Metal material high-precision edge detection method, device, equipment and storage medium

Abstract

The application discloses a metal material high-precision edge detection method, device and equipment and a storage medium. The metal material high-precision edge detection method comprises the following steps: setting a cutting head at an initial position above a plate and starting a first sensor; moving the cutting head to a first empty position coordinate in a direction towards the edge of the plate; starting a second sensor at the first empty position coordinate and turning on a light source at the first empty position coordinate with a preset power; setting the cutting head to move in a direction towards the initial position at the first empty position coordinate; monitoring the second feedback signal in the process of the movement of the cutting head and determining a first coordinate according to the change of the second feedback signal; and calculating a first edge-in coordinate according to the first coordinate and a plurality of second feedback signals monitored in the process of the movement of the cutting head.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser cutting, and in particular to a metal material high-precision edge detection method, device, equipment and storage medium. BACKGROUND

[0002] In a laser processing application scenario, a planar cutting numerical control system needs to calculate the inclination angle of a plate through edge searching to determine the placement angle of the plate on a processing floating surface, and a pipe cutting numerical control system needs to correct the center deviation value through center searching or edge searching to determine the center coordinates of the pipe processing floating surface.

[0003] The current edge detection method is based on the capacitance deviation between the nozzle of the cutting head and the plate surface, and the edge position is obtained by recording the current position coordinates through the judgment standard of whether the capacitance value between the current position of the nozzle of the cutting head and the metal surface meets the edge-out criterion.

[0004] However, the current edge detection method cannot accurately obtain the edge coordinates, mainly because the current edge detection method uses capacitance edge searching, and the capacitance is easily disturbed by the outside world, for example, the nozzle-plate facing area, the material itself has a large chamfer, and more errors are prone to occur. SUMMARY

[0005] The present application provides a metal material high-precision edge detection method, device, equipment and storage medium, which can accurately obtain the edge coordinates of the plate through the metal material high-precision edge detection method provided by the present application.

[0006] According to a first aspect of the present application, a metal material high-precision edge detection method is provided for edge searching of a plate placed on a machine tool, the method comprising:

[0007] setting a cutting head at an initial position above the plate and starting a first sensor; wherein the first sensor is used to obtain a first feedback signal, and the first feedback signal is represented as a capacitance value from the cutting head to the plate surface;

[0008] moving the cutting head to a first empty position coordinate in the direction of the edge of the plate; wherein the first empty position coordinate is used to represent the coordinate of the position where the first feedback signal is less than a first threshold value within a first preset time;

[0009] starting a second sensor at the first empty position coordinate and turning on a light source at the first empty position coordinate with a preset power; wherein the second sensor is used to obtain a second feedback signal, and the second feedback signal is represented as the light intensity of the light emitted by the cutting head reflected by the plate or the machine tool;

[0010] setting the cutting head to move at the first empty position coordinate in a direction towards the initial position;

[0011] monitoring the second feedback signal during the movement of the cutting head, and determining a first coordinate according to the change of the second feedback signal; wherein the first coordinate is characterized in that the second feedback signal is greater than a second threshold value at the first coordinate, and the second feedback signal no longer changes when the cutting head continues to move in the direction of the initial position at the first coordinate;

[0012] calculating a first entry edge coordinate according to the first coordinate and a plurality of second feedback signals monitored during the movement of the cutting head; wherein the first entry edge coordinate is characterized in that it is the coordinate of the edge position of the plate.

[0013] Optionally, before moving the cutting head to the first empty position coordinate in a direction towards the edge of the plate, the method further comprises: preliminary edge finding; the preliminary edge finding is used to obtain a first exit edge coordinate of the plate; wherein the first exit edge coordinate is on the same straight line as the initial position and the first entry edge coordinate.

[0014] The preliminary edge finding comprises: moving the cutting head at the initial position in the direction of the first empty position coordinate, and obtaining a plurality of first feedback signals through the first sensor; when the first feedback signal is less than the first threshold value for the first time, the position is the first exit edge coordinate.

[0015] Optionally, during the movement of the cutting head, the method further comprises:

[0016] making a pre-warning judgment according to the first exit edge coordinate, the first feedback signal and the second feedback signal;

[0017] The pre-warning judgment is that if the first feedback signal is greater than the first threshold value, and after the cutting head continues to move for a first preset distance, the second feedback signal is less than the second threshold value, then the edge finding fails.

[0018] Or if the cutting head moves to the first exit edge coordinate, and after continuing to move for a second preset distance, the second feedback signal is less than the second threshold value, then the edge finding fails.

[0019] Optionally, calculating the first entry edge coordinate according to the first coordinate and a plurality of second feedback signals monitored during the movement of the cutting head, specifically comprising:

[0020] determining the speed of the cutting head moving at the first empty position coordinate in the direction of the initial position, and obtaining a plurality of second feedback signals during the movement from the first empty position coordinate to the first coordinate;

[0021] determining a motion time of the cutting head from the first entry edge coordinate to the first coordinate according to the second feedback signals;

[0022] determining the first entry edge coordinate according to the motion speed of the cutting head at the first empty space coordinate in the initial position direction, the first coordinate and the motion time.

[0023] Optionally, the determining the motion time of the cutting head from the first entry edge coordinate to the first coordinate according to the second feedback signals specifically comprises:

[0024] forming a first curve of the second feedback signals changing with time after deburring the second feedback signals;

[0025] forming a second curve after first processing two-by-two adjacent second feedback signals on the first curve; wherein the first processing is characterized by obtaining the change rate of adjacent second feedback signals.

[0026] obtaining a duration that the change rate of the second feedback signals is greater than a third threshold value in the motion process of the cutting head according to the second curve;

[0027] determining the first entry edge coordinate according to the motion speed of the cutting head at the first empty space coordinate in the initial position direction, the duration and the first coordinate.

[0028] Optionally, the obtaining the duration that the change rate of the second feedback signals is greater than a third threshold value in the motion process of the cutting head according to the second curve further comprises:

[0029] filtering the change rate of a plurality of adjacent second feedback signals on the second curve.

[0030] Optionally, the determining the first entry edge coordinate specifically comprises:

[0031] calculating a first distance moved by the cutting head at the motion speed within the duration;

[0032] obtaining the first entry edge coordinate, which is the coordinate of the cutting head after moving the first distance in the first empty space coordinate direction at the first coordinate.

[0033] Optionally, the first processing is differential processing.

[0034] Optionally, the starting the second sensor at the first empty space coordinate further comprises:

[0035] lifting the cutting head by a preset distance at the first empty space coordinate.

[0036] Optionally, the first sensor is a capacitive sensor.

[0037] The second sensor is a photoelectric sensor.

[0038] According to a second aspect of the present application, a high-precision edge detection device for metal material is provided, comprising:

[0039] A first sensor is connected with the cutting head, and the first sensor is used to be activated after the cutting head is located at an initial position above the plate material; wherein the plate material is placed on a machine tool, and the first sensor is used to acquire a first feedback signal, and the first feedback signal is represented as a capacitance value from the cutting head to a surface of the plate material.

[0040] A first gap coordinate acquisition module is used to acquire a first gap coordinate, so that the cutting head moves to the first gap coordinate in a direction towards an edge of the plate material; wherein the first gap coordinate is used to represent a coordinate of a position where the first feedback signal is greater than a first threshold value within a first preset time.

[0041] A second sensor is connected with the cutting head, and the cutting head starts a light source at the first gap coordinate with a preset power, and the second sensor is used to acquire a second feedback signal; the second feedback signal is represented as an intensity of light reflected by the plate material or the machine tool after the light emitted by the cutting head passes through the plate material or the machine tool.

[0042] A setting module is used to set the cutting head to move in a direction towards the initial position at the first gap coordinate.

[0043] A first coordinate determination module is used to monitor the second feedback signal during the movement of the cutting head, and determine a first coordinate according to a change of the second feedback signal; wherein the first coordinate is represented as the second feedback signal being greater than a second threshold value at the first coordinate; and

[0044] A first entry edge coordinate determination module is used to calculate a first entry edge coordinate according to the first coordinate and a plurality of second feedback signals monitored during the movement of the cutting head; wherein the first entry edge coordinate is represented as a coordinate of a position of the edge of the plate material.

[0045] Optionally, the first coordinate determination module further comprises a preliminary edge searching unit and a pre-warning protection unit.

[0046] The preliminary edge searching unit is used to acquire a first exit edge coordinate of the plate material.

[0047] The pre-warning protection unit is used to make a pre-warning judgment according to the first exit edge coordinate, the first feedback signal and the second feedback signal.

[0048] The pre-warning judgment is that if the first feedback signal is greater than the first threshold value, and the second feedback signal is less than the second threshold value after the cutting head continues to move for a first preset distance, edge searching fails; or if the cutting head moves to the first edge-out coordinate and the second feedback signal is less than the second threshold value after continuing to move for a second preset distance, edge searching fails.

[0049] Optionally, the first edge-in coordinate determination module specifically comprises:

[0050] a speed acquisition unit configured to determine a speed of the cutting head moving along the direction of the initial position at the first empty coordinate;

[0051] a time determination unit configured to acquire a plurality of second feedback signals in the process of moving from the first empty coordinate to the first coordinate, and determine a moving time of the cutting head moving from the first edge-in coordinate to the first coordinate according to the plurality of second feedback signals;

[0052] a first edge-in coordinate calculation unit configured to determine the first edge-in coordinate according to the speed of the cutting head moving along the direction of the initial position at the first empty coordinate, the first coordinate and the moving time.

[0053] According to a third aspect of the present application, an electronic device is provided, comprising a memory, a processor and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method according to the first aspect of the present application.

[0054] According to a fourth aspect of the present application, a storage medium is provided, which stores a program executable on a processor to implement the steps of the method according to the first aspect of the present application.

[0055] In the metal material high-precision edge detection method provided by the present application, the first feedback signal obtained by the first sensor and the second feedback signal obtained by the second sensor are processed, so that the edge position of the plate is effectively and accurately determined, and the precision of the plate edge detection is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0057] Figure 1 is the structure diagram when there is an error in the edge detection method in the prior art Figure 1 ;

[0058] Figure 2 is a structure diagram of an existing edge detection method with error Figure 2 ;

[0059] Figure 3 is a flow diagram of a metal material high-precision edge detection method in an embodiment of the present application;

[0060] Figure 4 is a flow diagram of calculating the first entry edge coordinate in an embodiment of the present application;

[0061] Figure 5 is a flow diagram of determining the motion time to the inflection point in an embodiment of the present application;

[0062] Figure 6 is a flow diagram of determining the first entry edge coordinate in an embodiment of the present application;

[0063] Figure 7 is a structure diagram of a metal material high-precision edge detection device in an embodiment of the present application;

[0064] Figure 8 is a structure diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work, fall within the scope of protection of the present application.

[0066] The terms "first", "second", "third", "fourth" and the like (if any) in the description, claims and above drawings of the present application are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0067] The technical solutions of the present application are described in detail below with specific examples. The following specific examples can be combined with each other, and some examples may not be described in detail for the same or similar concepts or processes.

[0068] Please refer to Figure 1 , the reason for the error in the current edge detection method is that the judgment condition for detecting the edge using the capacitive height adjuster is to compare the current height with the edge detection height threshold, and the current height of the capacitive height adjuster is calculated according to the capacitance-height table, but the capacitance is affected by the facing area of the cutting head and the plate, so at the moment when the current height is detected to be suddenly changed, the nozzle at this moment does not necessarily face the edge of the plate.

[0069] Please refer to Figure 2 , the second reason for the error in the current edge detection method is that when the current edge detection is applied to a pipe with a chamfer, the height change of the chamfer itself will interfere with the single capacitive detection method, and the height change is detected before leaving the surface of the pipe.

[0070] Therefore, the present application provides a high-precision edge detection method for metal materials, which detects the edge of the plate by detecting the light reflection value, avoids the influence and interference of the shape of the plate, nozzle and other external hardware on the detection process, and improves the precision of edge detection.

[0071] Please refer to Figure 3 , in a specific embodiment of the present application, a high-precision edge detection method for metal materials is provided for accurately detecting the edge of a plate placed on a machine tool, comprising:

[0072] S1: setting the cutting head at an initial position above the plate and starting the first sensor; wherein the first sensor is used to obtain a first feedback signal, and the first feedback signal is represented as: the capacitance value from the cutting head to the surface of the plate. Wherein the material of the plate in the embodiment of the present application is metal material.

[0073] S2: moving the cutting head to a first empty position coordinate in the direction of the edge of the plate; wherein the first empty position coordinate is used to represent the coordinate of the position where the first feedback signal is less than the first threshold value within a first preset time.

[0074] Wherein, the first empty position coordinate can be further explained as: at the first empty position coordinate, there is no material of the plate directly below the cutting head, i.e. the cutting head is directly below the machine tool at the first empty position coordinate.

[0075] S3: starting a second sensor at the first empty position coordinate, and turning on a light source of the cutting head at the first empty position coordinate with a preset power; wherein the second sensor is configured to acquire a second feedback signal, and the second feedback signal represents an intensity of light reflected by the plate or the machine tool after the light emitted by the cutting head.

[0076] The first preset power of the cutting head when the light source is turned on at the first empty position coordinate is a lower frequency of light emission, so as to prevent the laser emitted by the cutting head from damaging the plate when the edge is searched, and to reduce energy loss of the cutting head. After the light source is turned on, the cutting head needs to wait for a period of time, so as to stabilize the light emission of the cutting head, and in the specific embodiment of the present application, the period of time can be set to 100 ms.

[0077] S4: setting the cutting head to move at the first empty position coordinate in a direction towards the initial position.

[0078] S5: monitoring the second feedback signal during the movement of the cutting head, and determining a first coordinate according to a change of the second feedback signal; wherein the first coordinate represents that the second feedback signal is greater than a second threshold at the first coordinate, and the second feedback signal no longer changes when the cutting head continues to move in the direction of the initial position at the first coordinate.

[0079] When the cutting head does not emit light, the value received by the second sensor changes slightly, and there are only some slight burrs under natural conditions. When the cutting head emits light, there is no plate directly below the cutting head, and the value of the second feedback signal obtained by the second sensor has a certain rising edge caused by the influence of laser scattering. After a period of time is waited after the light is turned on, the cutting head starts to move, and when the cutting head moves to the position where there is a plate below the cutting head, due to the influence of the reflection of the metal material, the value of the second feedback signal obtained by the second sensor will have a rising edge, and then, after the cutting head completely enters the plate, the value represented by the second feedback signal obtained by the second sensor will be stable and will no longer change. Therefore, according to a plurality of second feedback signals, the position of the first coordinate can be obtained.

[0080] S6: calculating a first edge-in coordinate according to the first coordinate and a plurality of second feedback signals monitored during the movement of the cutting head; wherein the first edge-in coordinate represents a coordinate of a position of an edge of the plate.

[0081] The metal material high-precision edge detection method provided by the application can effectively and accurately detect the edge position of the plate through processing of the first feedback signal obtained by the first sensor and the second feedback signal obtained by the second sensor. That is, the metal material high-precision edge detection method provided by the application can greatly improve the precision of edge detection. Moreover, the plate surface edge is detected by the way of detecting the light reflection intensity by the photoelectric sensor, which effectively avoids the influence and interference of the external hardware shape such as the plate and the nozzle on the detection process.

[0082] Reference can be made to Figure 4 In a specific embodiment, the first entry edge coordinate is calculated according to the first coordinate and the second feedback signals monitored during the movement of the cutting head, specifically comprising:

[0083] S61: determining the speed of the movement of the cutting head along the direction of the initial position at the first empty position coordinate, and obtaining a plurality of second feedback signals during the movement from the first empty position coordinate to the first coordinate.

[0084] S62: determining the movement time of the cutting head from the first entry edge coordinate to the first coordinate according to the plurality of second feedback signals.

[0085] Reference can be made to Figure 5 In the embodiment of the application, the movement time of the cutting head from the first entry edge coordinate to the first coordinate is determined according to the plurality of second feedback signals, specifically comprising:

[0086] S621: forming a first curve of the change of the second feedback signal with time after deburring processing of the plurality of second feedback signals.

[0087] In a specific embodiment, the plurality of adjacent second feedback signals can be deburred by a sliding mean filter. Of course, it can be understood that the deburring method of the second feedback signal is not limited in the application, and other methods capable of deburring the plurality of adjacent second feedback signals are also within the protection scope of the application.

[0088] S622: forming a second curve after first processing of the second feedback signals adjacent to each other on the first curve; wherein the first processing represents the change rate of the adjacent second feedback signals.

[0089] In a specific embodiment of the application, the first processing method is differential processing. Specifically, the data of the two adjacent points on the first curve are differentiated, and the second curve formed after the differentiation represents the change trend of the second sensor after a period of time (such as 1 ms).

[0090] S623: obtaining a duration during which the rate of change of the second feedback signal is greater than a third threshold value according to the second curve.

[0091] In the specific embodiment of the present application, when the duration is obtained, the rate of change of a plurality of adjacent second feedback signals on the second curve is filtered to form a smooth curve, which is convenient for the user to observe. Specifically, the rate of change of the plurality of adjacent second feedback signals can be filtered by a sliding mean filter. It should be understood that the filtering method of the rate of change of the second feedback signal is not limited in the present application, and other filtering methods of the rate of change of the plurality of adjacent second feedback signals are also within the protection scope of the present application.

[0092] S624: determining the first entry edge coordinate according to the movement speed of the cutting head at the first empty position coordinate in the initial position direction, the duration, and the first coordinate.

[0093] In the specific embodiment of the present application, the determination of the first entry edge coordinate specifically includes: Figure 6

[0094] S6241: calculating a first distance moved by the cutting head at the movement speed within the duration.

[0095] S6242: obtaining the first entry edge coordinate, which is the coordinate of the cutting head after moving the first distance in the first empty position coordinate direction at the first coordinate.

[0096] S63: determining the first entry edge coordinate according to the movement speed of the cutting head at the first empty position coordinate in the initial position direction, the first coordinate, and the movement time.

[0097] Through the processing of the plurality of second feedback signals obtained by the second sensor, the edge position of the plate can be accurately obtained, and the influence and interference of the external hardware shape such as the plate and the nozzle on the detection process can be effectively avoided.

[0098] In a specific embodiment of the present application, before moving the cutting head to the first empty position coordinate in the direction towards the edge of the plate, the method further includes preliminary edge finding, which is used to obtain a first exit edge coordinate of the plate. The first exit edge coordinate, the initial position, and the first entry edge coordinate are on the same straight line.

[0099] ​The preliminary edge searching includes: moving the cutting head at the initial position in the first empty position coordinate direction, and acquiring a plurality of first feedback signals by the first sensor, wherein the position when the first feedback signal is less than the first threshold value for the first time is the first edge-out coordinate.

[0100] The first edge-out coordinate obtained through the preliminary edge searching further ensures that there is no plate material below the first empty position coordinate, and through the preliminary edge searching operation, it can be ensured that there is a suitable horizontal distance between the cutting head and the plate material, thereby effectively avoiding the problem that the reflection of light on the plate material itself affects the sensor data when the light is out of the first empty position coordinate.

[0101] In a specific embodiment of the application, during the movement of the cutting head, the following operations are further included:

[0102] The first edge-out coordinate, the first feedback signal and the second feedback signal are used for pre-warning judgment.

[0103] The pre-warning judgment includes: if the first feedback signal is greater than the first threshold value, and after the cutting head continues to move for a first preset distance, the second feedback signal is less than the second threshold value, the edge searching fails; or if the cutting head moves to the first edge-out coordinate, and after continuing to move for a second preset distance, the second feedback signal is less than the second threshold value, the edge searching fails.

[0104] Through the above pre-warning judgment, the risk in the abnormal scene such as damage of the photoelectric sensor can be effectively prevented.

[0105] The first sensor in the embodiment of the application can be a capacitive sensor, and the second sensor can be a photoelectric sensor. In the embodiment of the application, the value of the capacitive sensor can be further processed into the vertical distance from the cutting head to the surface of the plate.

[0106] Please refer to Figure 7 In a specific embodiment of the application, a high-precision edge detection device for metal materials is further provided, which includes:

[0107] The first sensor 100 is connected with the cutting head, and the first sensor is used to be started after the cutting head is located at an initial position above the plate; wherein the plate is placed on a machine tool, and the first sensor is used to acquire a first feedback signal, and the first feedback signal is represented as a capacitive value from the cutting head to the surface of the plate.

[0108] The first empty position coordinate acquisition module 200 is configured to acquire a first empty position coordinate, so that the cutting head moves to the first empty position coordinate in a direction towards an edge of the plate; wherein the first empty position coordinate is used to represent a coordinate of a position where the first feedback signal is greater than a first threshold value within a first preset time;

[0109] The second sensor 300 is connected with the cutting head, the cutting head starts a light source at the first empty position coordinate with a preset power, and the second sensor is configured to acquire a second feedback signal; the second feedback signal is represented as light intensity of light emitted by the cutting head reflected by the plate or the machine tool;

[0110] The setting module 400 is configured to set the cutting head to move in a direction towards the initial position at the first empty position coordinate;

[0111] The first coordinate determination module 500 is configured to monitor the second feedback signal during the movement of the cutting head, and determine a first coordinate according to a change of the second feedback signal; wherein the first coordinate is represented as that the second feedback signal is greater than a second threshold value at the first coordinate, and the second feedback signal no longer changes when the cutting head continues to move in the direction of the initial position at the first coordinate; and

[0112] The first entry edge coordinate determination module 600 is configured to calculate a first entry edge coordinate according to the first coordinate and a plurality of second feedback signals monitored during the movement of the cutting head; wherein the first entry edge coordinate is represented as a coordinate of a position of the edge of the plate.

[0113] Please continue to refer to Figure 7 The first coordinate determination module 500 in the embodiment of the application further includes a preliminary edge searching unit 501 and a pre-warning protection unit 502.

[0114] The preliminary edge searching unit 501 is configured to acquire a first exit edge coordinate of the plate.

[0115] The pre-warning protection unit 502 is configured to perform pre-warning judgment according to the first exit edge coordinate, the first feedback signal and the second feedback signal; the pre-warning judgment is that if the first feedback signal is greater than the first threshold value, and the second feedback signal is less than the second threshold value after the cutting head continues to move by a first preset distance, edge searching fails; or if the cutting head moves to the first exit edge coordinate, and the second feedback signal is less than the second threshold value after the cutting head continues to move by a second preset distance, edge searching fails.

[0116] Please continue to refer to Figure 7 The first entry edge coordinate determination module 600 in the embodiment of the application specifically includes:

[0117] The speed acquisition unit 601 is configured to determine a speed of the cutting head moving along a direction of the initial position at the first vacancy coordinate;

[0118] The time determination unit 602 is configured to acquire a plurality of second feedback signals in a process of moving from the first vacancy coordinate to the first entry edge coordinate, and determine a moving time of the cutting head from the first entry edge coordinate to the first coordinate according to the plurality of second feedback signals.

[0119] The first entry edge coordinate calculation unit 603 is configured to determine the first entry edge coordinate according to the speed of the cutting head moving along the direction of the initial position at the first vacancy coordinate, the first coordinate, and the moving time.

[0120] Please refer to Figure 8 The application further provides an electronic device including a processor and a memory; the memory stores a program that can be invoked by the processor; when the processor executes the program, the metal material high-precision edge detection method in the foregoing embodiments is implemented.

[0121] The embodiment of the metal material high-precision edge detection device of the application can be applied to an electronic device. Taking a software implementation as an example, as a logical device, it is formed by reading the corresponding computer program instructions in the non-volatile memory into the memory and running by the processor of the electronic device in which it is located. From the hardware level, as shown in Figure 8 Figure 8 is a hardware structure diagram of an electronic device in which the charging control device of the electric vehicle according to an exemplary embodiment of the application is located. In addition to the processor 810, the memory 820, the network interface 820, and the non-volatile memory 840 shown in Figure 8 , the electronic device in which the metal material high-precision edge detection device is located in the embodiment can also include other hardware according to the actual functions of the electronic device, and details are not repeated.

[0122] The embodiment of the application further provides a computer readable storage medium having a computer program stored thereon, and the program is executed by the processor to implement the metal material high-precision edge detection method described above.

[0123] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the foregoing storage medium includes ROM, RAM, magnetic disc or optical disc and various storage medium that can store program codes.

[0124] ​In the description of the specification, the description of the terms "one implementation", "one embodiment", "specific implementation process", "one example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or part or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A high-precision edge detection method for metallic materials, characterized in that, The method for edge finding of sheet metal placed on a machine tool includes: The cutting head is positioned at an initial position above the plate and the first sensor is activated; wherein the first sensor is used to acquire a first feedback signal, which is characterized as the capacitance value between the cutting head and the surface of the plate. The cutting head is moved along the edge of the plate to the first empty position coordinate; wherein, the first empty position coordinate is used to characterize the coordinate of the position where the first feedback signal is less than the first threshold within a first preset time; A second sensor is activated at the first empty coordinate, and a light source is turned on at the first empty coordinate for the cutting head with a preset power; wherein, the second sensor is used to acquire a second feedback signal, the second feedback signal being characterized by the light intensity of the light emitted by the cutting head reflected by the plate or machine tool; The cutting head is set to move at the first empty coordinate in a direction toward the initial position; During the movement of the cutting head, the second feedback signal is monitored, and the first coordinate is determined based on the change of the second feedback signal; wherein, the first coordinate is characterized by the second feedback signal being greater than the second threshold at the first coordinate, and the second feedback signal no longer changing when the head continues to move along the initial position direction at the first coordinate; The first entry edge coordinates are calculated based on the first coordinates and several second feedback signals monitored during the movement of the cutting head; wherein, the first entry edge coordinates represent the coordinates of the edge position of the plate.

2. The high-precision edge detection method for metallic materials according to claim 1, characterized in that, Before moving the cutting head along the edge of the board to the first empty position coordinate, the method further includes: preliminary edge finding; the preliminary edge finding is used to obtain the first outgoing edge coordinate of the board; wherein the first outgoing edge coordinate is on the same straight line as the initial position and the first incoming edge coordinate. The preliminary edge finding includes: the cutting head moves along the first empty space coordinate direction at the initial position, and acquires several first feedback signals through the first sensor. The position when the first feedback signal is first less than the first threshold is the first edge coordinate.

3. The high-precision edge detection method for metallic materials according to claim 2, characterized in that, During the movement of the cutting head, the following is also included: A warning judgment is made based on the first outgoing edge coordinates, the first feedback signal, and the second feedback signal; The warning judgment is as follows: if the first feedback signal is greater than the first threshold, and the second feedback signal is less than the second threshold after the cutting head continues to move a first preset distance, then the edge finding fails. If the cutting head moves to the first edge coordinate and, after moving a second preset distance, the second feedback signal is less than the second threshold, then the edge finding fails.

4. The high-precision edge detection method for metallic materials according to claim 1, characterized in that, The first incoming edge coordinates are calculated based on the first coordinates and several second feedback signals monitored during the movement of the cutting head, specifically including: Determine the speed at which the cutting head moves along the direction of the initial position at the first empty coordinate, and acquire several second feedback signals during the process of moving from the first empty coordinate to the first coordinate; Based on the aforementioned second feedback signals, the movement time of the cutting head from the first entry edge coordinate to the first coordinate is determined; The first incoming edge coordinates are determined based on the movement speed of the cutting head along the initial position direction at the first empty position coordinates, the first coordinate, and the movement time.

5. The high-precision edge detection method for metallic materials according to claim 4, characterized in that, The step of determining the movement time of the cutting head from the first entry edge coordinate to the first coordinate based on the plurality of second feedback signals specifically includes: After deburring the plurality of second feedback signals, a first curve is formed showing the change of the second feedback signals over time. The second curve is formed by performing a first process on the second feedback signals that are adjacent to each other on the first curve; wherein, the first process is characterized by: obtaining the rate of change of adjacent second feedback signals; The duration during which the rate of change of the second feedback signal during the movement of the cutting head is greater than the third threshold is obtained from the second curve. The first incoming edge coordinates are determined based on the movement speed of the cutting head along the initial position direction at the first empty position coordinates, the duration, and the first coordinates.

6. The high-precision edge detection method for metallic materials according to claim 5, characterized in that, The step of obtaining the duration for which the rate of change of the second feedback signal during the movement of the cutting head is greater than the third threshold based on the second curve further includes: The rate of change of several adjacent second feedback signals on the second curve is filtered.

7. The high-precision edge detection method for metallic materials according to claim 5, characterized in that, Determining the coordinates of the first incoming edge specifically includes: Calculate the first distance the cutting head travels at the said speed during the said duration; Obtain the first incoming edge coordinates, which are the coordinates of the cutting head after moving the first distance along the first empty space coordinate direction on the first coordinate.

8. The high-precision edge detection method for metallic materials according to claim 5, characterized in that, The first process is differential processing.

9. The high-precision edge detection method for metallic materials according to claim 1, characterized in that, The step of activating the second sensor at the first empty coordinates further includes: The cutting head is raised a preset distance at the first empty position coordinate.

10. The high-precision edge detection method for metallic materials according to claim 1, characterized in that, The first sensor is a capacitive sensor; The second sensor is a photoelectric sensor.

11. A high-precision edge detection device for metallic materials, characterized in that, include: A first sensor, connected to the cutting head, is activated after the cutting head is in an initial position above the sheet metal; wherein the sheet metal is placed on a machine tool, and the first sensor is used to acquire a first feedback signal, which is characterized as the capacitance value from the cutting head to the surface of the sheet metal. The first empty space coordinate acquisition module is used to acquire the first empty space coordinate so that the cutting head can move to the first empty space coordinate along the edge direction toward the plate; wherein, the first empty space coordinate is used to characterize the coordinate of the position where the first feedback signal is greater than the first threshold within a first preset time. The second sensor is connected to the cutting head. The cutting head turns on the light source at a preset power at the first empty coordinate. The second sensor is used to acquire a second feedback signal. The second feedback signal represents the light intensity reflected by the plate or machine tool after the light emitted by the cutting head. The setting module is used to set the cutting head to move in the direction toward the initial position at the first empty position coordinate; A first coordinate determination module is used to monitor the second feedback signal during the movement of the cutting head and determine a first coordinate based on the change of the second feedback signal; wherein the first coordinate is characterized by the second feedback signal being greater than a second threshold at the first coordinate; and The first edge coordinate determination module is used to calculate the first edge coordinate based on the first coordinate and several second feedback signals monitored during the movement of the cutting head; wherein, the first edge coordinate represents the coordinate of the edge position of the plate.

12. The high-precision edge detection device for metallic materials according to claim 11, characterized in that, The first coordinate determination module also includes: a preliminary edge finding unit and an early warning protection unit; The preliminary edge-finding unit is used to obtain the coordinates of the first outgoing edge of the board. The early warning protection unit is used to make an early warning judgment based on the first outgoing edge coordinates, the first feedback signal, and the second feedback signal. The early warning judgment is as follows: if the first feedback signal is greater than the first threshold, and the second feedback signal is less than the second threshold after the cutting head continues to move a first preset distance, then edge finding fails; or if the cutting head moves to the first outgoing edge coordinates, and the second feedback signal is less than the second threshold after continuing to move a second preset distance, then edge finding fails.

13. The high-precision edge detection device for metallic materials according to claim 11, characterized in that, The first incoming edge coordinate determination module specifically includes: A speed acquisition unit is used to determine the speed at which the cutting head moves along the direction of the initial position at the first empty position coordinate. The time determination unit is used to acquire a number of second feedback signals during the process of moving from the first empty position coordinate to the first coordinate, and to determine the movement time of the cutting head from the first entry edge coordinate to the first coordinate based on the number of second feedback signals. The first edge coordinate calculation unit is used to determine the first edge coordinate based on the movement speed of the cutting head along the initial position direction at the first empty position coordinate, the first coordinate, and the movement time.

14. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 1-10.

15. A storage medium having a program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the method according to any one of claims 1-10.

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