TWI692683B - Automation control system and method - Google Patents

Abstract

A automation control system includes a laser device, a moving stage, a galvanometric scanner control device, and a master controller. The laser device is configured to generate a laser in response to a first command. The moving stage is configured to support an article, and adjust a position of the article in response to a second command. The galvanometric scanner control device is configured to determine a direction of the laser irradiating to the article in response to a third command to perform a process. The master controller is configured to transmit the first, the second, and the third commands based on an Ethernet for control automation technology (EtherCAT) protocol to synchronize the laser device, the moving stage, and the galvanometric scanner control device.

Description

Automatic control system and method

This disclosure relates to an automated control system, and in particular to an automated control system using Ethernet automation control technology.

Automated control systems are common in various applications. In the current application, the automatic control system controls multiple devices based on multiple communication protocols (or interfaces). However, due to the different types of communication protocols (or interfaces), the control between various communication protocols (or interfaces) will have time delays of different lengths, resulting in that the control commands cannot be executed accurately and synchronously.

In view of this, the present disclosure proposes an automated control system and method to solve the problems mentioned in the prior art.

An embodiment of the present disclosure relates to an automated control system including: a laser device, a mobile platform, a galvanometer positioning control device, and a main controller. The laser device is used to generate laser light in response to the first command. The mobile platform is used to support the load and adjust the load in response to the second instruction The location. The galvanometer positioning control device is used to determine the irradiation direction of the laser light projected on the vehicle in response to the third command to perform the processing procedure. The main controller is used to transmit the first command, the second command and the third command based on the Ethernet control automation protocol to synchronize the laser energy control, mobile platform and galvanometer positioning control device.

One embodiment of the present disclosure relates to an automated control method. The automatic control method includes: by means of a laser device, in response to a first command, controlling the amount of laser light energy; by moving a platform, in response to a second command, adjusting the position of the load, wherein the mobile platform is used to support the load ; By vibrating mirror positioning control device, in response to the third command, determine the laser light projected to the irradiation position of the object for processing procedures; and by the main controller, based on the Ethernet control automation protocol, transmit the first Command, second command and third command to control the laser device, mobile platform and galvanometer positioning control device synchronously.

100, 200: automatic control system

110: main controller

111: real-time operating system

112: Communication protocol controller

113: Memory device

120: Laser device

121: Laser light source

122: Laser light modulator

123: Laser modulation driver

124: Beam expander

125: Energy meter

126: aperture

M1~M3: optical mirror

130: mobile platform

131: stage

132: Servo motor drive

133: Carrier

140: Galvanometer positioning control device

141: Galvo motor

142: Galvo motor driver

150: Industrial camera

F1: Image

160: database

P1: parameters

V1~V4: instruction

X, Y, Z: direction

300: Automatic control method

S302~S318: Steps

T: processing path

Sp: moving speed

Freq: laser light output frequency

Int: processing energy density

LA: Transition area

The present disclosure can be more fully understood by reading the following detailed description of the embodiments, with reference to the drawings as follows: FIG. 1 is a schematic diagram of an automated control system according to some embodiments of the present disclosure; FIG. 2 is A schematic diagram of an automatic control system according to some embodiments of this disclosure; FIG. 3 is a flowchart of an automatic control method according to some embodiments of this disclosure; and FIG. 4 is related parameters and schematic diagrams of an automated control system according to some embodiments of the present disclosure.

The following is a detailed description of the embodiments in conjunction with the accompanying drawings, but the specific embodiments described are only used to explain the embodiments of the present invention and are not used to limit the embodiments of the present invention, and the description of the structural operations is not intended to limit their execution. The sequence, any structure recombined by components, to produce devices with equal effects are within the scope covered by the disclosure of the embodiments of the present invention.

Refer to Figure 1. FIG. 1 is a schematic diagram of an automated control system 100 according to some embodiments of this disclosure. In some embodiments, the automated control system 100 includes a main controller 110, a laser device 120, a mobile platform 130, and a galvanometer positioning control device 140.

As shown in FIG. 1, the laser device 120 is coupled to the main controller 110, the mobile platform 130 is coupled to the main controller 110, and the galvanometer positioning control device 140 is coupled to the main controller 110. In some embodiments, the master controller 110 may be operated as a servo master element, and the laser device 120, the mobile platform 130, and the galvanometer positioning control device 140 may be operated as servo slave elements.

In some embodiments, the main controller 110 is used to control the laser device 120 and the galvanometer positioning control device 140 through the first communication protocol, and is used to control the mobile platform 130 through the second communication protocol. In some embodiments, the first communication protocol is the same as the second communication protocol. In a further embodiment, the first communication protocol and/or the second communication protocol may be Ethernet for control automation technology (Ethernet for control automation technology, EtherCAT) agreement or its successor agreement. In some embodiments using the Ethernet control automation protocol, the main controller 110, the laser device 120, the mobile platform 130, and the galvanometer positioning control device 140 are all equipped with a transceiver circuit that supports this EtherCAT protocol, based on the Ethernet The network control automation protocol establishes the connection between each other. The above Ethernet control automation protocol is used as an example, and this case is not limited to this.

In some embodiments, when the first communication protocol is the same as the second communication protocol, the main controller 110 is further used to synchronize the laser device 120, the mobile platform 130, and the galvanometer positioning control device 140. In other embodiments, the main controller 110 uses an Ethernet control automation protocol to synchronize the laser device 120, the mobile platform 130, and the galvanometer positioning control device 140. In other words, the automation control system 100 can integrate the synchronization of all internal master and slave components through a single type of communication protocol.

In some embodiments, the main controller 110 establishes a connection with the laser device 120 through the first communication protocol to output the first command V1 to the laser device 120. The laser device 120 generates laser light in response to the received first command V1. For example, the main controller 110 may be connected to the laser device 120 based on the Ethernet control automation protocol, and transmit the first command V1 to the laser device 120 through the Ethernet control automation protocol. The laser device 120 also receives the first command V1 through the Ethernet control automation protocol, and accordingly generates laser light and controls the laser light energy.

In some embodiments, the main controller 110 is connected to the mobile platform 130 via the second communication protocol. The main controller 110 outputs the second command V2 to the mobile platform 130 through the second communication protocol. In some embodiments, the mobile platform 130 is used to support a carrier 133 (shown in Figure 2). The mobile platform 130 adjusts the position of the vehicle 133 in response to the received second command V2. In some embodiments, the main controller may be connected to the mobile platform 130 based on the Ethernet control automation protocol, and transmit the second command V2 to the mobile platform 130 through the Ethernet control automation protocol, and the mobile platform 130 may pass the Ethernet The network control automation protocol receives the second command V2 to adjust the position of the load 133.

In some embodiments, the mobile platform 130 includes a servo motor drive 132 (shown in Figure 2). The servo motor driver 132 is used to adjust the position of the load 133 according to the second command V2 received by the mobile platform. In some embodiments, the main controller 110 is used to transmit the second command V2 to control the servo motor driver 132, so that the servo motor driver 132 adjusts the position of the load 133.

In some embodiments, the main controller 110 is used to control the laser device 120 and the mobile platform 130. The laser light generated by the laser device 120 irradiates the carrier 133 at the position adjusted by the moving platform to perform laser processing. In some embodiments, the main controller 110 outputs the first command V1 and the second command V2 through the Ethernet control automation protocol to control the laser device 120 and the mobile platform 130, respectively. In this way, the carrier 133 supported by the mobile platform 130 can be irradiated by the laser device 120 according to the first command V1 at a suitable position. In some embodiments, with the above-mentioned irradiation, the carrier 133 may be laser processed.

In some embodiments, the main controller 110 is used to control the galvanometer positioning control device 140. The main controller 110 establishes a connection with the galvanometer positioning control device 140 through the third communication protocol to output the third command V3 to the galvanometer positioning control 装置140。 The device 140. In some embodiments, the galvanometer positioning control device 140 is used to determine the irradiation direction of the laser light generated by the laser device 120. The galvanometer positioning control device 140 determines the irradiation position at which the laser light is projected onto the vehicle 133 in response to the received third command V3. In some embodiments, the main controller generates the third command V3 and transmits the third command V3 to the galvanometer positioning control device 140 via the Ethernet control automation protocol, and the galvanometer positioning control device 140 is controlled via the Ethernet The automation protocol receives the third command V3 to determine the direction of laser light irradiation.

In some embodiments, the galvanometer positioning control device 140 includes a galvanometer motor 141 (shown in FIG. 2). The galvanometer motor 141 is used to determine the irradiation direction of the laser light generated by the laser device 120 according to the third command V3 received by the galvanometer positioning control device 140. In some embodiments, the main controller 110 is used to transmit the third command V3 to the galvanometer motor 141 to control the galvanometer motor 141 to determine the irradiation direction of the laser light.

In some embodiments, the main controller 110 is further used to simultaneously control the laser device 120, the mobile platform 130, and the galvanometer positioning control device 140. Based on the synchronous control of the main controller 110, the galvanometer positioning control device 140 can control the irradiation direction of the laser light of the laser device 120, and the moving platform 130 can adjust the position of the supporting object 133. In this way, the carrier 133 can be processed by laser light at an appropriate position. In some embodiments, the main controller 110 outputs the first command V1, the second command V2, and the third command V3 through the Ethernet control automation protocol to control the laser device 120, the mobile platform 130, and the galvanometer positioning control, respectively装置140。 The device 140.

In some embodiments, the main controller 110 is used to control the laser The device 120, the moving platform 130 and the galvanometer positioning control device 140 adjust the carrier 133 to an appropriate position to be irradiated with laser light to perform a processing procedure. For example, as shown in FIG. 1, the main controller 110 transmits the first command V1, the second command V2, and the third command V3 to the laser device 120, the mobile platform 130, and the galvanometer positioning control through the Ethernet control automation protocol, respectively.装置140。 The device 140. In this way, the laser device 120, the mobile platform 130, and the galvanometer positioning control device 140 can perform corresponding operations according to the first command V1, the second command V2, and the third command V3, respectively, to perform a processing procedure on the carrier 133. In some embodiments, the processing procedure is a laser cutting procedure. In other embodiments, the processing program is a laser engraving program.

In some embodiments, the main controller 110 is used to detect the irradiation path of the laser light on the mobile platform 130. In some embodiments, when the irradiation path of the laser light on the mobile platform 130 meets a predetermined condition, the main controller 110 may output the corresponding first command V1 to the laser device 120 to adjust the output power of the laser light. For example, in some embodiments, the main controller 110 is used to determine whether there is a turning point in the irradiation path of the laser light on the mobile platform 130. In some embodiments, the main controller 110 may analyze the irradiation position of the laser light reflected by the galvanometer positioning control device 140 according to the second instruction V2 to determine whether the irradiation path of the laser light has a turning point. In still other embodiments, the above determination may be performed according to any one of the second instruction V2 and/or the third instruction V3. The relevant description will be explained with reference to FIG. 4 in the following paragraphs.

In some embodiments, the main controller 110 includes a memory device 113 (shown in FIG. 2), which is used to store one or more program codes. The main controller 100 may pre-define one or more according to the code The preset function or instruction set outputs the first instruction V1, the second instruction V2, and the third instruction V3.

In some embodiments, the first command V1, the second command V2 and the third command V3 are single signals. In some embodiments, the first command V1, the second command V2, and the third command V3 are a combination of multiple single signals. The above-mentioned first command V1, second command V2 and third command V3 are all exemplary purposes, and various types of commands and signals are within the scope of the present disclosure. For example, the first command V1 may be indicated as a laser pulse width modulation signal for controlling the laser device 120, and the third command V3 may be a digital signal.

In some embodiments, the automatic control system 100 further includes an industrial camera 150. As shown in FIG. 1, the industrial camera 150 is coupled to the main controller 110. In some embodiments, the main controller 110 outputs the fourth command V4 to the industrial camera 150 through the fourth communication protocol. The industrial camera 150 responds to the received fourth command V4 to capture the image F1. In some embodiments, the industrial camera 150 is used to capture the image F1 associated with the processing program.

In some embodiments, the main controller 110 is used to transmit the fourth command V4 to the industrial camera via an Ethernet control automation protocol. The industrial camera 150 may shoot the mobile platform 130 in response to the fourth command V4 to capture the image F1 associated with the processing program. In some embodiments, the main controller 110 may be used to receive the image F1 of the processing program captured by the industrial camera 150 to monitor the processing program.

In some embodiments, the first communication protocol, the second communication protocol, the third communication protocol, and the fourth communication protocol are all the same. In some embodiments, The third communication protocol is the Ethernet Control Automation Protocol.

In some embodiments, the automated control system 100 further includes a database 160. As shown in FIG. 1, the database 160 is coupled to the main controller 110. In some embodiments, the main controller 110 communicates with the laser device 120 and the mobile platform 130 through at least one communication protocol (such as the aforementioned first communication protocol, second communication protocol, third communication protocol, and fourth communication protocol) 3. The galvanometer positioning control device 140 establishes a connection with the industrial camera 150 to collect at least one parameter P1 associated with the processing program and store it in the database 160. In some embodiments, the main controller 110 is connected to the database 160 through the fourth communication protocol to store at least one parameter P1 in the database 160. In some embodiments, at least one parameter P1 is associated with the first command V1, the second command V2, the third command V3, the fourth command V4, the image F1, or a combination thereof. In other words, at least one parameter P1 may be a single parameter or a combination of multiple parameters, such as (but not limited to) the power and frequency of laser light, the galvanometer angle of the galvanometer positioning control device 140, and the movement of the mobile platform 130 Parameters such as location, or a combination thereof.

In some embodiments, the first communication protocol, the second communication protocol, the third communication protocol, and the fourth communication protocol are all the same. In some embodiments, the fourth communication protocol is an Ethernet control automation protocol.

Refer to Figure 2. FIG. 2 is a schematic diagram of an automated control system 200 according to some embodiments of this disclosure. In some embodiments, the automatic control system 200 includes a main controller 110, a laser device 120, a mobile platform 130, and a galvanometer positioning control device 140. For easy understanding, similar elements in the automatic control system 200 and the automatic control system 100 in FIG. 1 will be coded in the same coding manner, and similar elements will not be repeated here.

In order to easily understand the master-slave control method in the embodiment of the present invention, FIG. 2 shows the relative arrangement relationship of the main elements in the automatic control system 200, and does not list the specific structures and/or all details of all elements in detail. Without departing from the spirit and scope of this case, the setting method shown in Figure 2 can be adjusted, replaced, and changed according to the needs of the processing program and/or the actual application.

In some embodiments, the main controller 110 includes a real-time operating system 111, a protocol controller 112, and a memory device 113. In some embodiments, the main controller 110 includes a memory (for example, the memory device 113 or an independent memory) and a processor circuit (not shown). The real-time operating system 111 can be installed in this memory and executed by the processor circuit to provide control functions. The real-time operating system 111 is used to control the timing of the operation of the automatic control system 100. In some embodiments, the communication protocol controller 112 is an Ethernet control automation protocol controller. In some embodiments, the memory device 113 is used to store the aforementioned database.

In some embodiments, the laser device 120 includes a laser light source 121, a laser light modulator 122, a laser light modulation driver 123, a beam expander 124, an energy meter 125, an aperture 126, an optical mirror M1, an optical mirror M2 and Optical mirror M3.

In some embodiments, the laser light source 121 is a carbon dioxide (CO ₂ ) laser source. As shown in FIG. 2, the laser light source 121 generates laser light to the laser light modulator 122. In some embodiments, the laser light modulator 122 is controlled by the laser light modulation driver 123, and the laser light modulation driver 123 is controlled by the main controller 110 through the first communication protocol. For example, the laser light modulation driver 123 may control the laser light modulator 122 according to the first instruction V1 to perform the following operations. As shown in FIG. 2, after passing through the laser light modulator 122, the laser light is divided into two at a ratio, one to the beam expander 124, and the other to the optical mirror M1 to the energy meter 125. In some embodiments, the beam expander 124 is used to change the beam diameter and divergence angle of the passing laser light. In some embodiments, the main controller 110 is connected to the energy meter 125 through the first communication protocol to measure the laser light energy reflected to the energy meter 125, and then proportionally calculates the laser light incident on the beam expander 124 energy. As shown in FIG. 2, the laser light passing through the beam expander 124 is first directed toward the optical mirror M2 and then reflected to the optical mirror M3. After being reflected by the optical mirror M3, the laser light is directed to the aperture 126, and is directed to the mirror positioning control device 140 through the aperture 126.

In some embodiments, after the laser light passes through the optical mirror M2 and the optical mirror M3, the beam diameter and divergence angle of the laser light are designed according to different embodiments. In some embodiments, the aperture 126 is used to control the beam diameter of the passing laser light.

In some embodiments, the galvanometer positioning control device 140 includes a galvanometer motor 141 and a galvanometer motor driver 142. As shown in FIG. 2, the laser light passing through the aperture 126 is directed to the galvanometer motor 141. In some embodiments, the galvanometer motor 141 is coupled to the galvanometer motor driver 142 and is disposed on the stage 131.

In some embodiments, the main controller 110 transmits the third command V3 to the galvanometer motor driver 142 through the third communication protocol, and controls the angle of the galvanometer motor 141 via the galvanometer motor driver 142.

In some embodiments, the galvanometer motor 141 is used to control the irradiation direction of the received laser light. As shown in FIG. 2, the galvanometer motor 141 directs the laser light to the load 133. In some embodiments, the stage 131 and the galvanometer motor 141 The laser light can be controlled to irradiate different positions on the carrier 133.

In some embodiments, the mobile platform 130 includes a stage 131 and a servo motor driver 132. The stage 131 is coupled to the servo motor driver 132. In some embodiments, the stage 131 is used to support the aforementioned one of the objects 133 and used to control the movement of the objects 133 in the first direction X and/or the second direction Y. In some embodiments, the stage 131 is further used to control the galvanometer motor 141 to move in the third direction Z. In response to the control of the stage 131, the galvanometer motor 141 can move in the third direction Z. In other words, the relative positional relationship between the carrier 133 and the galvanometer motor 141 can be controlled by the stage 131 moving in the first direction X, the second direction Y, and the third direction Z. In some embodiments, the first direction X, the second direction Y, and the third direction Z are perpendicular to each other.

In some embodiments, the main controller 110 is connected to the servo motor driver 132 through the second communication protocol, and transmits a second command V2 to the servo motor driver 132 to control the stage 131 so that the load on the stage 131 133 can move on a plane (for example, a plane developed by the first direction X and the second direction Y).

In some embodiments, the carrier 133 is irradiated with laser light to perform processing procedures (eg, laser cutting procedures and/or laser engraving procedures). In other words, the main controller 110 is used to control the laser device 120, the moving platform 130, and the galvanometer positioning control device 140 to process the carrier 133. In some embodiments, the main controller 110 performs processing procedures on the load 133 through an Ethernet control automation protocol. The above processing procedures are for illustrative purposes only, and various suitable processing procedures are within the scope of this disclosure.

In some related technologies, processing equipment adopts different The same type of communication protocol (or interface) connection. For example, the mobile platform is controlled by an additional motion control axis card to generate pulse waves or voltage control signals, the galvanometer motor is controlled by an XY2-100 interface, the laser light source is controlled by pulse width modulation commands, and the industrial camera is controlled by Giga -E interface control. When the above equipments are integrated and controlled together, due to different protocols, the operation timing of each equipment cannot be accurately synchronized and affect the quality of the processing program.

Compared with the above technology, the embodiment of the present invention can control the processing equipment synchronously through the same communication protocol (for example, the Ethernet Control Automation Protocol) in a master-slave control mode. In this way, through the distributed clock mechanism of the Ethernet control automation protocol, the operation timing synchronization error of each slave processing equipment can be significantly reduced. In this way, the quality of the machining program can be improved (as shown in Figure 4 below).

Refer to Figure 3. FIG. 3 is a flowchart of an automatic control method 300 according to some embodiments of the present disclosure. In some embodiments, the automated control method 300 includes steps S302-S320. In some embodiments, the automatic control method 300 is applied to the automatic control system of FIG. 1 and FIG. 2. In order to understand the present disclosure in a better way, the automatic control method 300 will be discussed in conjunction with the automatic control systems 100 and 200 of FIG. 1 and FIG. 2, but the present disclosure is not limited thereto.

In step S302, the main controller 110 transmits the first command V1 to the laser device 120 through the Ethernet control automation protocol to control the laser device 120 to output laser light. The laser device 120 generates laser light to the galvanometer positioning control device 140. The main controller 110 controls the laser light generation frequency and energy amplitude through the laser light modulation driver 123 and the laser light modulator 122, and The energy meter 125 calculates the energy of the laser light irradiated to the galvanometer positioning control device 140, and then transmits the laser light to the galvanometer positioning control device 140 through the beam expander 124, the optical mirror M2, the optical mirror M3, and the aperture 126.

In step S304, the main controller 110 transmits the second command V2 to the mobile platform 130 via the Ethernet control automation protocol to control the mobile platform 130. The main controller 110 controls the stage 131 to support the carriage 133 to move on a plane spreading in the first direction X and the second direction Y through the servo motor driver 132, and controls the galvanometer motor 141 coupled to the stage 131 at the first Move in three directions Z. In other words, the main controller 110 controls the relative position between the load 133 and the galvanometer motor 141 through the Ethernet control automation protocol.

In step S306, the main controller 110 transmits the third command V3 to the galvanometer positioning control device 140 via the Ethernet control automation protocol to control the galvanometer positioning control device 140. The main controller 110 controls the galvanometer motor 141 through the galvanometer motor driver 142 to control the irradiation direction of the laser light, and directs the laser light toward the carrier 133 to process the carrier 133.

In step S308, the main controller 110 transmits the third command V3 through the Ethernet control automation protocol, and is used to control the laser light irradiation direction controlled by the galvanometer motor 141.

In step S310, after controlling the laser light irradiation direction, the main controller 110 transmits a second command V2 through the Ethernet control automation protocol to adjust the relative position between the carrier 133 and the galvanometer motor 141.

In step S312, after adjusting the relative position between the carrier 133 and the galvanometer motor 141, the main controller 110 transmits the first command V1 via the Ethernet control automation protocol to adjust the power of the laser light. E.g, Adapt to the power of modulated laser light.

In step S314, the main controller 110 transmits the fourth command V4 to the industrial camera 150 via the Ethernet control automation protocol to capture the image F1 of the processing program in real time.

In step S316, the main controller 110 collects the parameters related to the processing program through the Ethernet control automation protocol and stores them in the database 160.

In step S318, the main controller 110 synchronizes the laser device 120, the mobile platform 130, the galvanometer positioning control device 140, the industrial camera 150, and the database 160 via an Ethernet control automation protocol.

The above description of the automatic control method 300 includes exemplary operations, but the operations of the automatic control method 300 need not be performed in the order shown. The order of the operations of the automatic control method 300 can be changed, or the operations can be performed simultaneously, partially simultaneously, repeatedly, or omitted under appropriate circumstances, which are within the spirit and scope of the embodiments of the present disclosure .

Refer to Figure 4. FIG. 4 is related parameters and schematic diagrams of an automated control system according to some embodiments of the present disclosure. In some embodiments, the automated control system in Figure 4 can be applied to the automated control systems in Figures 1 and 2. In order to understand the disclosure in a better way, the automation control system in FIG. 4 will be discussed in conjunction with the automation control systems 100, 200 in FIGS. 1 and 2, but the disclosure is not limited thereto.

As shown in Figure 4, T is the processing path of laser light and Sp is the laser The moving speed of the light on the carrier 133, Freq is the output frequency of the laser light, and Int is the energy density of the carrier 133 receiving the laser light. In some embodiments, the speed Sp may be the moving speed of the stage 131, or may be the moving speed of the laser light.

In some embodiments, the processing path T of laser light includes a turn as shown in FIG. 4. At the turning point of the processing path T, the speed Sp of the laser light on the carrier 133 decreases (the area LA shown in FIG. 4). After the main controller 110 plans the processing path T to include a turning point, the first command V1 is transmitted through the Ethernet control automation protocol to adjust the power of the laser light. As shown in FIG. 4, the main controller 110 controls the laser device 120 to reduce the laser light output frequency Freq (the area LA shown in FIG. 4), thus reducing the power of the laser light. With the decrease of the speed Sp of the laser light on the carrier 133, at the turning point of the processing path T (region LA), the energy density Int of the laser light on the carrier 133 can maintain the same size as before, not because of the processing path T The turning causes the increase in the energy density Int of the laser light on the processed part. Therefore, the processing quality is better.

Compared to some of the aforementioned related technologies, taking FIG. 4 as an example, in the related art, when the processing path T is turned, since each processing device uses a different communication protocol (or interface), it cannot be efficiently reduced synchronously The power of the laser light will project laser light of the same power on the turning point, resulting in a higher energy density of the laser light on the turning point, which reduces the quality of the processing procedure.

Although the embodiments of the present invention have been disclosed as above, it is not intended to limit the embodiments of the present invention. Anyone who is familiar with this skill can make some changes and retouching without departing from the spirit and scope of the embodiments of the present invention. The present invention The scope of protection of the embodiment shall be defined as the scope of the subsequent patent application.

200‧‧‧Automatic control system

110‧‧‧Main controller

111‧‧‧Real-time operating system

112‧‧‧Communication protocol controller

113‧‧‧Memory device

121‧‧‧Laser light source

122‧‧‧Laser Modulator

123‧‧‧Laser Modulation Driver

124‧‧‧Beam expander

125‧‧‧Energy meter

126‧‧‧Aperture

M1~M3‧‧‧Optical mirror

131‧‧‧ stage

132‧‧‧Servo motor driver

133‧‧‧Ride

141‧‧‧Vibrating mirror motor

142‧‧‧Vibrating mirror motor driver

V1~V3‧‧‧Command

X, Y, Z‧‧‧ direction

Claims (8)

An automatic control system includes: a laser device for generating a laser light in response to a first command; a mobile platform for supporting a load and adjusting one of the load in response to a second command Position; a galvanometer positioning control device for determining the irradiation direction of the laser light projected on the load in response to a third command to perform a processing procedure; and a main controller based on an Ethernet The network control automation protocol transmits the first command, the second command and the third command to synchronize the laser device, the mobile platform and the galvanometer positioning control device, wherein when the main controller detects the laser When an irradiation path on the mobile platform meets a predetermined condition, the main controller further outputs the first command to modulate an output power of the laser light, and the main controller is further used to respond to the second command Determine whether there is a turning point in the irradiation path. The automatic control system according to claim 1, wherein the mobile platform further comprises: a servo motor driver for moving the mobile platform according to the second instruction to adjust the position of the carried object. The automatic control system according to claim 1, wherein the galvanometer positioning control device includes a galvanometer motor, the galvanometer motor is used to determine the irradiation direction according to the third command, and the main controller is used to transmit the first Three commands to the galvanometer motor to control the galvanometer motor. The automation control system according to claim 1, wherein the main controller is further connected to a database based on the Ethernet control automation protocol to collect at least one parameter associated with the processing procedure and store it in the database. The automatic control system according to claim 1, wherein the main controller is used to store a program code and output the first command, the second command, the third command or a combination thereof according to the program code. The automatic control system according to claim 1, further comprising: an industrial camera for capturing an image associated with the processing program in response to a fourth command, wherein the main controller is further used for the Ethernet-based The control automation protocol transmits the fourth command to the industrial camera and is used to receive the image to monitor the processing procedure. An automatic control method includes: generating a laser light in response to a first command by a laser device; adjusting a position of a carried object in response to a second command by a mobile platform, wherein the The mobile platform is used to support the vehicle; a galvanometer positioning control device, in response to a third command, determines an irradiation direction of the laser light projected on the vehicle to perform a processing procedure; and A master controller, based on an Ethernet control automation protocol, transmits the first command, the second command, and the third command to synchronize control of the laser device, the mobile platform, and the galvanometer positioning A control device, wherein when the main controller detects that the laser beam irradiates a path of the mobile platform that meets a predetermined condition, it outputs the first command to modulate the output power of the laser light; and according to the second command To determine whether there is a turning point in the irradiation path. The automatic control method according to claim 7, wherein performing the processing procedure includes: when the main controller detects that an irradiation path of the laser light on the mobile platform meets a predetermined condition, by the main control To output the first command to modulate an output power of the laser light.

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