Cutting method, cutting device and computer readable storage medium

Abstract

The present application discloses a cutting method, a cutting device, and a computer-readable storage medium. The cutting method is used to cut multiple plates arranged in a rectangular array, comprising the following steps: S100, setting the row direction of the rectangular array as the Y-axis direction, setting the column direction of the rectangular array as the X-axis direction, and setting the plate with the smallest X and Y coordinates as the first plate; S200, obtaining the total number of rows, Total_X, and the total number of columns, Total_Y, of the rectangular array, and defining variables Count_X and Count_Y, assigning initial values ​​to the variables Count_X and Count_Y; S300, cutting the first plate using a cutting head, and after cutting the first plate, increasing the value of Count_Y by 1; S400, determining the next movement direction of the cutting head by comprehensively judging the relationship between the incremental value of Count_Y and Total_Y, whether the incremental value of Count_X is divisible by 2, and the relationship between the incremental value of Count_X and Total_X. The cutting method of the present application can achieve automatic and continuous cutting of multiple plates arranged in a rectangular array.

Description

Technical Field

[0001] The present application relates to the technical field of plate cutting, and in particular to a cutting method, a cutting device, and a computer-readable storage medium. Background Art

[0002] Laser cutting, as a new processing method, is widely used in the metal and non-metal processing industries due to its advantages such as accuracy, speed, simplicity, and high degree of automation. Compared with traditional cutting methods, laser cutting not only has the advantages of high cutting accuracy, fast cutting speed and low processing cost, but also has the advantages of safe operation and simple maintenance.

[0003] In the sheet metal cutting industry, there's often a need to batch-cut multiple sheets arranged in a rectangular array. Conventional techniques for batch-cutting multiple sheets arranged in a rectangular array require multiple manual steps to achieve continuous processing of the sheets. This processing method results in long downtime and low efficiency. Summary of the Invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a cutting method that can achieve automatic and continuous cutting of multiple plates arranged in a rectangular array.

[0005] The present invention also provides a cutting device for executing the above-mentioned cutting method.

[0006] The present invention also provides a computer-readable storage medium storing a computer program for executing the above-mentioned cutting method.

[0007] According to the first aspect of the present application, a cutting method for cutting a plurality of plates arranged in a rectangular array comprises the following steps:

[0008] S100, setting the row direction of the rectangular array as the Y-axis direction, setting the column direction of the rectangular array as the X-axis direction, and setting the plate with the smallest X-coordinate and Y-coordinate as the first plate;

[0009] S200, obtaining the total number of rows Total_X and the total number of columns Total_Y of the rectangular array, defining variables Count_X and Count_Y, and assigning initial values ​​to the variables Count_X and Count_Y;

[0010] S300, cutting the first plate by a cutting head, and after cutting the first plate, increasing the value of Count_Y by 1;

[0011] S400, by comprehensively judging the relationship between the incremental value of Count_Y and Total_Y, whether the incremental value of Count_X is divisible by 2, and the relationship between the incremental value of Count_X and Total_X, the next moving direction of the cutting head is determined, wherein,

[0012] If the incremental value of Count_Y is less than Total_Y, and the remainder of the incremental value of Count_X divided by 2 is 0, and the incremental value of Count_X is less than Total_X, the cutting head moves along the positive direction of the Y axis to the top of the next plate and performs the cutting operation;

[0013] If the incremental value of Count_Y is less than Total_Y, and the remainder of the incremental value of Count_X divided by 2 is 1, and the incremental value of Count_X is less than Total_X, the cutting head moves along the negative direction of the Y axis to the top of the next plate and performs the cutting operation;

[0014] If the incremental value of Count_Y is less than Total_Y, the value of Count_X is increased by 1 and Count_Y is restored to the initial value. Then, it is determined whether the incremental value of Count_X is less than Total_X. If so, the cutting head is moved along the positive direction of the X axis to the top of the plate in the next row and the cutting operation is performed. If the incremental value of Count_X is less than Total_X, all the plates are cut.

[0015] S500: After the next plate is cut, the value of Count_Y is increased by 1, and then the process returns to step S400 to redetermine the next moving direction of the cutting head until the incremental value of Count_X is less than Total_X. At this time, all the plates are cut.

[0016] The cutting method according to the embodiment of the present application has at least the following beneficial effects: after cutting any plate, by judging whether the incremental value of Count_Y is less than Total_Y, it can be determined whether all the plates in the current row have been cut; that is, if the incremental value of Count_Y is less than Total_Y, it means that not all the plates in the current row have been cut; if the incremental value of Count_Y is not less than Total_Y, it means that all the plates in the current row have been cut, and the cutting head needs to change to another row for cutting or stop cutting; thereby, automatic and continuous movement of the cutting head within a row can be achieved;

[0017] After cutting any plate, the incremental value of Count_X is judged to be less than Total_X to determine whether there are one or more rows of plates that have not been cut. If the incremental value of Count_X is less than Total_X, it means that at least one row of plates has not been cut, and the cutting head needs to move along the positive direction of the X axis to cut the next row of plates. If the incremental value of Count_X is not less than Total_X, it means that all plates have been cut and the cutting head can stop cutting. In this way, the cutting head can automatically wrap or stop cutting.

[0018] After cutting any plate, by judging whether the increment value of Count_X is divisible by 2, the cutting head can move in opposite directions in odd and even rows, thus ensuring that the cutting head cuts each row of plates in the correct direction and does not make empty cuts.

[0019] In summary, by comprehensively judging the relationship between the incremental value of Count_Y and Total_Y, whether the incremental value of Count_X is divisible by 2, and the relationship between the incremental value of Count_X and Total_X, it is possible to achieve automatic and continuous cutting of plates arranged in a rectangular array with short pause time and high cutting efficiency.

[0020] According to some embodiments of the present application, in step S200 , the variables Count_X and Count_Y are both assigned an initial value of 0.

[0021] According to some embodiments of the present application, the cutting method further includes:

[0022] Before cutting any of the plates, the position of the plate in the mechanical coordinate system of the machine tool is obtained.

[0023] According to some embodiments of the present application, the cutting method further includes:

[0024] The cross section of the plate is rectangular, and the plate includes a first long side and a first short side. The length L and width W of the plate are obtained;

[0025] Obtaining, by means of a capacitive sensor mounted on the cutting head, coordinates of at least one edge point on the first long side in the mechanical coordinate system, and obtaining coordinates of at least one edge point on the first short side in the mechanical coordinate system, thereby obtaining coordinates of at least three edge points in the mechanical coordinate system in total;

[0026] The deflection angle θ of the first long side relative to a coordinate axis of the mechanical coordinate system and the coordinates of the intersection of the first long side and the first short side in the mechanical coordinate system are calculated, thereby obtaining the position of the plate in the mechanical coordinate system.

[0027] According to some embodiments of the present application, the cutting method further includes:

[0028] The plate also includes a second long side and a second short side. Through the capacitive sensor installed on the cutting head, the coordinates of at least one edge point on the second long side in the mechanical coordinate system are obtained, and the coordinates of at least one edge point on the second short side in the mechanical coordinate system are obtained. A total of at least five edge points are obtained, thereby obtaining the length L and width W of the plate.

[0029] According to some embodiments of the present application, the cutting method further includes:

[0030] Assume that the length direction of the plate is arranged along the X-axis direction, the width direction of the plate is arranged along the Y-axis direction, the width of the plate is W, and the column spacing of the rectangular array is Space_Y;

[0031] Assume that the starting point of the cutting head searching for the edge point on a plate is P n-1 (X n-1 , Y n-1 ), let the cutting head move along the positive direction of the Y axis to the top of the next plate to find the starting point of the edge point as P n (X n , Y n ), then X n =X n-1 , and Y n =Y n-1 +W+Space_Y.

[0032] According to some embodiments of the present application, the cutting method further includes:

[0033] Assume that the length direction of the plate is arranged along the X-axis direction, the width direction of the plate is arranged along the Y-axis direction, the length of the plate is L, and the row spacing of the rectangular array is Space_X;

[0034] Assume that the starting point of the cutting head searching for the edge point on a plate is P n-1 (X n-1 , Y n-1 ), let the cutting head move along the positive direction of the X axis to the top of the next plate to find the starting point of the edge point as P n (X n , Y n ), then X n =X n-1 +L+Space_X, and Y n =Yn-1 .

[0035] According to some embodiments of the present application, an image of the plate is acquired by a camera, thereby acquiring the position of the plate in the mechanical coordinate system of the machine tool.

[0036] The cutting device according to the second embodiment of the present application is characterized by comprising:

[0037] A cutting device for cutting the plate;

[0038] A processor is communicatively connected to the cutting device. When the processor executes the cutting method according to any one of claims 1 to 8, the processor outputs a control signal to control the cutting device.

[0039] The cutting equipment according to the embodiment of the present application has at least the following beneficial effects: by using the above-mentioned cutting method, automatic and continuous cutting of plates arranged in a rectangular array can be achieved, with short pause time and high cutting efficiency.

[0040] The computer-readable storage medium according to the third aspect of the present application is characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is able to perform the steps of the above-mentioned cutting method.

[0041] According to the computer-readable storage medium of the embodiment of the present application, there are at least the following beneficial effects: when the computer program for implementing the above-mentioned cutting method is executed, automatic and continuous cutting of plates arranged in a rectangular array can be achieved, with short pause time and high cutting efficiency.

[0042] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The present application is further described below with reference to the accompanying drawings and embodiments, wherein:

[0044] Figure 1 This is a flow chart of the cutting method according to the first embodiment of the present application;

[0045] Figure 2 is a schematic diagram of an embodiment of a plurality of plates arranged in a rectangular array;

[0046] Figure 3 This is a schematic diagram of the position of a plate;

[0047] Figure 4 This is a flowchart of the cutting method according to the second embodiment of the present application.

[0048] Reference numerals: plate 100 , first plate 110 , first short side 120 , first long side 130 , second short side 140 , second long side 150 , intersection 160 . DETAILED DESCRIPTION

[0049] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0050] In the description of this application, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application.

[0051] In the description of this application, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0052] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0053] In the description of this application, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0054] Reference Figure 1 and Figure 2 According to the first embodiment of the present application, the cutting method is used to cut a plurality of plates 100 arranged in a rectangular array, and is characterized in that it includes the following steps:

[0055] S100, setting the row direction of the rectangular array as the Y-axis direction, setting the column direction of the rectangular array as the X-axis direction, and setting the plate 100 with the smallest X-coordinate and Y-coordinate as the first plate 110;

[0056] S200, obtaining the total number of rows Total_X and the total number of columns Total_Y of the rectangular array, defining variables Count_X and Count_Y, and assigning initial values ​​to the variables Count_X and Count_Y;

[0057] S300, cutting the first plate 110 by the cutting head. After the first plate 110 is cut, the value of Count_Y is increased by 1;

[0058] S400, by comprehensively judging the relationship between the incremental value of Count_Y and Total_Y, whether the incremental value of Count_X is divisible by 2, and the relationship between the incremental value of Count_X and Total_X, the next moving direction of the cutting head is determined, wherein,

[0059] If the increment value of Count_Y is less than Total_Y, and the remainder of the increment value of Count_X divided by 2 is 0, and the increment value of Count_X is less than Total_X, the cutting head moves along the positive direction of the Y axis to the top of the next plate 100 and performs the cutting operation;

[0060] If the increment value of Count_Y is less than Total_Y, and the remainder of the increment value of Count_X divided by 2 is 1, and the increment value of Count_X is less than Total_X, the cutting head moves along the negative direction of the Y axis to the top of the next plate 100 and performs the cutting operation;

[0061] If the increment value of Count_Y is less than Total_Y, Count_X is incremented by 1 and Count_Y is restored to its initial value. Next, it is determined whether the increment value of Count_X is less than Total_X. If so, the cutting head is moved along the positive direction of the X axis to the top of a plate 100 in the next row and begins cutting. If the increment value of Count_X is not less than Total_X, all plates 100 are cut.

[0062] S500, after the next plate 100 is processed, the value of Count_Y is increased by 1, and then the process returns to step S400 to redetermine the next moving direction of the cutting head until the incremental value of Count_X < Total_X is no longer true. At this point, all plates 100 are cut.

[0063] The cutting method according to the embodiment of the present application has at least the following beneficial effects: after cutting any plate 100, by judging whether the incremental value of Count_Y is less than Total_Y, it can be determined whether all the plates 100 in the current row have been cut; that is, if the incremental value of Count_Y is less than Total_Y, it means that not all the plates 100 in the current row have been cut; if the incremental value of Count_Y is not less than Total_Y, it means that all the plates 100 in the current row have been cut, and the cutting head needs to change to another row for cutting or stop cutting; thereby, automatic and continuous movement of the cutting head within a row can be achieved;

[0064] After cutting any plate 100, by judging whether the incremental value of Count_X is less than Total_X, it can be determined whether there are one or more rows of plates 100 that have not been cut; if the incremental value of Count_X is less than Total_X, it means that at least one row of plates 100 has not been cut, and the cutting head needs to move along the positive direction of the X axis to cut the next row of plates 100; if the incremental value of Count_X is not less than Total_X, it means that all plates 100 have been cut, and the cutting head can stop cutting; thereby, the cutting head can automatically wrap or stop moving;

[0065] After cutting any 100 pieces of plate, by judging whether the increment value of Count_X is divisible by 2, the cutting head can move in opposite directions in odd and even rows, thereby ensuring that the cutting head cuts each row of plate 100 in the correct direction and does not make empty cuts.

[0066] In summary, by comprehensively judging the size relationship between the incremental value of Count_Y and Total_Y, whether the incremental value of Count_X is divisible by 2, and the size relationship between the incremental value of Count_X and Total_X, automatic and continuous cutting of the plates 100 arranged in a rectangular array can be achieved with short pause time and high cutting efficiency.

[0067] In some embodiments of the present application described above, in step S200 , the variables Count_X and Count_Y are both assigned an initial value of 0.

[0068] At this time, by directly judging the size relationship between Count_Y and Total_Y, directly judging whether Count_X is divisible by 2, and directly judging the size relationship between Count_X and Total_X, there is no need to consider the incremental value, and automatic and continuous cutting of the plates 100 arranged in a rectangular array can be achieved. The judgment is simpler and more convenient, which is conducive to simplifying the judgment process.

[0069] In some embodiments of the present application, the cutting method further includes: before performing a cutting operation on any plate 100 , obtaining a position of the plate 100 in a mechanical coordinate system of a machine tool.

[0070] By obtaining the position of the plate 100 in the mechanical coordinate system of the machine tool, the plate 100 can be accurately cut, thereby effectively solving the problem of reduced utilization of the plate 100 and the problem of empty cutting by the cutting head.

[0071] Reference Figure 3 According to some embodiments of the present application, the cutting method further includes: the cross section of the plate 100 is rectangular, the plate 100 includes a first long side 130 and a first short side 120, and obtaining a length L and a width W of the plate 100;

[0072] Obtaining, by means of a capacitive sensor mounted on the cutting head, the coordinates of at least one edge point on the first long side 130 in the mechanical coordinate system, and the coordinates of at least one edge point on the first short side 120 in the mechanical coordinate system, thereby obtaining the coordinates of at least three edge points in the mechanical coordinate system in total;

[0073] The deflection angle θ of the first long side 130 relative to a coordinate axis of the mechanical coordinate system and the coordinates of the intersection 160 of the first long side 130 and the first short side 120 in the mechanical coordinate system are calculated, thereby obtaining the position of the plate 100 in the mechanical coordinate system.

[0074] The position of the plate 100 in the mechanical coordinate system can be obtained by using a capacitive sensor installed on the cutting head and simple calculations. The equipment cost for obtaining the position of the plate 100 is low.

[0075] Specifically, to detect the coordinates of the edge point, the cutting head includes a nozzle, which serves as one electrode of the capacitive sensor, and the machine tool bed and plate 100 serve as the other electrode of the capacitive sensor. The distance between the nozzle and plate 100 (or bed) is the distance between the two electrodes of the capacitive sensor. As the cutting head moves from directly above the plate 100 to obliquely above the plate 100, the distance between the two electrodes changes from the distance between the nozzle and the plate 100 to the distance between the nozzle and the bed (the difference between the two distances is the thickness of the plate 100). Therefore, the capacitance value of the capacitive sensor will change. By recording the coordinates of the cutting head at the position where the capacitance value changes, the coordinates of the edge point can be obtained.

[0076] Specifically, to obtain the deflection angle θ and the coordinates of the intersection point 160 in the mechanical coordinate system (X g , Y g ), by moving the cutting head from the edge search starting point P0 (X0, Y0) along the negative direction of the Y axis, an edge point P on the first long side 130 is obtained. bCoordinates in the machine coordinate system (X b , Y b By moving the cutting head from the edge search starting point P0 (X0, Y0) along the negative direction of the X axis, an edge point P on the first short side 120 is obtained. a Coordinates in the machine coordinate system (X a , Y a By moving the cutting head from the edge search starting point P0 (X0, Y0) along the positive direction of the X axis to the middle point P c , and then move along the negative direction of the Y axis to obtain another edge point P on the first long side 130 d Coordinates in the machine coordinate system (X d , Y d ).

[0077] That is, two edge points P are obtained on the first long side 130. b (X b , Y b ) and P d (X d , Y d ), obtain an edge point P on the first short side 120 a (X a , Y a ). Edge search starting point P0, edge point P a , edge point P b and edge point P d The coordinates in the machine coordinate system are all known.

[0078] From this, we can calculate the deflection angle θ = arctan [(Y d -Y b ) / (X d -X b )],

[0079] When θ≠0, the following equations are obtained:

[0080] Y g =(X g -X b )tanθ+Y b

[0081] Y g =(X g -X a ) / tanθ+Y a

[0082] It can be deduced that:

[0083] X g =(X b tanθ-X a / tanθ-Yb +Y a ) / (tanθ-1 / tanθ)

[0084] Y g =[(X b tanθ-X a / tanθ-Y b +Y a ) / (tanθ-1 / tanθ)-X a ] / tanθ+Y a

[0085] When θ = 0, we get:

[0086] X g =X a

[0087] Y g =Y b

[0088] Reference Figure 3 In an improved solution of the above embodiment, the cutting method further includes: the plate 100 also includes a second long side 150 and a second short side 140, and through a capacitive sensor installed on the cutting head, the coordinates of at least one edge point on the second long side 150 in the mechanical coordinate system are obtained, and the coordinates of at least one edge point on the second short side 140 in the mechanical coordinate system are obtained, and a total of at least five edge points in the mechanical coordinate system are obtained, thereby obtaining the length L and width W of the plate 100.

[0089] Similarly, by obtaining the coordinates of at least five edge points in the mechanical coordinate system through a capacitive sensor, and then through simple calculations, the length L and width W of the plate 100 can be obtained. The equipment cost for obtaining the length L and width W of the plate 100 is relatively low.

[0090] Specifically, to obtain the length L and width W of the plate 100, obtain an edge point P on the second long side 150 e The coordinates (X e , Y e ), obtain the coordinates (X f , Y f ), we can calculate W=(Y e -Y d )COSθ,L=(X f -X a )COSθ.

[0091] In another embodiment, in order to obtain the length L and width W of the plate 100 , the length L and width W of the plate 100 may also be manually measured and input.

[0092] Reference Figure 2 In the improved solution of the above embodiment, the cutting method further includes: assuming that the length direction of the plate 100 is arranged along the X-axis direction, the width direction of the plate 100 is arranged along the Y-axis direction, the width of the plate 100 is W, and the column spacing of the rectangular array is Space_Y; assuming that the starting point of the cutting head for searching for the edge point on a plate 100 is P n-1 (X n-1 , Y n-1 ), let the cutting head move along the positive direction of the Y axis to the top of the next plate 100 to find the starting point of the edge point as P n (X n , Y n ), then X n =X n-1 , and Y n =Y n-1 +W+Space_Y.

[0093] By making the width of the plate 100 the same as W, the edge-finding starting point P of the next plate 100 can be easily calculated. n The X-axis coordinate is conducive to continuous edge detection of each plate 100.

[0094] It should be noted that when the cutting head moves to the next plate 100 along the negative direction of the Y axis, the starting point for the cutting head to search for the edge point above the next plate 100 is (X n =X n-1 , Y n =Y n-1 -W-Space_Y).

[0095] Reference Figure 2 In the improved solution of the above embodiment, the cutting method further includes: assuming that the length direction of the plate 100 is arranged along the X-axis direction, the width direction of the plate 100 is arranged along the Y-axis direction, the length of the plate 100 is L, and the row spacing of the rectangular array is Space_X; assuming that the starting point of the cutting head for searching for the edge point on a plate 100 is P n-1 (X n-1 , Y n-1 ), let the cutting head move along the positive direction of the X axis to the top of the next plate 100 to find the starting point of the edge point as P n (X n , Y n ), then X n =X n-1 +L+Space_X, and Y n =Y n-1 .

[0096] Similarly, by setting the length of the plate 100 to be L, the edge-finding starting point P of the next plate 100 can be easily calculated. n The Y-axis coordinate is conducive to continuous edge detection of each plate 100.

[0097] In some embodiments of the present application, an image of the plate 100 is acquired by a camera, thereby acquiring the position of the plate 100 in the mechanical coordinate system of the machine tool.

[0098] After the image of the plate 100 is acquired by the camera and then processed by the computer, the position of the plate 100 in the mechanical coordinate system of the machine tool can also be acquired at a fast speed, which is beneficial to improving the cutting efficiency of the plate 100.

[0099] Reference Figures 2 to 4 , describing a specific embodiment of the present application.

[0100] Place nine 1000 x 550 mm plates in three rows and three columns on a 6000 x 2500 mm workbench. This results in Total_X = 3, Total_Y = 3, and n = Total_X * Total_Y - 1 = 8. The plates are placed with a 100 mm spacing between rows and columns. Therefore, Space_X = 100 mm and Space_Y = 100 mm. Enter the total number of rows (Total_X), the total number of columns (Total_Y), the row spacing (Space_X), and the column spacing (Space_Y) on the user interface. Initialize Count_X and Count_Y to 0.

[0101] Start processing from the first plate 110 (n=0), press the [Start] button, and determine whether Count_Y<Total_Y is true. If 0<3, Count_Y<Total_Y is true. The position where the cutting head stops is the edge search starting point P0 (X0, Y0). Assume X0=1000, Y0=500, X a =500, Y a =500,X b =1000, Y b =200.

[0102] Another edge search starting point P c The coordinates of (X c ,Y c ), where X c =X a +0.8*l, l is the maximum size of the cutting program in the X-axis direction, i.e. l=1000mm. c =X a +0.8*l=1000+0.8*1000=1800,Y c =Ya = 500, obtain the edge - finding starting point P c The coordinates are (1800, 500). Assume P d The coordinates are (1800, 200), that is, X d = 1800, Y d = 200.

[0103] Thus, calculate the edge - finding angle θ = arctan[(Y d - Y b ) / (X d - X b )] = arctan0 = 0°, calculate that the coordinates of P e are (1800, 750), that is, X e = 1800, Y e = 750. Calculate that the coordinates of P f are (2000, 500), that is, X f = 2000, Y f = 500.

[0104] Calculate the size of the sheet 100, that is, W = (Y e - Y d )COSθ = 550, L = (X f - X a )COSθ = 1000. Calculate the coordinates of the intersection point 160: X g = X a = 1000, Y g = Y b = 200.

[0105] Start processing this batch of sheets 100.

[0106] When the first sheet 100 (n = 0) is processed, Count_Y = Count_Y + 1 = 1, and judge whether Count_Y < Total_Y holds. 1 < 3, Count_Y < Total_Y holds. Then judge whether Count_X % 2 = 1 holds. 0 % 2 = 0, Count_X % 2 = 1 does not hold. Calculate the coordinates (X1, Y1) of the edge - finding starting point P1 of the second sheet, where X1 = X0 = 1000, Y1 = Y0 + W + Space_Y = 500 + 550 + 100 = 1150. Then judge whether Count_X < Total_X holds. 0 < 3, Count_X < Total_X holds.

[0107] The cutting head moves to the edge - finding starting point P1(1000, 1150) of the second sheet 100 (n = 1), and perform the edge points P a 、Pb and P d During the edge-finding process of d , the tilt angle θ of the second sheet 100 is obtained, and then the second sheet 100 is processed.

[0108] Similarly, the third sheet 100 is processed.

[0109] After the processing of the third sheet (n = 2) is completed, after executing Count_Y = Count_Y + 1 = 2 + 1 = 3, it is judged whether Count_Y < Total_Y holds. Since 3 = 3, that is, Count_Y < Total_Y does not hold. Then, the value of Count_X is incremented by 1, that is, Count_X = Count_X + 1 = 0 + 1 = 1, and the value of Count_Y is restored to the initial value of 0. After that, the coordinates (X3, Y3) of the edge-finding starting point P3 of the fourth sheet are calculated. X3 = X2 + L + Space_X = 1000 + 1000 + 100 = 2100, and Y3 = Y2 = 1800. Finally, it is judged whether Count_X < Total_X holds. Since 1 < 3, Count_X < Total_X holds.

[0110] The cutting head moves to the edge-finding starting point P3(2100, 1800) of the fourth sheet (n = 3), and the fourth sheet is edge-found and processed.

[0111] After the processing of the fourth sheet (n = 3) is completed, the value of Count_Y is incremented by 1, that is, Count_Y = Count_Y + 1 = 0 + 1 = 1. Then it is judged whether Count_Y < Total_Y holds. Since 1 < 3, Count_Y < Total_Y holds. Then it is judged whether Count_X % 2 = 1 holds. Since 1 % 2 = 1, Count_X % 2 = 1 holds. The coordinates (X4, Y4) of the edge-finding starting point P4 of the fifth sheet are calculated. X4 = X3 = 2100, and Y4 = Y3 - W - Space_Y = 1800 - 550 - 100 = 1150. It is judged whether Count_X < Total_X holds. Since 1 < 3, Count_X < Total_X holds.

[0112] The cutting head moves to the edge-finding starting point P4(2100, 1150) of the fifth sheet (n = 4), and the fifth sheet is edge-found and processed.

[0113] Similarly, the fifth sheet 100 and the sixth sheet 100 are processed.

[0114] After the sixth sheet (n = 5) is processed, increment the value of Count_Y by 1, i.e., Count_Y = Count_Y + 1 = 2 + 1 = 3. Then, check if Count_Y < Total_Y holds. Since 3 = 3, Count_Y < Total_Y does not hold. After that, increment the value of Count_X by 1, i.e., Count_X = Count_X + 1 = 1 + 1 = 2, and reset the value of Count_Y to its initial value, i.e., Count_Y = 0. Calculate the coordinates (X6, Y6) of the edge-finding starting point P6 for the seventh sheet. X6 = X5 + L + Space_X = 2100 + 1000 + 100 = 3200, Y3 = Y2 = 500. Check if Count_X < Total_X holds. Since 2 < 3, Count_X < Total_X holds.

[0115] Move the cutting head to the edge-finding starting point P6(3200, 500) of the seventh sheet (n = 6), and perform edge-finding and processing on the sixth sheet.

[0116] After the seventh sheet (n = 6) is processed, increment the value of Count_Y by 1, i.e., Count_Y = Count_Y + 1 = 1, and check if Count_Y < Total_Y holds. Since 1 < 3, Count_Y < Total_Y holds. Then, continue to check if Count_X % 2 = 1 holds. Since 2 % 2 = 0, Count_X % 2 = 1 does not hold. Calculate the coordinates (X7, Y7) of the edge-finding starting point P7 for the eighth sheet. X7 = X6 = 3200, Y7 = Y6 + W + Space_Y = 500 + 550 + 100 = 1150. Then, check if Count_X < Total_X holds. Since 2 < 3, Count_X < Total_X holds.

[0117] Move the cutting head to the edge-finding starting point P7(3200, 1\150) of the eighth sheet (n = 7), and perform edge-finding and processing on the eighth sheet.

[0118] Similarly, process the ninth sheet 100.

[0119] When the ninth sheet (n=8) is processed, Count_Y is incremented by 1, i.e., Count_Y = Count_Y + 1 = 2 + 1 = 3. Next, determine whether Count_Y < Total_Y. If 3 = 3, Count_Y < Total_Y is not true. Next, Count_X is incremented by 1, i.e., Count_X = Count_X + 1 = 2 + 1 = 3, and Count_Y is restored to its initial value, i.e., Count_Y = 0. Calculate the coordinates (X9, Y9) of the edge search starting point P9 of the tenth sheet: X9 = X8 + L + Space_X = 3200 + 1000 + 100 = 4300, and Y9 = Y8 = 1800. Then, determine whether Count_X<Total_X is true. If 3<3, Count_X<Total_X is not true. End the cutting and execute Total_X=0, Total_Y=0, Count_X=0, Count_Y=0, Space_X=0, Space_Y=0, n=0. At the same time, the system outputs the prompt "The current task has been completed".

[0120] According to a second embodiment of the present application, a cutting device comprises a cutting device and a processor. The cutting device is configured to cut a plate. The processor is communicatively coupled to the cutting device, and when the processor executes the cutting method described above, the processor outputs a control signal to control the cutting device.

[0121] The cutting device according to the embodiment of the present application has at least the following beneficial effects: by using the above-mentioned cutting method, automatic and continuous cutting of the plates 100 arranged in a rectangular array can be achieved, with short pause time and high cutting efficiency.

[0122] Specifically, the cutting device can be a laser cutting device, plasma cutting device, flame cutting device, or water jet cutting device. The processor can be a single-chip microcomputer or a programmable logic controller (PLC). Communication between the processor and the cutting device can be achieved via wires, Wi-Fi, Bluetooth, Ethernet, etc. The processor outputs control signals to control the cutting device, such as the direction and speed of movement of the cutting head, and whether the cutting head is in an active or inactive state.

[0123] The computer-readable storage medium according to the third aspect embodiment of the present application is characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is able to execute the steps of the above-mentioned cutting method.

[0124] According to the computer-readable storage medium of the embodiment of the present application, there are at least the following beneficial effects: when the computer program for implementing the above-mentioned cutting method is executed, automatic and continuous cutting of the plates 100 arranged in a rectangular array can be achieved, with short pause time and high cutting efficiency.

[0125] The computer-readable storage medium provided in the embodiments of the present application may be a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific embodiments of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device or a magnetic storage device, or any suitable combination thereof.

[0126] In this embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wire, optical cable, RF (radio frequency), etc., or any suitable combination of the above.

[0127] The computer-readable storage medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0128] The computer program for performing the present application can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0129] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Various modifications can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features of the embodiments can be combined with each other unless there is a conflict.

Claims

1. A cutting method for cutting a plurality of plates arranged in a rectangular array, characterized in that: The following steps are involved: S100, setting the row direction of the rectangular array as the Y-axis direction, setting the column direction of the rectangular array as the X-axis direction, and setting the plate with the smallest X-coordinate and Y-coordinate as the first plate; S200, obtaining the total number of rows Total_X and the total number of columns Total_Y of the rectangular array, defining variables Count_X and Count_Y, and assigning initial values ​​to the variables Count_X and Count_Y; S300, cutting the first plate by a cutting head, and after cutting the first plate, increasing the value of Count_Y by 1; S400, by comprehensively judging the relationship between the incremental value of Count_Y and Total_Y, whether the incremental value of Count_X is divisible by 2, and the relationship between the incremental value of Count_X and Total_X, the next moving direction of the cutting head is determined, wherein, If the incremental value of Count_Y is less than Total_Y, and the remainder of the incremental value of Count_X divided by 2 is 0, and the incremental value of Count_X is less than Total_X, the cutting head moves along the positive direction of the Y axis to the top of the next plate and performs the cutting operation; If the incremental value of Count_Y is less than Total_Y, and the remainder of the incremental value of Count_X divided by 2 is 1, and the incremental value of Count_X is less than Total_X, the cutting head moves along the negative direction of the Y axis to the top of the next plate and performs the cutting operation; If the incremental value of Count_Y is less than Total_Y, the value of Count_X is increased by 1 and Count_Y is restored to the initial value. Then, it is determined whether the incremental value of Count_X is less than Total_X. If so, the cutting head is moved along the positive direction of the X axis to the top of the plate in the next row and the cutting operation is performed. If the incremental value of Count_X is less than Total_X, all the plates are cut. S500: After the next plate is cut, the value of Count_Y is increased by 1, and then the process returns to step S400 to redetermine the next moving direction of the cutting head until the incremental value of Count_X is less than Total_X. At this time, all the plates are cut.

2. The cutting method according to claim 1, characterized in that: In step S200 , the variables Count_X and Count_Y are both assigned an initial value of 0.

3. The cutting method according to claim 1, wherein: The cutting method further comprises: Before cutting any of the plates, the position of the plate in the mechanical coordinate system of the machine tool is obtained.

4. The cutting method according to claim 3, characterized in that: The cutting method further comprises: The cross section of the plate is rectangular, and the plate includes a first long side and a first short side. The length L and width W of the plate are obtained; Obtaining, by means of a capacitive sensor mounted on the cutting head, coordinates of at least one edge point on the first long side in the mechanical coordinate system, and obtaining coordinates of at least one edge point on the first short side in the mechanical coordinate system, thereby obtaining coordinates of at least three edge points in the mechanical coordinate system in total; The deflection angle θ of the first long side relative to a coordinate axis of the mechanical coordinate system and the coordinates of the intersection of the first long side and the first short side in the mechanical coordinate system are calculated, thereby obtaining the position of the plate in the mechanical coordinate system.

5. The cutting method according to claim 4, characterized in that: The cutting method further comprises: The plate also includes a second long side and a second short side. Through the capacitive sensor installed on the cutting head, the coordinates of at least one edge point on the second long side in the mechanical coordinate system are obtained, and the coordinates of at least one edge point on the second short side in the mechanical coordinate system are obtained. A total of at least five edge points are obtained, thereby obtaining the length L and width W of the plate.

6. The cutting method according to claim 4, characterized in that: The cutting method further comprises: Assume that the length direction of the plate is arranged along the X-axis direction, the width direction of the plate is arranged along the Y-axis direction, the width of the plate is W, and the column spacing of the rectangular array is Space_Y; Assume that the starting point of the cutting head searching for the edge point on a plate is P n-1 (X n-1 , Y n-1 ), let the cutting head move along the positive direction of the Y axis to the top of the next plate to find the starting point of the edge point as P n (X n , Y n ), then X n =X n-1 , and Y n =Y n-1 +W+Space_Y.

7. The cutting method according to claim 4, characterized in that: The cutting method further comprises: Assume that the length direction of the plate is arranged along the X-axis direction, the width direction of the plate is arranged along the Y-axis direction, the length of the plate is L, and the row spacing of the rectangular array is Space_X; Assume that the starting point of the cutting head searching for the edge point on a plate is P n-1 (X n-1 , Y n-1 ), let the cutting head move along the positive direction of the X axis to the top of the next plate to find the starting point of the edge point as P n (X n , Y n ), then X n =X n-1 +L+Space_X, and Y n =Y n-1 .

8. The cutting method according to claim 3, characterized in that: The image of the plate is acquired by a camera, thereby acquiring the position of the plate in the mechanical coordinate system of the machine tool.

9. Cutting equipment, characterized in that include: A cutting device for cutting the plate; A processor is communicatively connected to the cutting device. When the processor executes the cutting method according to any one of claims 1 to 8, the processor outputs a control signal to control the cutting device.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor is capable of performing the steps of the cutting method according to any one of claims 1 to 8.

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