CN117102724A - Multi-cutting-head cutting path control method and cutting equipment - Google Patents
Multi-cutting-head cutting path control method and cutting equipment Download PDFInfo
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- CN117102724A CN117102724A CN202311386211.9A CN202311386211A CN117102724A CN 117102724 A CN117102724 A CN 117102724A CN 202311386211 A CN202311386211 A CN 202311386211A CN 117102724 A CN117102724 A CN 117102724A
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- 238000005520 cutting process Methods 0.000 title claims abstract description 253
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000009471 action Effects 0.000 claims description 11
- 238000005192 partition Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Control Of Cutting Processes (AREA)
Abstract
The invention belongs to the technical field of cutting, and provides a multi-cutting-head cutting path control method and cutting equipment, wherein the method comprises the following steps: generating cutting paths according to the number of the cutting heads, distributing the cutting paths to the cutting heads, wherein the cutting paths corresponding to the cutting heads comprise a plurality of sections of cutter paths; when the current cutting path of any one cutting head and the current cutting paths of the other cutting heads have an intersection point, the positions of the other cutting heads are judged before cutting according to the current cutting path, so that the plurality of cutting heads cannot simultaneously run to the intersection point. The present invention has an advantage in that a pattern to be cut is divided into a plurality of cutting paths by the number of cutting heads; before executing the cutting tool paths, judging whether other tool paths executing cutting conflict with the tool paths to be executed, so that each cutting head can complete cutting of the same pattern without the conditions of path repetition, cutting head collision and the like, and the efficiency of the cutting flow is improved.
Description
Technical Field
The invention relates to the technical field of cutting, in particular to a multi-cutting-head cutting path control method and cutting equipment.
Background
Cutting devices are commonly used to cut sheet, cardboard, or cloth materials. In cutting patterns or shapes and the like in a material using a cutting apparatus, cutting efficiency can be improved several times by using a plurality of cutting heads. However, when a plurality of cutting heads are employed, if the cutting path of each cutting head is not planned, the efficiency of cutting will be affected. Planning of the path of movement of the multiple cutting heads is therefore of particular importance.
Disclosure of Invention
The present invention is directed to a method for controlling a cutting path of a plurality of cutting heads, which is used for solving the above-mentioned problems.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a multi-cutting head cutting path control method comprising the steps of:
generating cutting paths according to the number of the cutting heads, distributing the cutting paths to the cutting heads, wherein the cutting paths corresponding to the cutting heads comprise a plurality of sections of cutter paths;
when the current cutting path of any one cutting head and the current cutting paths of the other cutting heads have an intersection point, the positions of the other cutting heads are judged before cutting according to the current cutting path, so that the plurality of cutting heads cannot simultaneously run to the intersection point.
Further, an image center point is determined according to the pattern to be cut, at least one partition line is established through the image center point to divide the pattern into at least two areas, and the cutting path of each cutting head is determined through the generated areas.
Further, a coordinate axis is established by taking the image center point as an origin, a cutting path is converted into track coordinate data on the coordinate axis, and the cutting head cuts according to the distributed track coordinate data.
Further, searching for a closed area in the pattern to be cut, and generating a cutting path of each cutting head according to the outline of the closed area.
Further, a coordinate axis is established by taking any point in the pattern to be cut as an origin, a cutting path is converted into track coordinate data on the coordinate axis, and the cutting head cuts according to the allocated track coordinate data.
Further, searching a closed area in the pattern to be cut and determining an image center point in the pattern to be cut, so as to set up at least one partition line through the image center point to divide the pattern into at least two cutting areas, wherein the partition line divides the at least one closed area into the cutting areas, and the cutting path of each cutting head is determined through the generated areas.
Further, a coordinate axis is established by taking the image center point as an origin, a cutting path is converted into track coordinate data on the coordinate axis, and the cutting head cuts according to the distributed track coordinate data.
Further, before the cutting head performs cutting of each cutter path along the cutting path, the track coordinate data of the cutter path is compared with the track coordinate data of other cutter paths performing cutting, and when the track coordinate data has a coincidence point, the current cutter path cutting action to be performed by the cutting head is paused.
The invention also provides a cutting device comprising:
the machine frame is provided with the motion control board, the multi-cutting-head cutting path control method is arranged in the motion control board, and one motion control board controls the cutting action of at least two cutting heads to complete the cutting of the same pattern.
Further, two cross beams are arranged on the frame, and a cutting head is arranged on the cross beams, wherein the cross beams can reciprocate horizontally along the feeding direction of the cutting platform.
Compared with the prior art, the invention at least comprises the following beneficial effects:
(1) Dividing a pattern to be cut into a plurality of cutting paths according to the number of cutting heads; judging whether other cutter paths which are executing cutting conflict with the cutter paths to be executed or not before executing the cutting cutter paths; the method can ensure that each cutting head can complete the cutting of the same pattern without the conditions of path repetition, cutting head collision and the like, thereby improving the efficiency of the cutting process;
(2) In the cutting equipment, the cutting paths of a plurality of cutting heads are controlled by a single motion control board card, so that each cutting head can asynchronously cut according to a planned path without collision, and the working efficiency of the whole cutting is improved.
Drawings
FIG. 1 is a schematic view of a cutting apparatus provided by an embodiment of the present invention;
FIG. 2 is a flow chart of a method for controlling a cutting path of a multi-cutting head according to an embodiment of the present invention;
FIG. 3 is a schematic view of a cutting path of a pattern to be cut according to an embodiment of the present invention;
fig. 4 is a schematic diagram of another cutting path of a pattern to be cut according to an embodiment of the present invention.
Detailed Description
It should be noted that the description as it relates to "first", "second", "a", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
In this embodiment, as shown in fig. 1, there is provided a cutting apparatus including a frame 1 provided with a cutting deck 2 and two beams 3, and a cutting head 4 mounted on the beams 3, wherein the beams 3 are reciprocally and horizontally movable in a feeding direction of the cutting deck 2.
And a motion control board (not shown in the figure) is arranged on the frame 1, a multi-cutting head cutting path control method is arranged in the motion control board, and one motion control board can control the cutting actions of at least two cutting heads to complete the cutting of the same pattern.
A plurality of sets of cutting head control programs can be arranged in a motion control board, and each set of cutting head control program can control the operation of one cutting head. In the operation of the cutting equipment, the motion control board can select the number of cutting head control program sets to be started according to the number of cutting heads to be put into, and combines a multi-cutting head cutting path control method, so that the cutting control of any number of cutting heads is realized.
Further, as shown in fig. 2, the multi-cutting-head cutting path control method includes the steps of:
s1, generating cutting paths according to the number of cutting heads, distributing the cutting paths to the cutting heads, wherein the cutting paths corresponding to the cutting heads comprise a plurality of sections of cutter paths;
s2, judging the positions of other cutting heads before cutting according to the current cutting path when the current cutting path of any one cutting head and the current cutting paths of the other cutting heads have an intersection point, so as to ensure that a plurality of cutting heads cannot simultaneously run to the intersection point.
To complete cutting of the same pattern with a plurality of cutting heads, it is necessary to plan the cutting path of each cutting head, thereby improving the cutting efficiency.
In path planning, it is first determined which part of the pattern each cutting head needs to cut, so as to form a cutting path corresponding to each cutting head. Since the pattern may change during the cutting process, the pattern to be cut needs to be acquired by means of an image sensor or the like. Then, the cutting line of the cutting part required by the pattern is determined according to the pattern in the acquired image.
One way of determining the cutting path according to the pattern cutting line is shown in fig. 3, which determines the image center point according to the pattern to be cut, and determines the cutting path on the pattern according to a straight line passing through the image center point.
The center point may be determined by the length and width dimensions of the image, and then dividing the pattern into a plurality of regions by drawing a straight line through the center point, each of the region cutting lines being the cutting path to be performed by the respective cutting head.
And then the motion control acquisition card can establish a coordinate axis by taking the image center point as an origin, convert the cutting path into track coordinate data on the coordinate axis, and the cutting head can cut according to the distributed track coordinate data.
The second way of determining the cutting path according to the pattern cutting line is shown in fig. 4, and after the pattern cutting line is obtained by the above method, a closed area in the pattern to be cut is searched, and the cutting path of each cutting head is generated according to the outline of the closed area.
The regions A, B, C, D, which overlap in paths that define the enclosed regions, may still be considered as relatively independent enclosed regions, where each region may be assigned to a different cutting head to perform a cutting action to determine the cutting path to be performed by each cutting head.
Because no special point is utilized in the path determination mode, the motion control acquisition card establishes a coordinate axis with any point in the pattern to be cut, preferably the intersection point where a plurality of cutting lines coincide, as a coordinate origin, converts the cutting path into track coordinate data on the coordinate axis, and the cutting head can cut according to the allocated track coordinate data.
The embodiment also provides a third mode of determining a cutting path according to the pattern cutting line, after the cutting line of the pattern is obtained by the method, the method searches for a closed area in the pattern to be cut, determines an image center point in the pattern to be cut, then uses a straight line passing through the image center point as a partition line, and divides the closed area in the image to be cut into an area as far as possible by setting the partition line, so that the closed area can be distributed to the same cutting machine head to execute cutting action, and cutting efficiency is improved.
After the path distribution of each cutting head is determined, the problems that each cutting head cannot collide in the cutting process and the like are solved, so that the normal operation of the equipment is affected.
In the invention, before the cutting head performs cutting of each cutter path along the cutting path, the track coordinate data of the cutter path is compared with the track coordinate data of other cutter paths which are performing cutting, and when the track coordinate data has a coincidence point, the current cutter path cutting action to be performed by the cutting head is paused.
As shown in fig. 4, assuming that the first cutting head performs the cutting action of the closed a area starting at point c ', the second cutting head needs to perform the cutting of the paths of sections a ' to c '. Before the second cutting head needs to execute the current cutting path, the motion control acquisition card can compare the track coordinate data of the cutting path which the second cutting head needs to execute with the track coordinate data of the cutting action which the first cutting head is executing, if the track of the second cutting head passes through the point c ' in a future period of time, the cutting of the paths from the section a ' to the section c ' which the second cutting head needs to execute is paused, the cutting of the next path is executed first, and the judgment is carried out before the cutting of the next path is executed.
Therefore, two or more than two cutting heads in one motion control acquisition card can execute cutting action to prevent a plurality of cutting heads from collision in an asynchronous cutting process, so that the working efficiency of the whole cutting is improved.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (10)
1. A method of controlling a cutting path of a multi-cutting head, comprising the steps of:
generating cutting paths according to the number of the cutting heads, distributing the cutting paths to the cutting heads, wherein the cutting paths corresponding to the cutting heads comprise a plurality of sections of cutter paths;
when the current cutting path of any one cutting head and the current cutting paths of the other cutting heads have an intersection point, the positions of the other cutting heads are judged before cutting according to the current cutting path, so that a plurality of cutting heads cannot simultaneously run to the intersection point.
2. The method according to claim 1, wherein an image center point is determined according to the pattern to be cut, at least one partition line is established through the image center point to divide the pattern to be cut into at least two areas, and a cutting path of each cutting head is determined by the generated areas.
3. The method according to claim 2, wherein a coordinate axis is established using the image center point as an origin, the cutting path is converted into trajectory coordinate data on the coordinate axis, and the cutting head performs cutting according to the assigned trajectory coordinate data.
4. The method according to claim 1, wherein a closed area in the pattern to be cut is found, and the cutting path of each cutting head is generated according to the outline of the closed area.
5. The method according to claim 4, wherein a coordinate axis is established by using any point in the pattern to be cut as an origin, the cutting path is converted into track coordinate data on the coordinate axis, and the cutting head performs cutting according to the allocated track coordinate data.
6. The multi-head cutting path control method according to claim 1, wherein a closed area in the pattern to be cut is found and an image center point in the pattern to be cut is determined, so that at least one partition line is established through the image center point to divide the pattern to be cut into at least two cutting areas, the partition line divides the at least one closed area into the cutting areas, and a cutting path of each cutting head is determined by the generated areas.
7. The method according to claim 6, wherein a coordinate axis is established using the image center point as an origin, the cutting path is converted into trajectory coordinate data on the coordinate axis, and the cutting head performs cutting based on the assigned trajectory coordinate data.
8. A multi-cutter cutting path control method according to claim 3, 5 or 7, wherein the track coordinate data of each cutter is compared with the track coordinate data of other cutters which are performing cutting before the cutter performs cutting along the cutting path, and the current cutter cutting action to be performed by the cutter is suspended when there is a coincidence point in the track coordinate data.
9. A cutting apparatus, comprising:
a frame, and a motion control board is arranged on the frame, the motion control board can control the cutting equipment to cut according to the multi-cutting-head cutting path control method according to any one of claims 1-8, and one motion control board controls the cutting actions of at least two cutting heads to complete the cutting of the same pattern.
10. A cutting device according to claim 9, characterized in that two cross beams are provided on the frame and that a cutting head is mounted on the cross beams, wherein the cross beams are reciprocally movable horizontally in the feed direction of the cutting deck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311386211.9A CN117102724B (en) | 2023-10-25 | 2023-10-25 | Multi-cutting-head cutting path control method and cutting equipment |
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| CN202311386211.9A CN117102724B (en) | 2023-10-25 | 2023-10-25 | Multi-cutting-head cutting path control method and cutting equipment |
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| CN117102724A true CN117102724A (en) | 2023-11-24 |
| CN117102724B CN117102724B (en) | 2024-02-23 |
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|---|---|---|---|---|
| US4791576A (en) * | 1985-07-17 | 1988-12-13 | Fanuc Ltd | Area cutting method |
| CN102601744A (en) * | 2011-12-23 | 2012-07-25 | 东南大学 | Optimal selection method for multi-beam water cutting feed path based on Petri network |
| CN102886607A (en) * | 2011-07-18 | 2013-01-23 | 南京通孚轻纺有限公司 | Seamless cutting method |
| CN105855729A (en) * | 2016-06-28 | 2016-08-17 | 京东方科技集团股份有限公司 | Crossed line laser cutting device |
| CN108838551A (en) * | 2018-06-29 | 2018-11-20 | 中国科学院西安光学精密机械研究所 | A kind of three-dimension curved surface laser etching method |
| CN113245724A (en) * | 2021-06-24 | 2021-08-13 | 广东库迪数控技术有限公司 | Multi-cutting-head tool path generation method, device, machining method, equipment and medium |
| CN114192996A (en) * | 2021-11-17 | 2022-03-18 | 大族激光科技产业集团股份有限公司 | Laser cutting control method and device and storage medium |
| CN115453969A (en) * | 2022-09-20 | 2022-12-09 | 重庆元韩汽车技术设计研究院有限公司 | Double-cutting-head cooperative control system and method for three-dimensional laser cutting |
| CN115709340A (en) * | 2022-12-08 | 2023-02-24 | 南京铖联激光科技有限公司 | Dual-laser segmentation system and method controlled by upper computer |
| CN116257058A (en) * | 2023-02-16 | 2023-06-13 | 山东新一代信息产业技术研究院有限公司 | Intelligent local planning method for automatic driving logistics trolley in park |
| CN116868142A (en) * | 2021-04-26 | 2023-10-10 | 深圳市大疆创新科技有限公司 | Path planning method, path planning device and medium |
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2023
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4791576A (en) * | 1985-07-17 | 1988-12-13 | Fanuc Ltd | Area cutting method |
| CN102886607A (en) * | 2011-07-18 | 2013-01-23 | 南京通孚轻纺有限公司 | Seamless cutting method |
| CN102601744A (en) * | 2011-12-23 | 2012-07-25 | 东南大学 | Optimal selection method for multi-beam water cutting feed path based on Petri network |
| CN105855729A (en) * | 2016-06-28 | 2016-08-17 | 京东方科技集团股份有限公司 | Crossed line laser cutting device |
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| CN115453969A (en) * | 2022-09-20 | 2022-12-09 | 重庆元韩汽车技术设计研究院有限公司 | Double-cutting-head cooperative control system and method for three-dimensional laser cutting |
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| CN117102724B (en) | 2024-02-23 |
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