invention provides a control method and a system of a scanning device, which are used for controlling a reflecting mirror to rotate according to a target scanning angle in the mode, changing the reflecting angle of a laser beam in real time to form a continuous scanning track, realizing a rotary scanning system, improving the scanning or cutting speed and further improving the working efficiency; meanwhile, a current displacement compensation value can be determined through the current rotation angle, the target scanning angle and the scanning radius, and then the current displacement compensation value is used for controlling the scanning device to conduct linear motion along a target coordinate axis of a coordinate system with an origin being a light center of the reflecting mirror, so that after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, the target linear motion track can be formed on the outer structure, the motion track acted on the outer structure is a straight line, and the arc track is prevented from being formed on the outer structure. And, after passing through the mirror assembly, the laser beam is projected onto the machining surface at an angle perpendicular to the machining surface of the external structure. Therefore, after passing through the reflecting component, the laser beam has uniform focal length at any point on the processing surface, forms a motion track with uniform thickness, and can prevent the processing surface from generating bevel cuts when cutting and scanning.
Referring to fig. 4 (a) and fig. 4 (b), fig. 4 (a) is another block diagram of a control system of a scanning device according to an embodiment of the present invention, and fig. 4 (b) is another block diagram of a control system of a scanning device according to an embodiment of the present invention, where the control system shown in fig. 4 (a) or fig. 4 (b) at least includes a control apparatus (not shown) and a scanning device, and the control apparatus is electrically connected to the scanning device;
wherein the scanning device at least comprises a housing 410, a laser transmitter 420, and a reflecting assembly, the reflecting assembly at least comprises a driving member 431, a reflecting mirror 432, and a concave mirror 433, the reflecting mirror 432 is used for reflecting the laser beam (the broken line with the arrow in the figure) emitted by the laser transmitter 420 to the concave mirror 433, and the concave mirror 433 is used for reflecting the laser beam to an external structure (not shown); the casing 410 is provided with a light outlet 440; the laser transmitter 420 and the reflective assembly are disposed within the housing 410; the driving part 431 drives the mirror 432 to perform a rotational movement based on the target scanning angle; the concave mirror 433 is configured to reflect the laser beam to the external structure through the light outlet 440, and the laser beam is perpendicular to the processing surface of the external structure, where the processing surface may be a surface of the external structure parallel to a horizontal plane, or a surface parallel to a vertical plane, or a surface of another external structure to be processed, and the external structure may be a workpiece or a part to be processed. After the laser beam passes through the reflecting component, the focal length of any point on the surface of the workpiece is ensured to be consistent, the thickness of the line is ensured to be consistent, and the inclined plane notch is avoided.
It should be noted that, in fig. 4 (a) or fig. 4 (b), the control device is similar to the control device 100 shown in fig. 1, the scanning device is similar to the scanning device 200 shown in fig. 1, the laser transmitter 420 is similar to the laser transmitter 210 shown in fig. 1, the reflecting mirror 432 is similar to the reflecting mirror 221 shown in fig. 1, the concave mirror 433 is similar to the concave mirror 222 shown in fig. 1, the external structure is similar to the external structure 300 shown in fig. 1, the reflecting component is similar to the reflecting component 220 shown in fig. 1, and for avoiding redundancy, reference may be made to the content of the control system shown in fig. 1.
Further, the driving part 431 may be a motor, and the reflecting mirror 432 is coaxially connected with the motor, and the motor can drive the reflecting mirror 432 to rotate by a corresponding angle under the control of the control system, so that the structure is simple, the response speed is high, and the efficiency is high.
The emitting end of the laser emitter 420 is arranged towards the reflecting mirror 432, so that the laser beam is emitted to the reflecting mirror 432, and the emitting direction of the laser is changed, so that the action position of the laser beam on the external structure is changed; the circle center of the rotating track of the reflecting mirror coincides with the circle center of the moving track of the laser beam, and the moving track of the laser beam is the arc-shaped moving track of the target.
The mirror 432 has a rectangular sheet-like structure. The mirror 432 is a square sheet-like structure, and the front side of the mirror 432 is a working surface for receiving and reflecting the laser beam emitted from the emitting end of the laser emitter 420. Such a sheet-like structure can facilitate finding a central location for mounting of the mirror 432; the sheet-like structure can be rotated by a relatively large angle with respect to the regular tetrahedron or the like, while achieving the same effect.
The reflecting mirror 432 rotates by a small-amplitude angle, so that the direction of the laser beam with a large radian formed by the light beam after being reflected by the reflecting mirror 432 is changed, the lever with a small angle and a large distance is used for synergy, and the working efficiency is improved; and the change of the action position of the laser beam on the external structure can expand the action range of the laser beam to a certain extent, so that the scanning efficiency is improved, and the rotation change action position changes the action position on the external structure relatively to the action position by moving the scanning device, so that the speed of changing the action position through the rotation angle of the reflecting mirror 432 is faster, and the working efficiency is higher.
For example, as shown in fig. 4 (a) or fig. 4 (b), the reflecting mirror 432 may be disposed on a center line of the housing 410, such as a center line corresponding to a longest side of the longest surface, so that the target arc track may reach the longest, and thus the chord length may reach the longest, to increase the laser action range.
It should be noted that if the distance between the reflecting mirror 432 and the concave mirror 433 is longer, that is, the farther the reflecting mirror is installed, the longer the scanning radius is, so that the arc track at the same angle is longer, the working range can be further increased, and thus, the reflecting mirror and the concave mirror can be installed as far as possible in the housing.
The light outlet 440 is in a long strip shape, the long strip-shaped light outlet 440 is convenient for emitting laser beams to different positions of the light outlet 440 from the light outlet 440, wherein, referring to fig. 4 (a) and fig. 4 (b), the processing environment shown in fig. 4 (a) is that the processing surface is parallel to the horizontal plane, the concave mirror is in an arc shape, the concave mirror may be the arc concave mirror 433 in fig. 4 (a) or the arc-shaped perspective mirror 434 in fig. 4 (b), if the concave mirror is the arc-shaped concave mirror 433, the arc-shaped concave mirror 433 is inclined 45 ° towards the reflecting mirror 432, so that the incident angle of the laser beams and the arc-shaped concave mirror is 45 °, and then the laser beams are emitted from the light outlet 440 in an angle of vertical and horizontal directions after passing through the arc-shaped concave mirror 433.
Or the concave mirror is an arc-shaped perspective mirror 434, the arc-shaped perspective mirror 434 is disposed opposite to the reflecting mirror 432, the arc-shaped perspective mirror 434 has an exit surface with an angle of 45 degrees, and as an example in fig. 4 (b), the working surface of the reflecting mirror is perpendicular to the horizontal plane, and then the arc-shaped perspective mirror is placed at a position with an angle of 45 degrees between the exit surface and the horizontal plane, so that after the laser beam is incident on the arc-shaped perspective mirror 434, the laser beam can be reflected to the processing surface of the workpiece by the exit surface with an angle of 45 degrees, and the laser beam reflected by the arc-shaped perspective mirror 434 can be perpendicular to the processing surface; if the working surface can be perpendicular to the vertical surface, then the curved mirror is placed at a position where the exit surface and the vertical surface form an angle of 45 ° so that the laser beam reflected by the curved mirror 434 can be perpendicular to the processing surface. By scanning the reflecting mirror 432 in combination with the concave mirror 433, the focal length of the laser beam emitted from the light outlet 440 to the external structure can be uniformed, and the brightness of the pattern formed by the marking can be uniformed. The center of the concave mirror 433 or the arc-shaped perspective mirror 434 in the height direction is positioned on the same line as the position where the laser beam is directed to the reflecting mirror 432.
It should be noted that, when the scanning device shown in fig. 4 (a) or fig. 4 (b) is specifically used, the scanning device may be mounted on a processing table, where the processing table may be provided with a motor to control the scanning device to perform linear motion along a Y axis, so as to convert an arc track into a linear track, so that a linear processing trace is formed on an external structure, where the linear track formed at this time is parallel to an X axis, and if another straight line parallel to the X axis needs to be continuously cut on the workpiece, before starting laser scanning of another straight line, the motor is controlled to drive the scanning device to move along the Y axis to a position corresponding to the distance according to the distance between the other straight line and the current straight line, and then, the control method of the scanning device shown in the application is continuously executed. On the contrary, the machining table can be provided with a motor to control the scanning device to perform linear motion along the X axis so as to convert the arc track into the linear track, and the linear track formed at the moment is parallel to the Y axis, wherein the X axis and the Y axis are coordinate axes of a coordinate system of the scanning device, and the origin of the coordinate system of the scanning device is the circle center 0 in FIG. 3, so that the laser beam action range can be increased, and the machining efficiency is improved. The processing posture of the scanning device can be continuously changed, so that at least one required pattern or shape can be processed on the workpiece by laser under the condition that the posture of the workpiece is unchanged, wherein the processing posture, namely the position relation of the scanning device relative to the processing surface of the workpiece, can be controlled to change according to the actual laser processing requirement, and the application is not limited herein.
Referring to fig. 5, fig. 5 is another flowchart of a control method of a scanning device according to an embodiment of the present invention, where the control method shown in fig. 5 is applied to the control system shown in fig. 1, fig. 4 (a) or fig. 4 (b), and the control method includes:
501. when a laser scanning instruction is received, acquiring a preset scanning radius of the scanning device, controlling the laser transmitter to transmit a laser beam to the reflecting mirror, and controlling the reflecting mirror to rotate according to a target scanning angle in the laser scanning instruction so as to change the reflecting direction of the laser beam, so that the laser beam forms a target arc-shaped movement track on the concave mirror;
502. collecting the current rotation angle of the reflecting mirror;
it should be noted that, the contents of step 501 and step 502 are similar to those of step 201 and step 202 in the control method shown in fig. 2, and for avoiding repetition, reference may be made to the contents of step 201 and step 202 in the control method shown in fig. 2.
503. Determining a target chord length corresponding to the target arc-shaped motion track according to the target scanning angle and the target arc-shaped motion track;
the final target linear motion trajectory may be a target arc motion trajectory corresponding to the target scan angle, and thus, the target chord length corresponding to the target arc motion trajectory may be determined according to the target scan angle and the target arc motion trajectory.
504. Determining a current displacement compensation value of the scanning device by using the target chord length, the current rotation angle, the target scanning angle and the scanning radius;
further, the target chord length, the current rotation angle, the target scanning angle and the scanning radius can be utilized to determine a linear motion track corresponding to the target chord length, and the current displacement compensation value of the scanning device is determined under the current rotation angle. The target chord length, the current rotation angle, the target scanning angle and the scanning radius can be used for conversion by combining various geometric relation principles of geometry to obtain the current displacement compensation value.
In one possible implementation, the geometric principle may be a trigonometric principle, and step 504 may include steps K1 to K3:
k1, determining a first trigonometric function value of the current rotation angle by using the target chord length, the current rotation angle and the scanning radius;
k2, determining a second trigonometric function value of the target scanning angle by using the target chord length, the target scanning angle and the scanning radius;
with continued reference to fig. 3 and fig. 4 (a), the beam emitted from the laser transmitter 420 is reflected by the rotating mirror 432 to the annular concave mirror 433 or the annular transparent mirror, and when the annular concave mirror 433 is reflected again to the workpiece, the beam is projected onto the workpiece at an angle perpendicular to the horizontal plane, and when the mirror 432 rotates or swings at a different angle, the beam is projected in the direction of the X-axis in fig. 3 to form an annular beam AB. The annular light beam AB just takes the rotating reflector as the optical center (circle center O) to be projected in a left-right rotating or swinging way, so that a bilaterally symmetrical arc length AB is formed, namely, a target arc-shaped movement track AB is formed, the target straight-line movement track is the chord length of the arc-shaped light beam AB, and the arc length AB of the upper part of the chord length AB is further converted into a horizontal straight-line light beam of the chord length AB, therefore, based on the geometrical position relation between the angle and the line segment shown in FIG. 3, if the target scanning angle, the scanning radius and the target chord length of the rotating reflector are known, the target scanning angle is alpha symmetrical to the left-right rotating angle, the target scanning angle is a maximum rotating angle, and the installation distance from the rotating reflector from the optical center (circle center O) to the annular concave mirror or the annular transparent mirror is equal to the radius of the scanning light beam; if the vertical distance PE between any point P and the arc length on the arc-shaped track is required, the vertical distance PE can be obtained by transformation based on the geometric position relation. Such as trigonometric function algorithms. And further, a first trigonometric function value of the current rotation angle and a second trigonometric function value of the target scan angle can be obtained, wherein the trigonometric function values include, but are not limited to, a sine value, a cosine value, a tangent value and the like.
And K3, determining the current displacement compensation value of the scanning device according to the first trigonometric function value, the second trigonometric function value and the scanning radius.
Specifically, when the first trigonometric function value is a first cosine value and the second trigonometric function value is a second cosine value, the step K3 may include: determining a first difference between the first cosine value and the second cosine value; and inputting the first difference value and the scanning radius into a preset displacement compensation algorithm to obtain a current displacement compensation value output by the displacement compensation algorithm.
Illustratively, the displacement compensation algorithm includes the following mathematical expression:
PE＝OP*(COSβ-COSα)；
wherein PE is a current displacement compensation value, OP is a scanning radius, beta is a current rotation angle, alpha is a target scanning angle, COS beta is a first cosine value, COS alpha is a second cosine value, and the first difference value is equal to COS beta-COS alpha.
For a clearer implementation principle of the present application, taking fig. 3 and fig. 4 (a) as an illustration of the track transformation principle of the present application, reference is specifically made to the following:
the beam emitted by the laser transmitter in fig. 4 (a) is reflected to the annular concave mirror or the annular transparent mirror through the rotating mirror assembly, and is projected at an angle perpendicular to the horizontal plane when reflected to the workpiece again, and when the rotating mirror rotates or swings at a different angle, the beam is projected in the direction of the X axis to form an annular beam. Referring to fig. 3, the annular beam just uses a rotary mirror as an optical center (circle center O) to perform left-right rotation or swing projection, so as to form a bilateral symmetry arc length (i.e., AB).
Wherein the present application is to convert the arc length of the upper portion of the chord length AB into a horizontal straight beam of the chord length AB. Specifically, the conditions are known: the left-right rotation angle of the rotary reflecting mirror is symmetrical alpha, and the installation distance of the rotary reflecting mirror from the optical center (circle center O) to the annular concave mirror (3) or the annular transparent mirror is equal to the radius of the scanning beam, namely OA=OP=OB.
The point P is any point in the circular beam track, the angle between the point P and the Y axis is set to be beta, the vertical distance PC between the point P and the X axis is set, the distance between the point P and the horizontal straight beam is set to be PE, PE=PC-EC, E is any point of the horizontal straight beam AB, and the horizontal straight beam AB is parallel to the X axis, namely, the vertical distance between any point E of the horizontal straight beam AB and the X axis is equal, so PE=PC-EC=PC-BD;
from the trigonometric function: bd=ob×sin (90- α), pc=op×sin (90- β);
because pe=pc-ec=pc-BD, pe=op×sin (90- β) - (ob×sin (90- α));
since the radii are equal oa=op=ob;
let pe=op×sin (90- β) - (ob×sin (90- α))=op×sin (90- β) - (op×sin (90- α))=op×op (COS β -COS α), i.e., the Y-axis of the ring beam AB converted into the horizontal straight beam AB compensates pe=op×cos (COS β -COS α).
Therefore, in the actual conversion process, the current displacement compensation value PE can be obtained only by obtaining the target scanning angle α, the current rotation angle β and the scanning radius OP, it can be understood that the illustrated displacement compensation algorithm can realize conversion from an arc track to a linear track without complex calculation, and can quickly calculate the result in laser processing, quickly control the movement of the scanning device, improve the working efficiency of laser processing, and only control the scanning device to perform reciprocating linear motion in the direction of the target coordinate axis perpendicular to the target linear track, so that the linear track can be obtained without complex motion control, further improve the working efficiency of laser processing, and meet the operation requirement of laser processing. It should be noted that the displacement compensation algorithm described above does not require complex calculation, i.e. is a preferred embodiment, and various modifications may exist, which are not exhaustive herein, and all modifications without departing from the technical concept of the present embodiment are within the scope of protection of the present application.
505. And controlling the scanning device according to the current displacement compensation value, performing linear motion along a target coordinate axis of a preset scanning device coordinate system, and returning to execute the step of determining the current displacement compensation value of the scanning device by using the current rotation angle, the target scanning angle and the scanning radius until the current rotation angle is equal to the target scanning angle, wherein after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, a target linear motion track is formed on the external structure, the scanning device coordinate system is a rectangular coordinate system established by taking the optical center of the reflecting mirror as an origin, and the target coordinate axis is a coordinate axis parallel to the laser beam reflected by the optical center in the scanning device coordinate system.
It should be noted that, the step 505 is similar to the step 204 shown in fig. 2, and the details of the step 204 shown in fig. 2 may be referred to for avoiding repetition of the description.
The invention provides a control method and a system of a scanning device, which are used for controlling a reflecting mirror to rotate according to a target scanning angle in the mode, changing the reflecting angle of a laser beam in real time to form a continuous scanning track, realizing a rotary scanning system, having higher response speed, improving the scanning or cutting speed and further improving the working efficiency; meanwhile, a current displacement compensation value can be determined through the current rotation angle, the target scanning angle and the scanning radius, and then the current displacement compensation value is used for controlling the scanning device to conduct linear motion along the direction of a target coordinate axis of a coordinate system of which the origin is a light center of the reflecting mirror, so that after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, the target linear motion track can be formed on the external structure, the motion track acted on the external structure is a straight line, and the arc track is prevented from being formed on the external structure. And the reflector and the concave mirror are combined for scanning, so that the problems of inconsistent thickness of scanning cutting lines and inconsistent brightness of patterns caused by non-uniform focal length of a galvanometer scanning system are solved. The reflecting mirror and the concave mirror are arranged separately, a certain mounting distance is reserved between the reflecting mirror and the concave mirror, long arc light can be formed on the concave mirror as long as the reflecting mirror component rotates by a small angle, the lever with a small angle and a large distance is used for synergy, and the light beam moving speed block has a larger action range; the concave mirror reflects light rays perpendicular to the horizontal plane, and no bevel is formed on scanning or cutting of a workpiece.
Referring to fig. 6, fig. 6 is a block diagram of a control device of a scanning device according to an embodiment of the present invention, where the control device shown in fig. 6 is applied to a control system, the control system at least includes a scanning device, the scanning device at least includes a laser emitter and a reflecting component, the reflecting component at least includes a reflecting mirror and a concave mirror, the reflecting mirror is used for reflecting a laser beam emitted by the laser emitter to the concave mirror, the concave mirror is used for reflecting the laser beam to an external structure, and the control device includes:
instruction receiving module 601: when a laser scanning instruction is received, acquiring a preset scanning radius of the scanning device, controlling the laser transmitter to transmit a laser beam to the reflecting mirror, and controlling the reflecting mirror to rotate according to a target scanning angle in the laser scanning instruction so as to change the reflecting direction of the laser beam, so that the laser beam forms a target arc-shaped movement track on the concave mirror;
the angle acquisition module 602: the device is used for collecting the current rotation angle of the reflecting mirror;
the displacement compensation module 603: the method comprises the steps of determining a current displacement compensation value of the scanning device by using the current rotation angle, a target scanning angle and the scanning radius;
The compensation control module 604: and controlling the scanning device according to the current displacement compensation value, performing linear motion along a target coordinate axis of a preset scanning device coordinate system, and returning to execute the step of determining the current displacement compensation value of the scanning device by using the current rotation angle, the target scanning angle and the scanning radius until the current rotation angle is equal to the target scanning angle, wherein after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, a target linear motion track is formed on the external structure, the scanning device coordinate system is a rectangular coordinate system established by taking the optical center of the reflecting mirror as an origin, and the target coordinate axis is a coordinate axis parallel to the laser beam reflected by the optical center in the scanning device coordinate system.
It should be noted that, the functions of each module in the control device shown in fig. 6 are similar to the contents of each step in the control method shown in fig. 2, and for avoiding repetition, the details of each step in the control method shown in fig. 2 will not be described herein.
The invention provides a control device of a scanning device, which controls a reflecting mirror to rotate according to a target scanning angle through the device, changes the reflecting angle of a laser beam in real time to form a continuous scanning track, realizes a rotary scanning system, improves the scanning or cutting speed, and further improves the working efficiency; meanwhile, a current displacement compensation value can be determined through the current rotation angle, the target scanning angle and the scanning radius, and then the current displacement compensation value is used for controlling the scanning device to conduct linear motion along the direction of a target coordinate axis of a coordinate system of which the origin is a light center of the reflecting mirror, so that after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, the target linear motion track can be formed on the external structure, the motion track acted on the external structure is a straight line, and the arc track is prevented from being formed on the external structure. And, after passing through the mirror assembly, the laser beam is projected onto the machining surface at an angle perpendicular to the machining surface of the external structure. Therefore, after passing through the reflecting component, the laser beam has uniform focal length at any point on the processing surface, forms a motion track with uniform thickness, and can prevent the processing surface from generating bevel cuts when cutting and scanning.
FIG. 7 illustrates an internal block diagram of a computer device in one embodiment. The computer device may specifically be a terminal or a server. As shown in fig. 7, the computer device includes a processor, a memory, and a network interface connected by a system bus. The memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system, and may also store a computer program which, when executed by a processor, causes the processor to implement the method described above. The internal memory may also have stored therein a computer program which, when executed by a processor, causes the processor to perform the method described above. It will be appreciated by those skilled in the art that the structure shown in fig. 7 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is presented 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 the method as shown in fig. 2 or fig. 5.
In an embodiment, a computer-readable storage medium is proposed, storing a computer program which, when executed by a processor, causes the processor to perform the steps of the method as shown in fig. 2 or fig. 5.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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 DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A control method of a scanning device, wherein the control method is applied to a control system, the control system at least comprises a scanning device, the scanning device at least comprises a laser emitter and a reflecting component, the reflecting component at least comprises a reflecting mirror and a concave mirror, the reflecting mirror is used for reflecting a laser beam emitted by the laser emitter to the concave mirror, the concave mirror is used for reflecting the laser beam to an external structure, and the laser beam is perpendicular to a processing surface of the external structure, the control method comprises:
When a laser scanning instruction is received, acquiring a preset scanning radius of the scanning device, controlling the laser transmitter to transmit a laser beam to the reflecting mirror, and controlling the reflecting mirror to rotate according to a target scanning angle in the laser scanning instruction so as to change the reflecting direction of the laser beam, so that the laser beam forms a target arc-shaped movement track on the concave mirror;
collecting the current rotation angle of the reflecting mirror;
determining a current displacement compensation value of the scanning device by using the current rotation angle, the target scanning angle and the scanning radius;
and controlling the scanning device according to the current displacement compensation value, performing linear motion along a target coordinate axis of a preset scanning device coordinate system, and returning to execute the step of determining the current displacement compensation value of the scanning device by using the current rotation angle, the target scanning angle and the scanning radius until the current rotation angle is equal to the target scanning angle, wherein after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, a target linear motion track is formed on the external structure, the scanning device coordinate system is a rectangular coordinate system established by taking the optical center of the reflecting mirror as an origin, and the target coordinate axis is a coordinate axis parallel to the laser beam reflected by the optical center in the scanning device coordinate system.
2. The method of claim 1, wherein determining the current displacement compensation value for the scanning device using the current rotation angle, the target scan angle, and the scan radius comprises:
determining a target chord length corresponding to the target arc-shaped motion track according to the target scanning angle and the target arc-shaped motion track;
and determining a current displacement compensation value of the scanning device by using the target chord length, the current rotation angle, the target scanning angle and the scanning radius.
3. The method of claim 2, wherein determining the current displacement compensation value for the scanning device using the target chord length, the current rotation angle, the target scan angle, and the scan radius comprises:
determining a first trigonometric function value of the current rotation angle by using the target chord length, the current rotation angle and the scanning radius;
determining a second trigonometric function value of the target scanning angle by using the target chord length, the target scanning angle and the scanning radius;
and determining a current displacement compensation value of the scanning device according to the first trigonometric function value, the second trigonometric function value and the scanning radius.
4. A method according to claim 3, wherein the first trigonometric function is a first cosine value and the second trigonometric function is a second cosine value, and the determining the current displacement compensation value of the scanning device according to the first trigonometric function, the second trigonometric function and the scanning radius comprises:
determining a first difference between the first cosine value and the second cosine value;
and inputting the first difference value and the scanning radius into a preset displacement compensation algorithm to obtain a current displacement compensation value output by the displacement compensation algorithm.
5. The method of claim 4, wherein the displacement compensation algorithm comprises the following mathematical expression:
PE＝OP*(COSβ-COSα)；
wherein PE is the current displacement compensation value, OP is the scanning radius, beta is the current rotation angle, and alpha is the target scanning angle.
6. A control device for a scanning device, the control device being applied to a control system, the control system comprising at least a scanning device, the scanning device comprising at least a laser emitter and a reflecting assembly, the reflecting assembly comprising at least a reflecting mirror and a concave mirror, the reflecting mirror being adapted to reflect a laser beam emitted by the laser emitter to the concave mirror, the concave mirror being adapted to reflect the laser beam to an external structure, and the laser beam being perpendicular to a working surface of the external structure, the control device comprising:
The instruction receiving module: when a laser scanning instruction is received, acquiring a preset scanning radius of the scanning device, controlling the laser transmitter to transmit a laser beam to the reflecting mirror, and controlling the reflecting mirror to rotate according to a target scanning angle in the laser scanning instruction so as to change the reflecting direction of the laser beam, so that the laser beam forms a target arc-shaped movement track on the concave mirror;
the angle acquisition module is used for: the device is used for collecting the current rotation angle of the reflecting mirror;
and a displacement compensation module: the method comprises the steps of determining a current displacement compensation value of the scanning device by using the current rotation angle, a target scanning angle and the scanning radius;
and the compensation control module is used for: and controlling the scanning device according to the current displacement compensation value, performing linear motion along a target coordinate axis of a preset scanning device coordinate system, and returning to execute the step of determining the current displacement compensation value of the scanning device by using the current rotation angle, the target scanning angle and the scanning radius until the current rotation angle is equal to the target scanning angle, wherein after the concave mirror forms the laser beam reflection of the target arc-shaped motion track, a target linear motion track is formed on the external structure, the scanning device coordinate system is a rectangular coordinate system established by taking the optical center of the reflecting mirror as an origin, and the target coordinate axis is a coordinate axis parallel to the laser beam reflected by the optical center in the scanning device coordinate system.
7. A control system of a scanning device, characterized in that the control system at least comprises a control device and a scanning device, the control device is electrically connected with the scanning device;
the control device being adapted to perform the steps of the method according to any one of claims 1 to 5;
the scanning device at least comprises a laser emitter and a reflecting component, the reflecting component at least comprises a reflecting mirror and a concave mirror, the reflecting mirror is used for reflecting a laser beam emitted by the laser emitter to the concave mirror, the concave mirror is used for reflecting the laser beam to an external structure, and the laser beam is perpendicular to a processing surface of the external structure.
8. The control system of claim 7, wherein the scanning device further comprises: a housing; the reflective assembly further comprises a driver; the shell is provided with a light outlet; the laser transmitters and the reflecting component are arranged in the shell; the driving piece drives the reflecting mirror to rotate based on the target scanning angle; the concave mirror is used for reflecting the laser beam to the external structure through the light outlet.
9. A computer readable storage medium storing a computer program, which when executed by a processor causes the processor to perform the steps of the method according to any one of claims 1 to 5.
10. A computer device comprising a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, causes the processor to perform the steps of the method of any of claims 1 to 5.
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| CN112756775A (en) * | 2020-10-30 | 2021-05-07 | 苏州创鑫激光科技有限公司 | Laser processing method, optical system and laser processing equipment |
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