Edge searching method and device for laser cutting, electronic equipment and storage medium

Abstract

The invention provides an edge searching method and device for laser cutting, electronic equipment and a storage medium, and the method comprises the steps that an edge searching starting point and an edge searching track are obtained, a point laser sensor is controlled to move to the edge searching starting point and move according to the edge searching track, and in the moving process of the point laser sensor, edge searching height data of the point laser sensor are obtained; determining N edge point positions according to the edge searching height data, wherein N is greater than or equal to 3; a plate vertex and an edge searching angle are determined according to the edge point position, a machining graph is corrected according to the plate vertex and the edge searching angle, a laser cutter is controlled to machine the plate according to machining parameters, and the determination speed of determining the plate vertex and the edge searching angle according to the edge point position is increased; since the point laser sensor does not need to follow the nozzle of the laser cutter to the plate surface, and the data stability of the point laser sensor is higher than that of a capacitance sensor when the point laser sensor is interfered by external factors, the determination speed and accuracy of the edge point position can be improved, and the edge searching accuracy and efficiency are further improved.

Description

Technical Field

[0001] The present invention relates to the field of laser processing technology, and in particular to an edge-finding method, device, electronic equipment and storage medium for laser cutting. Background Art

[0002] In the laser processing application scenario, the cutting CNC system needs to determine the inclination angle of the plate on the processing surface and the position of the plate by edge finding, and then process the plate according to the inclination angle and the position of the plate.

[0003] The current edge-finding method is mainly capacitive edge-finding; capacitive edge-finding determines the edge-finding height data based on the capacitance value of the entire plate surface from the inside of the plate to the edge of the plate obtained from the nozzle area of ​​the laser cutter, and then determines the inclination angle of the plate on the processing surface and the position of the plate based on the edge-finding height data.

[0004] However, the capacitive edge-finding method has the following problems: 1. In the process of moving the cutting head of the laser cutter, the capacitance value of the entire plate surface is sensed by the capacitive sensor. The capacitive sensor has a vague judgment on the edge of the plate and cannot accurately detect the position of the center of the nozzle of the laser cutter when the edge is coming out. As a result, the determined position of the edge of the plate is not accurate enough, the accuracy of edge-finding is low, and in order to ensure the accuracy of edge-finding, the movement speed of the cutting head is often slow, which will cause the edge-finding speed of the capacitive edge-finding to be slow and reduce the efficiency of edge-finding. 2. In the process of capacitive edge-finding, since the capacitive sensor needs to follow the nozzle of the laser cutter to the plate surface, the cutting head is prone to get stuck when the plate is out, causing damage to the cutting head of the laser cutter. Summary of the invention

[0005] The present invention provides an edge-finding method, device, electronic device and storage medium for laser cutting, which can solve the problems of low edge-finding accuracy and slow edge-finding speed of capacitor edge-finding, and the cutting head of the laser cutter being easily stuck during the edge-finding movement, resulting in damage to the cutting head of the laser cutter.

[0006] According to a first aspect of the present invention, there is provided an edge finding method for laser cutting, the method comprising:

[0007] Get the edge search starting point and edge search trajectory;

[0008] Controlling the point laser sensor to move to the edge-finding starting point and move along the edge-finding trajectory, and acquiring edge-finding height data of the point laser sensor during the movement of the point laser sensor;

[0009] Determine N edge point positions according to the edge-finding height data, where N≥3;

[0010] Determine the plate vertex and the edge-finding angle according to the edge point position, and correct the processing figure according to the plate vertex and the edge-finding angle;

[0011] The laser cutter is controlled to process the plate according to the processing parameters.

[0012] According to a second aspect of the present invention, there is provided an edge-finding device for laser cutting, the device comprising:

[0013] A first acquisition module is used to acquire an edge-finding starting point and an edge-finding trajectory;

[0014] A second acquisition module is used to control the point laser sensor to move to the edge-finding starting point and move along the edge-finding trajectory, and to acquire the edge-finding height data of the point laser sensor during the movement of the point laser sensor;

[0015] A first determination module is used to determine N edge point positions according to the edge search height data, where N≥3;

[0016] The second determination module is used to determine the plate vertex and the edge-finding angle according to the edge point position, and to correct the processing figure according to the plate vertex and the edge-finding angle.

[0017] According to a third aspect of the present invention, there is provided an electronic device, comprising a processor and a memory.

[0018] The memory is used to store codes and related data;

[0019] The processor is used to execute the code in the memory to implement the edge-finding method for laser cutting as described in any one of the embodiments of the present invention.

[0020] According to a fourth aspect of the present invention, there is provided a storage medium having a computer program stored thereon, which, when executed by a processor, implements the edge-finding method for laser cutting as described in any one of the embodiments of the present invention.

[0021] In an embodiment of the present invention, an edge-seeking starting point and an edge-seeking trajectory are obtained; a point laser sensor is controlled to move to the edge-seeking starting point and move along the edge-seeking trajectory, and during the movement of the point laser sensor, edge-seeking height data of the point laser sensor is obtained; N edge point positions are determined based on the edge-seeking height data, where N≥3; the vertices and edge-seeking angles of the plate are determined based on the edge point positions, and the processing graphics are corrected based on the vertices of the plate and the edge-seeking angles, and the laser cutter is controlled to process the plate according to the processing parameters. That is, the technical solution of the present invention controls the point laser sensor to move to the edge-seeking starting point and moves along the edge-seeking trajectory, and in the process of the movement of the point laser sensor, obtains the edge-seeking height data of the point laser sensor, and then determines the positions of N edge points according to the edge-seeking height data, N≥3. Since the diameter of the light spot of the point laser sensor is smaller than the cross-section of the nozzle sensing capacitor area of ​​the laser cutter, therefore, in the process of controlling the point laser sensor to move along the edge-seeking trajectory, if the point laser sensor can accurately detect the edge-seeking height data of the edge position when the nozzle center moves along the edge-seeking trajectory of the nozzle, the edge point coordinate data obtained by the point laser sensor in the edge-seeking trajectory will have higher accuracy, which greatly improves the accuracy of determining the plate vertex and edge-seeking angle according to the edge point position; since the point laser sensor obtains height data at a high frequency, the speed of determining the edge point position according to the edge-seeking height data is improved, thereby improving the speed of determining the plate vertex and edge-seeking angle according to the edge point position; and since the point laser sensor The sensor does not need to follow the nozzle of the laser cutter to the plate surface, and can shorten the acquisition time of the edge-finding height data by increasing the movement speed along the edge-finding trajectory. The data stability of the point laser sensor is higher than that of the capacitive sensor when disturbed by external factors, thereby improving the speed and accuracy of determining the edge point position according to the edge-finding height data, thereby improving the accuracy of the plate vertex and the edge-finding angle determined according to the edge point position, that is, improving the edge-finding accuracy and efficiency, and solving the problems of slow edge-finding speed, low edge-finding accuracy and efficiency of capacitive edge-finding. In addition, due to the edge-finding method of laser cutting provided by the present invention, the accuracy and speed of the edge point position determined according to the edge-finding height data are improved, and the rack and the plate can be quickly distinguished according to the edge-finding height data, and the nozzle will not be followed to the plate surface, so that the cutting head is avoided from getting stuck during the edge-out movement, and the problem of damage to the cutting head of the laser cutter caused by the capacitive sensor being easily disturbed by external factors and being unstable is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a flow chart of the edge-finding method for laser cutting provided by an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of an intelligent boundary detection surface provided by an embodiment of the present invention;

[0025] Figure 3 is a trajectory schematic diagram provided by an embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of edge point positions provided by an embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of processing graphic correction provided by an embodiment of the present invention;

[0028] Figure 6 is another schematic flow chart of the edge-finding method for laser cutting provided by an embodiment of the present invention;

[0029] Figure 7 It is another flow chart of the edge finding method for laser cutting provided by an embodiment of the present invention;

[0030] Figure 8 It is another flow chart of the edge finding method for laser cutting provided by an embodiment of the present invention;

[0031] Fig. 9 It is a structural schematic diagram of an edge-finding device for laser cutting provided by an embodiment of the present invention;

[0032] Fig.10 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0036] Figure 1 The present invention provides a flow chart of a laser cutting edge finding method. The method can be performed by a laser cutting edge finding device, which can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a computer, a server, etc. The following embodiments will be described by taking the device integrated into an electronic device as an example. Figure 1 , the method may specifically include the following steps:

[0037] Step 101, obtaining the edge-finding starting point and edge-finding trajectory.

[0038] The edge-finding starting point can be understood as the initial edge-finding position of the preset point laser sensor, and the edge-finding starting point can be any one of the multiple corner points of the processed figure. The edge-finding trajectory can be understood as the edge-finding route of the preset point laser sensor. The edge-finding trajectory can include at least M edge-finding starting points, M≥3, and at least 2 edge-finding starting points belong to the same side of the processed figure, so that two edge point positions can be determined by two edge-finding starting points on the same side, and the edge-finding angle of the plate can be determined according to the two edge point positions; one edge point position is determined by one edge-finding starting point on the other side, so that the plate vertex can be determined according to the edge point positions of different sides; because the more edge-finding starting points there are, the more edge point positions are determined according to the edge-finding height data, and the accuracy of the plate vertex determined according to the edge point position is higher, so the size of M can be adjusted according to the actual accuracy requirements, so that the appropriate M can be selected according to the actual accuracy requirements. Among them, the edge-finding starting point in the edge-finding trajectory generally prompts the user to set it to any one of the multiple corner points of the processed figure when the user enters it.

[0039] In an optional implementation, the user can select an edge-finding strategy in the intelligent edge-finding interface. If the user selects three-point-fast edge-finding, the number of edge-finding starting points of the edge-finding trajectory obtained is 3, and if the user selects six-point-fast edge-finding, the number of edge-finding starting points of the edge-finding trajectory obtained is 6.

[0040] For example, Figure 2 As shown, after the user enters the plate size (length and width of the plate), point selection strategy (three points - fast edge finding), edge finding speed and edge finding starting point in the intelligent edge detection interface and clicks the edge finding control, the edge finding starting point entered in advance by the user and the edge finding trajectory selected by the user are automatically obtained.

[0041] In an embodiment of the present invention, before obtaining the edge-finding starting point and edge-finding trajectory, the control parameters of the point laser sensor can be obtained. When it is determined that the control parameters meet the preset conditions, the steps of obtaining the edge-finding starting point and edge-finding trajectory are triggered; when it is determined that the control parameters do not meet the preset conditions, a log report is generated and the state machine is exited. In this way, the user can quickly adjust the control parameters of the point laser sensor according to the log report, so that when the control parameters of the point laser sensor meet the preset conditions, the analog signal output by the point laser sensor is more accurate, and then the edge-finding height data determined by the cutting head of the laser cutter according to the analog signal is more accurate, thereby improving the accuracy of the edge-finding method of laser cutting, increasing the convenience and flexibility of the edge-finding method of laser cutting, and avoiding the situation where the acquired edge-finding height data is incorrect or invalid due to the execution of the steps of controlling the point laser sensor to move to the edge-finding starting point and move along the edge-finding trajectory after the control parameters of the point laser sensor do not meet the preset conditions, thereby reducing the accuracy of the edge-finding method of laser cutting.

[0042] Among them, the control parameters may include the stop point position, interface status, range, and motion area of ​​the point laser sensor. The preset conditions may include: 1. The stop point position belongs to any corner point position of the processing figure; 2. The interface status of the point laser sensor is valid; 3. The range of the point laser sensor belongs to the preset range interval; 4. The detection area of ​​the point laser sensor belongs to the preset machine tool area. The preset range interval can be understood as the preset height value interval of the point laser sensor, and the preset range interval can be [200mm, 600mm].

[0043] Step 102 , control the point laser sensor to move to the edge-seeking starting point and move along the edge-seeking trajectory, and acquire the edge-seeking height data of the point laser sensor during the movement of the point laser sensor.

[0044] Among them, the edge-finding height data can be understood as a digital signal obtained by converting the analog signal of the point laser sensor in the process of moving along the edge-finding trajectory. During the signal conversion, the conversion coefficient of the point laser sensor can be obtained according to the range of the point laser sensor, and the signal can be converted into a digital signal according to the conversion coefficient and the analog signal. In this way, the appropriate conversion coefficient can be determined according to different ranges, thereby improving the accuracy of the digital signal obtained by converting the signal according to the conversion coefficient and the analog signal, and avoiding the situation where all ranges use a unified conversion coefficient, resulting in a low accuracy of the digital signal obtained by converting the signal according to the conversion coefficient and the analog signal.

[0045] In an optional embodiment, the cutting head of the laser cutter can obtain the analog signal output by the point laser sensor once every preset time, and the cutting head can convert the analog signal output by the point laser sensor into a digital signal and determine the digital signal as the edge-finding height data, and then obtain the edge-finding height data from the cutting head; wherein the preset time can be 50ms. The sampling period of the point laser sensor can be 10 sets of data collected every millisecond. In the embodiment of the present invention, the data transmission between the laser cutter and the point laser sensor can adopt serial communication standards such as RS-485, RS-232, etc.

[0046] For example, the range of the point laser sensor can be 400mm, and the movement speed of the point laser sensor can be 200mm / s; the plate can be placed under the vertical path of the laser cutter nozzle, the light source of the point laser sensor is turned on, the irradiation point of the red light of the point laser sensor is adjusted to the preset machine tool format area, and the range of the point laser sensor is adjusted to 400mm; the edge search trajectory is Figure 3 1, 2, 3, 4, 5 in the figure. When the red light of the point laser sensor is always on, control the point laser sensor from Figure 3 Starting from the starting point Y1 in the edge-finding track shown, first search for the first edge point position along edge-finding track 1, then move along edge-finding track 2 to the starting point Y2, search for the second edge point position along edge-finding track 3, then move along edge-finding track 4 to the starting point Y3, and search for the third edge point position along edge-finding track 5, that is, the control point laser sensor moves according to 1→2→3→4→5.

[0047] Step 103, determine the positions of N edge points according to the edge search height data, where N≥3.

[0048] The edge finding height data includes at least two edge finding heights. The edge point position can be understood as the edge position of the plate determined according to the edge finding height data. In the embodiment of the present invention, the number of edge point positions determined by the edge finding height data obtained by the point laser sensor moving along different edge finding trajectories is different.

[0049] In an optional implementation, the height difference between two adjacent edge-finding heights is determined, and the edge point position is determined based on the height difference and a preset height, wherein the height difference can be understood as the absolute value of the value obtained by calculating the difference between two adjacent edge-finding heights.

[0050] Specifically, the difference can be obtained by subtracting two adjacent edge-finding height data, and the absolute value of the difference is determined as the height difference. Then, when the height difference is greater than the preset height, the first acquisition time of the two adjacent edge-finding heights is determined; the smaller first acquisition time is determined as the first target time, and finally the position of the point laser sensor at the first target time is determined as the edge point position. The preset height can be understood as a preset height threshold. The first acquisition time can be understood as the acquisition time of the edge-finding height data of the two point laser sensors whose height difference is greater than the preset height.

[0051] For example, the preset height is H, and the edge-finding height data includes the edge-finding height A and the edge-finding height B. The acquisition time of the edge-finding height A is T1, and the acquisition time of the edge-finding height B is T2, T1<T2, the position of the point laser sensor at the acquisition time T1 is (x1, y1), and the position of the point laser sensor at the acquisition time T2 is (x2, y2); the edge-finding height A and the edge-finding height B can be subtracted to obtain the height difference d, and the absolute value D of d is determined as the height difference, and then when D is greater than H, the first acquisition time T1 of the edge-finding height A and the acquisition time T2 of the edge-finding height B are determined; the smaller first acquisition time T1 is determined as the first target time, and finally the position (x1, y1) of the point laser sensor at the first target time (T1) is determined as the edge point position.

[0052] In an embodiment of the present invention, a smaller first acquisition time is determined as the first target time, and the position of the point laser sensor at the first target time is determined as the edge point position. This is equivalent to determining the position of the point laser sensor corresponding to the earliest first acquisition time of the two adjacent edge-seeking heights as the edge point position when it is determined that the height difference between the two adjacent edge-seeking heights is greater than the preset height. This can reduce the data delay of the determined edge point position, improve the accuracy of the edge point position, and avoid a large error between the determined edge point position and the actual edge point position due to time-consuming data transmission of the point laser sensor.

[0053] Optionally, if the positions of N edge points fail to be determined based on the edge search height data, a log report may be generated and the state machine may be exited, so that the user can quickly adjust the edge search starting point and edge search trajectory based on the log report.

[0054] Step 104, determining the plate vertex and edge-finding angle according to the edge point position, and correcting the processing figure according to the plate vertex and edge-finding angle.

[0055] The plate vertex can be understood as the zero point of the plate, and the edge search angle can be understood as the tilt angle of the plate on the machine tool.

[0056] In an optional embodiment, there are at least three edge point positions; a first straight line is obtained by connecting two edge point positions on the same side; a second straight line is made perpendicular to the first straight line, and the second straight line passes through other edge point positions other than the two edge point positions and which are not on the same side as the two edge point positions; and the intersection of the first straight line and the second straight line is determined as the vertex of the plate.

[0057] The positions of two edge points on the same side include a first position and a second position, the first position includes a first horizontal coordinate and a first vertical coordinate, and the second position includes a second horizontal coordinate and a second vertical coordinate.

[0058] The edge-finding angle is determined according to the edge point position. The first ordinate and the second ordinate can be subtracted to obtain a first difference, the first abscissa and the second abscissa can be subtracted to obtain a second difference, and the first difference and the second difference can be divided to obtain the edge-finding angle. The positions of multiple corner points of the processed figure are determined according to the plate vertices, and then the target corner points are determined according to the corner point positions of the multiple corner points, and the target corner points are aligned with the plate vertices. When the edge-finding angle is a positive value, any side of the processed figure is offset clockwise by the edge-finding angle. When the edge-finding angle is a negative value, any side of the processed figure is offset counterclockwise by the absolute value of the edge-finding angle to complete the correction of the processed figure.

[0059] Specifically, a coordinate system can be established with the vertex of the plate as the coordinate origin, and then the corner point positions of multiple corner points of the plate are determined according to the coordinate system, and the distance from each corner point to the vertex of the plate is calculated according to the corner point position of each corner point and the vertex of the plate, and the corner point corresponding to the minimum distance is determined as the target corner point.

[0060] For example, Figure 4 As shown, the edge point positions include edge point position 1, edge point position 2 and edge point position 3, and the first straight line L1 is obtained by connecting edge point position 1 and edge point position 2; a second straight line L2 perpendicular to the first straight line L1 is made, and the second straight line L2 passes through edge point position 3 other than the two edge point positions and not on the same side as the two edge point positions; the intersection of the first straight line L1 and the second straight line L2 is determined as the plate vertex; then the first ordinate and the second ordinate can be subtracted to obtain a first difference, the first abscissa and the second abscissa can be subtracted to obtain a second difference, and the first difference and the second difference can be divided to obtain the edge-finding angle; finally, the corner point positions of multiple corner points of the processed figure are determined according to the plate vertex, and then the target corner point is determined according to the corner point positions of the multiple corner points, as shown in FIG. Figure 5 As shown, the target corner point of the processed figure is corner point 4. Corner point 4 is aligned with the vertex of the plate, and the processed figure is offset by the edge-finding angle to complete the correction of the processed figure.

[0061] Step 105, controlling the laser cutter to process the plate according to the processing parameters.

[0062] The processing parameters may include a preset processing starting point and a processing trajectory.

[0063] In an optional implementation, the laser cutter may be controlled to cut the plate according to a processing trajectory starting from a preset processing starting point.

[0064] In the embodiment of the present invention, the point laser sensor is controlled to move to the edge-seeking starting point and move along the edge-seeking trajectory, and in the process of the movement of the point laser sensor, the edge-seeking height data of the point laser sensor is obtained, and then the positions of N edge points are determined according to the edge-seeking height data, where N ≥ 3. Since the diameter of the light spot of the point laser sensor is smaller than the cross-section of the nozzle sensing capacitor area of ​​the laser cutter, in the process of controlling the point laser sensor to move along the edge-seeking trajectory, if the point laser sensor can accurately detect the edge-seeking height data of the edge position when the nozzle center moves along the edge-seeking trajectory of the nozzle, the edge point coordinate data obtained by the point laser sensor in the edge-seeking trajectory will have higher accuracy, which greatly improves the accuracy of determining the vertex and edge-seeking angle of the plate according to the edge point position; since the frequency of the point laser sensor acquiring the height data is high, the speed of determining the edge point position according to the edge-seeking height data is improved, thereby improving the speed of determining the vertex and edge-seeking angle of the plate according to the edge point position; and since the point laser sensor The device does not need to follow the nozzle of the laser cutter to the plate surface, and can shorten the acquisition time of the edge-finding height data by increasing the movement speed along the edge-finding trajectory. The data stability of the point laser sensor is higher than that of the capacitive sensor when disturbed by external factors, thereby improving the speed and accuracy of determining the edge point position according to the edge-finding height data, thereby improving the accuracy of the plate vertex and the edge-finding angle determined according to the edge point position, that is, improving the edge-finding accuracy and efficiency, and solving the problems of slow edge-finding speed, low edge-finding accuracy and efficiency of capacitive edge-finding. In addition, due to the edge-finding method of laser cutting provided by the present invention, the accuracy and speed of the edge point position determined according to the edge-finding height data are improved, the rack and the plate can be quickly distinguished according to the edge-finding height data, and the nozzle will not be followed to the plate surface, thereby avoiding the situation of the cutting head being stuck during the edge-out movement, and solving the problem of damage to the cutting head of the laser cutter due to the capacitive sensor being easily disturbed by external factors and being unstable.

[0065] In some embodiments, after correcting the processing graphics according to the vertices of the plate and the edge-finding angle, it can also include: aligning the position of the laser cutter with the position of the point laser sensor, so as to eliminate the position deviation between the point laser sensor and the laser sensor, ensure that the actual processing starting point of the laser cutter is the same as the preset processing starting point, improve the processing accuracy of controlling the laser cutter to process the plate according to the processing parameters, and avoid the situation where the plate processing errors occur when controlling the laser cutter to process the plate according to the processing parameters due to the difference between the actual processing starting point of the laser cutter and the preset processing starting point.

[0066] In an optional implementation, an edge correction value can be obtained, and the laser sensor can be controlled to move the edge correction value into the plate to achieve the purpose of aligning the position of the laser sensor nozzle with the point laser sensor. The edge correction value can be understood as a preset distance that the point laser sensor moves into the plate. The edge correction value can include a first correction value and a second correction value, the first correction value can be understood as the distance that the point laser sensor moves into the plate in the left-right direction, and the second correction value can be understood as the distance that the point laser sensor moves into the plate in the front-back direction.

[0067] For example, Figure 2 As shown, the user can input the first correction value and the second correction value in the intelligent boundary detection surface. After the user clicks the edge-finding control, the first correction value and the second correction value input by the user can be automatically obtained, and the laser sensor can be controlled to move the first correction value in the left-right direction of the plate, and the laser sensor can be controlled to move the second correction value in the front-back direction of the plate, so as to achieve the purpose of aligning the nozzle of the laser sensor with the position of the point laser sensor.

[0068] In some embodiments, the edge-seeking starting point and edge-seeking trajectory can be obtained, and the point laser sensor can be controlled to move to the edge-seeking starting point and move along the edge-seeking trajectory. During the movement of the point laser sensor, the edge-seeking height data of the point laser sensor can be obtained, and the positions of the three edge points are determined according to the edge-seeking height data. The center of the disk is determined according to the positions of the three edge points. In this way, the purpose of disk centering can be achieved.

[0069] In an optional implementation, the coordinate values ​​of the three edge points may be substituted into a three-point center formula to calculate the center of the disk.

[0070] Optionally, the point laser sensor can be replaced with a line laser sensor, and the line laser sensor is used to quickly scan the entire plate along the scanning trajectory to obtain edge-finding point cloud data, and then the plate vertices and edge-finding angles are determined based on the edge-finding point cloud data. The processing graphics are corrected based on the plate vertices and edge-finding angles, and the laser cutter is controlled to process the plate according to the processing parameters.

[0071] Among them, the edge-finding point cloud data can be understood as the position data of multiple points of the plate obtained by the line laser sensor scanning the plate; the edge-finding point cloud data can include edge-finding height data.

[0072] In an optional embodiment, edge-finding height data in the edge-finding point cloud data can be obtained, and then the positions of N edge points are determined based on the edge-finding height data, where N ≥ 3; the vertices and edge-finding angles of the plate are determined based on the edge point positions, and the processing graphics are corrected based on the vertices and edge-finding angles of the plate, and the laser cutter is controlled to process the plate according to the processing parameters.

[0073] Optionally, the point laser sensor can be replaced with a shooting device (e.g., a camera), and the shooting device and the laser cutter are bound to each other and can move simultaneously; the laser cutter is controlled to move along the edge-finding track, and when the laser cutter moves, the shooting data obtained by the shooting device shooting the plate is obtained in real time, and the user determines whether the position of the red light of the laser cutter is out of the edge based on the shooting data. When it is determined that the position of the red light of the laser cutter is out of the edge, the user manually triggers the operation of recording the edge point position, and the edge point position is automatically recorded. The shooting data can be a video or an image.

[0074] The edge finding method of laser cutting provided by the embodiment of the present invention is further described below. Figure 6 As shown, Figure 6 FIG. 1 is another flow chart of the edge finding method for laser cutting provided by an embodiment of the present invention, which may specifically include the following steps:

[0075] Step 201, obtaining the edge-finding starting point and edge-finding trajectory.

[0076] Step 202 , control the point laser sensor to move to the edge-seeking starting point and move along the edge-seeking trajectory, and acquire the edge-seeking height data of the point laser sensor during the movement of the point laser sensor.

[0077] Step 203, determining the height difference between two adjacent edge-finding heights.

[0078] Step 204: determine the edge point position according to the height difference and the preset height.

[0079] Step 205: connect the positions of two edge points on the same side to obtain a first straight line.

[0080] Step 206 , draw a second straight line perpendicular to the first straight line, the second straight line passing through other edge point positions other than the two edge point positions and not on the same side as the two edge point positions.

[0081] Step 207: determine the intersection of the first straight line and the second straight line as the vertex of the plate.

[0082] Step 208: Subtract the first ordinate from the second ordinate to obtain a first difference.

[0083] Step 209: Subtract the first horizontal coordinate from the second horizontal coordinate to obtain a second difference.

[0084] Step 210, dividing the first difference and the second difference to obtain an edge-finding angle.

[0085] Step 211, correcting the processing graphics according to the plate vertices and edge search angles.

[0086] Step 212, controlling the laser cutter to process the plate according to the processing parameters.

[0087] In the embodiment of the present invention, the point laser sensor is controlled to move to the edge-seeking starting point and move along the edge-seeking trajectory, and in the process of the movement of the point laser sensor, the edge-seeking height data of the point laser sensor is obtained, and then the positions of N edge points are determined according to the edge-seeking height data, where N ≥ 3. Since the diameter of the light spot of the point laser sensor is smaller than the cross-section of the nozzle sensing capacitor area of ​​the laser cutter, in the process of controlling the point laser sensor to move along the edge-seeking trajectory, if the point laser sensor can accurately detect the edge-seeking height data of the edge position when the nozzle center moves along the edge-seeking trajectory of the nozzle, the edge point coordinate data obtained by the point laser sensor in the edge-seeking trajectory will have higher accuracy, which greatly improves the determination of the plate vertex and edge-seeking angle according to the edge point position. The accuracy of the degree is improved; since the point laser sensor obtains height data at a high frequency, the speed of determining the edge point position according to the edge-finding height data is improved, thereby improving the speed of determining the plate vertex and edge-finding angle according to the edge point position; and, since the point laser sensor does not need to follow the nozzle of the laser cutter to the plate surface, it can shorten the acquisition time of the edge-finding height data by increasing the movement speed along the edge-finding trajectory, and the data stability of the point laser sensor when interfered by external factors is higher than that of the capacitive sensor, thereby improving the speed and accuracy of determining the edge point position according to the edge-finding height data, thereby improving the accuracy of the plate vertex and edge-finding angle determined according to the edge point position, that is, improving the edge-finding accuracy and efficiency.

[0088] The edge finding method for laser cutting provided by an embodiment of the present invention is further described below. Figure 7 FIG. 1 is another flow chart of the edge finding method for laser cutting provided by an embodiment of the present invention. Figure 7 As shown, the following steps may be specifically included:

[0089] Step 301, obtaining the edge search starting point and edge search trajectory.

[0090] Step 302 , control the point laser sensor to move to the edge-seeking starting point and move along the edge-seeking trajectory, and acquire the edge-seeking height data of the point laser sensor during the movement of the point laser sensor.

[0091] Step 303, determining the positions of N edge points according to the edge finding height data.

[0092] Step 304, determining the plate vertex and edge-finding angle according to the edge point position, and correcting the processing figure according to the plate vertex and edge-finding angle.

[0093] Step 305, determining whether the border-walking function is enabled, if the border-walking function is enabled, executing step 306, if the border-walking function is not enabled, executing step 312.

[0094] Step 306: The control point laser sensor performs a border-walking function.

[0095] In an optional implementation, a border-walking trajectory may be obtained, and the control point laser sensor performs a border-walking function according to the border-walking trajectory.

[0096] For example, Figure 3 6, 7, 8, 9, and 10 are the obtained border-walking trajectories. The point laser sensor can be controlled to perform the border-walking function according to 6→7→8→9→10.

[0097] Step 307, determining whether the border-walking function is executed. If the border-walking function is executed, executing step 308, if the border-walking function is not executed, returning to executing step 306.

[0098] Step 308, obtaining border height data of the point laser sensor.

[0099] The border height data can be understood as a digital signal obtained by converting the analog signal of the point laser sensor during the border walking process.

[0100] Step 309, determining whether the processed graphics are out of the edge according to the border height data, if it is determined that the processed graphics are out of the edge, executing step 309, if it is determined that the processed graphics are not out of the edge, returning to execute step 308.

[0101] In the process of controlling the point laser sensor to perform the border function, if the irradiation position of the red light point of the point laser sensor is always in the preset machine tool format area, that is, the irradiation position of the red light point of the point laser sensor is always in the plate area, then the height change of the border height data is small, and the deviation degree of the border height from the average border height will also be small. If the irradiation position of the red light point of the point laser sensor changes from the plate to the rack, the height change of the border height data is large, and the deviation degree of the border height from the average border height. The variance can reflect the deviation degree of the border height from the average border height, so when the variance of the height of two adjacent borders is greater than the preset variance, it can be determined that the processing figure is out of the edge. Therefore, in an optional embodiment, the variance of the height of two adjacent borders can be determined, and whether the processing figure is out of the edge can be determined based on the variance and the preset variance. In this way, it can be more accurately determined whether the processing figure is out of the edge based on the variance of the height of two adjacent borders and the preset variance.

[0102] Specifically, when the variance is greater than a preset variance, it is determined that the processed graph has an edge.

[0103] Optionally, the irradiation object of the red light point of the point laser sensor may be determined according to the variance of the heights of two adjacent borders and a preset variance.

[0104] Specifically, when the variance is greater than the preset variance, the red light point of the point laser sensor illuminates the rack, and when the variance is not greater than the preset variance, the red light point of the point laser sensor illuminates the plate, so that the plate and the rack can be distinguished.

[0105] Step 310, determining the edge position according to the border height data.

[0106] The edge-out position can be understood as a position on the processing graphic that is not within the plate area and is determined based on the frame height data.

[0107] Step 311, marking edge positions on the processed graphics.

[0108] In an optional embodiment, a second acquisition time of two adjacent border heights whose variance is greater than a preset variance is determined, the smaller second acquisition time is determined as the second target time, and the position of the point laser sensor at the second target time is determined as the edge exit position. This can reduce the data delay of the determined edge exit position, improve the accuracy of the edge exit position, and avoid a large error between the determined edge exit position and the actual edge exit position due to time-consuming data transmission of the point laser sensor.

[0109] Step 312, controlling the laser cutter to process the plate according to the processing parameters.

[0110] In the embodiment of the present invention, it is determined whether the border-walking function is turned on. When the border-walking function is turned on, the point laser sensor is controlled to execute the border-walking function. When the border-walking function is executed, the border-walking height data of the point laser sensor is obtained. When the edge of the processed graphic is determined according to the border-walking height data, the edge-walking position is determined according to the border-walking height data, and the edge-walking position is marked on the processed graphic. In this way, the user can determine whether the plate has a missing corner and the edge-walking direction according to the edge-walking position marked on the processed graphic. When the plate has a missing corner, the plate can be replaced in time to avoid errors in plate processing due to the missing corner of the plate; the user can also correct the vertex of the plate according to the edge-walking position marked on the processed graphic to ensure the accuracy of subsequent plate processing.

[0111] Figure 8 FIG. 1 is another flow chart of the edge finding method for laser cutting provided by an embodiment of the present invention. Figure 8 As shown, the following steps may be specifically included:

[0112] Step 401, obtaining the edge-finding starting point and edge-finding trajectory.

[0113] Step 402 , control the point laser sensor to move to the edge-seeking starting point and move along the edge-seeking trajectory, and acquire the edge-seeking height data of the point laser sensor during the movement of the point laser sensor.

[0114] Step 403, determining the positions of N edge points according to the edge finding height data.

[0115] Step 404, determining the plate vertex and edge-finding angle according to the edge point position, and correcting the processing figure according to the plate vertex and edge-finding angle.

[0116] Step 405, determining whether the border-walking function is enabled, if the border-walking function is enabled, executing step 406, if the border-walking function is not enabled, executing step 410.

[0117] Step 406: The control point laser sensor performs a border-walking function.

[0118] Step 407, when the point laser sensor performs the border-walking function, obtain the border-walking height data of the point laser sensor.

[0119] Step 408, determining whether the processed graphics are out of the edge according to the border height data, and when it is determined that the processed graphics are out of the edge, executing step 409, and when it is determined that the processed graphics are not out of the edge, returning to execute step 407.

[0120] Step 409: the control point laser sensor stops executing the border-walking function.

[0121] Step 410, controlling the laser cutter to process the plate according to the processing parameters.

[0122] In an embodiment of the present invention, it is determined whether the border-walking function is turned on. When the border-walking function is turned on, the point laser sensor is controlled to execute the border-walking function. In the process of the point laser sensor executing the border-walking function, the border-walking height data of the point laser sensor is obtained. When it is determined that the processed graphics are out of edge according to the border-walking height data, the point laser sensor is controlled to stop executing the border-walking function, and a vertex correction prompt is generated, so that the user can correct the plate vertex according to the vertex correction prompt, and control the laser cutter to process the plate according to the processing parameters, that is, the processing graphic stops when it is out of edge. In this way, after the plate processing is completed, the user can correct the plate vertex more quickly and timely according to the position corresponding to the border-walking height data when the border-walking function is stopped, so as to ensure the accuracy of subsequent plate processing.

[0123] Optionally, after the control point laser sensor stops executing the border-walking function, a vertex correction prompt can be generated so that the user can correct the plate vertices according to the vertex correction prompt, and then control the laser cutter to process the plate according to the processing parameters, that is, stop when the processing graphics goes out of the edge. In this way, after the plate processing is completed, the user can correct the plate vertices more quickly and timely according to the position corresponding to the border-walking height data when the border-walking function stops, so as to ensure the accuracy of subsequent plate processing.

[0124] Optionally, after the processing graphics are corrected according to the plate vertices and edge-finding angles, the point laser sensor can be controlled to execute the envelope line function. In the process of the point laser sensor executing the envelope line function, the envelope line height data of the point laser sensor is obtained; according to the envelope line height data, it is determined whether the envelope line is out of the edge; when it is determined that the envelope line is out of the edge, the point laser sensor is controlled to stop executing the envelope line function, and the line out-of-edge position is marked on the envelope line, so that the user can correct the processing graphics to the plate according to the line out-of-edge position, so as to achieve the purpose of more accurately mapping the processing graphics into the plate. Among them, the envelope line can be understood as the outer frame line generated close to the processing graphics. The line out-of-edge position can be understood as the position on the envelope line that does not belong to the plate area determined according to the envelope line height data.

[0125] Fig. 9 FIG. 1 is a schematic diagram of a structure of an edge-finding device for laser cutting provided in an embodiment of the present invention. The device is suitable for executing an edge-finding method for laser cutting provided in an embodiment of the present invention. Fig. 9 As shown, the device may specifically include:

[0126] A first acquisition module 501 is used to acquire an edge-finding starting point and an edge-finding trajectory;

[0127] The second acquisition module 502 is used to control the point laser sensor to move to the edge-finding starting point and move along the edge-finding trajectory, and to obtain the edge-finding height data of the point laser sensor during the movement of the point laser sensor;

[0128] A first determination module 503 is used to determine N edge point positions according to the edge search height data, where N≥3;

[0129] A second determination module 504 is used to determine the plate vertex and the edge-finding angle according to the edge point position, and to correct the processing figure according to the plate vertex and the edge-finding angle;

[0130] The plate processing module 505 is used to control the laser cutter to process the plate according to the processing parameters.

[0131] Optionally, the edge-finding height data includes at least two edge-finding heights, and the first determining module 503 is specifically configured to:

[0132] Determine the height difference between two adjacent edge-finding heights;

[0133] The position of the edge point is determined according to the height difference and a preset height.

[0134] Optionally, the first determining module 503 determines the edge point position according to the height difference and a preset height, including:

[0135] When the height difference is greater than a preset height, determining a first acquisition time of the two adjacent edge-finding heights;

[0136] determining the smaller first acquisition time as the first target time;

[0137] The position of the point laser sensor at the first target time is determined as the edge point position.

[0138] Optionally, there are at least three edge point positions, and the second determination module 504 determines the plate vertex according to the edge point positions, including:

[0139] Connect the two edge points on the same side to get the first straight line;

[0140] Draw a second straight line perpendicular to the first straight line, the second straight line passing through other edge point positions other than the two edge point positions and not on the same side as the two edge point positions;

[0141] The intersection point of the first straight line and the second straight line is determined as the vertex of the plate.

[0142] Optionally, the two edge point positions on the same side include a first position and a second position, the first position includes a first horizontal coordinate and a first vertical coordinate, and the second position includes a second horizontal coordinate and a second vertical coordinate, and the second determination module 504 determines the edge-finding angle according to the edge point positions, including:

[0143] Subtracting the first ordinate from the second ordinate to obtain a first difference;

[0144] Subtracting the first horizontal coordinate from the second horizontal coordinate to obtain a second difference;

[0145] The first difference is divided by the second difference to obtain the edge-finding angle.

[0146] Furthermore, the device also includes:

[0147] A border-walking execution module is used to control the point laser sensor to execute the border-walking function when the border-walking function is turned on;

[0148] A third determination module is used to obtain the frame-walking height data of the point laser sensor when the frame-walking function is executed, and determine whether the processed graphic is out of the edge according to the frame-walking height data;

[0149] A fourth determination module is used to determine the edge-out position according to the frame height data when determining the edge-out of the processed graphic;

[0150] A position marking module is used to mark the edge position on the processing figure.

[0151] Optionally, the border height data includes at least two border heights, and the third determination module determines whether the processed graphic is out of the edge according to the border height data, including:

[0152] Determine the variance of the heights of two adjacent borders;

[0153] Whether the processed graphic has an edge is determined according to the variance and a preset variance.

[0154] Optionally, the third determination module determines whether the processed graphic has an edge according to the variance and a preset variance, including:

[0155] When the variance is greater than the preset variance, it is determined that the processed graphic has an edge.

[0156] Optionally, the fourth determination module determines the edge position according to the edge frame height data, including:

[0157] Determine a second acquisition time of two adjacent border heights whose variance is greater than the preset variance;

[0158] determining the smaller second acquisition time as the second target time;

[0159] The position of the point laser sensor at the second target time is determined as the edge-out position.

[0160] Furthermore, the device also includes:

[0161] A third acquisition module is used to obtain the border height data of the point laser sensor when the point laser sensor performs the border function;

[0162] A fifth determination module, used for determining whether the processed graphic is out of the edge according to the border height data;

[0163] The frame-breaking stop module is used to control the point laser sensor to stop executing the frame-breaking function when it is determined that the processed graphic is out of the edge.

[0164] Furthermore, the device also includes:

[0165] A position alignment module is used to align the position of the laser cutter with the position of the point laser sensor.

[0166] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0167] The edge-finding device for laser cutting provided by the embodiment of the present invention controls a point laser sensor to move to the edge-finding starting point and move along an edge-finding trajectory, and during the movement of the point laser sensor, obtains edge-finding height data of the point laser sensor, and then determines the positions of N edge points according to the edge-finding height data, where N≥3. Since the diameter of the light spot of the point laser sensor is smaller than the cross-section of the nozzle sensing capacitor area of ​​the laser cutter, in the process of controlling the point laser sensor to move along the edge-finding trajectory, if the point laser sensor can accurately detect the edge-finding height data of the edge position when the nozzle center moves along the edge-finding trajectory of the nozzle, the edge point coordinate data obtained by the point laser sensor in the edge-finding trajectory will have higher accuracy, thereby greatly improving the accuracy of determining the vertex and edge-finding angle of the plate according to the edge point position; since the frequency of the point laser sensor acquiring height data is high, the speed of determining the edge point position according to the edge-finding height data is improved, thereby improving the speed of determining the vertex and edge-finding angle of the plate according to the edge point position; and since The point laser sensor does not need to follow the nozzle of the laser cutter to the plate surface, and can shorten the acquisition time of the edge-finding height data by increasing the movement speed along the edge-finding trajectory. The data stability of the point laser sensor when disturbed by external factors is higher than that of the capacitive sensor, thereby improving the speed and accuracy of determining the edge point position according to the edge-finding height data, thereby improving the accuracy of the plate vertex and the edge-finding angle determined according to the edge point position, that is, improving the edge-finding accuracy and efficiency, and solving the problems of slow edge-finding speed, low edge-finding accuracy and efficiency of capacitive edge-finding. In addition, due to the edge-finding method of laser cutting provided by the present invention, the accuracy and speed of the edge point position determined according to the edge-finding height data are improved, and the rack and the plate can be quickly distinguished according to the edge-finding height data, and the nozzle will not be followed to the plate surface, so that the cutting head is avoided from getting stuck during the edge-out movement, and the problem of damage to the cutting head of the laser cutter caused by the capacitive sensor being easily disturbed by external factors and being unstable is solved.

[0168] Fig.10 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0169] Please refer to Fig.10 , an electronic device 60 is provided, comprising:

[0170] processor 61; and

[0171] A memory 62, used to store executable instructions of the processor;

[0172] The processor 61 is configured to execute the above-mentioned method by executing the executable instructions.

[0173] The processor 61 can communicate with the memory 62 via a bus 63 .

[0174] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method is implemented.

[0175] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0176] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser cutting edge finding method, characterized in that: The method comprises: Get the edge search starting point and edge search trajectory; Controlling the point laser sensor to move to the edge-finding starting point and move along the edge-finding trajectory, and acquiring edge-finding height data of the point laser sensor during the movement of the point laser sensor; Determine N edge point positions according to the edge-finding height data, where N≥3; Determine the plate vertex and the edge-finding angle according to the edge point position, and correct the processing figure according to the plate vertex and the edge-finding angle; The laser cutter is controlled to process the plate according to the processing parameters.

2. The method according to claim 1, characterized in that The edge finding height data includes at least two edge finding heights, and determining the edge point position according to the edge finding height data includes: Determine the height difference between two adjacent edge-finding heights; The position of the edge point is determined according to the height difference and a preset height.

3. The method according to claim 2, characterized in that The step of determining the edge point position according to the height difference and a preset height includes: When the height difference is greater than a preset height, determining a first acquisition time of the two adjacent edge-finding heights; determining the smaller first acquisition time as the first target time; The position of the point laser sensor at the first target time is determined as the edge point position.

4. The method according to claim 1, characterized in that: There are at least three edge point positions, and determining the plate vertices according to the edge point positions includes: Connect the two edge points on the same side to get the first straight line; Draw a second straight line perpendicular to the first straight line, the second straight line passing through other edge point positions other than the two edge point positions and not on the same side as the two edge point positions; The intersection point of the first straight line and the second straight line is determined as the vertex of the plate.

5. The method according to claim 4, characterized in that The two edge point positions on the same side include a first position and a second position, the first position includes a first horizontal coordinate and a first vertical coordinate, the second position includes a second horizontal coordinate and a second vertical coordinate, and determining the edge-finding angle according to the edge point positions includes: Subtracting the first ordinate from the second ordinate to obtain a first difference; Subtracting the first horizontal coordinate from the second horizontal coordinate to obtain a second difference; The first difference is divided by the second difference to obtain the edge-finding angle.

6. The method according to claim 1, characterized in that After the processing graphics are corrected according to the plate vertex and the edge-finding angle, the method further includes: When the border-walking function is turned on, the point laser sensor is controlled to execute the border-walking function; When the border-walking function is executed, the border-walking height data of the point laser sensor is obtained, and whether the processed graphic is out of the edge is determined according to the border-walking height data; When determining the edge of the processed graphic, determining the edge position according to the frame height data; The edge position is marked on the processing figure.

7. The method according to claim 6, characterized in that The border height data includes at least two border heights, and determining whether the processed graphic is out of the border according to the border height data includes: Determine the variance of the heights of two adjacent borders; Whether the processed graphic has an edge is determined according to the variance and a preset variance.

8. The method according to claim 7, characterized in that The step of determining whether the processed graphic has an edge according to the variance and a preset variance includes: When the variance is greater than the preset variance, it is determined that the processed graphic has an edge.

9. The method according to claim 8, characterized in that The step of determining the edge position according to the edge frame height data includes: Determine a second acquisition time of two adjacent border heights whose variance is greater than the preset variance; determining the smaller second acquisition time as the second target time; The position of the point laser sensor at the second target time is determined as the edge-out position.

10. The method according to claim 1, characterized in that After the processing graphics are corrected according to the plate vertex and the edge-finding angle, the method further includes: When the border-walking function is turned on, the point laser sensor is controlled to execute the border-walking function; In the process of the point laser sensor performing the border-walking function, obtaining border-walking height data of the point laser sensor; Determine whether the processed graphic is out of the edge according to the border height data; When it is determined that the processed graphic is out of the edge, the point laser sensor is controlled to stop executing the border-walking function.

11. The method according to claim 1, characterized in that: After the processing graphics are corrected according to the plate vertex and the edge-finding angle, the method further includes: The position of the laser cutter is aligned with the position of the point laser sensor.

12. A laser cutting edge finding device, characterized in that: The device comprises: A first acquisition module is used to acquire an edge-finding starting point and an edge-finding trajectory; A second acquisition module is used to control the point laser sensor to move to the edge-finding starting point and move along the edge-finding trajectory, and to acquire the edge-finding height data of the point laser sensor during the movement of the point laser sensor; A first determination module is used to determine N edge point positions according to the edge search height data, where N≥3; A second determination module is used to determine the plate vertex and the edge-finding angle according to the edge point position, and to correct the processing figure according to the plate vertex and the edge-finding angle; The plate processing module is used to control the laser cutter to process the plate according to processing parameters.

13. An electronic device, characterized in that: Including processor and memory, The memory is used to store codes and related data; The processor is used to execute the code in the memory to implement the edge-finding method for laser cutting as described in any one of claims 1 to 11.

14. A storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the edge-finding method for laser cutting according to any one of claims 1 to 11 is implemented.

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