A flying cutting control method and device of a laser cutting numerical control system

Abstract

The application relates to a flight cutting control method and device of a laser cutting numerical control system, and the device comprises a receiving module, which is used for receiving a cutting track of a to-be-cut pattern and flight cutting instructions associated with the cutting track; a first processing module, which is used for calculating a corrected switch laser delay time corresponding to each CNC control period of the cutting track and a switch laser command bound with the switch laser delay time; and a second processing module, which is used for sending an interpolation point corresponding to a current CNC control period to a servo controller and sending the corrected switch laser delay time corresponding to the current CNC control period and the switch laser command bound with the switch laser delay time to a PWM module in the current CNC control period. The method can improve the control precision of a flight cutting switch light, and can achieve better cutting effects for different flight cutting patterns and flight cutting speeds.

Description

TECHNICAL FIELD

[0001] The present application relates to computer technology, and particularly to a flight cutting control method and device of a laser cutting numerical control system. BACKGROUND

[0002] The flight cutting function is an important function in the laser numerical control system, which is mainly suitable for high-speed cutting of thin plates. The flight cutting achieves the cutting purpose by planning a determined cutting path and assisting the on-off light on the cutting path. During the flight cutting, the cutting head is always in a high-speed running state, thereby greatly improving the cutting efficiency and cutting quality.

[0003] In the flight cutting, the cutting speed is very fast, and the positioning accuracy of the on-off light is relatively high. The existing problems in the flight cutting function are as follows: during the flight cutting, for irregularly arranged flight cutting processing patterns, the corresponding flight cutting on-off light delay time cannot be adaptively adjusted; and when different flight cutting speeds are set, the cutting quality is different, and there may be overcutting or cutting failure, which greatly affects the processing quality.

[0004] In summary, the flight cutting technology of the current laser numerical control system lacks a flight cutting control method which is highly universal and has high control accuracy of the on-off light point. SUMMARY

[0005] (I) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present application provides a flight cutting control method and device of a laser cutting numerical control system.

[0007] (II) Technical solutions

[0008] In order to achieve the above-mentioned purposes, the main technical solutions adopted by the present application include:

[0009] In a first aspect, the present application provides a flight cutting control device of a laser cutting numerical control system, comprising:

[0010] A receiving module is configured to receive cutting track information of a to-be-cut pattern and flight cutting instructions associated with the cutting track information;

[0011] A first processing module is configured to calculate, according to an interpolation point in the cutting track information and the cutting track, a coordinate point of the on-off laser in the flight cutting instructions, a delay time of the on-off laser in each CNC control period to which the cutting track belongs, and a command of the on-off laser bound to the delay time of the on-off laser. The calculated delay time of the on-off laser and the command of the on-off laser are obtained by correcting the delay time of the on-off laser and the command of the on-off laser in the flight cutting instructions;

[0012] The second processing module is configured to send the interpolation points in the current CNC control period to the servo controller, and send the corrected switch laser delay time and the switch laser command bound with the switch laser delay time to the PWM module to perform the fly cutting in the current CNC control period.

[0013] Optionally, the second processing module comprises a queue joining unit configured to join the interpolation points to the tail of the interpolation point queue based on each CNC control period to which the cutting trajectory belongs, and correct the switch laser delay time and the switch laser command bound with the switch laser delay time, and join the corrected switch laser delay time and the corrected switch laser command to the tail of the switch light control queue.

[0014] The sending unit is configured to take out the interpolation points in the current CNC control period from the head of the interpolation point queue and send them to the servo controller, and process the corrected switch light delay time and the switch laser command bound with the switch laser delay time stored in the head of the switch light control queue according to a sending processing rule, and send the processed switch delay time and / or switch laser command belonging to the current CNC control period to the PWM module.

[0015] Optionally, the receiving module comprises a receiving unit configured to receive the cutting trajectory information and the fly cutting instruction associated with the cutting trajectory information from the TASK task module.

[0016] The cutting trajectory information comprises a cutting trajectory comprising a straight line motion segment of a specified length or a circular arc motion segment of a specified arc length, and interpolation points of each CNC control period corresponding to the cutting trajectory.

[0017] The fly cutting instruction comprises a coordinate point P of the switch laser, a reference vector , a reference point , and a command of the switch laser command, i.e., the laser on / off, at the coordinate point P.

[0018] When the cutting trajectory comprises a straight line motion segment, the coordinate point P is located at a connection position of a corresponding motion segment on the cutting trajectory. is a unit vector on the angle bisector of the motion segments on both sides of the coordinate point P; the reference point is a point on the angle bisector of the motion segments on both sides of the coordinate point P, and a vector from the point to the coordinate point P is the same as .

[0019] When the cutting trajectory comprises a circular arc motion segment, the coordinate point P is located at a connection position of a corresponding motion segment on the cutting trajectory. is a direction vector of a center of the circular arc pointing to the coordinate point P; the reference point is the center of the circular arc.

[0020] Optionally, the flying cutting control device further comprises:

[0021] a third processing module, configured to acquire, based on the cutting track, an interpolation point of each CNC control period in the cutting track by using an S-shaped acceleration and deceleration mode.

[0022] Optionally, the first processing module comprises:

[0023] acquire a reference point a first vector from the interpolation point A of the nth CNC control period , the reference point a second vector from the interpolation point B of the n+1th CNC control period ; and determine the first included angle between and , the second included angle between and ;

[0024] if and satisfy ,

[0025] then correct the switch laser delay time t m of the n+1th CNC control period m = t d + = + ; AP is the length of the line segment from the interpolation point A of the nth CNC control period to the switch laser coordinate point P, AB is the length of the line segment from the interpolation point A of the nth CNC control period to the interpolation point B of the n+1th CNC control period, the switch laser command of the n+1th CNC control period is the command of the laser on / off in the flying cutting instruction, and the t m of the n+1th CNC control period is bound with the switch laser command of the n+1th CNC control period; the t m , and the switch laser command bound with the t m are used as the corrected information for joining the tail of the switch light control queue;

[0026] T is a CNC control period, The fixed value is specifically the delay time of the switch laser command received by the PWM module and the delay time of the switch laser received by the interpolation point information received by the servo controller. n is a natural number greater than or equal to 1; the current CNC control cycle corresponding to the head of the switch light control queue, the information after the head of the switch light control queue is the n+1th CNC control cycle, in the embodiment, the switch laser delay time and the switch laser command of the n+1th CNC control cycle are sequentially corrected and sequentially added to the switch light control queue; the CNC control cycle to which each position in the switch light control queue and the interpolation point queue belongs is consistent.

[0027] Optionally, the flight cutting control device further comprises:

[0028] If and are not satisfied , then

[0029] The switch laser delay time t m ' of the n+1th CNC control cycle is corrected m ' = t d + = 0+ ,

[0030] and the switch laser command in the n+1th CNC control cycle is the switch laser command in the nth CNC control cycle, and the switch laser delay time t m ' of the n+1th CNC control cycle is bound to the switch laser command in the n+1th CNC control cycle, and the t m ', and the switch laser command bound to the t m ' are used as the corrected information for adding to the tail of the switch light control queue.

[0031] Optionally, ;

[0032] ;

[0033] In the Cartesian rectangular right-hand coordinate system, each coordinate point is represented as , , , atan2 is a C language library function atan2(y,x); the symbol represents vector cross product, and the symbol represents vector dot product, is a unit direction vector in the z-axis direction .

[0034] The queue adding unit of the second processing module comprises:

[0035] According to the two buffer queues established in advance, the interpolation points and the corrected switch laser delay time and the switch laser command bound with the delay time are added to the tail of the queue to which each belongs;

[0036] The two buffer queue includes: an interpolation point queue and a switch light control queue.

[0037] The interpolation point queue is used for storing the calculated interpolation points, and the switch light control queue is used for storing the switch laser delay time and the switch laser command bound with the switch laser delay time.

[0038] Optionally, the sending unit of the second processing module processes according to the sending processing rule, and sends the processed switch delay time and switch laser command to the PWM module, including:

[0039] The switch light delay time at the head of the switch light control queue is determined, if the switch light delay time at the head of the switch light control queue is greater than one CNC control cycle, the corrected switch light delay time is set to 0, and the corrected switch laser command is set to the switch laser command output in the last CNC control cycle; the switch light delay time set to 0 and the switch laser command output in the last CNC control cycle are sent to the PWM module.

[0040] If the switch light delay time at the head of the switch light control queue is less than or equal to one CNC control cycle, the switch light delay time at the head of the switch light control queue and the bound switch laser command are sent to the PWM module.

[0041] And after sending the PWM module, all the switch light delay times greater than T stored in the switch light control queue are updated, and the updated switch light control queue is used as the switch light control queue of the next CNC control cycle.

[0042] T is the CNC control cycle, and the update is that the switch light delay time greater than T is subtracted by T.

[0043] In the second aspect, the embodiment of the present application provides a laser cutting numerical control system, including a memory and a processor, the memory stores a computer program, and the processor executes the computer program stored in the memory to execute the flight cutting control device of the laser cutting numerical control system of any one of the above-mentioned first aspect.

[0044] In the third aspect, the embodiment of the present application provides a flight cutting control method of a laser cutting numerical control system, including:

[0045] The CNC controller receives the cutting track information of the to-be-cut pattern and the flight cutting instruction associated with the cutting track information.

[0046] The CNC controller calculates, according to the interpolation points and the cutting trajectory in the cutting trajectory information, a switch laser delay time in each CNC control period to which the cutting trajectory belongs, a switch laser command bound to the switch laser delay time, and a coordinate point of the switch laser in the flight cutting instruction; the calculated switch laser delay time and the switch laser command are obtained by correcting the switch laser delay time and the switch laser command in the flight cutting instruction;

[0047] The CNC controller sends the interpolation points in the current CNC control period to the servo controller, and sends the corrected switch laser delay time in the current CNC control period and the switch laser command bound to the switch laser delay time to the PWM module to execute the flight cutting.

[0048] Optionally, in the current CNC control period, the interpolation points in the current CNC control period are sent to the servo controller, and the corrected switch laser delay time in the current CNC control period and the switch laser command bound to the switch laser delay time are sent to the PWM module, comprising:

[0049] Based on each CNC control period to which the cutting trajectory belongs, the interpolation points are added to the tail of an interpolation point queue, and the switch laser delay time and the switch laser command bound to the switch laser delay time are corrected, and the corrected switch laser delay time and the corrected switch laser command are added to the tail of a switch light control queue;

[0050] According to the switch laser delay time corresponding to each CNC control period, the switch laser command bound to the switch laser delay time, and the interpolation points in the cutting trajectory, in the current CNC control period, the interpolation points in the current CNC control period are taken from the head of the interpolation point queue and sent to the servo controller, and the corrected switch light delay time stored in the head of the switch light control queue and the switch laser command bound to the switch laser delay time are processed according to a sending processing rule, and the processed switch delay time and / or switch laser command belonging to the current CNC control period are sent to the PWM module.

[0051] For example, according to two buffer queues established in advance, the interpolation points and the corrected switch laser delay time and the corrected switch laser command bound to the delay time are added to the tail of the queue to which they belong respectively;

[0052] The two buffer queues include an interpolation point queue and a switch light control queue;

[0053] The interpolation point queue is used to store the calculated interpolation points, and the switch light control queue is used to store the switch laser delay time and the switch laser command bound to the switch laser delay time.

[0054] According to the sending processing rule, the processed switch delay time and switch laser command are sent to the PWM module, including:

[0055] If the switch light delay time at the head of the switch light control queue is greater than one CNC control cycle, the corrected switch light delay time is set to 0, and the corrected switch laser command is set to the switch laser command output in the last CNC control cycle; the switch light delay time set to 0 and the switch laser command output in the last CNC control cycle are sent to the PWM module;

[0056] If the switch light delay time at the head of the switch light control queue is less than or equal to one CNC control cycle, the switch light delay time at the head of the switch light control queue and the bound switch laser command are sent to the PWM module;

[0057] After sending the PWM module, all switch light delay times greater than T stored in the switch light control queue are updated, and the updated switch light control queue is used as the switch light control queue of the next CNC control cycle.

[0058] T is the CNC control cycle, and the update is the switch light delay time greater than T minus T.

[0059] Optionally, the CNC controller receives a cutting trajectory of a to-be-cut pattern and a flight cutting instruction associated with the cutting trajectory, including: receiving cutting trajectory information and a flight cutting instruction associated with the cutting trajectory information from a TASK module;

[0060] The cutting trajectory information includes: a cutting trajectory including a straight line motion segment of a specified length or a circular arc motion segment of a specified arc length, and an interpolation point of each CNC control cycle corresponding to the cutting trajectory;

[0061] The flight cutting instruction includes: a coordinate point P of the switch laser, a reference vector , a reference point , and a command of the switch laser command at the coordinate point P, i.e., the laser is turned on / off;

[0062] If the cutting trajectory includes a straight line motion segment, the coordinate point P is located at a connection position of a corresponding motion segment on the cutting trajectory; is a unit vector on the angle bisector of the motion segments on both sides of the coordinate point P; the reference point is a point on the angle bisector of the motion segments on both sides of the coordinate point P, and the vector from the point to the coordinate point P is the same as ;

[0063] If the cutting trajectory includes a circular arc motion segment, the coordinate point P is located at a connection position of a corresponding motion segment on the cutting trajectory; is a direction vector of the reference point P with respect to the center of the arc; is the center of the arc.

[0064] In this embodiment, the CNC controller can obtain the interpolation point of each CNC control period in the cutting trajectory based on the cutting trajectory by using the S-shaped acceleration and deceleration mode.

[0065] Optionally, the corrected switch laser delay time corresponding to each CNC control period of the cutting trajectory and the switch laser command bound with the switch laser delay time comprise:

[0066] obtaining the reference point P the first vector to the interpolation point A of the nth CNC control period , the reference point P the second vector to the interpolation point B of the n+1th CNC control period ; and determining the first included angle between , the second included angle between and ; ;

[0067] if and satisfy ,

[0068] then the switch laser delay time t m of the n+1th CNC control period is corrected to m =t d + = + ; AP is the length of the line segment from the interpolation point A of the nth CNC control period to the switch laser coordinate point P, AB is the length of the line segment from the interpolation point A of the nth CNC control period to the interpolation point B of the n+1th CNC control period, the switch laser command of the n+1th CNC control period is the command of the laser on / off in the flight cutting instruction, and the t m of the n+1th CNC control period is bound with the switch laser command of the n+1th CNC control period; the t m and the switch laser command bound with the t m are used as the corrected information for joining the tail of the switch light control queue;

[0069] T is the CNC control period, is a fixed value, specifically the delay time difference between the interpolation point information received by the servo controller and the corrected switch laser delay time and the switch laser command received by the PWM module.

[0070] Optionally, if and is not satisfied , then

[0071] correct the switch laser delay time t of the n+1th CNC control cycle m ' = t m ' = t d + = 0+ ,

[0072] and the switch laser command in the n+1th CNC control cycle is the switch laser command in the nth CNC control cycle, and the switch laser delay time t m ' of the n+1th CNC control cycle is bound to the switch laser command in the n+1th CNC control cycle, and the t m ', and the switch laser command bound to the t m ' are used as the corrected information for joining the tail of the switch light control queue.

[0073] wherein ; ;

[0074] In the Cartesian rectangular right-hand coordinate system, each coordinate point is represented as , , , atan2 is a C language library function atan2(y,x); the symbol represents the vector cross product, and the symbol represents the vector dot product, is the z-axis direction unit direction vector .

[0075] (III) Beneficial effects

[0076] The method of the embodiment of the application modifies the switch light delay time and the switch laser command in each CNC control cycle to which the cutting trajectory belongs based on the pre-received cutting trajectory and the flight cutting instruction, and then enables the PWM module again based on the modified switch light delay time and the switch laser command, and enables the PWM module based on the determined information, so as to realize accurate flight cutting of the cutting trajectory, improve the control precision of the flight cutting switch light, and the method is universal and can achieve better cutting effect for different flight cutting patterns and flight cutting speeds. BRIEF DESCRIPTION OF DRAWINGS

[0077] Figure 1 is a flowchart of a flight cutting control method of a laser cutting numerical control system provided by the embodiment of the application;

[0078] Figure 2 A schematic diagram of a straight flight cutting control method according to an embodiment of the present application;

[0079] Figure 3 A schematic diagram of a straight flight cutting instruction according to an embodiment of the present application;

[0080] Figure 4 A schematic diagram of an arc flight cutting instruction according to an embodiment of the present application;

[0081] Figure 5 A schematic diagram of calculating a flight cutting switch light delay time and a switch laser command according to an embodiment of the present application;

[0082] Figure 6 A schematic diagram of calculating a flight cutting switch light delay time and a switch laser command according to an embodiment of the present application;

[0083] Figure 7 A timing diagram of a flight cutting according to an embodiment of the present application;

[0084] Figure 8 A schematic diagram of a flight cutting control device of a laser cutting numerical control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0085] In order to better explain the present application, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0086] At present, flight cutting machining patterns are all spliced by straight lines or arcs. In the embodiments of the present application, straight lines or arcs are taken as examples to explain the cutting tracks on both sides of the flight cutting switch light point, and other patterns can be refined into straight lines or arcs.

[0087] The switch light in the following embodiments can be understood as turning on or off the laser, and the switch laser command can be understood as the instruction of turning on or off the laser.

[0088] As shown in FIG. 1, the present embodiment provides a flight cutting control method of a laser cutting numerical control system. The method of the present embodiment can be realized by means of a CNC controller of the laser cutting numerical control system. The method of the present embodiment comprises the following steps. Figure 1 101. The CNC controller receives cutting track information of a to-be-cut pattern and flight cutting instructions associated with the cutting track information.

[0089] For example, the CNC controller can receive the cutting track and the flight cutting instructions associated with the cutting track from a TASK module.

[0090]

[0091] ​The cutting trajectory information comprises: a cutting trajectory comprising a straight line motion segment of a specified length or a circular arc motion segment of a specified arc length, and a CNC control cycle interpolation point corresponding to the cutting trajectory.

[0092] The interpolation point in the embodiment is obtained by interpolating the cutting trajectory by an interpolation module, for example, by interpolating the cutting trajectory by an S-shaped acceleration and deceleration method.

[0093] The flying cutting instruction at this point comprises: a coordinate point P at which the laser is switched on or off, a reference vector , a reference point , and a command for switching on or off the laser at the coordinate point P.

[0094] Generally, the cutting trajectory comprises a straight line motion segment, and the coordinate point P is located at a connection position of corresponding motion segments on the cutting trajectory; is a unit vector on an angle bisector of the motion segments on both sides of the coordinate point P; the reference point is a point on the angle bisector of the motion segments on both sides of the coordinate point P, and a vector from the point to the coordinate point P is the same as ;

[0095] In addition, the cutting trajectory can also comprise a circular arc motion segment, and the coordinate point P is located at a connection position of corresponding motion segments on the cutting trajectory; is a direction vector of a center of the circular arc pointing to the coordinate point P; the reference point is the center of the circular arc.

[0096] 102. The CNC controller calculates, according to the interpolation point in the cutting trajectory information and the cutting trajectory, a coordinate point at which the laser is switched on or off in the flying cutting instruction, a delay time of the laser switching on or off in each CNC control cycle to which the cutting trajectory belongs, and a command for the laser switching on or off bound to the delay time of the laser switching on or off; the calculated delay time of the laser switching on or off and the command for the laser switching on or off are obtained by correcting the delay time of the laser switching on or off and the command for the laser switching on or off in the flying cutting instruction.

[0097] For example, the interpolation point can be added to the tail of an interpolation point queue according to each CNC control cycle to which the cutting trajectory belongs, and the delay time of the laser switching on or off and the command for the laser switching on or off bound to the delay time of the laser switching on or off can be corrected, and the corrected delay time of the laser switching on or off and the corrected command for the laser switching on or off can be added to the tail of a switch light control queue.

[0098] That is, two buffer queues are established in the CNC controller, and the interpolation point and the delay time of the laser switching on or off and the command for the laser switching on or off bound to the delay time of the laser switching on or off are added to the tail of the queue to which each belongs; the two buffer queues comprise: an interpolation point queue and a switch light control queue.

[0099] The interpolation point queue is used to store the calculated interpolation points, and the switch light control queue is used to store the switch laser delay time and the switch laser command bound with the switch laser delay time.

[0100] 103、The CNC controller sends the interpolation point corresponding to the current CNC control cycle to the servo controller, and sends the corrected switch laser delay time corresponding to the current CNC control cycle and the switch laser command bound with the switch laser delay time to the PWM module to perform the flying cutting in the current CNC control cycle.

[0101] It can be understood that in the current CNC control cycle, the interpolation point of the current CNC control cycle is taken from the head of the interpolation point queue and sent to the servo controller, and the corrected switch light delay time stored in the head of the switch light control queue and the switch laser command bound with the switch laser delay time are processed according to the sending processing rule, and the processed switch delay time and / or switch laser command belonging to the current CNC control cycle are sent to the PWM module.

[0102] For example, the processed switch delay time and switch laser command are sent to the PWM module according to the sending processing rule, which includes:

[0103] The switch light delay time at the head of the switch light control queue is determined, and if the switch light delay time at the head of the switch light control queue is greater than one CNC control cycle, the corrected switch light delay time is set to 0, and the corrected switch laser command is set to the switch laser command output in the last CNC control cycle; the switch light delay time set to 0 and the switch laser command output in the last CNC control cycle are sent to the PWM module;

[0104] If the switch light delay time at the head of the switch light control queue is less than or equal to one CNC control cycle, the switch light delay time at the head of the switch light control queue and the bound switch laser command are sent to the PWM module;

[0105] And after sending to the PWM module, all switch light delay times greater than T stored in the switch light control queue are updated, and the updated switch light control queue is used as the switch light control queue of the next CNC control cycle.

[0106] T is a CNC control cycle, and the update is to subtract T from the switch light delay time greater than T.

[0107] The method of the embodiment modifies the switch light delay time and the switch laser command in each CNC control cycle to which the cutting trajectory belongs based on the pre-received cutting trajectory and the flight cutting instruction, then enables the PWM module again based on the modified switch light delay time and the switch laser command, and enables the PWM module after the second determination, so as to realize the accurate flight cutting of the cutting trajectory, improve the control precision of the flight cutting switch light, and the method is universal and can achieve better cutting effect for different flight cutting patterns and flight cutting speeds.

[0108] The following is a process description of the correction of the switch light delay time and the switch laser command added to the switch light control queue.

[0109] For better understanding of the above Figure 1 The above step 102 is described in detail as follows.

[0110] 102-1, obtain the reference point the first vector to the interpolation point of the nth CNC control cycle , the reference point the second vector to the interpolation point of the n+1th CNC control cycle ; and determine the first angle between and , the second angle between and ;

[0111] If and satisfy ,

[0112] , the switch laser delay time t m of the n+1th CNC control cycle is corrected to m =t d + = + ; the switch laser command of the n+1th CNC control cycle is the command of the laser on / off in the flight cutting instruction, the t m of the n+1th CNC control cycle is bound with the switch laser command of the n+1th CNC control cycle; the t m , and the switch laser command bound with the t m are used as the information for adding to the tail of the switch light control queue after correction;

[0113] AP is the length of the line segment from the interpolation point A in the nth CNC control cycle to the switch laser coordinate point P, AB is the length of the line segment from the interpolation point A in the nth CNC control cycle to the interpolation point B in the current CNC control cycle, T is the CNC control cycle, is a fixed value, specifically the difference between the delay time of the switch laser command received by the PWM module and the delay time of the switch laser command received by the interpolation point information and the servo controller.

[0114] 102-2, if and do not meet , then

[0115] correct the switch laser delay time t m ' of the n+1th CNC control cycle m ' = t d + = 0+ ,

[0116] and the switch laser command in the n+1th CNC control cycle is the switch laser command in the nth CNC control cycle, and the switch laser delay time t m ' of the n+1th CNC control cycle is bound to the switch laser command in the n+1th CNC control cycle, and the t m ', and the switch laser command bound to the t m ' are used as the corrected information for joining the tail of the switch light control queue.

[0117] In the embodiment, the above parameters and , the first angle , the second angle are represented as follows:

[0118] ;

[0119] ;

[0120] In the Cartesian rectangular right-hand coordinate system, each coordinate point is represented as , , , atan2 is a C language library function atan2(y,x); the symbol represents the vector cross product, and the symbol represents the vector dot product, is the z-axis direction unit direction vector .

[0121] Understandably, by calculating the interpolation point vector and the specified angle, the delay time of the switching light and the corresponding switching laser command within the CNC control cycle can be effectively corrected, thereby improving the control accuracy of the switching light in flight cutting. Furthermore, this method is highly versatile and can achieve better cutting results for different flight cutting patterns and flight cutting speeds.

[0122] To better understand the above Figure 1 The method shown below, combined with Figures 2 to 7 right Figure 1 The method shown will be explained in detail.

[0123] like Figure 2 As shown, this embodiment provides a flying cutting control method for a laser cutting CNC system, including:

[0124] 201. The CNC controller can receive the cutting trajectory information of the graphic to be cut and the flight cutting command associated with the cutting trajectory information from the TASK module of the host computer.

[0125] The host computer here is a laser CNC system. Typically, the CAM module of the laser CNC system generates the cutting trajectory and the identifier of the flying cutting switch light for that trajectory, described using G-code. The TASK module decodes the G-code to generate the cutting trajectory of the graphic to be cut and the associated flying cutting command. That is, there is a flying cutting command at each light-on point during the flying cutting process.

[0126] In practice, the cutting trajectory can be understood as a motion command, and the flight cutting command can be understood as a non-motion command. The combination of motion and non-motion commands determines the flight cutting method.

[0127] The cutting trajectory information includes: a cutting trajectory consisting of a linear motion segment of a specified length or a circular motion segment of a specified arc length; and interpolation points for each CNC control cycle to which the cutting trajectory belongs.

[0128] The flight cutting command includes: a preset coordinate point P for switching the laser (referred to as the switching laser point P), and a preset reference vector. Preset reference points And the laser on / off status indicator at coordinate point P;

[0129] The preset switch point can be specifically the laser-on position point of the machining contour or the laser-off position point of the machining contour when the CAM module generates the flying cutting G code, and the switch point is located on the cutting trajectory; it is the position at the junction of the motion segment.

[0130] If the cutting trajectory includes a linear motion segment, then the coordinate point P is located at the corresponding motion segment connection position on the cutting trajectory; is a unit vector on the angle bisector of the motion segment on both sides of coordinate point P; reference point is a point on the angle bisector of the motion segment on both sides of coordinate point P, and the vector from the point to coordinate point P is the same as ;

[0131] If the cutting trajectory includes a circular arc motion segment, coordinate point P is located at the connection position of the corresponding motion segment on the cutting trajectory; is a direction vector of the center of the circular arc pointing to coordinate point P; reference point is the center of the circular arc.

[0132] As shown in Figure 3 a schematic diagram of a straight flight cutting instruction is shown, to adapt to general cutting conditions, in this Figure 3 straight flight cutting, the straight lines on both sides are not on the same straight line, and general laser cutting performs smooth transition processing on the corner, as shown in Figure 3 two straight lines are ideal cutting segments, and the arc Figure 3 is the actual processing path, at this time point is a preset switch light point, the preset reference vector is , and the preset reference point is , Assuming that the auxiliary switch light code generated by the CAM module indicates that the laser is turned on at

[0133] point, in , the straight line is cut by flight, a flight cutting preset parameter is generated, that is, the preset switch light point Figure 3 , the preset reference vector , and the preset reference point are generated, and the laser is turned on at point. This parameter is encapsulated in the flight cutting instruction and sent to the CNC controller for processing by the TASK module. Of course, the straight lines on both sides of the flight cutting are on the same straight line as above.

[0134]

[0135] Figure 4 is a schematic diagram of an arc flight cutting instruction in an embodiment of the present application, as shown in Figure 4 , the arc is cut by flight, the preset switch light point is , the preset reference vector is , and the preset reference point is the center of the circle . When the cutting head moves along the straight line to point P, the laser is turned on at the switch light point. After cutting the arc, the laser is turned off again when the cutting head moves along the arc path and passes through point.

[0136] The information of turning on or off the laser is realized by the auxiliary code generated by the CAM. Therefore, in​Figure 4 The flight cutting of the arc will generate two flight cutting preset parameters, namely the preset switch light point of the first flight cutting preset parameter. Preset reference vector and preset reference points The cutting head passes through The laser is activated by clicking; the second stage of flight cutting is preset with preset on / off light spot parameters. Preset reference vector and preset reference points The cutting head passes through Turn off the laser.

[0137] 202. Obtaining Reference Points The first vector to the interpolation point of the nth CNC control cycle Reference points The second vector to the interpolation point of the (n+1)th CNC control cycle ; and determine and The first included angle , and The second included angle n is greater than or equal to 1.

[0138] ;

[0139] ;

[0140] In a Cartesian right-handed coordinate system, each coordinate point is represented as: , , ; Let n be the interpolation point for the nth CNC control cycle. This is the interpolation point for the (n+1)th CNC control cycle;

[0141] atan2 is the C language library function atan2(y,x); Represents the cross product of vectors, symbol Represents the dot product of vectors. Unit direction vector along the z-axis .

[0142] 203. If and satisfy The corrected switching laser delay time t m For t m =t d + = + switch laser command of the n+1th CNC control cycle is the command of laser on / off in the flying cutting instruction, t m binds with the switch laser command of the current CNC control cycle; the t m , and the switch laser command binding with the t m as the modified information for joining the tail of the switch light control queue.

[0143] T is the CNC control cycle / interpolation cycle, is a fixed value, specifically the delay time difference between the interpolation point information received by the servo controller and the modified switch laser delay time, the modified switch laser command received by the PWM module. Generally, The time of t is related to the specific physical structure of the machine tool and needs to be measured according to different machine tools. The head of the switch light control queue corresponds to the current CNC control cycle, and the information after the head of the switch light control queue is the n+1th CNC control cycle. In this embodiment, the switch laser delay time and the switch laser command of the n+1th CNC control cycle are modified and sequentially joined in the switch light control queue; the CNC control cycle to which each position in the switch light control queue and the interpolation point queue belongs is consistent.

[0144] 204, if and do not satisfy , the modified switch laser delay time t m ’ of this time is t m ’ = t d + = 0+ , that is, the switch laser command in the n+1th CNC control cycle is the switch laser command in the nth CNC control cycle, and the switch laser delay time t m ’ of the n+1th CNC control cycle binds with the switch laser command in the n+1th CNC control cycle, the t m ’, and the switch laser command binding with the t m ’ as the modified information for joining the tail of the switch light control queue.

[0145] In this embodiment, the CNC control cycle and the interpolation cycle / servo control cycle are the same, and the laser port state is set by the state of laser on or off corresponding to the switch laser command in the flying cutting instruction.

[0146] The interpolation point is joined at the tail of the interpolation point queue, the switch laser delay time and the switch laser command binding with the delay time are modified, and the modified information is joined at the tail of the switch light control queue.

[0147] In this embodiment, two buffer queues are established in advance, one is the interpolation point queue and the other is the switch light control queue. The interpolation point queue is used to store the calculated interpolation points, and the switch light control queue is used to store the switch laser delay time and the switch laser command bound with the switch laser delay time.

[0148] 205、for taking out the interpolation point belonging to the current CNC control cycle from the head of the interpolation point queue and sending it to the servo controller in the current CNC control cycle, and processing the corrected switch light delay time stored in the head of the switch light control queue and the switch laser command bound with the switch laser delay time according to the sending processing rule, and sending the processed switch delay time and / or switch laser command belonging to the current CNC control cycle to the PWM module.

[0149] Specifically, processing according to the sending processing rule and sending the processed switch delay time and switch laser command to the PWM module include:

[0150] determining the switch light delay time at the head of the switch light control queue, if the switch light delay time at the head of the switch light control queue is greater than one CNC control cycle, setting the corrected switch light delay time to 0 and setting the corrected switch laser command to the switch laser command output in the last CNC control cycle; sending the switch light delay time set to 0 and the switch laser command output in the last CNC control cycle to the PWM module;

[0151] if the switch light delay time at the head of the switch light control queue is less than or equal to one CNC control cycle, sending the switch light delay time at the head of the switch light control queue and the bound switch laser command to the PWM module;

[0152] and after sending to the PWM module, updating all switch light delay times greater than T stored in the switch light control queue, and the updated switch light control queue is used as the switch light control queue of the next CNC control cycle; (that is, all switch light delay times stored in the switch light control queue will be corrected by subtracting one CNC control cycle in each servo control cycle if the value is greater than one CNC control cycle, otherwise, no correction is made.)

[0153] T is the CNC control cycle, and the update is the switch light delay time greater than T minus T

[0154] It is particularly pointed out that in this application, the interpolation points are not corrected, but the switch light delay time and the switch laser command are corrected.

[0155] It can be understood that when the laser needs to be turned on in the cutting track, the laser is in the on state, and when the laser does not need to be turned on in the cutting track, the laser is in the off state, which is calculated in advance by TASK and packaged in the flight cutting instruction.

[0156] Although TASK gives the timing of turning on or off the laser, it is not accurate position, and the method adjusts through these reference positions to achieve fine on-off light adjustment.

[0157] Figure 5 For the flight cutting on-off light delay time calculation combined with the flight cutting instruction and the on-off laser command diagram in an embodiment of the application, the information corresponding to the cutting track for arranging in the two queues can be the information processing of the CNC control period after the current CNC control period, and the information of the current control period corresponds to the information of the head of the two queues. The specific steps include:

[0158] Step C1, calculate the angle formed by the vector from the flight cutting preset reference point to the interpolation point of the last period and the vector from the flight cutting preset reference point to the interpolation point of the current period And the angle between the vector from the flight cutting preset reference point to the interpolation point of the last period and the preset reference vector .

[0159] Step C2, determine If it is true, go to step C3; otherwise, the current on-off laser delay time t m ’ is t m ’=t d + =0+ The current on-off laser command is the on-off laser command obtained by the last calculation. And bind the delay time of this time and the on-off laser command of this time, t m ’ and the on-off laser command obtained by the last calculation as the corrected information, go to step C4.

[0160] Step C3, calculate the on-off laser delay time t m of this time as t m =t d + = + The current on-off laser command is the on-off command of the laser in the flight cutting instruction, and t m and the current on-off laser command as the corrected information. And bind the delay time of this time and the on-off laser command of this time. Here, the last and this time are adjacent and belong to the subsequent CNC control period to be processed corresponding to the current CNC control period.

[0161] Step C4: Add the interpolation point to the tail of the interpolation point queue, the corrected switching laser delay time, and the switching laser command bound to the delay time to the tail of the switching light control queue.

[0162] Step C5: In the same CNC control cycle, take an interpolation point from the head of the interpolation point queue and send it to the servo controller. Generate the corrected switching light delay time and the corrected switching laser command through the switching light control queue. Process them according to the sending processing rules and send the processed switching delay time and switching laser command to the PWM module.

[0163] Figure 6 This application uses circular arc flight cutting as an example to illustrate the calculation of the switching light delay time and the switching laser command. For simplicity, only the time after the cutting head has cut on the arc is shown. In the case of turning off the laser, such as Figure 6 As shown, the cutting head cuts along an arc, moving to... The laser needs to be turned off when clicking, and the reference vector is... The interpolation point of the previous CNC control cycle was The current period interpolation point is The switch light spot is Calculate the vector from the flight cutting reference point to the interpolation point of the previous cycle. and the vector from the reference point to the interpolation point of the current period. .

[0164]

[0165] Calculate using the formula respectively and included angle as well as and The included angle

[0166]

[0167] Here, atan2 is the C language library function atan2(y,x); Represents the cross product of vectors, symbol This represents the dot product of vectors. for .

[0168] Then when When this condition is met, it indicates the interpolation point of the previous cycle. Interpolation point of the current period In the preset reference vector Two sides, namely the switch laser point In this control cycle, the switch light delay time t m is calculated at this control cycle, and the switch laser command is set.

[0169]

[0170] Wherein is the current CNC control cycle feed speed , is the CNC control cycle, and the interpolation cycle remains the same as the CNC control cycle. AP is the line segment from the last CNC control cycle interpolation point A to the switch laser coordinate point P, and AB is the line segment from the last CNC control cycle interpolation point A to the current CNC control cycle interpolation point B. represents a modulo operation.

[0171] If is not true, it indicates that the interpolation point of the last cycle and the interpolation point of the current cycle are on the same side of the preset reference vector , the switch laser delay time t m of this cycle is calculated as t m ’=td+ =0+ , and the switch laser command of this cycle is the switch laser command calculated last time. The delay time of this cycle is bound to the switch laser command of this cycle.

[0172] The interpolation point is pushed into the interpolation point queue, the corrected switch laser delay time is pushed into the switch light control queue, and the switch laser command bound to the delay time is pushed into the switch light control queue.

[0173] Figure 7 is the flight cutting timing diagram in an embodiment of the present application, as shown in Figure 7 , the processing direction is along the direction of cycle increase, the interpolation point of the last cycle corresponds to the left position of then'th cycle, the interpolation point corresponds to the right position of then'th cycle, the preset switch laser point corresponds to the time in then'th cycle, and the delay time is , if there is no other physical delay, the laser should be turned on or off according to the delay time at the beginning of then'th cycle, but at this time, due to the delay of the physical circuit, the total delay time is accumulated to the n'+1'th cycle; at this time, it indicates that the laser should be turned on or off at in the n'+1'th cycle, that is, the delay at the beginning of the n'+1'th cycle Turning on or off the laser, n' takes a natural number greater than or equal to 1.

[0174] The laser numerical control system flight cutting control method has the advantages of high precision and high processing efficiency, accurately calculates the on-off light points, unifies the critical conditions of circular arc flight cutting and straight line flight cutting, has a simple calculation process, improves the cutting efficiency, and solves the problem of overcutting or cutting failure caused by inaccurate on-off point calculation.

[0175] Example Two

[0176] According to another aspect of the embodiment of the present application, the embodiment also provides a flight cutting control device of a laser cutting numerical control system, as shown in Figure 8 , which comprises:

[0177] The receiving module is configured to receive cutting trajectory information of a to-be-cut pattern and flight cutting instructions associated with the cutting trajectory information.

[0178] The first processing module is configured to calculate, according to an interpolation point in the cutting trajectory information and the cutting trajectory, a coordinate point of on-off laser in the flight cutting instructions, a delay time of on-off laser in each CNC control period to which the cutting trajectory belongs, and a on-off laser command bound to the delay time of on-off laser. The calculated delay time of on-off laser and the on-off laser command are obtained by correcting the delay time of on-off laser and the on-off laser command in the flight cutting instructions.

[0179] The second processing module is configured to send, in a current CNC control period, the interpolation point in the current CNC control period to a servo controller, and send the corrected delay time of on-off laser in the current CNC control period and the on-off laser command bound to the delay time of on-off laser to a PWM module to perform flight cutting.

[0180] In addition, in actual application, the flight cutting control device further comprises:

[0181] The third processing module is configured to obtain an interpolation point of the cutting trajectory by using an S-shaped acceleration and deceleration mode based on the cutting trajectory, and there is one interpolation point in each CNC control period of the cutting trajectory.

[0182] Correspondingly, the receiving module can be specifically configured to receive, from a TASK module, cutting trajectory information and flight cutting instructions associated with the cutting trajectory information.

[0183] The cutting trajectory comprises a cutting trajectory including a straight line motion segment of a specified length or a circular arc motion segment of a specified arc length, and an interpolation point corresponding to the cutting trajectory.

[0184] The flight cutting command includes: the coordinate point P of the laser switch and the reference vector. Reference points And commands to turn the laser on / off at coordinate point P;

[0185] If the cutting trajectory includes a linear motion segment, then the coordinate point P is located at the corresponding motion segment connection position on the cutting trajectory; The unit vector lies on the angle bisector of the motion segments on both sides of coordinate point P; reference point Let P be a point on the angle bisector of the motion segments on both sides of coordinate point P. The vector from this point to coordinate point P is... same;

[0186] If the cutting trajectory includes a circular arc motion segment, then the coordinate point P is located at the corresponding motion segment connection position on the cutting trajectory; The direction vector from the center of the arc to coordinate point P; reference point Let be the center of the circle.

[0187] In this embodiment, the first processing module described above can be specifically used for:

[0188] Get reference points The first vector to the interpolation point of the previous CNC control cycle Reference points The second vector to the interpolation point of this CNC control cycle ; and determine and The first included angle , and The second included angle The previous and current CNC control cycles are adjacent future CNC control cycles, and their corresponding CNC control cycles need to be arranged at the end of the two queues.

[0189] like and satisfy ,

[0190] Then correct the laser switching delay time t of this CNC control cycle. m For: t m = + AP is the line segment length from interpolation point A in the previous CNC control cycle to the laser switching coordinate point P; AB is the line segment length from interpolation point A in the previous CNC control cycle to interpolation point B in the current CNC control cycle; the laser switching command in the current CNC control cycle is the laser on / off command in the flight cutting instruction; and t is the line segment length of the current CNC control cycle. m It is bound to the laser switching command of this CNC control cycle; the tm , and the switch laser command bound with the t m is modified as the information for joining the tail of the switch light control queue; T is the CNC control period, is a fixed value, specifically, the delay time difference between the switch laser delay time received by the PWM module and the modified switch laser command received by the servo controller.

[0191] Further, if and are not satisfied , then

[0192] the switch laser delay time t m ' of the current CNC control period is modified as: t m '= 0+ ,

[0193] and the switch laser command in the current CNC control period is the switch laser command in the last CNC control period, and the switch laser delay time t m ' of the current CNC control period is bound with the switch laser command in the current CNC control period, and the t m ', and the switch laser command bound with the t m ' are modified as the information for joining the tail of the switch light control queue.

[0194] The t ' and , , satisfy: ;

[0195] ;

[0196] In the Cartesian rectangular right-hand coordinate system, each coordinate point is represented as , , atan2 is a C language library function atan2(y, x); the symbol represents vector cross product, and the symbol represents vector dot product, is the z-axis direction unit direction vector .

[0197] The second processing module in the embodiment includes a queue joining unit and a sending unit.

[0198] The queue joining unit is configured to join the interpolation points and the corrected switch laser delay time and the switch laser command bound with the switch laser delay time into the tail of the respective queue based on each CNC control period to which the cutting track belongs, and correct the switch laser delay time and the switch laser command bound with the switch laser delay time, and join the corrected switch laser delay time and the corrected switch laser command into the tail of the switch light control queue.

[0199] The sending unit is configured to take out the interpolation points of the current CNC control period from the head of the interpolation point queue and send the interpolation points to the servo controller, and process the corrected switch light delay time and the switch laser command bound with the switch laser delay time stored in the head of the switch light control queue according to a sending processing rule, and send the processed switch delay time and / or switch laser command belonging to the current CNC control period to the PWM module.

[0200] The queue joining unit comprises:

[0201] The interpolation points and the corrected switch laser delay time and the switch laser command bound with the switch laser delay time are joined into the tail of the respective queue based on two buffer queues established in advance.

[0202] The two buffer queues comprise an interpolation point queue and a switch light control queue.

[0203] The interpolation point queue is configured to store the calculated interpolation points, and the switch light control queue is configured to store the switch laser delay time and the switch laser command bound with the switch laser delay time.

[0204] The sending unit of the second processing module processes according to a sending processing rule, and sends the processed switch delay time and switch laser command to the PWM module, and the sending unit comprises:

[0205] The switch light delay time at the head of the switch light control queue is determined, if the switch light delay time at the head of the switch light control queue is greater than one CNC control period, the corrected switch light delay time is set to 0, and the corrected switch laser command is set to the switch laser command output in the previous CNC control period; the switch light delay time set to 0 and the switch laser command output in the previous CNC control period are sent to the PWM module.

[0206] If the switch light delay time at the head of the switch light control queue is less than or equal to one CNC control period, the switch light delay time at the head of the switch light control queue and the bound switch laser command are sent to the PWM module.

[0207] After being sent to the PWM module, all switch light delay times greater than T stored in the switch light control queue are updated, and the updated switch light control queue is used as the switch light control queue of the next CNC control period.

[0208] T is the CNC control cycle, and the update is the switching optical delay time greater than T minus T.

[0209] According to another aspect of the present invention, the present invention also provides a laser cutting CNC system, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program stored in the memory to execute a flight cutting control device for a laser cutting CNC system as described in any of the above embodiments.

[0210] It should be noted that any reference numerals placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In claims that enumerate several means, several of these means may be embodied by the same hardware. The use of the terms first, second, third, etc., is merely for convenience of expression and does not indicate any order. These terms can be understood as part of the component names.

[0211] Furthermore, it should be noted that in the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0212] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the claims should be interpreted to include both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0213] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, then this invention should also include these modifications and variations.

Claims

1. A flight cutting control device for a laser cutting CNC system, characterized in that, include: The receiving module is used to receive the cutting trajectory information of the graphic to be cut and the flight cutting command associated with the cutting trajectory information; The first processing module is used to calculate the laser switching delay time and the laser switching command bound to the laser switching delay time in each CNC control cycle of the cutting trajectory, based on the interpolation point and cutting trajectory in the cutting trajectory information and the coordinate point of the laser switching in the flight cutting command; the calculated laser switching delay time and the laser switching command are obtained by correcting the laser switching delay time and the laser switching command in the flight cutting command. The second processing module is used to send the interpolation point within the current CNC control cycle to the servo controller, and send the corrected switching laser delay time and the switching laser command bound to the switching laser delay time within the current CNC control cycle to the PWM module to execute flying cutting. The receiving module includes: receiving cutting trajectory information and the flight cutting command associated with the cutting trajectory information from the TASK task module; The cutting trajectory information includes: a cutting trajectory consisting of a linear motion segment of a specified length or a circular motion segment of a specified arc length, and interpolation points for each CNC control cycle corresponding to the cutting trajectory; The flight cutting command includes: the coordinate point P of the laser switch and the reference vector. Reference points And the laser on / off command at coordinate point P; If the cutting trajectory includes a linear motion segment, then the coordinate point P is located at the corresponding motion segment connection position on the cutting trajectory; The unit vector lies on the angle bisector of the motion segments on both sides of coordinate point P; reference point Let P be a point on the angle bisector of the motion segments on both sides of coordinate point P. The vector from this point to coordinate point P is... same; If the cutting trajectory includes a circular arc motion segment, then the coordinate point P is located at the corresponding motion segment connection position on the cutting trajectory; The direction vector from the center of the arc to coordinate point P; reference point The center of the circle; The first processing module includes: obtaining reference points. The first vector to the interpolation point A in the nth CNC control cycle Reference points The second vector to the interpolation point B in the (n+1)th CNC control cycle ; and determine and The first included angle , and The second included angle ; like and satisfy Then, the switching laser delay time t of the (n+1)th CNC control cycle is corrected. m For: t m = + AP is the line segment length from interpolation point A in the nth CNC control cycle to the laser switching coordinate point P; AB is the line segment length from interpolation point A in the nth CNC control cycle to interpolation point B in the (n+1)th CNC control cycle; the laser switching command in the (n+1)th CNC control cycle is the laser on / off command in the flight cutting instruction; and t in the (n+1)th CNC control cycle... m Bind to the laser switching command of the (n+1)th CNC control cycle; the t m , and with the t m The bound laser switching command serves as the corrected information for adding to the tail of the laser switching control queue; T represents the CNC control cycle. The value is fixed, and n is a natural number greater than or equal to 1.

2. The flight cutting control device according to claim 1, characterized in that, The second processing module includes: The queue addition unit is used to add the interpolation point to the tail of the interpolation point queue based on each CNC control cycle to which the cutting trajectory belongs, and to correct the switching laser delay time and the switching laser command bound to the switching laser delay time, and add the corrected switching laser delay time and the corrected switching laser command to the tail of the switching light control queue. The sending unit is used to retrieve the interpolation point of the current CNC control cycle from the head of the interpolation point queue and send it to the servo controller within the current CNC control cycle. It also processes the corrected switching light delay time stored at the head of the switching light control queue and the switching laser command bound to the switching laser delay time according to the sending processing rules, and sends the processed switching delay time and / or switching laser command belonging to the current CNC control cycle to the PWM module.

3. The flight cutting control device according to claim 1, characterized in that, The flight cutting control device also includes: The third processing module is used to obtain the interpolation point of each CNC control cycle in the cutting trajectory using an S-shaped acceleration and deceleration method based on the cutting trajectory.

4. The flight cutting control device according to claim 1, characterized in that, The flight cutting control device also includes: like and Not satisfied ,but Modify the switching laser delay time t of the (n + 1)-th CNC control cycle m ’ is: t m ’ = 0 + , Furthermore, the laser switching command in the (n+1)th CNC control cycle is the laser switching command in the nth CNC control cycle, and the laser switching delay time t in the (n+1)th CNC control cycle is... m 'Bound to the laser switching command within the (n+1)th CNC control cycle, the t m '、and the t m The bound laser switch command serves as the revised information used to add to the tail of the laser switch control queue.

5. The flight cutting control device according to claim 1 or 4, characterized in that, ； ； In a Cartesian right-handed coordinate system, each coordinate point is represented as: , , atan2 is the C language library function atan2(y,x); Represents the cross product of vectors, symbol Represents the dot product of vectors. Unit direction vector along the z-axis ; The queue addition unit of the second processing module includes: Based on the two pre-established buffer queues, the interpolation point, the corrected laser switching delay time, and the corrected laser switching command bound to the delay time are added to the tail of their respective queues. The two buffer queues include: an interpolation point queue and a switch-light control queue; The interpolation point queue is used to store the calculated interpolation points, and the laser switching control queue is used to store the laser switching delay time and the laser switching commands bound to the laser switching delay time.

6. The flight cutting control device according to claim 2, characterized in that, The second processing module's sending unit processes data according to the sending processing rules and sends the processed switching delay time and switching laser command to the PWM module, including: The switch-light delay time at the head of the switch-light control queue is determined. If the switch-light delay time at the head of the switch-light control queue is greater than one CNC control cycle, the corrected switch-light delay time is set to 0, and the corrected switch-light command is set to the switch-light command output in the previous CNC control cycle. The switch-light delay time set to 0 and the switch-light command output in the previous CNC control cycle are sent to the PWM module. If the switching light delay time at the head of the switching light control queue is less than or equal to one CNC control cycle, the switching light delay time at the head of the switching light control queue and the bound switching laser command will be sent to the PWM module. And after sending the PWM module, update all switching light delay times greater than T stored in the switching light control queue, and use the updated switching light control queue as the switching light control queue for the next CNC control cycle. T is the CNC control cycle, and the update is the switching optical delay time greater than T minus T.

7. A laser cutting CNC system, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program and the processor executes the computer program stored in the memory to perform a flight cutting control device for a laser cutting CNC system as described in any one of claims 1 to 6.

8. A method for controlling the flight cutting of a laser cutting CNC system, using the flight cutting control device as described in any one of claims 1 to 6, characterized in that, include: The CNC controller receives the cutting trajectory information of the graphic to be cut and the flight cutting command associated with the cutting trajectory information; The CNC controller calculates the laser switching delay time and the laser switching command bound to the laser switching delay time in each CNC control cycle of the cutting trajectory based on the interpolation points and cutting trajectory in the cutting trajectory information and the coordinate points of the laser switching in the flight cutting command; the calculated laser switching delay time and the laser switching command are obtained by correcting the laser switching delay time and the laser switching command in the flight cutting command. Within the current CNC control cycle, the CNC controller sends the interpolation point within the current CNC control cycle to the servo controller, and sends the corrected switching laser delay time within the current CNC control cycle and the switching laser command bound to the switching laser delay time to the PWM module to execute flying cutting.

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