Platform position prediction method of IFOV system and galvanometer command delay compensation

Abstract

The present invention is applied to the field of galvanometer calibration and provides a platform position prediction method for an IFOV system and a galvanometer instruction delay compensation method, wherein the platform position prediction method specifically includes: obtaining a first position X1, a second position X2, and a third position X3 of the platform, and recording a time T1 from the first position X1 to the second position X2 and a time T2 from the second position X2 to the third position X3, wherein the time T1 and the time T2 correspond to N1 and N2 time periods T respectively. s ; The period Ts represents the instruction cycle of the IFOV system; and through the obtained platform information, the initial velocity and acceleration of the platform are calculated, and finally the position of the platform during the time from the IFOV system receiving the spot instruction to executing the galvanometer instruction is predicted.

Description

Technical Field

[0001] The present invention relates to the field of galvanometer correction, and in particular to a platform position prediction method for an IFOV system and galvanometer instruction delay compensation. Background Art

[0002] Galvanometer processing was originally single-galvanometer processing, that is, the galvanometer was fixed and could not move, and processing was performed within the processing range of the galvanometer itself. The processing range of this method was too small, so splicing processing appeared, that is, the galvanometer first processed within its processing range, and then the platform moved the galvanometer or the workpiece to another place and stopped, and the galvanometer processed again, and so on. In this way, the platform had to move and stop frequently, which affected both the processing efficiency and the processing accuracy (there was misalignment at the splicing point). So IFOV processing appeared, in which the galvanometer and the platform moved simultaneously during processing, which not only increased the processing range but also ensured the processing accuracy. The key to IFOV processing lies in the coordination of the platform and the galvanometer, because the light spot trajectory is ultimately decisive for the processing quality, and both the platform and the galvanometer will affect the light spot trajectory at the same time.

[0003] In the existing solution, the galvanometer's command is the light spot command minus the platform encoder feedback. If the calculated galvanometer command is sent to the galvanometer and the galvanometer can immediately execute this command, the galvanometer can immediately reach the desired position, then theoretically there will be no problem. However, in reality, between the time the IFOV system receives the light spot command and the time it executes the galvanometer command, the platform has already begun moving. As a result, the position the galvanometer reaches after receiving the galvanometer command is not the preset position, ultimately reducing the galvanometer's processing accuracy. Summary of the Invention

[0004] The present invention provides a platform position prediction method for an IFOV system and a galvanometer instruction delay compensation method, so as to improve the processing accuracy of the galvanometer.

[0005] According to a first aspect of the present invention, a platform position prediction method for an IFOV system is provided, comprising:

[0006] S1: Obtain the first position X1, the second position X2, and the third position X3 of the platform, and record the time T1 from the first position X1 to the second position X2 and the time T2 from the second position X2 to the third position X3; wherein, the time T1 and the time T2 correspond to N1 and N2 time periods T respectively s ; The period Ts represents the instruction cycle of the IFOV system;

[0007] S2: Calculating the initial velocity of the platform according to the first position X1 and the second position X2;

[0008] S3: Calculating the acceleration of the platform according to the first position X1, the second position X2, the third position X3, the time T1 and the time T2;

[0009] S4: Obtaining the delay time t of the galvanometer, wherein the delay time t represents the time interval from when the IFOV system receives the spot instruction to when it executes the galvanometer instruction;

[0010] S5: Calculating the delayed position of the platform after the delay time t according to the initial velocity, the acceleration and the delay time t.

[0011] Optionally, the instruction cycle of the IFOV system is: the time interval between receiving two adjacent spot instructions, the time interval for converting the spot instruction into a galvanometer instruction, or the cycle of encoder feedback.

[0012] Optionally, calculating the initial velocity of the platform according to the first position X1 and the second position X2 specifically includes:

[0013] The initial velocity=(the second position X3 - the first position X2) / the time T2.

[0014] Optionally, calculating the acceleration of the platform according to the first position X1, the second position X2, the third position X3, the time T1, and the time T2 specifically includes:

[0015] The acceleration=[(the third position X3-the second position X2) / the time T2-(the second position X2-the first position X1) / the time T1] / [1 / 2(the time T1+the time T2)].

[0016] Optionally, calculating the delayed position of the platform after the delay time t specifically includes:

[0017] The delayed position after the delay time t=the third position X3+the initial velocity*the delay time t+1 / 2*the acceleration*the square of the delay time t.

[0018] According to a second aspect of the present invention, a method for compensating for IFOV galvanometer instruction delay is provided, comprising:

[0019] S1: Get the light spot instruction;

[0020] S2: Calculating the delayed position of the platform after a delay time t using the platform position prediction method of the IFOV system according to the first aspect of the present invention;

[0021] S3: Calculate a galvanometer command and input the galvanometer command into the galvanometer, wherein the galvanometer command = the light spot command - the delayed position of the platform after the delay time t.

[0022] According to a third aspect of the present invention, there is provided an IFOV galvanometer instruction delay prediction and compensation system for executing the IFOV galvanometer instruction delay compensation method according to the second aspect of the present invention, characterized in that it comprises:

[0023] Instruction acquisition unit: used to obtain light spot instructions;

[0024] An instruction recording unit is used to record the first position X1, the second position X2, and the third position X3 of the platform, and to record the time T1 from the first position X1 to the second position X2 and the time T2 from the second position X2 to the third position X3;

[0025] Instruction calculation unit: used to calculate the delayed position of the platform and the galvanometer instruction after the delay time t;

[0026] Instruction output unit: inputs the galvanometer instruction into the galvanometer.

[0027] According to a fourth aspect of the present invention, there is provided an electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to the second aspect of the present invention when executing the program.

[0028] According to a fifth aspect of the present invention, there is provided a storage medium having a program stored thereon, wherein the program, when executed by a processor, implements the steps of the method according to the second aspect of the present invention.

[0029] The platform position prediction method and galvanometer instruction delay compensation of the IFOV system provided by the present invention calculate the distance moved by the platform from the time the IFOV system receives the light spot instruction to the time it executes the galvanometer instruction, that is, predict in advance the delayed position of the platform after the delay time, and when calculating the galvanometer instruction, use the light spot instruction minus the delayed position of the platform after the delay time (that is, the position of the platform at the next moment) as the galvanometer instruction of the galvanometer at the current moment, so that the galvanometer can reach the desired position, thereby achieving the purpose of improving the processing accuracy of the galvanometer. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 1 is a flow chart of a platform position prediction method of an IFOV system according to an embodiment of the present invention;

[0032] Figure 2 1 is a flow chart of an IFOV galvanometer instruction delay compensation method according to an embodiment of the present invention;

[0033] Figure 3 is a block diagram of an IFOV galvanometer command delay compensation system according to an embodiment of the present invention;

[0034] Figure 4 FIG. 1 is a schematic diagram of the structure of an exemplary electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0035] 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 the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] The terms "first," "second," "third," "fourth," and the like (if any) in the description and claims of the present invention and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatus.

[0037] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0038] In the existing solution, the galvanometer's instruction is the light spot instruction minus the platform encoder feedback. If the calculated galvanometer instruction is sent to the galvanometer and the galvanometer can execute this instruction immediately, the galvanometer can immediately reach the desired position; however, the galvanometer needs to go through the following steps from receiving the galvanometer instruction to executing the galvanometer instruction: the chip receives the light spot instruction, the chip calculates the galvanometer instruction based on the encoder feedback, and inputs the galvanometer instruction into the galvanometer; during this period of time, the platform has started to move. Since the galvanometer is on the platform and the light spot instruction is confirmed based on the position of the platform and the galvanometer, the position reached by the galvanometer after the galvanometer instruction is not the preset position, which ultimately reduces the processing accuracy of the galvanometer.

[0039] In this application, the platform is placed on the machine tool, the galvanometer is placed on the platform, the platform moves relative to the machine tool, and the galvanometer moves relative to the platform. Therefore, the light spot instruction in this application refers to: the position coordinates where the laser emitted by the galvanometer is expected to eventually reach; the galvanometer instruction refers to: the position coordinates of the galvanometer relative to a certain point on the platform (such as: taking the center of the platform as the coordinate origin); the encoder feedback feeds back the actual position coordinates of the platform on the machine tool.

[0040] Please refer to Figure 1 , an embodiment of the present invention provides a platform position prediction method of an IFOV system, comprising:

[0041] S1: Obtain the first position X1, the second position X2, and the third position X3 of the platform, and record the time T1 from the first position X1 to the second position X2 and the time T2 from the second position X2 to the third position X3; wherein, the time T1 and the time T2 correspond to N1 and N2 time periods T respectively s ; The period Ts represents the instruction cycle of the IFOV system.

[0042] The instruction cycle of the IFOV system is: the time interval between receiving two adjacent spot instructions, the time interval for converting the spot instructions into galvanometer instructions, or the period of encoder feedback.

[0043] Specifically, the encoder is a sensor fixed on the machine tool, and reflects the position of the platform through readings. In the embodiment of the present invention, the first position X1, the second position X2 and the third position X3 of the platform are obtained through encoder feedback, and the time T1 from the first position X1 to the second position X2 and the time T2 from the second position X2 to the third position X3 are recorded by the encoder.

[0044] S2: Calculate the initial velocity of the platform according to the first position X1 and the second position X2. The initial velocity represents the velocity of the platform at that moment.

[0045] Specifically, the initial velocity=(the second position X3-the first position X2) / the time T2.

[0046] S3: Calculating the acceleration of the platform according to the first position X1, the second position X2, the third position X3, the time T1 and the time T2.

[0047] Specifically, the acceleration=[(the third position X3-the second position X2) / the time T2-(the second position X2-the first position X1) / the time T1] / [1 / 2(the time T1+the time T2)].

[0048] S4: Obtaining the delay time t of the galvanometer, where the delay time t represents the time interval from when the IFOV system receives the spot instruction to when it executes the galvanometer instruction.

[0049] S5: Calculating the delayed position of the platform after the delay time t according to the initial velocity, the acceleration and the delay time t.

[0050] Specifically, the delayed position after the delay time t=the third position X3+the initial velocity*the delay time t+1 / 2*the acceleration*the square of the delay time t.

[0051] The present invention is not limited to calculating the initial velocity of the platform at its current position, the acceleration of the platform, and calculating the position of the platform after a delay based on the initial velocity and acceleration of the platform. Other methods of calculating the initial velocity of the platform at its current position, the acceleration of the platform, and the position of the platform after a delay are also within the scope of protection of the present invention.

[0052] Please refer to Figure 2 , an embodiment of the present invention further provides an IFOV galvanometer instruction delay compensation method, comprising:

[0053] S1: Get the light spot instruction.

[0054] The light spot instruction is determined by the position of the platform and the position of the galvanometer.

[0055] S2: Calculate the delayed position of the platform after the delay time t using the platform position prediction method of the IFOV system.

[0056] S3: Calculate a galvanometer command and input the galvanometer command into the galvanometer, wherein the galvanometer command = the light spot command - the delayed position of the platform after the delay time t.

[0057] The present invention is not limited to IFOV linkage processing. Other linkage processing methods, such as multi-axis linkage processing, that is, processing methods that calculate the delayed position of the platform and adjust the galvanometer instructions are all within the protection scope of the present invention.

[0058] The platform position prediction method and galvanometer instruction delay compensation of the IFOV system provided by the present invention calculate the distance moved by the platform from the time the IFOV system receives the light spot instruction to the time it executes the galvanometer instruction, that is, predict in advance the delayed position of the platform after the delay time, and when calculating the galvanometer instruction, use the light spot instruction minus the delayed position of the platform after the delay time (that is, the position of the platform at the next moment) as the galvanometer instruction of the galvanometer at the current moment, so that the galvanometer can reach the desired position, thereby achieving the purpose of improving the processing accuracy of the galvanometer.

[0059] Please refer to Figure 3 The embodiment of the present invention further provides an IFOV galvanometer instruction delay prediction and compensation system for executing the above-mentioned IFOV galvanometer instruction delay compensation method, comprising:

[0060] Instruction acquisition unit 100: used to acquire light spot instructions;

[0061] The instruction recording unit 200 is used to record the first position X1, the second position X2 and the third position X3 of the platform, and record the time T1 from the first position X1 to the second position X2 and the time T2 from the second position X2 to the third position X3;

[0062] The instruction calculation unit 300 is used to calculate the delayed position of the platform and the galvanometer instruction after the delay time t;

[0063] The instruction output unit 400 inputs the galvanometer instruction into the galvanometer.

[0064] Please refer to Figure 4 , an embodiment of the present invention further provides an electronic device 30, including:

[0065] processor 31; and

[0066] a memory 32 for storing executable instructions of the processor;

[0067] The processor 31 is configured to execute the above-mentioned method by executing the executable instructions.

[0068] The processor 31 can communicate with the memory 32 via the bus 33 .

[0069] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned method when executed by a processor.

[0070] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for compensating IFOV galvanometer instruction delay, characterized in that: include: S1: Get the light spot instruction; S2: Calculating the delayed position of the platform after the delay time t using the platform position prediction method of the IFOV system; S3: Calculate a galvanometer command and input the galvanometer command into the galvanometer, wherein the galvanometer command = the light spot command - the delayed position of the platform after the delay time t; The platform is placed on a machine tool, the galvanometer is placed on the platform, the platform moves relative to the machine tool, and the galvanometer moves relative to the platform. The light spot instruction refers to the position coordinates at which the laser emitted by the galvanometer is expected to eventually reach, and the galvanometer instruction refers to the position coordinates of the galvanometer relative to a certain point on the platform. The platform position prediction method of the IFOV system includes: Obtain a first position X1, a second position X2, and a third position X3 of the platform, and record a time T1 from the first position X1 to the second position X2 and a time T2 from the second position X2 to the third position X3; wherein the time T1 and the time T2 correspond to N1 and N2 time periods Ts, respectively; the period Ts represents the instruction cycle of the IFOV system; Calculating the initial velocity of the platform according to the first position X1 and the second position X2; Calculating the acceleration of the platform according to the first position X1, the second position X2, the third position X3, the time T1 and the time T2; Obtain the delay time t of the galvanometer, where the delay time t represents the time interval from when the IFOV system receives the spot command to when it executes the galvanometer command; The delayed position of the platform after the delay time t is calculated according to the initial velocity, the acceleration and the delay time t.

2. The IFOV galvanometer instruction delay compensation method according to claim 1, characterized in that: The instruction cycle of the IFOV system is: the time interval between receiving two adjacent spot instructions, the time interval for converting the spot instruction into a galvanometer instruction, or the cycle of encoder feedback.

3. The IFOV galvanometer instruction delay compensation method according to claim 1, characterized in that: The calculating the initial velocity of the platform according to the first position X1 and the second position X2 specifically includes: The initial velocity=(the second position X2−the first position X1) / the time T1.

4. The IFOV galvanometer instruction delay compensation method according to claim 1, characterized in that: Calculating the acceleration of the platform according to the first position X1, the second position X2, the third position X3, the time T1, and the time T2 specifically includes: The acceleration=[(the third position X3-the second position X2) / the time T2-(the second position X2-the first position X1) / the time T1] / [1 / 2(the time T1+the time T2)].

5. The IFOV galvanometer instruction delay compensation method according to any one of claims 2 to 4, characterized in that: The calculating the delayed position of the platform after the delay time t specifically includes: The delayed position after the delay time t=the third position X3+the initial velocity*the delay time t+1 / 2*the acceleration*the square of the delay time t.

6. An IFOV galvanometer instruction delay prediction and compensation system, used to execute the IFOV galvanometer instruction delay compensation method according to any one of claims 1 to 5, characterized in that: include: Instruction acquisition unit: used to obtain light spot instructions; An instruction recording unit is used to record the first position X1, the second position X2, and the third position X3 of the platform, and to record the time T1 from the first position X1 to the second position X2 and the time T2 from the second position X2 to the third position X3; Instruction calculation unit: used to calculate the delayed position of the platform and the galvanometer instruction after the delay time t; Instruction output unit: inputs the galvanometer instruction into the galvanometer.

7. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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