A position compensation method, device and storage medium for laser processing

Abstract

The present invention relates to a position compensation method for laser processing, comprising the following steps: setting an early trigger adjustment threshold L; judging whether the distance between the current position and the target position is within the adjustment threshold L; step three: calculating the planned speed curve and segmentation time from the current position to the target position of the current path segment; calculating the planned time T1 of the actual output position, which is ahead of the actual output position time T, and the planned time of the planned adjustment position is T'=T1-T; obtaining the corrected adjustment position according to the planned speed curve and the adjustment position planning time T'; obtaining the output in-position signal to the actuator after the actuator reaches the adjustment position, and the actuator emits a laser after obtaining the signal. Also included is a system and a storage medium for implementing the method. When correcting the adjustment position of the actuator, dynamic compensation can be performed according to the speed curve and time segmentation, and the final adjustment position can make the actual output position of the actuator's laser coincide with the target position or the deviation is very small.

Description

Technical Field

[0001] The present invention relates to the field of laser processing, and more specifically, to a position compensation method and system and a storage medium for laser processing. Background Art

[0002] In the process of laser cutting or marking, in order to achieve flying cutting or marking, it is necessary to strictly control the time of switching the light, that is, to achieve the switching of the light at the corresponding mechanical position. In order to ensure that the laser light energy is output to the accurate position, it is necessary to consider the delayed response of the system and the laser. In flying cutting, the speed is relatively fast, and accurate switching time control is required. Taking the running speed of 400mm / s when the position is triggered as an example, the switching response time delay is 2.5ms, and the deviation between the actual position and the target position is about 1mm.

[0003] Currently, position deviation compensation is achieved by setting a fixed on / off light time or introducing a position comparison module. The position signal fed back by the machine tool motor is collected to determine whether it is within a certain range to control the on / off light. However, the fixed on / off light time has different actual trigger positions at different operating speeds, making it difficult to ensure processing consistency and accuracy. The position comparison module needs to calculate the corrected position in advance, but due to speed changes during operation, even if the corrected position is calculated, there will still be compensation deviations. Summary of the invention

[0004] In order to overcome the problem of deviation between the laser target position and the actual position in the above-mentioned prior art, the present invention provides a position compensation method for laser processing, which can dynamically calculate the compensated corrected position to make the deviation between the target position and the actual position smaller or even zero.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a position compensation method for laser processing, comprising the following steps:

[0006] Step 1: Set a certain advance trigger adjustment threshold L according to the current motion path segment and the target position to be reached by the actuator;

[0007] Step 2: Determine whether the distance between the current position of the actuator and the target position of the current motion path segment is within the adjustment threshold L, and if so, perform the next step of position correction;

[0008] Step 3: Correct the actuator’s starting position;

[0009] S3.1: Calculate the planned speed curve and segment time from the current position to the target position of the current path segment;

[0010] S3.2: Calculate the planning time T1 of the actual output position, which is ahead of the actual output position time T, and the planning time of the planned adjustment position is T'=T1-T;

[0011] S3.3: Obtain the corrected adjustment position Pr (Xr, Yr) according to the planned speed curve and the adjustment position planning time T';

[0012] Step 4: After the actuator reaches the adjustment position, an in-position signal is output to the actuator, and the actuator emits laser after receiving the signal.

[0013] In the above technical solution, when calculating and obtaining the corrected adjustment position, the speed change of the current path segment where the actuator is located is taken into account. After considering the speed change, the adjustment position is corrected to the adjustment position point corresponding to the speed change, so that the actuator is started at the adjustment position, and the actuator emits a laser at the target position after a certain delay, so that the laser can be output to the target position more accurately, that is, the actual output position of the laser can coincide with the target position or the deviation is very small.

[0014] The calculation of the adjusted position requires judging whether the distance between the current position of the actuator and the target position of the current motion path segment is within the adjustment threshold L, so as to avoid excessive calculation errors caused by speed interruptions and changes during the motion process after advance calculation, and ensure the accuracy and real-time performance of the calculation.

[0015] Preferably, in S3.1, according to the motion state state (V, A, F, Ve, L, Le) of the current position, the T-type planning speed curve and segment time [t1, t2, t3] from the current position to the target position of the current motion path segment are calculated; wherein V is the current speed, A is the acceleration, F is the target speed, Ve is the end speed of the motion path segment to which it belongs, L is the distance from the current position to the target position, and Le is the remaining distance to the end point of the current motion path segment; t1 is the acceleration segment time, t2 is the sum of the acceleration segment time and the uniform speed segment time, and t3 is the total running time of the current segment.

[0016] Preferably, there are six T-type planning speed curves, as follows:

[0017] (1) There is only a uniform deceleration phase, and the segment time is [0, 0, t3], where t1 = 0, t2 = 0;

[0018] (2) There is only a uniform acceleration phase, and the segment time is [t1, t1, t1], where t2 = t1, t3 = t1;

[0019] (3) There is no uniform acceleration phase (including only uniform speed phase processing), the segment time is [0, t2, t3], where t1 = 0;

[0020] (4) There is no uniform deceleration phase, and the segment time is [t1, t2, t2], where t3 = t2;

[0021] (5) There is no uniform speed stage, and the segment time is [t1, t1, t3], where t2 = t1; the maximum speed that can be achieved in this stage is Vmax,

[0022]

[0023] (6) It has a uniform deceleration phase, a uniform acceleration phase and a uniform speed phase, and the segment time is [t1, t2, t2];

[0024] Preferably, for the six T-shaped planning speed curves, the planning time T1 of the actual output position is calculated as follows:

[0025] (1) Only the uniform deceleration phase:

[0026]

[0027]

[0028] Where Vr is the theoretical speed of the laser emitting component at the target position;

[0029] (2) Only the uniform acceleration phase:

[0030]

[0031]

[0032] (3) No uniform acceleration phase:

[0033]

[0034] (4) No uniform deceleration phase:

[0035]

[0036] (5) No uniform speed phase:

[0037]

[0038] (6) It has a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage:

[0039]

[0040] Preferably, in S3.3, the adjustment distance L' between the corrected adjustment position and the current position is calculated according to the six T-shaped planning speed curves, as follows:

[0041] (1) Only the uniform deceleration phase:

[0042]

[0043] (2) Only the uniform acceleration phase:

[0044]

[0045] (3) No uniform acceleration phase (including only uniform speed phase processing):

[0046]

[0047] (4) No uniform deceleration phase:

[0048]

[0049] (5) No uniform speed phase:

[0050]

[0051] (6) It has a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage:

[0052]

[0053] According to the adjustment distance L' and the type of the current motion path segment, the adjustment position is:

[0054] Pr=f(P,L′)

[0055] Among them, P is the current position.

[0056] Preferably, in step four, the positions fed back by the X-axis and Y-axis encoders of the actuator are obtained and compared with the adjustment position Pr. After the two positions are paired, the adjustment position is captured and a position signal is output to the actuator. After the actuator receives the signal, it emits a laser.

[0057] Preferably, in step four, the calculated adjustment position Pr (Xr, Yr) is input into the cache data queue and arranged in time, and when the encoder feedback position is compared with the adjustment position, the corresponding adjustment position is compared and captured in time order.

[0058] Preferably, the adjustment threshold L is greater than the maximum speed multiplied by the delay time T.

[0059] A laser processing system comprises an actuator, a memory and a processor; the memory is used to store a computer program; the processor is used to implement the steps of the position synchronization output time compensation method for laser processing as described above when executing the computer program; the processor comprises a position correction compensation module and a position comparison capture module; the position correction compensation module is used to calculate the adjustment position, and the position comparison capture module is used to confirm that the actuator has reached the adjustment position and send a signal to the actuator.

[0060] A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the position synchronization output time compensation method for laser processing as described above are implemented.

[0061] Compared with the prior art, the beneficial effects of the present invention are: the actuator adjustment position obtained by the method introduces the actuator's speed curve and time segmentation, and when correcting the actuator's adjustment position, dynamic compensation can be performed according to the speed curve and time segmentation. The final adjustment position can make the actuator's actual laser output position coincide with the target position or have a very small deviation, thereby ensuring the consistency and accuracy of laser processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 The present invention is a flow chart of a position compensation method for laser processing. DETAILED DESCRIPTION

[0063] The drawings are only for illustrative purposes and cannot be construed as limiting the present invention. To better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are only for illustrative purposes and cannot be construed as limiting the present invention.

[0064] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "long", "short" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0065] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0066] Example 1

[0067] like Figure 1 An embodiment of a position compensation method for laser processing is shown, comprising the following steps:

[0068] Step 1: According to the current motion path segment and the target position to be reached by the actuator, set a certain early trigger adjustment threshold L; the adjustment threshold L is greater than the maximum speed multiplied by the delay time T

[0069] Step 2: Determine whether the distance between the current position of the actuator and the target position of the current motion path segment is within the adjustment threshold L, and if so, perform the next step of position correction;

[0070] Step 3: Correct the actuator’s starting position;

[0071] S3.1: Calculate the planned speed curve and segment time from the current position to the target position of the current path segment;

[0072] S3.2: Calculate the planned time T1 of the actual output position, which is ahead of the actual output position time T. The planned time of the planned adjustment position is T'=T1-T; time T is the delay time of the actuator.

[0073] S3.3: Obtain the corrected adjustment position Pr (Xr, Yr) according to the planned speed curve and the adjustment position planning time T';

[0074] Step 4: Get the feedback position of the actuator's X-axis and Y-axis encoders and compare them with the adjustment position Pr. After the two positions are paired, capture the adjustment position and output the in-position signal to the actuator. The actuator emits the laser after receiving the signal.

[0075] The working principle of this embodiment is as follows: when calculating and obtaining the corrected adjustment position, the speed change of the current path segment where the actuator is located is taken into account. After considering the speed change, the adjustment position is corrected to the adjustment position point corresponding to the speed change, so that the actuator is started at the adjustment position, and the actuator emits a laser at the target position after a certain delay, so that the laser can be output to the target position more accurately.

[0076] The calculation of the adjusted position requires judging whether the distance between the current position of the actuator and the target position of the current motion path segment is within the adjustment threshold L, so as to avoid excessive calculation errors caused by speed interruptions and changes during the motion process after advance calculation, and ensure the accuracy and real-time performance of the calculation.

[0077] The beneficial effects of this embodiment are as follows: the actuator adjustment position obtained by this method introduces the actuator's speed curve and time segmentation, and when correcting the actuator's adjustment position, dynamic compensation can be performed based on the speed curve and time segmentation. The final adjustment position can make the actuator's actual laser output position coincide with the target position or have a very small deviation, thereby ensuring the consistency and accuracy of laser processing.

[0078] Example 2

[0079] Embodiment 2 of a position compensation method for laser processing comprises the following steps: Step 1: according to the current motion path segment and the target position to be reached by the actuator, a certain early trigger adjustment threshold L is set; the adjustment threshold L is greater than the maximum speed multiplied by the delay time T

[0080] Step 2: Determine whether the distance between the current position of the actuator and the target position of the current motion path segment is within the adjustment threshold L, and if so, perform the next step of position correction;

[0081] Step 3: Correct the actuator’s starting position;

[0082] S3.1: Calculate the planned speed curve and segment time from the current position to the target position of the current path segment;

[0083] According to the motion state state (V, A, F, Ve, L, Le) of the current position, calculate the T-type planning speed curve and segment time [t1, t2, t3] from the current position to the target position of the current motion path segment; where V is the current speed, A is the acceleration, F is the target speed, Ve is the end speed of the motion path segment, L is the distance from the current position to the target position, and Le is the remaining distance to the end point of the current motion path segment; t1 is the acceleration segment time, t2 is the sum of the acceleration segment time and the uniform speed segment time, and t3 is the total running time of the current segment.

[0084] There are six types of T-type planning speed curves, as follows:

[0085] (1) There is only a uniform deceleration phase, and the segment time is [0, 0, t3], where t1 = 0, t2 = 0;

[0086] (2) There is only a uniform acceleration phase, and the segment time is [t1, t1, t1], where t2 = t1, t3 = t1;

[0087] (3) There is no uniform acceleration phase (including only uniform speed phase processing), the segment time is [0, t2, t3], where t1 = 0;

[0088] (4) There is no uniform deceleration phase, and the segment time is [t1, t2, t2], where t3 = t2;

[0089] (5) There is no uniform speed stage, and the segment time is [t1, t1, t3], where t2 = t1; the maximum speed that can be achieved in this stage is Vmax,

[0090]

[0091] (6) It has a uniform deceleration phase, a uniform acceleration phase and a uniform speed phase, and the segment time is [t1, t2, t2];

[0092] S3.2: Calculate the planned time T1 of the actual output position, which is ahead of the actual output position time T. The planned time of the planned adjustment position is T' = T1-T; time T is the delay time of the actuator. For the six T-type planning speed curves, the calculation of T1 is as follows:

[0093] (1) Only the uniform deceleration phase:

[0094]

[0095]

[0096] Where Vr is the theoretical speed of the laser emitting component at the target position;

[0097] (2) Only the uniform acceleration phase:

[0098]

[0099]

[0100] (3) No uniform acceleration phase:

[0101]

[0102] (4) No uniform deceleration phase:

[0103]

[0104] (5) No uniform speed phase:

[0105]

[0106] (6) It has a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage:

[0107]

[0108] S3.3: Obtain the corrected adjustment position Pr(Xr, Yr) according to the planned speed curve and the adjustment position planning time T'; in this implementation, the adjustment distance L' between the corrected adjustment position and the current position is calculated according to the six T-type planned speed curves, as follows:

[0109] (1) Only the uniform deceleration phase:

[0110]

[0111] (2) Only the uniform acceleration phase:

[0112]

[0113] (3) No uniform acceleration phase (including only uniform speed phase processing):

[0114]

[0115] (4) No uniform deceleration phase:

[0116]

[0117] (5) No uniform speed phase:

[0118]

[0119] (6) It has a uniform deceleration stage, a uniform acceleration stage and a uniform speed stage:

[0120]

[0121] According to the adjustment distance L' and the type of the current motion path segment, the adjustment position is:

[0122] Pr=f(P,L′)

[0123] Among them, P is the current position.

[0124] Step 4: Get the feedback position of the actuator's X-axis and Y-axis encoders and compare them with the adjustment position Pr. After the two positions are paired, capture the adjustment position and output the in-position signal to the actuator. The actuator emits the laser after receiving the signal.

[0125] In this implementation, the calculated adjustment position Pr (Xr, Yr) is input into the cache data queue and arranged in time. When comparing the encoder feedback position with the adjustment position, the corresponding adjustment position is compared and captured in time order. Since the actuator has multiple different motion path segments and target positions, that is, there are multiple corresponding adjustment positions that need to be captured, and the position is captured by comparing the position feedback from the X-axis and Y-axis encoders with the calculated adjustment position while the actuator is constantly moving. The adjustment position that is earlier in time must be located at the front of the path of the adjustment position that is later in time. Therefore, comparing in time order can ensure that each adjustment position is captured.

[0126] The working principle of this embodiment is as follows: the speed curve and segment time of the actuator in the motion path segment are divided into six motion curve conditions according to the T-type speed planning curve, and the adjustment position is calculated according to the six motion curve conditions. The adjustment position can conform to the speed motion curve of the actuator. After the actuator emits the laser at the adjustment position, the delay time of the actuator is added to make the actual output position of the actuator's laser coincide with the target position.

[0127] The beneficial effects of this embodiment are as follows: the actuator adjustment position obtained by this method introduces the actuator's speed curve and time segmentation, and when correcting the actuator's adjustment position, dynamic compensation can be performed based on the speed curve and time segmentation. The final adjustment position can make the actuator's actual laser output position coincide with the target position or have a very small deviation, thereby ensuring the consistency and accuracy of laser processing.

[0128] Example 3

[0129] A laser processing system comprises an actuator, a memory and a processor; the memory is used to store a computer program; the processor is used to implement the steps of the position synchronization output time compensation method for laser processing as in Example 1 or Example 2 when executing the computer program; the processor comprises a position correction compensation module and a position comparison capture module; the position correction compensation module is used to calculate the adjustment position, and the position comparison capture module is used to compare the current position and the adjustment position of the actuator encoder. When the two positions match, the comparison capture module captures the adjustment position and confirms that the actuator has reached the adjustment position, and then sends a signal to the actuator.

[0130] In this implementation, after the position correction compensation module calculates the corrected position data, the data is temporarily stored in a queue for cache. The position comparison module takes the data from the queue in order for comparison. The position comparison capture module determines whether to perform position capture by checking whether there is position data to be captured in the cache queue. The position comparison capture module does not need to perform data comparison and calculation all the time after the function is turned on. It only needs to make a position capture judgment when there is data in the cache queue.

[0131] Example 4

[0132] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the position synchronization output time compensation method for laser processing of embodiment 1 or 2.

[0133] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A position compensation method for laser processing, characterized in that: The steps include: Step 1: Set a certain advance trigger adjustment threshold L according to the current motion path segment and the target position to be reached by the actuator; Step 2: Determine whether the distance between the current position of the actuator and the target position of the current motion path segment is within the adjustment threshold L, and if so, perform the next step of position correction; Step 3: Correct the actuator’s starting position; S3.1: Calculate the planned speed curve and segment time from the current position to the target position of the current path segment; S3.2: Calculate the planning time T1 of the actual output position, which is ahead of the actual output position time T, and the planning time of the planned adjustment position is T' = T1 - T; S3.3: Obtain the corrected adjustment position Pr (Xr, Yr) according to the planned speed curve and the adjustment position planning time T'; Step 4: After the actuator reaches the adjustment position, it outputs a signal to the actuator, and the actuator emits laser after receiving the signal; In S3.1, according to the motion state state (V, A, F, Ve, L, Le) of the current position, the T-type planning speed curve and segment time [t1, t2, t3] from the current position to the target position of the current motion path segment are calculated; where V is the current speed, A is the acceleration, F is the target speed, Ve is the end speed of the motion path segment, L is the distance from the current position to the target position, and Le is the remaining distance to the end point of the current motion path segment; t1 is the acceleration segment time, t2 is the sum of the acceleration segment time and the uniform speed segment time, and t3 is the total running time of the current segment; There are six types of T-type planning speed curves, as follows: (1) There is only a uniform deceleration phase, and the segment time is [0,0,t3], where t1=0,t2=0; (2) There is only a uniform acceleration phase, and the segment time is [t1, t1, t1], where t2 = t1, t3 = t1; (3) There is no uniform acceleration phase, and the segment time is [0, t2, t3], where t1 = 0; (4) There is no uniform deceleration phase, and the segment time is [t1, t2, t2], where t3 = t2; (5) There is no uniform speed stage, and the segment time is [t1, t1, t3], where t2 = t1; the maximum speed that can be achieved in this stage is Vmax, (6) It has a uniform deceleration phase, a uniform acceleration phase and a uniform speed phase, and the segment time is [t1, t2, t3]; For the six T-type planning speed curves, the planning time T1 of the actual output position is calculated as follows: (1) Only the uniform deceleration phase: Where Vr is the theoretical speed of the laser emitting component at the target position; (2) Only the uniform acceleration phase: (3) No uniform acceleration phase: (4) No uniform deceleration phase: (5) No uniform speed phase: (6) It has a uniform deceleration phase, a uniform acceleration phase, and a uniform speed phase: 。 2. A position compensation method for laser processing according to claim 1, characterized in that: In S3.3, the adjustment distance L' between the corrected adjustment position and the current position is calculated according to the six T-type planning speed curves, as follows: (1) Only the uniform deceleration phase: (2) Only the uniform acceleration phase: (3) No uniform acceleration phase: (4) No uniform deceleration phase: (5) No uniform speed phase: (6) It has a uniform deceleration phase, a uniform acceleration phase, and a uniform speed phase: According to the adjustment distance L' and the type of the current motion path segment, the adjustment position is: Among them, P is the current position.

3. A position compensation method for laser processing according to any one of claims 1-2, characterized in that: In step 4, the position feedback from the X-axis and Y-axis encoders of the actuator is obtained and compared with the adjustment position Pr. After the two positions are paired, the adjustment position is captured and the in-position signal is output to the actuator. After the actuator receives the signal, it emits a laser.

4. A position compensation method for laser processing according to claim 3, characterized in that: In step 4, the calculated adjustment position Pr (Xr, Yr) is input into the cache data queue and arranged in time. When the encoder feedback position is compared with the adjustment position, the corresponding adjustment position is compared and captured in time order.

5. A position compensation method for laser processing according to any one of claims 1-2, characterized in that: The threshold L is adjusted to be greater than the maximum speed multiplied by the delay time T.

6. A laser processing system, characterized in that: It comprises an actuator, a memory and a processor; the memory is used to store a computer program; the processor is used to implement the position compensation method for laser processing as claimed in any one of claims 1 to 5 when executing the computer program; the processor comprises a position correction compensation module and a position comparison capture module; The position correction and compensation module is used to calculate the adjustment position, and the position comparison and capture module is used to confirm that the actuator reaches the adjustment position and sends a signal to the actuator.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the position compensation method for laser processing according to any one of claims 1 to 5 is implemented.

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