Laser cutting method, system and device suitable for steel structure machining

Abstract

The invention relates to the technical field of intelligent welding systems, in particular to a laser cutting method, system and device suitable for steel structure machining, and the method comprises the steps that a grid map used for planning a cutting path of a to-be-cut steel plate is obtained; acquiring the temperature rise amount of each edge generated by laser cutting; marking the cut edges before each edge is cut as each cut edge, and obtaining the residual heat coefficient and the heat accumulation coefficient of each edge; obtaining the angle influence degree of each edge by comparing the cutting duration of each edge with all previous cut edges and combining the included angle between each edge and the previous cut edge adjacent to each edge with the difference between the included angle and a preset angle threshold value; and heuristic information of each edge of the ant colony optimization algorithm during path planning is obtained, and then the optimal laser cutting path is obtained. According to the method, the cutting path of the steel plate can be optimized by reconstructing the heuristic information in the ant colony optimization algorithm, and then the intelligent welding effect of a subsequent steel structure is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent welding systems, and in particular to a laser cutting method, system and device suitable for steel structure processing. Background Art

[0002] As an important component of advanced manufacturing technology, intelligent welding systems are increasingly demonstrating their important social value and technical significance. Intelligent welding systems can not only achieve high-precision and high-stability automated welding operations, significantly improving production efficiency and product quality, but can also replace manual operations in dangerous working environments such as high temperature and high pressure, significantly reducing occupational safety risks. Steel structures are currently widely used in construction, machinery manufacturing, transportation and other fields due to their excellent mechanical properties and plasticity. For intelligent welding of steel structures, it is usually necessary to first cut the steel plates according to the needs, and then perform intelligent welding operations after processing. At present, laser cutting technology has gradually become an important process means in the field of steel structure processing due to its high precision, high speed, low heat-affected zone and good flexible processing capabilities.

[0003] When laser cutting steel plates before intelligent welding, path optimization algorithms are often used to assist laser cutting, intelligently planning the cutting sequence and trajectory. Ant colony optimization (ACO) is a commonly used method, which can improve efficiency, reduce costs, reduce idle motion, and avoid unnecessary equipment wear. However, ACO planning often overlooks the continuous cutting of densely packed edges or edges with small adjacent angles, leading to localized heat accumulation. This results in poor steel plate cutting quality in practice, which in turn affects the subsequent intelligent welding of steel structures. Summary of the Invention

[0004] In view of the above, it is necessary to provide a laser cutting method, system and device suitable for steel structure processing. Compared with the traditional laser cutting method, system and device suitable for steel structure processing, by reconstructing the heuristic information in the ant colony optimization algorithm, the cutting path of the steel plate can be optimized, thereby improving the subsequent intelligent welding effect of the steel structure: In a first aspect, an embodiment of the present application provides a laser cutting method suitable for steel structure processing, the method comprising the following steps: Obtain the plate surface image of the steel plate to be cut and perform raster processing, calibrate the pattern to be cut into the processing result, and obtain a raster map for path planning; The energy absorption of each edge during laser cutting is obtained by measuring the power and duration of each edge in the laser cutting grid and the laser absorptivity of the steel. The temperature rise of each edge during laser cutting is then obtained by combining the length and width of each edge, the density and thickness of the steel plate where each edge is located, and the specific heat capacity of the steel. The edges that have been cut before each edge is cut are recorded as each cut edge. The residual heat coefficient of each edge is obtained by combining the temperature rise of all the cut edges before each edge and the time difference between the cutting start time of each edge and its previously cut edges. The accumulated heat coefficient of each edge is obtained by combining the temperature rise and the cutting time of each edge. The angular influence of each edge is obtained by comparing the cutting time of each edge with all previously cut edges and combining the angle between each edge and its adjacent previous cut edge with the difference compared with the preset angle threshold. Through the length, heat accumulation coefficient and angle influence of each edge, the heuristic information of each edge in the path planning of the ant colony optimization algorithm is obtained. Combined with the ant colony optimization algorithm, the optimal laser cutting path is obtained, and the steel plate to be cut is cut through the optimal laser cutting path.

[0005] In one embodiment, the process of obtaining the temperature rise is as follows: Calculate the product of the length, width, density and thickness of each side; Calculating a product value of the product and the specific heat capacity; The temperature rise is the ratio of the energy absorption to the product value.

[0006] In one embodiment, the expression of the residual heat coefficient is: Where, represents the residual heat coefficient of the kth edge; ϑ represents the preset first positive number; k represents the sequence number of the edge; It represents the temperature rise of the mth cut edge caused by laser cutting; represents an exponential function with a natural constant as its base; 、 They represent the cutting start time of the kth edge and the mth cut edge respectively.

[0007] In one embodiment, the heat accumulation coefficient is expressed as: Where, represents the heat accumulation coefficient of the kth edge; represents the temperature rise of the kth edge caused by laser cutting; φ represents the preset second positive number; represents the duration of laser cutting the kth edge.

[0008] In one embodiment, the process of obtaining the angle influence is as follows: Calculate the average of the cutting time of each edge and all previously cut edges; record the ratio of the cutting time of each edge to the average as a first ratio; Calculating a difference between the preset angle threshold and the included angle, and recording a ratio of the difference to the preset angle threshold as a second ratio; The angle influence can be further obtained by using the first ratio and the second ratio.

[0009] In one embodiment, the angle influence is calculated as follows: The second ratio is used as the base of a power function with a preset value as an exponent, and the angle influence is the product of a calculation result of the power function and the first ratio.

[0010] In one embodiment, the process of obtaining the heuristic information is as follows: Calculate the weighted sum of the normalized value of the heat accumulation coefficient and the normalized value of the angle influence of each edge, where the weight of the normalized value of the heat accumulation coefficient and the weight of the normalized value of the angle influence are both preset values ​​greater than 0, and the sum of the weight of the normalized value of the heat accumulation coefficient and the weight of the normalized value of the angle influence is 1; The cumulative value of the weighted sum and 1 is calculated; and the heuristic information is inversely proportional to the cumulative value and the length of each edge.

[0011] In one embodiment, the heuristic information is the reciprocal of the product of the accumulated value and the length of each edge.

[0012] In a second aspect, an embodiment of the present application further provides a laser cutting system suitable for steel structure processing, the system comprising: The cutting information acquisition module is used to obtain the plate surface image of the steel plate to be cut and perform raster processing, calibrate the pattern to be cut into the processing result, and obtain a raster map for path planning; The cutting information analysis module is used to obtain the energy absorption of each edge during laser cutting by analyzing the power and duration of each edge in the laser cutting grid and the laser absorptivity of the steel. The module also obtains the temperature rise generated by laser cutting on each edge by combining the length and width of each edge, the density and thickness of the steel plate where each edge is located, and the specific heat capacity of the steel. The edges that have been cut before each edge is cut are recorded as each cut edge. The residual heat coefficient of each edge is obtained by combining the temperature rise of all the cut edges before each edge and the time difference between the cutting start time of each edge and its previously cut edges. The accumulated heat coefficient of each edge is obtained by combining the temperature rise and the cutting time of each edge. The angular influence of each edge is obtained by comparing the cutting time of each edge with all previously cut edges and combining the angle between each edge and its adjacent previous cut edge with the difference compared with the preset angle threshold. Through the length, cumulative heat coefficient and angle influence of each edge, the heuristic information of each edge in the ant colony optimization algorithm during path planning is obtained; The laser cutting path planning module is used to obtain the optimal laser cutting path by combining the heuristic information of each edge during path planning with the ant colony optimization algorithm, and cut the steel plate to be cut through the optimal laser cutting path.

[0013] In a third aspect, an embodiment of the present application also provides a laser cutting device suitable for steel structure processing, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, the steps of any one of the above-mentioned laser cutting methods suitable for steel structure processing are implemented.

[0014] This application has at least the following beneficial effects: By calculating the residual heat coefficient and the accumulated heat coefficient, this application can dynamically evaluate the thermal impact of each edge during the cutting process, helping to optimize the cutting sequence, avoid continuous cutting of adjacent edges or densely arranged edges, reduce local overheating caused by heat accumulation, reduce heat concentration, and thus improve cutting quality; by calculating the angle influence, the geometric constraints between adjacent edges in the cutting path can be evaluated, avoiding continuous cutting of edges with too small an angle, thereby reducing overburning and overheating deformation caused by too small an angle, and can better adapt to complex cutting patterns; Furthermore, the heuristic information in the ant colony optimization algorithm is reconstructed by combining the path length, heat accumulation coefficient and angle influence. Compared with the existing method of path planning based only on the path length, the reconstructed heuristic information can reduce unnecessary cutting paths and pause times, improve cutting efficiency, and avoid cutting quality problems caused by heat accumulation and geometric constraints, thereby improving the cutting quality of steel plates and thus improving the intelligent welding effect of steel structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 A flowchart of the steps of a laser cutting method applicable to steel structure processing provided in one embodiment of the present application; Figure 2 Schematic diagram of the process of obtaining heuristic information. DETAILED DESCRIPTION

[0017] In the description of the embodiments of this application, words such as "exemplary," "or," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "or," and "for example" is intended to present the relevant concepts in a concrete manner.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application relates. The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. It should be understood that, unless otherwise indicated, " / " represents or.

[0019] It should also be noted that the terms "first" and "second" in this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0020] The specific solutions of the laser cutting method, system and device applicable to steel structure processing provided by the present application are described in detail below with reference to the accompanying drawings.

[0021] See also Figure 1 , which shows a flowchart of a laser cutting method applicable to steel structure processing provided by one embodiment of the present application, the method comprising the following steps: Step 1: Obtain the plate surface image of the steel plate to be cut and perform rasterization processing, calibrate the pattern to be cut into the processing result, and obtain a raster map for path planning.

[0022] Before performing intelligent welding on steel structures, it is usually necessary to first perform laser cutting on the steel plates used to construct the steel structures. Cutting patterns on the steel plates according to customer needs is a common processing method.

[0023] When performing laser cutting on steel plates, reasonable path planning is an important aid to ensure the quality of the cut products. Therefore, it is necessary to first obtain the data required by the path optimization algorithm. The specific process is as follows: a high-resolution industrial camera is used to shoot the steel plate to be cut fixed on the laser cutting platform to obtain the initial plate surface image, and the region of interest (ROI) is intercepted from the obtained initial plate surface image to obtain the steel plate surface area. The obtained steel plate surface area is rasterized to generate an initial raster map. After that, the raster map is input into the AutoCAD software. The AutoCAD Raster Design plug-in is used in the AutoCAD software to calibrate the designed CAD pattern outline to the corresponding position of the raster map according to the design requirements to obtain the raster map for path planning.

[0024] Step 2, obtain the heat accumulation coefficient of each edge by combining the residual heat coefficient of each edge with the temperature rise amount generated by laser cutting of each edge; obtain the angle influence degree of each edge, and then obtain the heuristic information of each edge in the path planning of the ant colony optimization algorithm.

[0025] Before intelligent welding operation, using a path optimization algorithm to optimize the cutting path during laser cutting of the steel plate can improve the speed and quality of cutting. The ant colony optimization algorithm is used in the embodiment.

[0026] Step 2.1, obtain the energy absorption amount of laser cutting of each edge by laser cutting power, time length and the absorption rate of steel to laser of each edge in the grid map, and obtain the temperature rise amount generated by laser cutting of each edge by combining the length, width of each edge and the density, thickness of the position of each edge on the steel plate, and the specific heat capacity of the steel.

[0027] During laser cutting of the steel plate, when cutting adjacent edges or densely arranged contours continuously, the high energy of the laser beam continuously acts on the local area, which can cause significant heat accumulation of the steel plate. After the metal material absorbs a large amount of heat energy in a short time, the heat cannot quickly spread to the surrounding, which can cause the temperature near the cutting path to rise sharply. This uneven heat accumulation can cause thermal expansion effect, and the metal expansion in the high-temperature area is constrained by the surrounding low-temperature material, which generates internal stress; and when the laser moves away, the heated area cools and shrinks quickly, which forms a stress difference with the unheated area. The continuous superposition of these two effects can cause plastic deformation such as warping, twisting or local depression of the steel plate, which seriously affects the dimensional accuracy and flatness of the workpiece. Therefore, when laser cutting the steel plate, it is necessary to reduce the heat concentration caused by continuous cutting of adjacent edges in the optimization of the cutting path.

[0028] Based on the above analysis, first, according to the thermodynamic heat calculation formula, the temperature rise amount generated by laser cutting of each edge is calculated, and the expression is: ; in the formula, represents the temperature rise amount generated by laser cutting of the kth edge; represents the power of laser cutting of the kth edge, which is valued according to the output power of the equipment for implementing laser cutting; represents the time length of laser cutting of the kth edge, which is obtained by the ratio of the length of the kth edge to the cutting speed; δ represents the absorption rate of steel to laser, which is determined according to the used steel and the type of laser, and in the embodiment, the absorption rate is 0.4; represents the energy absorption amount of the kth edge during laser cutting of the kth edge; The quality of the cutting area of ​​the k-th edge is obtained by the length and width of the k-th edge and the density and thickness of the steel plate where the k-th edge is located. Specifically, it is the product of the length, width, density and thickness of the k-th edge. It represents the specific heat capacity of steel. The specific heat capacity of steel of different qualities is different, so the specific heat capacity needs to be assigned according to the quality of the steel used.

[0029] In step 2.2, the edges that have been cut before each edge is cut are recorded as each cut edge. The residual heat coefficient of each edge is obtained by the temperature rise of all the cut edges before each edge is cut, and the time difference between the cutting start time of each edge and its previous cut edges. The accumulated heat coefficient of each edge is obtained by combining the temperature rise and the cutting time of each edge.

[0030] Furthermore, the edges that have been cut before each edge is cut are recorded as each cut edge. The residual heat coefficient of each edge is obtained by the temperature rise of all the cut edges before each edge is cut, and the time difference between the cutting start time of each edge and its previous cut edges. The expression is: Where, represents the residual heat coefficient of the kth edge; ϑ represents a preset first positive number, which is used to reflect the sensitivity of the steel to historical heat. In this embodiment, the value of ϑ is 0.4; k represents the sequence number of the edge; It represents the temperature rise of the mth cut edge caused by laser cutting; represents an exponential function with a natural constant as its base; 、 They represent the cutting start time of the kth edge and the mth cut edge respectively. is the residual heat attenuation factor, which shows the attenuation of residual heat through an exponential term.

[0031] It should be noted that the larger the residual heat coefficient is, the more the kth edge is affected by the residual heat of all previously cut edges when the kth edge is cut by laser.

[0032] Furthermore, the accumulated heat coefficient of each edge is obtained by combining the residual heat coefficient of each edge with the temperature rise and the cutting time of each edge. The expression is: Where, represents the heat accumulation coefficient of the kth edge; represents the temperature rise of the kth edge caused by laser cutting; represents an exponential function with a natural constant as the base; φ represents a preset second positive number, which is used to reflect the sensitivity of the steel to accumulated heat. In this embodiment, the value of φ is 0.05; represents the duration of laser cutting the kth edge. is the time amplification factor, which amplifies the thermal effect of long-time cutting through the exponential term. When k is 1, The value of is set to 1, indicating that there is no residual heat effect.

[0033] It should be noted that by calculating the thermal impact of the residual heat of all the cut edges before the kth edge on the cutting of the kth edge, it is convenient to select the path plan with the smallest thermal impact in the subsequent cutting path, avoid the negative effects of excessive residual heat during steel plate cutting, such as local oxidation, increased slag and increased burrs, and reduce the occurrence of defects in the processing process; the smaller the heat accumulation coefficient, the less heat is accumulated when cutting the kth edge.

[0034] In step 2.3, the angular influence of each edge is obtained by comparing the cutting time of each edge with all previously cut edges and combining the angle between each edge and its adjacent previous cut edge with the difference compared with the preset angle threshold.

[0035] During the laser cutting process before intelligent welding of steel structures, due to the complexity and diversity of the cutting patterns, an angle will be formed between adjacent edges in the pattern. Among them, there are some concave and convex corners with small sharp angles. If continuous laser cutting is performed on both sides of the concave and convex corners with small angles, the laser may stay for too long when cutting the sharp corners, causing overburning, resulting in overheating and deformation. Overheating and deformation of sharp corners with small angles will cause the geometric accuracy of steel structure processing to decrease, seriously affecting the processing quality of the steel structure. Therefore, during the laser cutting process, it is necessary to compare the cutting time of each edge with all the previously cut edges, and combine the angle between each edge and the adjacent previous cut edge, and compare the difference with the preset angle threshold to obtain the angle influence of each edge. The expression is: Where, represents the angular influence of the kth edge; Indicates the preset angle threshold. In this embodiment, the value of the preset angle threshold is , at this angle, the energy density is close to the straight line cutting, which can better constrain the balance between angle and heat accumulation; represents the angle between the kth edge and its previous cut edge; τ represents a nonlinear coefficient greater than 0. In this embodiment, the value of τ is 2, which is used to balance the sensitivity to sharp angles and overall stability; the average cutting time of the kth edge and all previous cut edges is calculated. Represents the ratio of the cutting time of the kth edge to the mean. Recorded as the first ratio, Recorded as the second ratio.

[0036] It should be noted that: in the laser cutting path, if the difference between the angle between each edge and its adjacent previous cut edge is greater than the angle threshold, the probability of quality problems occurring during the laser cutting operation of the steel plate is greater; conversely, in the laser cutting processing path, if the difference between the angle between each edge and its adjacent previous cut edge is smaller than the angle threshold, the probability of quality problems occurring during the laser cutting operation of the steel plate is smaller; At the same time, the longer the cutting time of each edge, the more serious the impact of the accumulated heat. The accumulated heat generated by the long cutting time also has a certain impact on the smaller angle, and there may also be the possibility of heat accumulation deformation. Therefore, add the angle influence calculation formula .

[0037] In step 2.4, the heuristic information of each edge in the path planning of the ant colony optimization algorithm is obtained through the length, cumulative heat coefficient and angle influence of each edge.

[0038] Furthermore, the heuristic information of each edge in path planning is obtained by the length, cumulative heat coefficient and angle influence of each edge, and the expression is: Where, Represents the heuristic information of the kth edge during path planning by the ant colony optimization algorithm; represents the length of the kth edge; represents the normalized value of the cumulative heat coefficient of the kth edge; represents the normalized value of the angular influence of the kth edge; 、 Both indicate a preset value greater than 0, and and The sum is 1. In this embodiment, an arctangent normalization function is used to obtain the normalized value of the heat accumulation coefficient and the normalized value of the angle influence.

[0039] It should be noted that by combining the cutting path length with the normalized heat accumulation coefficient and angle influence, the cost of cutting the kth edge can be further amplified, which can more accurately select the appropriate laser cutting path, improve the cutting process quality, and provide a good foundation for the subsequent intelligent welding of steel structures. Figure 2 shown.

[0040] Step 3: The optimal laser cutting path is obtained by combining the heuristic information of each edge during path planning with the ant colony optimization algorithm, and the steel plate to be cut is cut through the optimal laser cutting path.

[0041] After the heuristic information in the ant colony optimization algorithm is reconstructed, the pheromone weight and the heuristic information weight are set. The application mainly takes the heuristic function as the center, and therefore the pheromone weight α is set to 1, the heuristic information weight β is set to 3, the pheromone evaporation rate ρ is set to 0.3, the number of ants is related to the number of edges in the pattern, according to the number of edges, the number of ants is set to 10 times the number of edges, to ensure that there is no deviation due to too few ants, while balancing the calculation amount, the iteration number is set to 200 times, and the initial pheromone is set to 0.1. The ant colony optimization algorithm with the set parameters is used to plan the laser cutting path of the steel plate to be cut in the grid map, and the optimal laser cutting path is output. The ant colony optimization algorithm is a known technology, and the specific process will not be described here. The coordinate points corresponding to the obtained optimal laser cutting path are input into the control device, and the laser cutting device cuts the steel plate to be cut according to the coordinate points. The cut steel plate is used for welding, and the welding process is carried out through an intelligent welding system, to realize the processing of the steel structure. The pheromone weight, the heuristic information weight, the pheromone evaporation rate, the number of ants, the iteration number and the initial pheromone can be set by the implementer according to the actual situation, and the application does not have special restrictions.

[0042] Based on the same inventive concept as the above method, the application also provides a laser cutting system suitable for steel structure processing, comprising: A cutting information acquisition module is configured to acquire the plate surface image of the steel plate to be cut and perform rasterization processing, calibrate the pattern to be cut to the processing result, and obtain a grid map for path planning. A cutting information analysis module is configured to acquire the energy absorption amount of each edge of the laser cutting by the power, time length and laser absorption rate of each edge of the laser cutting grid map, and acquire the temperature rise amount of each edge generated by the laser cutting by combining the length, width and position density and thickness of each edge of the steel plate, and the specific heat capacity of the steel. The edges that have been cut before cutting each edge are recorded as each cut edge, and the residual heat coefficient of each edge is acquired by the temperature rise amount of all the cut edges before cutting each edge and the time difference between the cutting start time of each edge and each cut edge before it, and the heat accumulation coefficient of each edge is acquired by combining the temperature rise amount and the cutting time length of each edge. The angle influence degree of each edge is acquired by comparing the cutting time length of each edge and all the cut edges before it, and combining the difference between the angle between each edge and the adjacent last cut edge and the preset angle threshold. The heuristic information of each edge in the path planning of the ant colony optimization algorithm is acquired by the length, heat accumulation coefficient and angle influence degree of each edge. The laser cutting path planning module is used to obtain the optimal laser cutting path by combining the heuristic information of each edge during path planning with the ant colony optimization algorithm, and cut the steel plate to be cut through the optimal laser cutting path.

[0043] Based on the same inventive concept as the above-mentioned method, an embodiment of the present application also provides a laser cutting device suitable for steel structure processing, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of any one of the above-mentioned laser cutting methods suitable for steel structure processing are implemented.

[0044] In summary, by calculating the residual heat coefficient and the accumulated heat coefficient, the present application can dynamically evaluate the thermal impact on each edge during the cutting process, which helps to optimize the cutting sequence, avoid continuous cutting of adjacent edges or densely arranged edges, reduce local overheating caused by heat accumulation, reduce heat concentration, and thus improve cutting quality; by calculating the angle influence, the geometric constraints between adjacent edges in the cutting path can be evaluated, avoiding continuous cutting of edges with too small angles, thereby reducing overburning and thermal deformation caused by too small angles, and can better adapt to complex cutting patterns; Furthermore, the heuristic information in the ant colony optimization algorithm is reconstructed by combining the path length, heat accumulation coefficient and angle influence. Compared with the existing method of path planning based only on the path length, the reconstructed heuristic information can reduce unnecessary cutting paths and pause times, improve cutting efficiency, and avoid cutting quality problems caused by heat accumulation and geometric constraints, thereby improving the cutting quality of steel plates and thus improving the intelligent welding effect of steel structures.

[0045] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architectures, functions and operations of the systems, methods and computer program products according to the embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of the code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical functions. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, which can depend on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in an order different from that disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified function or action, or may be implemented by a combination of dedicated hardware and computer instructions.

[0046] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the basic characteristics of the present application. Therefore, from all perspectives, the above embodiments of the present application should be regarded as exemplary and non-restrictive.

Claims

1. A laser cutting method suitable for steel structure processing, characterized in that: The method comprises the following steps: Obtain the plate surface image of the steel plate to be cut and perform raster processing, calibrate the pattern to be cut into the processing result, and obtain a raster map for path planning; The energy absorption of each edge during laser cutting is obtained by measuring the power and duration of each edge in the laser cutting grid and the laser absorptivity of the steel. The temperature rise of each edge during laser cutting is then obtained by combining the length and width of each edge, the density and thickness of the steel plate where each edge is located, and the specific heat capacity of the steel. The edges that have been cut before each edge is cut are recorded as each cut edge. The residual heat coefficient of each edge is obtained by combining the temperature rise of all the cut edges before each edge and the time difference between the cutting start time of each edge and its previously cut edges. The accumulated heat coefficient of each edge is obtained by combining the temperature rise and the cutting time of each edge. The angular influence of each edge is obtained by comparing the cutting time of each edge with all previously cut edges and combining the angle between each edge and its adjacent previous cut edge with the difference compared with the preset angle threshold. Through the length, heat accumulation coefficient and angle influence of each edge, the heuristic information of each edge in the path planning of the ant colony optimization algorithm is obtained. Combined with the ant colony optimization algorithm, the optimal laser cutting path is obtained, and the steel plate to be cut is cut through the optimal laser cutting path.

2. The laser cutting method for steel structure processing according to claim 1, characterized in that: The process of obtaining the temperature rise is as follows: Calculate the product of the length, width, density and thickness of each side; Calculating a product value of the product and the specific heat capacity; The temperature rise is the ratio of the energy absorption to the product value.

3. The laser cutting method for steel structure processing according to claim 1, characterized in that: The expression of the residual heat coefficient is: Where, represents the residual heat coefficient of the kth edge; ϑ represents the preset first positive number; k represents the sequence number of the edge; It represents the temperature rise of the mth cut edge caused by laser cutting; represents an exponential function with a natural constant as its base; 、 They represent the cutting start time of the kth edge and the mth cut edge respectively.

4. The laser cutting method for steel structure processing according to claim 3, characterized in that: The expression of the heat accumulation coefficient is: Where, represents the heat accumulation coefficient of the kth edge; represents the temperature rise of the kth edge caused by laser cutting; φ represents the preset second positive number; represents the duration of laser cutting the kth edge.

5. The laser cutting method for steel structure processing according to claim 1, characterized in that: The process of obtaining the angle influence is as follows: Calculate the average of the cutting time of each edge and all previously cut edges; record the ratio of the cutting time of each edge to the average as a first ratio; Calculating a difference between the preset angle threshold and the included angle, and recording a ratio of the difference to the preset angle threshold as a second ratio; The angle influence can be further obtained by using the first ratio and the second ratio.

6. The laser cutting method for steel structure processing according to claim 5, characterized in that: The angle influence is calculated as follows: The second ratio is used as the base of a power function with a preset value as an exponent, and the angle influence is the product of a calculation result of the power function and the first ratio.

7. The laser cutting method for steel structure processing according to claim 1, characterized in that: The process of obtaining the heuristic information is as follows: Calculate the weighted sum of the normalized value of the heat accumulation coefficient and the normalized value of the angle influence of each edge, where the weight of the normalized value of the heat accumulation coefficient and the weight of the normalized value of the angle influence are both preset values ​​greater than 0, and the sum of the weight of the normalized value of the heat accumulation coefficient and the weight of the normalized value of the angle influence is 1; The cumulative value of the weighted sum and 1 is calculated; and the heuristic information is inversely proportional to the cumulative value and the length of each edge.

8. The laser cutting method for steel structure processing according to claim 7, characterized in that: The heuristic information is the reciprocal of the product of the accumulated value and the length of each edge.

9. A laser cutting system suitable for steel structure processing, applying the laser cutting method suitable for steel structure processing according to claim 1, characterized in that: The system comprises: The cutting information acquisition module is used to obtain the plate surface image of the steel plate to be cut and perform raster processing, calibrate the pattern to be cut into the processing result, and obtain a raster map for path planning; The cutting information analysis module is used to obtain the energy absorption of each edge during laser cutting by analyzing the power and duration of each edge in the laser cutting grid and the laser absorptivity of the steel. The module also obtains the temperature rise generated by laser cutting on each edge by combining the length and width of each edge, the density and thickness of the steel plate where each edge is located, and the specific heat capacity of the steel. The edges that have been cut before each edge is cut are recorded as each cut edge. The residual heat coefficient of each edge is obtained by combining the temperature rise of all the cut edges before each edge and the time difference between the cutting start time of each edge and its previously cut edges. The accumulated heat coefficient of each edge is obtained by combining the temperature rise and the cutting time of each edge. The angular influence of each edge is obtained by comparing the cutting time of each edge with all previously cut edges and combining the angle between each edge and its adjacent previous cut edge with the difference compared with the preset angle threshold. The heuristic information of each edge in path planning is obtained by the length, cumulative heat coefficient and angle influence of each edge; The laser cutting path planning module is used to obtain the optimal laser cutting path by combining the heuristic information of each edge during path planning with the ant colony optimization algorithm, and cut the steel plate to be cut through the optimal laser cutting path.

10. A laser cutting device suitable for steel structure processing, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the laser cutting method applicable to steel structure processing as described in any one of claims 1 to 8 are implemented.

Images