A V-groove cutting depth real-time stable control method and device based on blade height measurement and workpiece surface shape mapping, equipment and medium

Abstract

The application discloses a kind of based on blade height measurement and workpiece surface mapping V groove cutting depth real-time stable control method, device, equipment and medium, comprising: surface height data is converted to under tool tip coordinate system, obtain the workpiece surface mapping data under tool tip coordinate system;Obtain the local surface compensation model corresponding to preset V groove cutting track;According to multi-source sensing data and groove depth detection data, error source diagnosis and orthogonal decomposition are carried out, and a plurality of dimensional error component sets are obtained;Recursive update is carried out to local surface compensation model and error compensation parameter, and target V groove cutting track is obtained;Based on target V groove cutting track, multi-axis synchronous control is carried out to cutting process, and closed-loop correction is carried out to local surface compensation model and error compensation parameter, and updated cutting control parameter is obtained.The application belongs to the field of V groove cutting.The application can improve the precision of V groove cutting.

Description

Technical Field

[0001] This invention relates to the field of V-groove cutting, and in particular to a method, apparatus, equipment, and medium for real-time stable control of V-groove cutting depth based on the mapping of blade height and workpiece surface shape. Background Technology

[0002] With the development of high-precision processing fields such as fiber array units (FAU) and micro-optical devices, the V-groove structure, as an important basic structure for realizing fiber positioning, coupling and packaging, has its processing accuracy directly affecting the assembly accuracy and optical performance of the device.

[0003] Current V-groove machining typically employs diamond or grinding wheel inserts for precision cutting. However, due to initial surface shape errors in the workpiece substrate (such as fused silica or borosilicate glass), and the influence of factors such as insert wear, spindle thermal drift, equipment lag, and material inhomogeneity during the cutting process, deviations between the actual cutting depth and the target depth are easily caused, resulting in insufficient groove depth consistency and decreased groove shape accuracy. Therefore, improving V-groove cutting accuracy is an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a method, device, equipment, and medium for real-time stable control of V-groove cutting depth based on the mapping of blade height and workpiece surface shape, which solves the technical problem of low V-groove cutting accuracy in the prior art and achieves the technical effect of improving V-groove cutting accuracy.

[0005] In a first aspect, the present invention provides a real-time stable control method for V-groove cutting depth based on the mapping of blade height and workpiece surface shape, comprising: The surface height measurement data of the target workpiece is acquired, and based on sensor offset compensation and tool tip contact geometry correction, the surface height measurement data is converted to the tool tip coordinate system to obtain the workpiece surface shape mapping data in the tool tip coordinate system. Based on the workpiece surface shape mapping data, a local surface shape fitting model is established according to the preset V-groove cutting trajectory. The local surface shape fitting model is then optimized in combination with cutting physical constraints to obtain a local surface shape compensation model corresponding to the preset V-groove cutting trajectory. Based on the local surface compensation model, multi-source sensor data and groove depth detection data are collected during the cutting process. Error source diagnosis and orthogonal decomposition are performed based on the multi-source sensor data and groove depth detection data to obtain a set of multi-dimensional error components. Based on the multidimensional error component set and the local surface compensation model, an initial compensation cutting trajectory is generated, and the local surface compensation model and error compensation parameters are recursively updated to obtain the target V-groove cutting trajectory. Based on the target V-groove cutting trajectory, the cutting process is controlled synchronously across multiple axes, and the local surface compensation model and error compensation parameters are corrected in a closed loop to obtain updated cutting control parameters.

[0006] Furthermore, surface height measurement data of the target workpiece is acquired, and based on sensor offset compensation and tool tip contact geometry correction, the surface height measurement data is transformed into the tool tip coordinate system to obtain workpiece surface shape mapping data in the tool tip coordinate system, including: Collect surface height measurement data of the target workpiece and perform sensor offset compensation on the surface height measurement data; Based on the blade contact posture and the blade tip contact geometry, the compensated surface height measurement data is geometrically corrected to obtain the blade tip height data; Based on a preset reference height, coordinate transformation is performed on the tool tip height data to obtain workpiece surface shape mapping data.

[0007] Furthermore, based on the workpiece surface shape mapping data, a local surface shape fitting model is established according to the preset V-groove cutting trajectory. This local surface shape fitting model is then optimized by incorporating cutting physical constraints to obtain a local surface shape compensation model corresponding to the preset V-groove cutting trajectory, including: Extract the corresponding local surface shape data from the workpiece surface shape mapping data according to the preset V-groove cutting trajectory; Establish a local surface shape fitting model based on local surface shape data; Based on the constraints of the cutting edge angle, material removal stability, and surface fitting residual, the local surface fitting model is optimized for consistency to obtain a local surface compensation model.

[0008] Furthermore, it also includes: When the material removal stability constraint is not met, the local surface shape fitting model is iteratively projected and limited according to the unit cutting load change to obtain the local surface shape compensation model.

[0009] Furthermore, based on the local surface shape compensation model, multi-source sensor data and groove depth detection data are collected during the cutting process. Error source diagnosis and orthogonal decomposition are then performed based on the multi-source sensor data and groove depth detection data to obtain a multi-dimensional error component set, including: The theoretical cutting depth is determined based on the local surface shape compensation model; Acquire multi-source sensor data during the cutting process, including temperature detection data, cumulative cutting length data of the blade, and Z-axis servo tracking error data; The cutting depth error is determined based on the theoretical cutting depth and groove depth test data. By combining multi-source sensor data, the cutting depth error is decomposed into error sources to obtain an initial error component set, which includes thermal drift error component, blade wear error component, substrate morphology residual error component, and motion hysteresis error component. The correlation between each error component in the initial error component set is calculated, and the error components with coupling relationship are orthogonalized based on a preset correlation threshold to obtain a multidimensional error component set.

[0010] Furthermore, based on the multidimensional error component set and the local surface compensation model, an initial compensation cutting trajectory is generated, and the local surface compensation model and error compensation parameters are recursively updated to obtain the target V-groove cutting trajectory, including: The initial cutting path is determined based on the local surface compensation model to correspond to the preset V-groove cutting trajectory. By combining the set of multi-dimensional error components, multi-component error compensation is performed on the initial cutting path to generate the initial compensated cutting trajectory. Based on the groove depth detection data and the multidimensional error component set, the local slope parameters and offset parameters in the local surface shape compensation model are recursively updated, and the thermal drift compensation parameters and wear compensation parameters are corrected by the filtering update method to obtain the error compensation parameters. The initial compensation cutting trajectory is corrected based on the updated local surface compensation model and error compensation parameters to obtain the target V-groove cutting trajectory.

[0011] Furthermore, based on the target V-groove cutting trajectory, multi-axis synchronous control is applied to the cutting process, and closed-loop correction is performed on the local surface shape compensation model and error compensation parameters to obtain updated cutting control parameters, including: The Z-axis micro-feed axis, Y-axis feed axis, and blade attitude adjustment axis are controlled to move in a coordinated manner according to the target V-groove cutting trajectory. During the cutting process, the target V-groove cutting trajectory is disturbed and compensated according to the changes in cutting load; After the cutting is completed, the groove depth detection data is obtained, and based on the groove depth detection data after the cutting is completed and the multi-dimensional error component set, the local slope parameter and offset parameter in the local surface shape compensation model are corrected in a closed loop. The error compensation parameters are updated based on the local surface compensation model after closed-loop correction, and the local surface compensation model after closed-loop correction and the updated error compensation parameters are used as the updated cutting control parameters.

[0012] Secondly, the present invention provides a real-time stable control device for V-groove cutting depth based on the mapping of blade height and workpiece surface shape, comprising: The coordinate system transformation module is used to acquire the surface height measurement data of the target workpiece, and based on sensor offset compensation and tool tip contact geometry correction, transform the surface height measurement data to the tool tip coordinate system to obtain the workpiece surface shape mapping data in the tool tip coordinate system. The model optimization module is used to establish a local surface shape fitting model based on the workpiece surface shape mapping data and according to the preset V-groove cutting trajectory, and to optimize the local surface shape fitting model in combination with cutting physical constraints to obtain a local surface shape compensation model corresponding to the preset V-groove cutting trajectory. The error component set module is used to collect multi-source sensor data and groove depth detection data during the cutting process based on the local surface compensation model, and to perform error source diagnosis and orthogonal decomposition based on the multi-source sensor data and groove depth detection data to obtain a multi-dimensional error component set. The parameter update module is used to generate an initial compensation cutting trajectory based on the multidimensional error component set and the local surface compensation model, and to recursively update the local surface compensation model and error compensation parameters to obtain the target V-groove cutting trajectory. The cutting control module is used to perform multi-axis synchronous control of the cutting process based on the target V-groove cutting trajectory, and to perform closed-loop correction of the local surface compensation model and error compensation parameters to obtain updated cutting control parameters.

[0013] Thirdly, the present invention provides an electronic device, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to execute a real-time stable control method for V-groove cutting depth based on the mapping of blade height and workpiece surface shape, as provided in the first aspect.

[0014] Fourthly, the present invention provides a non-transitory computer-readable storage medium, which, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to execute a real-time stable control method for V-groove cutting depth based on the mapping of blade height and workpiece surface shape as provided in the first aspect.

[0015] One or more technical solutions provided in this invention have at least the following technical effects or advantages: This invention combines blade height measurement data with workpiece surface shape mapping technology to transform V-groove depth-of-cut control from traditional fixed-parameter machining to dynamic compensation control based on actual surface shape perception. Through sensor offset compensation, tool tip contact geometry correction, and coordinate mapping processing, the workpiece surface height information is accurately converted to the tool tip coordinate system, establishing workpiece surface shape mapping data consistent with the actual cutting position, thus improving the accuracy of the cutting reference. Furthermore, a local surface shape fitting model is established by combining the V-groove trajectory, and tool edge angle constraints, material removal stability constraints, and fitting residual constraints are introduced to achieve consistency optimization between the surface shape model and the cutting physical process, avoiding depth-of-cut fluctuations caused by local surface shape changes.

[0016] This invention decomposes cutting depth errors into multiple sources by collecting data on temperature, blade wear, servo tracking error, and groove depth detection. This decomposes the errors into a multi-dimensional set of error components, including thermal drift, blade wear, substrate morphology residuals, and motion hysteresis. Orthogonalization is then used to reduce the coupling effect between different error sources, improving the accuracy of error identification. Based on this, a recursive update algorithm and a filtering compensation mechanism are combined to dynamically correct local surface parameters, thermal drift parameters, and wear parameters, enabling the compensation model to continuously and adaptively adjust as the machining process progresses.

[0017] This invention generates a multi-component compensated cutting trajectory that includes global surface shape compensation, local slope compensation, offset compensation, wear compensation, and thermal drift compensation. Combined with multi-axis synchronous control and cutting load disturbance suppression, it achieves real-time stable control of the V-groove cutting depth. Simultaneously, it utilizes the groove depth detection results after cutting for closed-loop feedback, continuously refining the local surface shape compensation model and error compensation parameters. This enables online optimization of the machining process and cross-batch parameter accumulation and learning, thereby improving the consistency of V-groove cutting depth, machining accuracy, and long-term operational stability, while reducing the frequency of manual calibration and machining errors. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A flowchart illustrating a real-time stable control method for V-groove cutting depth based on the mapping of blade height and workpiece surface shape provided by this invention; Figure 2 This is a schematic diagram of a V-groove cutting depth real-time stable control device based on the mapping of blade height and workpiece surface shape, provided by the present invention. Detailed Implementation

[0020] This invention provides a real-time stable control method for V-groove cutting depth based on the mapping of blade height and workpiece surface shape, which solves the technical problem of low V-groove cutting accuracy in the prior art.

[0021] The technical solution of this invention is to solve the above-mentioned technical problems, and the overall idea is as follows: A real-time stable control method for V-groove cutting depth based on tool height measurement and workpiece surface shape mapping includes: acquiring surface height measurement data of the target workpiece, and converting the surface height measurement data to the tool tip coordinate system based on sensor offset compensation and tool tip contact geometry correction to obtain workpiece surface shape mapping data in the tool tip coordinate system; based on the workpiece surface shape mapping data, establishing a local surface shape fitting model according to a preset V-groove cutting trajectory, and optimizing the local surface shape fitting model in combination with cutting physical constraints to obtain a local surface shape compensation model corresponding to the preset V-groove cutting trajectory; based on the local surface shape compensation model... Multi-source sensor data and groove depth detection data are collected during the cutting process. Error source diagnosis and orthogonal decomposition are performed based on the multi-source sensor data and groove depth detection data to obtain a multi-dimensional error component set. Based on the multi-dimensional error component set and the local surface compensation model, an initial compensated cutting trajectory is generated, and the local surface compensation model and error compensation parameters are recursively updated to obtain the target V-groove cutting trajectory. Based on the target V-groove cutting trajectory, multi-axis synchronous control is performed on the cutting process, and the local surface compensation model and error compensation parameters are closed-loop corrected to obtain the updated cutting control parameters.

[0022] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0023] First, it should be clarified that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0024] This invention provides, for example Figure 1 The method shown is a real-time stable control method for V-groove cutting depth based on the mapping of blade height and workpiece surface shape, including steps S11-S15: Step S11: Obtain the surface height measurement data of the target workpiece, and based on sensor offset compensation and tool tip contact geometry correction, convert the surface height measurement data to the tool tip coordinate system to obtain the workpiece surface shape mapping data in the tool tip coordinate system.

[0025] This includes: acquiring surface height measurement data of the target workpiece and performing sensor offset compensation on the surface height measurement data; performing geometric correction on the compensated surface height measurement data based on the blade contact posture and blade tip contact geometry to obtain blade tip height data; and performing coordinate transformation on the blade tip height data based on a preset reference height to obtain workpiece surface shape mapping data.

[0026] Specifically: A low-contact force measurement can be performed between an actual cutting blade and the target workpiece surface according to a preset scanning path, collecting surface height data at multiple measurement locations to form a surface height measurement data set. Each measurement point can be represented as... , Indicates the first The position of each measurement point in the X direction of the workpiece coordinate system Indicates the first The position of each measurement point in the Y direction of the workpiece coordinate system This represents the height value at the corresponding location obtained by the sensor.

[0027] Because there is a fixed spatial offset between the sensor mounting position and the actual tool tip position during the measurement process, sensor offset compensation is required for the surface height measurement data to convert the height data in the sensor coordinate system to the tool tip reference position. The specific compensation process can be expressed as follows:

[0028] in, Indicates the first The tool tip height data after sensor offset compensation at each measurement point This represents the raw surface height data collected by the sensor. This represents the fixed offset of the sensor in the Z direction relative to the tool tip coordinate system; Because the blade may be tilted during actual measurement, the blade angle and the geometric characteristics of the blade tip contact area will cause a height deviation between the measured contact point and the theoretical blade tip position. Therefore, based on the blade contact posture and the blade tip contact geometry, the compensated surface height measurement data is geometrically corrected. The geometric correction amount can be expressed as:

[0029] in, This indicates the height correction amount caused by the tool tip contact geometry. Indicates the radius of curvature of the blade edge. This indicates the tilt angle when the blade contacts the workpiece.

[0030] The difference between the corrected blade tip height data and the preset reference height is calculated:

[0031] in, Represents position coordinates The corresponding workpiece surface shape mapping data, This indicates the preset reference height.

[0032] Step S12: Based on the workpiece surface shape mapping data, establish a local surface shape fitting model according to the preset V-groove cutting trajectory, and optimize the local surface shape fitting model in combination with cutting physical constraints to obtain a local surface shape compensation model corresponding to the preset V-groove cutting trajectory.

[0033] The process includes: extracting corresponding local surface shape data from the workpiece surface shape mapping data according to the preset V-groove cutting trajectory; establishing a local surface shape fitting model based on the local surface shape data; and optimizing the consistency of the local surface shape fitting model according to the cutting edge angle constraint, material removal stability constraint, and surface shape fitting residual constraint to obtain a local surface shape compensation model.

[0034] It also includes: when the material removal stability constraint is not met, the local surface shape fitting model is iteratively projected and limited according to the unit cutting load change to obtain a local surface shape compensation model.

[0035] Specifically: With the first Using the V-groove cutting trajectory as the center, a local strip-shaped region of a preset width is selected around this trajectory, and a set of measurement points located within this region is obtained from the workpiece surface shape mapping data. ,in, For the first The position coordinates of each measurement point in the X direction For the first The Y-coordinate corresponding to the V-groove cutting trajectory This is the workpiece surface shape mapping data at this location.

[0036] Furthermore, a local surface shape fitting model is established based on local surface shape data to describe the height variation trend of the workpiece surface within the target V-groove trajectory region. This embodiment employs a local linear fitting method to establish the local surface shape fitting model.

[0037]

[0038] in, Indicates the first The local surface shape fitting results corresponding to the V-groove cutting trajectory. Indicates the coordinate position along the V-groove cutting direction. Indicates the first The local surface slope corresponding to the V-groove is used to characterize the degree of inclination of the workpiece surface along the X direction. Indicates the first The height offset corresponding to the V-groove Based on the discrete surface data The continuous local surface model obtained by fitting is used to approximate the description. Depending on location Trend of change After establishing the local surface shape fitting model, consistency optimization is performed on the model based on the cutting edge angle constraint, material removal stability constraint, and surface shape fitting residual constraint. This ensures that the fitting results simultaneously satisfy both surface shape matching accuracy and physical stability of the cutting process. The material removal stability constraint is evaluated using a unit cutting load.

[0039] in, Indicates the first V-groove in position The unit cutting load at that location, This represents the cutting energy coefficient corresponding to the target workpiece material, used to characterize the cutting force required per unit cutting cross-sectional area. Indicates the depth of the target cut. This represents the rate of change of the slope of a local surface. Indicates the cutting feed rate. This indicates the spindle speed. The unit cutting load is constrained to a preset stable range. To avoid sudden changes in cutting load due to local tilting of the workpiece, as well as These represent the minimum and maximum unit cutting loads, respectively.

[0040] in, The parameters are obtained through calibration based on the target material, blade type, and benchmark cutting experiments, and stored in the material-blade parameter database. During the cutting process, the corresponding parameters are called to participate in the constraint calculation.

[0041] When the material removal stability constraint is not met, the local surface fitting model is iteratively projected and limited according to the unit cutting load change.

[0042] Specifically, based on the current local slope parameters The degree of constraint violation is determined by the corresponding change in unit cutting load, and the allowable slope range for satisfying the load constraint is calculated:

[0043] in, This represents the maximum allowable slope change when the material removal stability constraint is satisfied.

[0044] Based on the allowable slope range Perform amplitude limiting adjustment (i.e., adjust the slope parameter in the current local surface fitting model). Project the model into the allowable range that satisfies the material removal stability constraint, and recalculate the surface fitting residual and the cutting edge angle constraint. If there is still a constraint conflict, adjust the local slope parameters corresponding to adjacent trajectories simultaneously. After iterative projection limiting, obtain a local surface compensation model that satisfies the cutting physical constraints.

[0045] Used to evaluate the stability of cutting loads at different locations during local surface fitting, in order to determine the local slope parameter. Does it need adjustment? Used to limit the local slope parameter when the unit cutting load exceeds the preset range. The maximum allowable range of variation is determined to ensure that the local surface compensation model meets the cutting physical constraints.

[0046] Step S13: Based on the local surface compensation model, collect multi-source sensor data and groove depth detection data during the cutting process, and perform error source diagnosis and orthogonal decomposition based on the multi-source sensor data and groove depth detection data to obtain a multi-dimensional error component set.

[0047] The process includes: determining the theoretical cutting depth based on a local surface compensation model; acquiring multi-source sensor data during the cutting process, including temperature detection data, cumulative blade cutting length data, and Z-axis servo tracking error data; determining the cutting depth error based on the theoretical cutting depth and groove depth detection data; decomposing the cutting depth error into its sources using the multi-source sensor data to obtain an initial set of error components, which includes thermal drift error components, blade wear error components, substrate morphology residual error components, and motion hysteresis error components; calculating the correlation between each error component in the initial set of error components, and orthogonalizing the error components with coupling relationships based on a preset correlation threshold to obtain a multidimensional set of error components.

[0048] Specifically: Based on the local surface compensation model obtained from S12, the theoretical cutting depth corresponding to the target V-groove is determined, and multi-source sensor data and groove depth detection data are collected during the cutting process as the data basis for cutting depth error diagnosis.

[0049] The multi-source sensor data includes temperature detection data, cumulative cutting length data of the blade, and Z-axis servo tracking error data, specifically including the spindle temperature collected by the temperature sensor array. Temperature change Cumulative cutting length of the blade and the tracking error data output by the Z-axis servo controller. The groove depth detection data is obtained by measuring the completed cut groove using the AOI inspection system.

[0050] By comparing the theoretical cutting depth with the actual groove depth test results, the corresponding cutting depth error is obtained. ,in, Indicates the first The serial number of the cut groove that has been inspected. Indicates the first The deviation between the actual cutting depth and the theoretical cutting depth of the grooving:

[0051] in, Indicates the first The thermal drift error component corresponding to the cut groove. This represents the error component caused by blade wear. This represents the residual error component of the substrate surface morphology. This represents the Z-axis motion hysteresis error component.

[0052] The thermal drift error component is calculated based on the spindle temperature change:

[0053] in, Indicates the equivalent thermal expansion coefficient. This represents the equivalent thermal deformation length; the two together constitute the combined thermal deformation parameter. Indicates the first The change in spindle temperature relative to the calibrated temperature during slot cutting; The blade wear error component is calculated based on the cumulative cutting length:

[0054] in, Indicates the blade wear rate coefficient. Indicates as of the date The cumulative cutting length of the blade when slotting; The residual error components of the substrate morphology are determined based on the difference between the local surface shape fitting model established in S12 and the actual workpiece surface shape mapping data:

[0055] in, Indicates the first Workpiece surface shape mapping data corresponding to the slot position. This indicates the height predicted by the local surface compensation model. and These represent the X and Y coordinates of the cutting position, respectively. The motion hysteresis error component is directly determined by the Z-axis servo tracking error:

[0056] in, Indicates the cutting time The corresponding Z-axis servo tracking error.

[0057] Furthermore, to avoid coupling effects between different error sources, the correlation between each error component is calculated based on the initial error component set, and orthogonalization is performed on the coupled error components based on a preset correlation threshold. Specifically, this is achieved by calculating the cross-correlation coefficient between any two error components:

[0058] in, Let be the correlation coefficient between any two error components in the initial set of error components. and Represents any two error components in the initial set of error components. This represents the covariance between two error components. and These represent the standard deviations of the corresponding error components.

[0059] When the absolute value of the calculated correlation coefficient is greater than the preset correlation threshold (e.g., 0.3), it is considered that there is a coupling relationship between the two error components. The Gram-Schmidt orthogonalization method is used to decouple the related error components so that each error component satisfies the orthogonal independence condition, and finally a multidimensional error component set is obtained for subsequent error compensation and recursive update.

[0060] Step S14: Based on the multidimensional error component set and the local surface compensation model, an initial compensation cutting trajectory is generated, and the local surface compensation model and error compensation parameters are recursively updated to obtain the target V-groove cutting trajectory.

[0061] The process includes: determining the initial cutting path of the corresponding preset V-groove cutting trajectory based on the local surface shape compensation model; performing multi-component error compensation on the initial cutting path by combining a multi-dimensional error component set to generate an initial compensated cutting trajectory; recursively updating the local slope parameters and offset parameters in the local surface shape compensation model based on groove depth detection data and the multi-dimensional error component set, and correcting the thermal drift compensation parameters and wear compensation parameters using a filtering update method to obtain error compensation parameters; and correcting the initial compensated cutting trajectory based on the updated local surface shape compensation model and error compensation parameters to obtain the target V-groove cutting trajectory.

[0062] Specifically: According to the The local surface shape compensation model corresponding to the V-groove is used to obtain the theoretical height variation relationship at the cutting position, and the initial cutting path is determined by combining the target depth of cut parameters. The initial cutting path represents the tool tip movement trajectory when the tool performs cutting according to the theoretical surface shape of the workpiece before the introduction of dynamic error compensation, providing a basic path for subsequent compensation by combining multi-dimensional error component sets.

[0063] Furthermore, combining the multi-dimensional error component set obtained in S13, multi-component error compensation is performed on the initial cutting path to generate the initial compensated cutting trajectory. Specifically, the first... The compensated cutting trajectory corresponding to the V-groove can be expressed as:

[0064] in, Indicates the first V-groove in position The cutting height of the tool tip after compensation at the location, This indicates the height correction amount used to compensate for overall workpiece tilt or global surface shape errors. Indicates the first The local X-direction slope compensation parameters of the V-groove are dynamically updated over time. This indicates the reference starting position of the slot. Indicates the first The height offset corresponding to the V-groove This indicates the real-time height compensation amount caused by blade wear. This indicates the real-time height compensation amount caused by thermal drift.

[0065] Furthermore, based on the groove depth detection data and the multidimensional error component set, the local slope parameters and offset parameters in the local surface shape compensation model are recursively updated, enabling the local surface shape compensation model to be dynamically corrected according to the actual cutting results. This embodiment uses a recursive least squares method to update the parameters, specifically as follows:

[0066]

[0067] in, Indicates the first The recursive gain matrix at each update This represents the parameter covariance matrix at the previous time step. This represents the input feature vector. This represents the forgetting factor, used to adjust the degree of influence of historical data on the current parameter update. Indicates the first The updated local surface model parameter vector.

[0068] in:

[0069]

[0070] in, For transpose, For the first The X-axis coordinates of each detection position.

[0071] Furthermore, for the thermal drift compensation parameters and wear compensation parameters, a filtering update method is used for dynamic correction to reduce the impact of sensor noise and random fluctuations on the compensation results. Specifically, the thermal drift compensation parameters can be updated using a one-dimensional Kalman filter.

[0072] in, Indicates the first Real-time height compensation amount caused by thermal drift after the next update. This represents the real-time height compensation amount caused by thermal drift at the previous moment. This represents the thermal drift observation value obtained based on temperature measurement data. The Kalman gain is expressed as follows:

[0073] in, This represents the variance of noise during the thermal drift process. This represents the variance of temperature observation noise.

[0074] The corrected error compensation parameters are obtained through the above filtering and updating method. Based on the updated local surface compensation model and the error compensation parameters, the initial compensation cutting trajectory is corrected again, and finally the target V-groove cutting trajectory that meets the requirements of surface error compensation, thermal stability compensation and blade wear compensation is obtained.

[0075] Step S15: Based on the target V-groove cutting trajectory, perform multi-axis synchronous control on the cutting process, and perform closed-loop correction on the local surface compensation model and error compensation parameters to obtain updated cutting control parameters.

[0076] This includes: controlling the Z-axis micro-feed axis, Y-axis feed axis, and blade attitude adjustment axis to coordinate their movements according to the target V-groove cutting trajectory; compensating for disturbances in the target V-groove cutting trajectory based on changes in cutting load during the cutting process; acquiring groove depth detection data after cutting, and performing closed-loop correction on the local slope parameters and offset parameters in the local surface shape compensation model based on the groove depth detection data and the multi-dimensional error component set after cutting; updating the error compensation parameters according to the closed-loop corrected local surface shape compensation model, and using the closed-loop corrected local surface shape compensation model and the updated error compensation parameters as the updated cutting control parameters.

[0077] Specifically, the Z-axis micro-feed axis, Y-axis feed axis, and blade attitude adjustment axis are controlled to move in coordination according to the target V-groove cutting trajectory. The Z-axis micro-feed axis adjusts the cutting depth of the tool tip according to the height changes in the target V-groove cutting trajectory; the Y-axis feed axis maintains the spacing accuracy between adjacent V-grooves; and the blade attitude adjustment axis (such as the Q-axis) adjusts the blade entry posture according to changes in the blade tilt angle to ensure groove wall symmetry. When the blade tilt angle compensation exceeds a preset threshold, the attitude adjustment axis is activated for compensation. Simultaneously, a millisecond-level interpolation cycle is used to update the motion state of each axis in real time, enabling the tool movement to respond to dynamic changes during the cutting process.

[0078] Furthermore, during the cutting process, real-time disturbance compensation is performed on the target V-groove cutting trajectory based on changes in cutting load to reduce depth-of-cut fluctuations caused by factors such as local material inhomogeneity and workpiece defects. Specifically, this is achieved by monitoring the actual cutting load during the cutting process. and the preset target cutting load A comparison is made, and when the difference between the two exceeds a preset load change threshold, a feedforward compensation amount is generated.

[0079] in, This indicates the real-time height compensation amount for the cutting trajectory. This represents the load-height compensation coefficient, used to characterize the effect of changes in cutting load on the tool tip height adjustment. This represents the actual cutting load obtained through real-time detection. This indicates the target cutting load.

[0080] Furthermore, after cutting is completed, groove depth detection data is acquired, and combined with the multidimensional error component set obtained in S13, closed-loop correction is performed on the local slope parameter and offset parameter in the local surface shape compensation model. Specifically, the groove depth residual data corresponding to the processed V-groove is acquired through AOI inspection equipment. After removing the thermal drift error component, the tool wear error component, and the motion hysteresis error component, the residual error based on the workpiece surface shape change is obtained.

[0081] The local slope parameter correction can be expressed as:

[0082]

[0083] in, Indicates the first The local slope correction amount corresponding to the V-groove. This indicates the slope correction gain. This represents the local bias correction amount. This indicates the bias correction gain. This represents the average value of the residual error in the substrate morphology.

[0084] Through the above closed-loop correction, the local surface shape compensation model can be continuously corrected according to the actual processing results.

[0085] The corrected local slope parameters, offset parameters, thermal drift compensation parameters, and wear compensation parameters are re-verified using physical constraints. When the corrected parameters do not meet the cutting edge angle constraint or material removal stability constraint, the parameter correction amount is limited and adjusted to keep it within the preset constraint range. At the same time, the final obtained local surface shape parameters, wear parameters, thermal drift parameters, and corresponding groove depth detection results are written into the process database for initial parameter optimization in subsequent batch cutting processes, realizing cross-batch cumulative learning based on processing feedback and continuous optimization of cutting control parameters.

[0086] It should be noted that the various preset thresholds in this invention, , as well as The determination can be made through experiments, historical experience, or actual conditions, and is not limited in this invention.

[0087] In summary, this invention combines blade height measurement data with workpiece surface shape mapping technology to transform V-groove depth-of-cut control from traditional fixed-parameter machining to dynamic compensation control based on actual surface shape perception. Through sensor offset compensation, tool tip contact geometry correction, and coordinate mapping processing, the workpiece surface height information is accurately converted to the tool tip coordinate system, establishing workpiece surface shape mapping data consistent with the actual cutting position, thus improving the accuracy of the cutting reference. Furthermore, a local surface shape fitting model is established by combining the V-groove trajectory, and tool edge angle constraints, material removal stability constraints, and fitting residual constraints are introduced to achieve consistency optimization between the surface shape model and the cutting physical process, avoiding depth-of-cut fluctuations caused by local surface shape changes.

[0088] This invention decomposes cutting depth errors into multiple sources by collecting data on temperature, blade wear, servo tracking error, and groove depth detection. This decomposes the errors into a multi-dimensional set of error components, including thermal drift, blade wear, substrate morphology residuals, and motion hysteresis. Orthogonalization is then used to reduce the coupling effect between different error sources, improving the accuracy of error identification. Based on this, a recursive update algorithm and a filtering compensation mechanism are combined to dynamically correct local surface parameters, thermal drift parameters, and wear parameters, enabling the compensation model to continuously and adaptively adjust as the machining process progresses.

[0089] This invention generates a multi-component compensated cutting trajectory that includes global surface shape compensation, local slope compensation, offset compensation, wear compensation, and thermal drift compensation. Combined with multi-axis synchronous control and cutting load disturbance suppression, it achieves real-time stable control of the V-groove cutting depth. Simultaneously, it utilizes the groove depth detection results after cutting for closed-loop feedback, continuously refining the local surface shape compensation model and error compensation parameters. This enables online optimization of the machining process and cross-batch parameter accumulation and learning, thereby improving the consistency of V-groove cutting depth, machining accuracy, and long-term operational stability, while reducing the frequency of manual calibration and machining errors.

[0090] Based on the same inventive concept, the present invention provides, as follows: Figure 2 The illustrated V-groove cutting depth real-time stabilization control device based on the mapping of blade height and workpiece surface shape includes: The coordinate system transformation module 21 is used to acquire the surface height measurement data of the target workpiece, and based on sensor offset compensation and tool tip contact geometry correction, transform the surface height measurement data to the tool tip coordinate system to obtain the workpiece surface shape mapping data in the tool tip coordinate system. The model optimization module 22 is used to establish a local surface shape fitting model based on the workpiece surface shape mapping data and according to the preset V-groove cutting trajectory, and to optimize the local surface shape fitting model in combination with cutting physical constraints to obtain a local surface shape compensation model corresponding to the preset V-groove cutting trajectory. Error component set module 23 is used to collect multi-source sensor data and groove depth detection data during the cutting process based on the local surface compensation model, and to perform error source diagnosis and orthogonal decomposition based on the multi-source sensor data and groove depth detection data to obtain a multi-dimensional error component set; The parameter update module 24 is used to generate an initial compensation cutting trajectory based on the multidimensional error component set and the local surface compensation model, and to recursively update the local surface compensation model and error compensation parameters to obtain the target V-groove cutting trajectory. The cutting control module 25 is used to perform multi-axis synchronous control of the cutting process based on the target V-groove cutting trajectory, and to perform closed-loop correction of the local surface compensation model and error compensation parameters to obtain updated cutting control parameters.

[0091] Based on the same inventive concept, the present invention also provides an electronic device, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to execute a real-time stable control method for V-groove cutting depth based on the mapping of blade height and workpiece surface shape, as described above.

[0092] Based on the same inventive concept, the present invention also provides a non-transitory computer-readable storage medium, which, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to execute a real-time stable control method for V-groove cutting depth based on the mapping of blade height and workpiece surface shape as described above.

[0093] Since the electronic device described in this embodiment is an electronic device used to implement the information processing method in the embodiments of the present invention, those skilled in the art can understand the specific implementation methods and various variations of the electronic device in this embodiment based on the information processing method described in the embodiments of the present invention. Therefore, how the electronic device implements the method in the embodiments of the present invention will not be described in detail here. Any electronic device used by those skilled in the art to implement the information processing method in the embodiments of the present invention falls within the scope of protection of the present invention.

[0094] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0095] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0096] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0097] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0098] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0099] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A V-groove cutting depth real-time stable control method based on blade height measurement and workpiece surface shape mapping, characterized in that, include: The surface height measurement data of the target workpiece is acquired, and based on sensor offset compensation and tool tip contact geometry correction, the surface height measurement data is converted to the tool tip coordinate system to obtain the workpiece surface shape mapping data in the tool tip coordinate system. Based on the workpiece surface shape mapping data, a local surface shape fitting model is established according to the preset V-groove cutting trajectory, and the local surface shape fitting model is optimized in combination with cutting physical constraints to obtain a local surface shape compensation model corresponding to the preset V-groove cutting trajectory. Based on the local surface compensation model, multi-source sensor data and groove depth detection data are collected during the cutting process, and error source diagnosis and orthogonal decomposition are performed based on the multi-source sensor data and groove depth detection data to obtain a multi-dimensional error component set. Based on the multidimensional error component set and the local surface compensation model, an initial compensation cutting trajectory is generated, and the local surface compensation model and error compensation parameters are recursively updated to obtain the target V-groove cutting trajectory. Based on the target V-groove cutting trajectory, the cutting process is controlled synchronously across multiple axes, and the local surface compensation model and error compensation parameters are corrected in a closed loop to obtain updated cutting control parameters.

2. The real-time steady control method for V-groove cutting depth based on blade height measurement and workpiece surface mapping according to claim 1, wherein, Acquire surface height measurement data of the target workpiece, and based on sensor offset compensation and tool tip contact geometry correction, transform the surface height measurement data to the tool tip coordinate system to obtain workpiece surface shape mapping data in the tool tip coordinate system, including: Collect surface height measurement data of the target workpiece, and perform sensor offset compensation on the surface height measurement data; Based on the blade contact posture and the blade tip contact geometry, the compensated surface height measurement data is geometrically corrected to obtain the blade tip height data; Based on a preset reference height, the tool tip height data is transformed into coordinates to obtain workpiece surface shape mapping data.

3. The method for real-time stable control of V-groove cutting depth based on the mapping of blade height and workpiece surface shape as described in claim 1, characterized in that, Based on the workpiece surface shape mapping data, a local surface shape fitting model is established according to the preset V-groove cutting trajectory. This local surface shape fitting model is then optimized using cutting physical constraints to obtain a local surface shape compensation model corresponding to the preset V-groove cutting trajectory, including: According to the preset V-groove cutting trajectory, the corresponding local surface shape data is extracted from the workpiece surface shape mapping data; A local surface shape fitting model is established based on the local surface shape data; Based on the constraints of the cutting edge angle, material removal stability, and surface fitting residual, the local surface fitting model is optimized for consistency to obtain a local surface compensation model.

4. The method for real-time stable control of V-groove cutting depth based on the mapping of blade height and workpiece surface shape as described in claim 3, characterized in that, Also includes: When the material removal stability constraint is not met, the local surface shape fitting model is iteratively projected and limited according to the unit cutting load change to obtain the local surface shape compensation model.

5. The method for real-time stable control of V-groove cutting depth based on the mapping of blade height and workpiece surface shape as described in claim 3, characterized in that, Based on the local surface compensation model, multi-source sensor data and groove depth detection data are collected during the cutting process. Error source diagnosis and orthogonal decomposition are then performed based on the multi-source sensor data and groove depth detection data to obtain a multi-dimensional error component set, including: The theoretical cutting depth is determined based on the local surface shape compensation model; Acquire multi-source sensor data during the cutting process, including temperature detection data, cumulative cutting length data of the blade, and Z-axis servo tracking error data; The cutting depth error is determined based on the theoretical cutting depth and groove depth test data. By combining multi-source sensor data, the cutting depth error is decomposed into error sources to obtain an initial error component set, which includes thermal drift error component, blade wear error component, substrate morphology residual error component, and motion hysteresis error component. The correlation between each error component in the initial error component set is calculated, and the error components with coupling relationship are orthogonalized based on a preset correlation threshold to obtain a multidimensional error component set.

6. The method for real-time stable control of V-groove cutting depth based on the mapping of blade height and workpiece surface shape as described in claim 5, characterized in that, Based on the multidimensional error component set and the local surface compensation model, an initial compensation cutting trajectory is generated, and the local surface compensation model and error compensation parameters are recursively updated to obtain the target V-groove cutting trajectory, including: The initial cutting path of the corresponding preset V-groove cutting trajectory is determined based on the local surface compensation model; By combining the set of multi-dimensional error components, multi-component error compensation is performed on the initial cutting path to generate the initial compensated cutting trajectory. Based on the groove depth detection data and the multidimensional error component set, the local slope parameters and bias parameters in the local surface shape compensation model are recursively updated, and the thermal drift compensation parameters and wear compensation parameters are corrected by the filtering update method to obtain the error compensation parameters. The initial compensation cutting trajectory is corrected based on the updated local surface compensation model and error compensation parameters to obtain the target V-groove cutting trajectory.

7. The method for real-time stable control of V-groove cutting depth based on the mapping of blade height and workpiece surface shape as described in claim 6, characterized in that, Based on the target V-groove cutting trajectory, multi-axis synchronous control is performed on the cutting process, and closed-loop correction is applied to the local surface compensation model and error compensation parameters to obtain updated cutting control parameters, including: The Z-axis micro-feed axis, Y-axis feed axis, and blade attitude adjustment axis are controlled to move in a coordinated manner according to the target V-groove cutting trajectory. During the cutting process, the target V-groove cutting trajectory is disturbed and compensated according to the changes in cutting load; Obtain the groove depth detection data after cutting, and based on the groove depth detection data after cutting and the multidimensional error component set, perform closed-loop correction on the local slope parameter and offset parameter in the local surface shape compensation model; The error compensation parameters are updated based on the local surface compensation model after closed-loop correction, and the local surface compensation model after closed-loop correction and the updated error compensation parameters are used as the updated cutting control parameters.

8. A real-time stable control device for V-groove cutting depth based on the mapping of blade height and workpiece surface shape, characterized in that, include: The coordinate system transformation module is used to acquire the surface height measurement data of the target workpiece, and based on sensor offset compensation and tool tip contact geometry correction, transform the surface height measurement data to the tool tip coordinate system to obtain the workpiece surface shape mapping data in the tool tip coordinate system. The model optimization module is used to establish a local surface shape fitting model based on the workpiece surface shape mapping data and according to the preset V-groove cutting trajectory, and to optimize the local surface shape fitting model in combination with cutting physical constraints to obtain a local surface shape compensation model corresponding to the preset V-groove cutting trajectory. The error component set module is used to collect multi-source sensor data and groove depth detection data during the cutting process based on the local surface compensation model, and to perform error source diagnosis and orthogonal decomposition based on the multi-source sensor data and groove depth detection data to obtain a multi-dimensional error component set. The parameter update module is used to generate an initial compensation cutting trajectory based on the multidimensional error component set and the local surface compensation model, and to recursively update the local surface compensation model and error compensation parameters to obtain the target V-groove cutting trajectory. The cutting control module is used to perform multi-axis synchronous control of the cutting process based on the target V-groove cutting trajectory, and to perform closed-loop correction of the local surface shape compensation model and error compensation parameters to obtain updated cutting control parameters.

9. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute a real-time stable control method for V-groove cutting depth based on the mapping of blade height and workpiece surface shape as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is able to execute a real-time stable control method for V-groove cutting depth based on the mapping of blade height and workpiece surface shape as described in any one of claims 1 to 7.

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