Laser cutting method and system

Abstract

The present invention relates to the field of laser cutting technology, and in particular to a laser cutting method and system. The method comprises: after completing the cutting process of the first workpiece, when it is determined by monitoring equipment that there is a first workpiece in a warped state in the workpiece drop space, obtaining the workpiece position information of the first workpiece; determining the second workpiece whose processing sequence is after the first workpiece, and obtaining the cutting path of the second workpiece; determining the first optimal moving path according to the axis positioning coordinates, the starting cutting coordinates and the workpiece position information; after controlling the laser cutting head to move from the axis positioning coordinates to the starting cutting coordinates according to the first optimal moving path, controlling the laser cutting head to cut the second workpiece according to the cutting path. The present invention can accurately position the first workpiece that has not fallen off normally, avoid damage to the laser cutting head, ensure the safety of laser cutting, and at the same time reduce the overall cutting processing time and improve processing efficiency.

Description

Technical Field

[0001] The present invention relates to the field of laser cutting technology, and in particular to a laser cutting method and system. Background Art

[0002] At present, when laser cutting is performed on workpieces (such as plates), the workpiece after cutting can usually fall off automatically under the action of gravity. However, there are still cases where the workpiece after cutting cannot fall off automatically under the action of gravity. At this time, since the distance between the laser cutting head and the workpiece is relatively close, and the laser cutting head may still need to move to continue processing the next workpiece, there is a risk of collision between the laser cutting head and the workpiece that has not fallen off during the continued movement, and these collisions will cause fatal damage to the laser cutting head. Summary of the Invention

[0003] The embodiments of the present invention provide a laser cutting method and system, which solve the technical problem that the laser cutting head may collide with a workpiece that has not fallen off, thereby causing fatal damage to the laser cutting head.

[0004] A laser cutting method comprising:

[0005] After the laser cutting head completes cutting processing on the first workpiece in the processing queue, scanning the workpiece drop space corresponding to the first workpiece by a monitoring device to identify whether there is a first workpiece in a warped state in the workpiece drop space;

[0006] When a first workpiece in a warped state exists in the workpiece falling space, the laser cutting head is placed in a paused cutting state, and workpiece position information of the first workpiece in the warped state is acquired; the workpiece position information includes all workpiece coordinate points of the first workpiece;

[0007] Determining a second workpiece in the processing queue whose processing order is after the first workpiece, and obtaining a cutting path for the second workpiece; the cutting path includes a starting cutting coordinate;

[0008] Acquiring the current axis positioning coordinates of the laser cutting head;

[0009] determining a first optimal moving path according to the axis positioning coordinates, the starting cutting coordinates and the workpiece position information;

[0010] The laser cutting head is released from the paused cutting state, and after controlling the laser cutting head to move from the axis positioning coordinate to the starting cutting coordinate according to the first optimal movement path, the laser cutting head is controlled according to the cutting path to cut the second workpiece.

[0011] A laser cutting system comprises a control module, a laser cutting head and a monitoring device both connected to the control module, wherein the control module is used to execute the laser cutting method.

[0012] The laser cutting method and system provided by the present invention, after the laser cutting head completes the cutting processing of the first workpiece in the processing queue, scans the workpiece dropping space corresponding to the first workpiece through the monitoring equipment to identify whether there is a first workpiece in a warped state in the workpiece dropping space; when there is a first workpiece in a warped state in the workpiece dropping space, the laser cutting head is put into a pause cutting state, and the workpiece position information of the first workpiece in the warped state is obtained; the workpiece position information includes all workpiece coordinate points of the first workpiece; the second workpiece whose processing order is after the first workpiece is determined in the processing queue, and the cutting path of the second workpiece is obtained; the cutting path includes the starting cutting coordinates; the current axis positioning coordinates of the laser cutting head are collected; the first optimal movement path is determined according to the axis positioning coordinates, the starting cutting coordinates and the workpiece position information; the pause cutting state of the laser cutting head is released, and after the laser cutting head is controlled to move from the axis positioning coordinates to the starting cutting coordinates according to the first optimal movement path, the laser cutting head is controlled to cut the second workpiece according to the cutting path.

[0013] The present invention determines whether there is a first workpiece in a warped state but has not automatically fallen off in the workpiece falling space by scanning with a monitoring device, and then accurately locates the first workpiece that has not fallen off normally, and subsequently determines a first optimal moving path according to the axis positioning coordinates, the starting cutting coordinates and the workpiece position information, so that in the process of controlling the laser cutting head to move from the axis positioning coordinates to the starting cutting coordinates according to the first optimal moving path, the laser cutting head is protected (the first optimal moving path does not coincide with any workpiece coordinate point in the workpiece position information of the first workpiece in a warped state), thereby avoiding damage to the laser cutting head and ensuring the safety of laser cutting. At the same time, the optimization of the moving path of the laser cutting head during the cutting process of each workpiece in the processing queue is taken into account (the path length of the first optimal moving path from the axis positioning coordinates to the starting cutting coordinates is the shortest or the moving time is the shortest), thereby reducing the time consumed in the overall cutting process of all workpieces in the processing queue and improving the processing efficiency of the laser cutting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 4 is a flow chart of a laser cutting method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0017] The laser cutting method provided by the present invention is as follows: Figure 1 As shown, the following steps are included:

[0018] S10, after the laser cutting head completes cutting of a first workpiece in a processing queue, a monitoring device scans a workpiece drop space corresponding to the first workpiece to identify whether a warped first workpiece exists in the workpiece drop space; wherein the processing queue includes multiple workpieces to be cut, such as the first workpiece and a second workpiece described below. In the present invention, a workpiece may refer to a portion of a sheet material that is to be cut from the sheet material and automatically falls off the sheet material after cutting is completed. Since the workpiece can automatically fall off the plate under the action of gravity after being cut, the above-mentioned workpiece falling space refers to the space close to and below the workpiece. The workpiece falling space is the space that the workpiece must pass through when falling, and when the workpiece does not fall off normally after being cut, the workpiece will usually be in a downward warped state relative to the plate. Therefore, when the first workpiece is identified in the workpiece falling space within a preset time (the preset time can be set according to demand, but is greater than zero, because the workpiece that falls off normally will also quickly pass through the workpiece falling space and fall, so the preset time needs to be set to a time length that can determine that the workpiece has not fallen off normally, such as 0.5 seconds, etc.), it can be considered that the workpiece is in a warped state and has not fallen off normally.

[0019] Furthermore, the monitoring device includes a first camera that can move along the X direction and a second camera that can move along the Y direction; the first camera and the second camera are used to scan a preset visual monitoring space and obtain a visual image; the workpiece drop space belongs to the preset visual monitoring space. The visual monitoring space refers to the maximum spatial range that can be ultimately monitored and scanned after the first camera and the second camera move in the X direction and the Y direction respectively. The workpiece drop space corresponding to all workpieces in the processing queue must belong to the above-mentioned visual monitoring space. That is, in this embodiment, only the above-mentioned two cameras (the first camera and the second camera, which only need to move in the X direction and the Y direction respectively) are needed to obtain visual images corresponding to different workpiece drop spaces, and then determine whether there is a workpiece corresponding to it in the workpiece drop space based on the visual image.

[0020] S20, when there is a first workpiece in a warped state in the workpiece falling space, the laser cutting head is placed in a paused cutting state, and the workpiece position information of the first workpiece in the warped state is obtained; the workpiece position information includes all workpiece coordinate points of the first workpiece; it can be understood that in the present invention, when there is a first workpiece in a warped state in the workpiece falling space, it means that the first workpiece has not fallen off normally. At this time, the cutting process needs to be suspended first (because the downward displacement of the small piece of the first workpiece falling from the plate due to gravity may interfere with the subsequent processing movement of the laser cutting head, thereby causing a collision, so it is necessary to temporarily stop). Movement), that is, the laser cutting head is in a paused cutting state, and the paused cutting state is released only after the first optimal moving path is determined in the subsequent steps. At the same time, the number of workpieces that did not fall off normally can also be counted (the number of workpieces that did not fall off normally in the processing queue can be counted, and the number of all workpieces that did not fall off normally cut by the laser cutting head within a certain period of time can also be counted, etc.), and the preset processing party can be notified of the abnormally fallen workpiece. At this time, the preset processing party can determine the processing measures based on the number of workpieces that did not fall off normally, such as whether it is necessary to adjust the laser cutting parameters or production parameters, etc., thereby improving the overall processing efficiency. In another embodiment, when the first workpiece does not fall off normally and the existence of the first workpiece affects the continuous processing of the next second workpiece in the processing queue by the laser cutting head, the robotic arm can also be controlled to automatically remove the first workpiece that did not fall off (if there is no interference with the laser cutting head, it can be carried out simultaneously with the cutting work of the laser cutting head. If there is interference, it is carried out in the paused cutting state of the laser cutting head).

[0021] In one embodiment, the visual image includes an XZ plane image obtained by scanning with the first camera and a YZ plane image obtained by scanning with the second camera. Further, in step S20, obtaining the workpiece position information of the first workpiece in a warped state includes:

[0022] The first mechanical coordinates of the first camera and the second mechanical coordinates of the second camera are obtained; wherein the mechanical coordinates (the first mechanical coordinates and the second mechanical coordinates) both refer to coordinates in a machine tool coordinate system corresponding to a machine tool on which a laser cutting head is installed.

[0023] All X and Z coordinates corresponding to the warped first workpiece are determined from the XZ plane image scanned by the first camera. Simultaneously, all Y and Z coordinates corresponding to the warped first workpiece are determined from the YZ plane image scanned by the second camera. It is understood that the first and second cameras are mounted at the same height, and the Z coordinates obtained by the first and second cameras are consistent. As long as the corresponding Z coordinates of the aforementioned X and Y coordinates are consistent, an image space coordinate of the first workpiece can be determined based on the X and Y coordinates and their corresponding consistent Z coordinates. Furthermore, the sets of X, Y, and Z coordinates corresponding to the same image space coordinate are mutually correlated. Here, an image space coordinate refers to the coordinate point corresponding to a point on the first workpiece in the spatial coordinate system formed by the visual image captured by the monitoring device.

[0024] After associating the X and Y coordinates corresponding to the same Z coordinate, all workpiece coordinate points of the first workpiece in the warped state are determined based on a preset coordinate transformation relationship. The preset coordinate transformation relationship refers to the transformation relationship between the image space coordinates and the aforementioned mechanical coordinates. This transformation relationship needs to be determined based on the machine tool's dimensions and the monitoring range of the monitoring equipment, and is not further described here. Based on the preset transformation relationship, the image control coordinates can be converted into workpiece coordinate points. A workpiece coordinate point is a mechanical coordinate in the machine tool coordinate system.

[0025] The workpiece position information is generated according to the workpiece coordinate points. That is, after the workpiece coordinate points are determined, the workpiece position information including all the workpiece coordinate points can be generated.

[0026] S30, determining a second workpiece in the processing queue that is to be processed after the first workpiece, and obtaining a cutting path for the second workpiece; the cutting path includes a starting cutting coordinate; the workpieces to be cut in the processing queue are arranged in a processing order; the second workpiece is the workpiece in the processing queue that is to be cut after the first workpiece. The cutting path includes the starting cutting coordinate; the cutting path refers to the path that the laser cutting head needs to travel from the starting cutting coordinate when cutting the second workpiece (i.e., cutting the second workpiece from the plate).

[0027] In one embodiment, step S30, i.e., determining a second workpiece whose processing order is subsequent to the first workpiece in the processing queue and obtaining a cutting path for the second workpiece, further includes:

[0028] confirming whether there is a second workpiece in the processing queue whose processing order is after the first workpiece;

[0029] When there is a second workpiece in the processing queue whose processing order is after the first workpiece, obtaining a cutting path for the second workpiece;

[0030] When there is no second workpiece in the processing queue whose processing order is after the first workpiece, it is confirmed that the cutting processing is completed, and the cutting processing data corresponding to all the workpieces in the processing queue are stored.

[0031] In this embodiment, after the first workpiece is processed, if there is still a second workpiece that needs to be processed, it means that the current cutting process has not been completed. Therefore, it is necessary to obtain the cutting path of the second workpiece and continue processing. If there is no second workpiece in the processing queue whose processing order is after the first workpiece, it means that all workpieces in the processing queue have been processed. At this time, the current cutting process is deemed to have ended. At this time, all cutting processing data in the processing queue needs to be stored for easy retrieval during subsequent use. The present invention can realize the planning of processing paths between multiple workpieces in the processing queue, reduce the time consumed by the overall cutting process, and improve the processing efficiency of laser cutting.

[0032] S40, collecting the current axis positioning coordinates of the laser cutting head; wherein, the order of step S30 and step S40 is not limited, but any one of step S30 and step S40 can be executed first or simultaneously according to needs. Among them, the axis positioning coordinates refer to the spatial position coordinates of the laser cutting head currently located. Furthermore, since the laser cutting head needs to move in space, the axis positioning coordinates may also include other position coordinates on the center axis of the laser cutting head (the installation axis where the laser cutting head is located) that may interfere with other objects during the spatial movement. Understandably, the axis positioning coordinates can be obtained in real time by a position measuring device such as a grating ruler. The grating ruler can be installed on the installation shaft. After the grating ruler is powered on and connected to the control module, the axis positioning coordinates can be fed back in real time.

[0033] S50, determining a first optimal movement path based on the axis positioning coordinates, the starting cutting coordinates, and the workpiece position information; that is, after confirming that a first workpiece in a warped state exists in the workpiece drop space, due to interference from the first workpiece that has not fallen off normally, it is necessary to determine a first optimal movement path based on the axis positioning coordinates, the starting cutting coordinates, and the workpiece position information to prevent contact with the first workpiece that has not fallen off during the next step of moving to and cutting the second workpiece. The starting point of the first optimal movement path is always the axis positioning coordinates, and the end point is always the starting cutting coordinates.

[0034] Preferably, the first optimal moving path does not overlap with any workpiece coordinate point in the workpiece position information (the first optimal moving path does not overlap with any workpiece coordinate point in the workpiece position information of the first workpiece in a warped state). In this way, the laser cutting head can be protected during the process of controlling the laser cutting head to move from the axis positioning coordinate to the starting cutting coordinate according to the first optimal moving path, thereby avoiding damage to the laser cutting head and ensuring the safety of laser cutting.

[0035] Furthermore, the first optimal movement path has the shortest path length or the shortest movement time from the axis positioning coordinate to the starting cutting coordinate, that is, the first optimal movement path should be preferably the shortest path length or the shortest movement time. In this way, the present invention takes into account the optimization of the movement path of the laser cutting head during the cutting process of each workpiece in the processing queue, reduces the time consumed in the overall cutting process of all workpieces in the processing queue, and improves the processing efficiency of the laser cutting process. S60, releases the pause cutting state of the laser cutting head, controls the laser cutting head to move from the axis positioning coordinate to the starting cutting coordinate according to the first optimal movement path, and then controls the laser cutting head to cut the second workpiece according to the cutting path. That is, after determining the first optimal movement path, first controls the laser cutting head to move from the axis positioning coordinate to the starting cutting coordinate according to the first optimal movement path, and then controls the laser cutting head to cut the second workpiece according to the cutting path. It is understandable that the cutting process of all subsequent workpieces in the processing queue, if there is a workpiece that has not fallen off normally, can refer to this embodiment for cutting process, and no further details are given here.

[0036] The present invention determines whether there is a first workpiece in a warped state but has not automatically fallen off in the workpiece falling space by scanning with a monitoring device, and then accurately locates the first workpiece that has not fallen off normally, and subsequently determines a first optimal moving path according to the axis positioning coordinates, the starting cutting coordinates and the workpiece position information, so that in the process of controlling the laser cutting head to move from the axis positioning coordinates to the starting cutting coordinates according to the first optimal moving path, the laser cutting head is protected (the first optimal moving path does not coincide with any workpiece coordinate point in the workpiece position information of the first workpiece in a warped state), thereby avoiding damage to the laser cutting head and ensuring the safety of laser cutting. At the same time, the optimization of the moving path of the laser cutting head during the cutting process of each workpiece in the processing queue is taken into account (the path length of the first optimal moving path from the axis positioning coordinates to the starting cutting coordinates is the shortest or the moving time is the shortest), thereby reducing the time consumed in the overall cutting process of all workpieces in the processing queue and improving the processing efficiency of the laser cutting process.

[0037] In one embodiment, the monitoring device includes a first camera that can move along the X direction and a second camera that can move along the Y direction; the first camera and the second camera are used to scan a preset visual monitoring space and obtain a visual image; the workpiece drop space belongs to the preset visual monitoring space. Wherein, the visual monitoring space refers to the maximum spatial range that can be finally monitored and scanned after the first camera and the second camera move in the X direction and the Y direction respectively. The workpiece drop space corresponding to all workpieces in the processing queue must belong to the above-mentioned visual monitoring space, that is, in this embodiment, only the above-mentioned two cameras (the first camera and the second camera, which only need to move in the X direction and the Y direction respectively) are needed to obtain visual images corresponding to different workpiece drop spaces, and then determine whether there is a workpiece corresponding to it in the workpiece drop space based on the visual image. Specifically, in the step S10, the workpiece drop space corresponding to the first workpiece is scanned by the monitoring device to identify whether there is a first workpiece in a warped state in the workpiece drop space, including:

[0038] Scanning a workpiece drop space located below the first workpiece and centered on the laser cutting head in a preset visual monitoring space by using a first camera and a second camera, and obtaining a visual image of the workpiece drop space;

[0039] According to the visual image, it is confirmed whether there is a first workpiece in a warped state in the workpiece drop space. That is, the workpiece drop space of the first workpiece is located below the first workpiece. Therefore, after determining the workpiece drop space of the first workpiece, the first camera and the second camera of the monitoring device can be controlled to move to the preset positions along the X direction and the Y direction respectively, so that the two cameras can monitor and scan the first workpiece drop situation in the workpiece drop space. It can be understood that after the first camera and the second camera move to the preset positions, the visual image finally obtained by the monitoring scan will be centered on the axis of the central axis of the laser cutting head. At this time, the monitoring scanning effect of the two cameras can be optimized. In the present invention, only the above-mentioned two cameras (the first camera and the second camera, and they only need to move in the X direction and the Y direction respectively) are needed to obtain a visual image corresponding to the workpiece drop space of the first workpiece, and then determine whether there is a workpiece corresponding to it in the workpiece drop space based on the visual image.

[0040] Furthermore, the confirming, based on the visual image, whether there is a first workpiece in a warped state in the workpiece falling space includes:

[0041] The preset background color in the visual image is blurred, and the preset workpiece color of the first workpiece is identified in the visual image after blurring the preset background color; the preset workpiece color is different from the preset background color; wherein, within the scanning fields of view of the two cameras, there may be other objects besides the first workpiece currently being scanned. At this time, the other objects need to be regarded as the background in the present invention, and therefore, the background needs to be processed first before the first workpiece is identified. In the present invention, a background plate of a preset background color (such as a red background plate) can be pre-added in the scanning fields corresponding to the first camera and the second camera respectively. At this time, the background plate of the preset background color in the visual image can be blurred while shooting the visual image, or after shooting the visual image, thereby facilitating the identification of the first workpiece of the preset workpiece color (different from the preset background color). Alternatively, the first workpiece of the preset workpiece color can be determined first, and then, when no background plate is set and the colors of other objects are different from the preset workpiece color, other objects different from the preset workpiece color can be regarded as the background, that is, other colors except the preset workpiece color are regarded as the preset background color. At this time, the preset background color in the visual image can be blurred smoothly, thereby facilitating the identification of the first workpiece that has not fallen off normally.

[0042] When the preset workpiece color is identified in the visual image, the presence of the first workpiece in the visual image is confirmed; that is, the presence of the preset workpiece color in the visual image indicates that the first workpiece exists, but at this time it may be the first workpiece that fell normally, or it may be the first workpiece that did not fall normally, so it is necessary to continuously scan the visual image within a continuous time length in subsequent steps to confirm whether the first workpiece exists in all visual images scanned within the continuous preset time length, and then determine whether there is a first workpiece that is in a warped state and did not fall off normally in the workpiece falling space.

[0043] When it is recognized that the first workpiece exists in all visual images scanned within a continuous preset time period, it is confirmed that the first workpiece in a warped state exists in the workpiece falling space; when it is recognized that the first workpiece exists in all visual images scanned within a continuous preset time period, it indicates that the first workpiece in a warped state exists in the workpiece falling space and has not fallen off normally.

[0044] If the first workpiece is not identified in all visual images scanned continuously for a preset time period, it is determined that the first workpiece in a warped state does not exist in the workpiece dropping space. If the first workpiece is not identified in all visual images scanned continuously for a preset time period, it indicates that the first workpiece that did not fall out normally does not exist in the workpiece dropping space, and the first workpiece identified in the visual image has fallen normally from the workpiece dropping space.

[0045] Furthermore, after confirming that the first workpiece in a warped state does not exist in the workpiece falling space, the method further includes:

[0046] A second workpiece, whose processing order follows the first workpiece, is determined in the processing queue, and a cutting path for the second workpiece is obtained. The workpieces to be cut in the processing queue are arranged according to the processing order; the second workpiece is the workpiece to be cut after the first workpiece in the processing queue. The cutting path includes a starting cutting coordinate; the cutting path refers to the path that the laser cutting head needs to travel from the starting cutting coordinate when cutting the second workpiece (i.e., cutting the second workpiece from the plate).

[0047] The current axis positioning coordinates of the laser cutting head are collected; wherein the axis positioning coordinates refer to the coordinates of the current spatial position of the laser cutting head. Furthermore, since the laser cutting head needs to move in space, the axis positioning coordinates may also include the coordinates of other positions on the central axis of the laser cutting head (the mounting axis on which the laser cutting head is located) that may interfere with other objects during spatial movement. The order of collecting the axis positioning coordinates and obtaining the cutting path of the second workpiece is not limited, and can be performed either first or simultaneously as required.

[0048] The second optimal moving path is determined according to the axis positioning coordinates and the starting cutting coordinates; the second optimal moving path has the shortest path length or the shortest moving time from the axis positioning coordinates to the starting cutting coordinates; that is, after confirming that there is no first workpiece in a warped state in the workpiece falling space, it means that the processing of the second workpiece is proceeding normally. At this time, since there is no interference from the first workpiece that has not fallen off normally, the second optimal moving path can be determined according to the axis positioning coordinates and the starting cutting coordinates. For example, the second optimal moving path is preferably a straight line path from the axis positioning coordinates to the starting cutting coordinates, but the second optimal moving path can also be set in advance according to needs, and can be directly called at this time, but its starting point must be the axis positioning coordinates, and the end point must be the starting cutting coordinates.

[0049] After controlling the laser cutting head to move from the axis positioning coordinate to the starting cutting coordinate according to the second optimal movement path, the laser cutting head is controlled to perform cutting processing on the second workpiece according to the cutting path. That is, after determining the second optimal movement path, the laser cutting head is first controlled to move from the axis positioning coordinate to the starting cutting coordinate according to the second optimal movement path, and then the laser cutting head is controlled to perform cutting processing on the second workpiece according to the cutting path. It is understandable that the cutting processing of all subsequent workpieces in the processing queue, if there is no workpiece that has not fallen off normally, can refer to this embodiment for cutting processing, and no further details are given here.

[0050] In one embodiment, in step S50, determining the first optimal movement path according to the axis positioning coordinates, the starting cutting coordinates and the workpiece position information includes:

[0051] A three-dimensional model of the first workpiece in a warped state is established based on the workpiece position information, and a straight line path between the axis positioning coordinates and the starting cutting coordinates is generated. The three-dimensional model and the straight line path are displayed in a preset display interface; the width of the straight line path is equal to the interference range of the laser cutting head; that is, since the workpiece position information contains all the workpiece coordinate points of the first workpiece, a three-dimensional model of the first workpiece in a warped state can be automatically generated in a three-dimensional software based on the workpiece position information, for example, a three-dimensional image based on OPENGL is automatically generated in SolidWorks. At the same time, since the laser cutting head preferably moves in a straight line between the axis positioning coordinates and the starting cutting coordinates, the straight line path length is the shortest and usually takes the shortest time (i.e., the moving time is the least). In addition, the width of the straight line path needs to be equal to the interference range of the laser cutting head (for example, the laser cutting head has a certain width, and it is also necessary to take into account the deviation generated when the laser cutting head moves, so the laser cutting head needs to maintain a certain distance from other objects in the outside world. The interference range can be determined based on the distance value and the width of the laser cutting head) to avoid the laser cutting head touching the first workpiece during movement. It can be understood that the above-mentioned three-dimensional model, straight line path, axis positioning coordinates and the starting cutting coordinates can all be displayed in real time in the preset display interface, that is, the specific position and shape of the first workpiece that has not fallen off are visually displayed in the preset display interface of the simulation software, and the position and shape of the laser cutting head and its possible movement path are also displayed, so that the operator can have a good understanding of the situation at the cutting site, thereby increasing the controllability of the workpiece cutting process.

[0052] If there are no overlapping points between the straight path and the three-dimensional model, the straight path is recorded as the first optimal movement path. In other words, if there are no overlapping points between the straight path and the three-dimensional model, it means that the laser cutting head will not interfere with the first workpiece that has not been properly removed when traveling along the straight path. In this case, the straight path can be directly recorded as the first optimal movement path that the laser cutting head will follow.

[0053] Furthermore, after determining whether a straight line path between the axis positioning coordinate and the starting cutting coordinate has an overlap point with the three-dimensional model, the method further includes:

[0054] When there is an overlapping point between the straight path and the three-dimensional model, a non-straight path between the axis positioning coordinate and the starting cutting coordinate is obtained; the width of the non-straight path is equal to the interference range of the laser cutting head, and the non-straight path does not overlap with any workpiece coordinate point in the workpiece position information; that is, there is an overlapping point between the straight path and the three-dimensional model, which means that when the laser cutting head moves along the straight path, it will interfere with the first workpiece that has not fallen off normally. At this time, the first optimal moving path must be a non-straight path that does not overlap with any workpiece coordinate point in the workpiece position information.

[0055] Obtain different types of moving segments in each of the non-straight paths; the moving segments include one or more of straight segments, arc segments, and bend segments; understandably, the non-straight path can be cut into multiple moving segments, including but not limited to straight segments, arc segments, bend segments, etc.

[0056] Obtain the moving speed of the laser cutting head associated with each type of moving section. It is understandable that for different types of moving sections, the laser cutting head should have different moving speeds. For example, the speed of the laser cutting head should be different when turning and moving in a straight line.

[0057] According to the moving sections corresponding to the same non-straight path and their associated moving speeds, the moving time of each non-straight path is determined; that is, according to the moving sections and their corresponding moving speeds obtained above, the moving time of the laser cutting head corresponding to each non-straight path can be determined, and then the first optimal moving path can be determined from all non-straight paths based on the moving time.

[0058] The non-linear path corresponding to the shortest movement time is recorded as the first optimal movement path. In other words, the non-linear path that consumes the least time is the first optimal movement path, which can reduce the processing time and improve the efficiency of the cutting process.

[0059] In one embodiment, after step S50, that is, after determining the first optimal moving path according to the axis positioning coordinates, the starting cutting coordinates and the workpiece position information, the method further includes:

[0060] Displaying the first optimal moving path in a preset display interface;

[0061] When an adjustment instruction including an adjustment parameter is received, the first optimal moving path is adjusted in the preset display interface according to the adjustment parameter.

[0062] That is, in this embodiment, after the first optimal movement path is determined, it can also be adjusted as needed in the preset display interface. For example, the operator can directly drag the first optimal movement path in the preset display interface to change its adjustment parameters (visual adjustment is convenient and fast), or enter the adjustment parameters to adjust the first optimal movement path. The laser cutting head will subsequently move from the axis positioning coordinate to the starting cutting coordinate according to the adjusted first optimal movement path.

[0063] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0064] In one embodiment, a laser cutting system is provided, which corresponds one-to-one to the laser cutting method in the above embodiment. The laser cutting system includes a control module, a laser cutting head and a monitoring device both connected to the control module, and the control module is used to execute the laser cutting method.

[0065] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, the control module is not described in detail. In actual applications, the functions of the above-mentioned control module can be distributed to different functional units and modules as needed, referring to the above-mentioned laser cutting method, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0066] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A laser cutting method, characterized in that: include: After the laser cutting head completes cutting processing on the first workpiece in the processing queue, scanning the workpiece drop space corresponding to the first workpiece by a monitoring device to identify whether there is a first workpiece in a warped state in the workpiece drop space; When a first workpiece in a warped state exists in the workpiece falling space, the laser cutting head is placed in a paused cutting state, and workpiece position information of the first workpiece in the warped state is acquired; the workpiece position information includes all workpiece coordinate points of the first workpiece; Determining a second workpiece in the processing queue whose processing order is after the first workpiece, and obtaining a cutting path for the second workpiece; the cutting path includes a starting cutting coordinate; Acquiring the current axis positioning coordinates of the laser cutting head; determining a first optimal moving path according to the axis positioning coordinates, the starting cutting coordinates and the workpiece position information; Release the paused cutting state of the laser cutting head, control the laser cutting head to move from the axis positioning coordinate to the starting cutting coordinate according to the first optimal movement path, and then control the laser cutting head to cut the second workpiece according to the cutting path; The determining of the first optimal moving path according to the axis positioning coordinates, the starting cutting coordinates and the workpiece position information includes: establishing a three-dimensional model of the first workpiece in a warped state based on the workpiece position information, generating a straight line path between the axis positioning coordinates and the starting cutting coordinates, and displaying the three-dimensional model and the straight line path on a preset display interface; wherein the width of the straight line path is equal to the interference range of the laser cutting head; When there is no overlapping point between the straight path and the three-dimensional model, the straight path is recorded as a first optimal movement path.

2. The laser cutting method according to claim 1, wherein: The monitoring device includes a first camera movable along the X direction and a second camera movable along the Y direction; the first camera and the second camera are used to scan a preset visual monitoring space and obtain a visual image; the workpiece falling space belongs to the preset visual monitoring space; Scanning the workpiece dropping space corresponding to the first workpiece by a monitoring device to identify whether there is a first workpiece in a warped state in the workpiece dropping space includes: Scanning a workpiece drop space located below the first workpiece and centered on the laser cutting head in a preset visual monitoring space by using a first camera and a second camera, and obtaining a visual image of the workpiece drop space; It is confirmed based on the visual image whether there is a first workpiece in a warped state in the workpiece dropping space.

3. The laser cutting method according to claim 2, wherein: The confirming, based on the visual image, whether there is a first workpiece in a warped state in the workpiece falling space includes: blurring a preset background color in the visual image, and identifying a preset workpiece color of the first workpiece in the visual image after blurring the preset background color; the preset workpiece color is different from the preset background color; When a preset workpiece color is recognized to exist in the visual image, confirming that a first workpiece exists in the visual image; When it is recognized that the first workpiece exists in all visual images scanned continuously within a preset time period, confirming that the first workpiece in a warped state exists in the workpiece falling space; When it is not recognized that the first workpiece exists in all visual images scanned within the preset time period, it is confirmed that the first workpiece in the warped state does not exist in the workpiece falling space.

4. The laser cutting method according to claim 3, wherein: After confirming that the first workpiece in a warped state does not exist in the workpiece falling space, the method includes: Determining a second workpiece in the processing queue whose processing order is after the first workpiece, and obtaining a cutting path for the second workpiece; the cutting path includes a starting cutting coordinate; Acquiring the current axis positioning coordinates of the laser cutting head; Determine a second optimal movement path according to the axis positioning coordinates and the starting cutting coordinates; the second optimal movement path has the shortest path length or the shortest movement time from the axis positioning coordinates to the starting cutting coordinates; After controlling the laser cutting head to move from the axis positioning coordinate to the starting cutting coordinate according to the second optimal movement path, the laser cutting head is controlled according to the cutting path to perform cutting processing on the second workpiece.

5. The laser cutting method according to claim 2, wherein: The visual image includes an XZ plane image obtained by scanning with the first camera and a YZ plane image obtained by scanning with the second camera; The obtaining of workpiece position information of the first workpiece in a warped state includes: Acquire a first mechanical coordinate of the first camera and a second mechanical coordinate of the second camera; Determine all X coordinates and Z coordinates corresponding to the first workpiece in the warped state from the XZ plane image obtained by scanning with the first camera, and simultaneously determine all Y coordinates and Z coordinates corresponding to the first workpiece in the warped state from the YZ plane image obtained by scanning with the second camera; After associating the X coordinate and the Y coordinate corresponding to the same Z coordinate, determining all workpiece coordinate points of the first workpiece in the warped state according to a preset coordinate conversion relationship; Workpiece position information is generated according to the workpiece coordinate points.

6. The laser cutting method according to claim 1, wherein: After determining whether a straight line path between the axis positioning coordinate and the starting cutting coordinate has an overlap point with the three-dimensional model, the method further includes: When there is an overlap point between the straight path and the three-dimensional model, a non-straight path between the axis positioning coordinate and the starting cutting coordinate is obtained; the width of the non-straight path is equal to the interference range of the laser cutting head, and the non-straight path does not overlap with any workpiece coordinate point in the workpiece position information; Acquire different types of moving segments in each of the non-straight paths; the moving segments include one or more of straight segments, arc segments, and bend segments; Obtaining the moving speed of the laser cutting head associated with each type of moving section; Determining the movement time of each non-straight path according to each movement segment corresponding to the same non-straight path and its associated movement speed; The non-straight path corresponding to the shortest movement time is recorded as a first optimal movement path.

7. The laser cutting method according to claim 1, wherein: After determining the first optimal moving path according to the axis positioning coordinates, the starting cutting coordinates and the workpiece position information, the method further includes: Displaying the first optimal moving path in a preset display interface; When an adjustment instruction including an adjustment parameter is received, the first optimal moving path is adjusted in the preset display interface according to the adjustment parameter.

8. The laser cutting method according to claim 1, wherein: The determining a second workpiece whose processing order is subsequent to the first workpiece in the processing queue and obtaining a cutting path for the second workpiece further includes: confirming whether there is a second workpiece in the processing queue whose processing order is after the first workpiece; When there is a second workpiece in the processing queue whose processing order is after the first workpiece, obtaining a cutting path for the second workpiece; When there is no second workpiece in the processing queue whose processing order is after the first workpiece, it is confirmed that the cutting processing is completed, and the cutting processing data corresponding to all the workpieces in the processing queue are stored.

9. A laser cutting system, characterized in that: It comprises a control module, a laser cutting head and a monitoring device both connected to the control module, wherein the control module is used to execute the laser cutting method according to any one of claims 1 to 8.

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