A system and cutting method based on an adaptive cutting speed matching algorithm

Abstract

This invention discloses a system and cutting method based on an adaptive cutting speed matching algorithm. The system includes a detector and a material intelligent sensing unit, a data server, a parameter controller, and a cutting robot connected in sequence. The material intelligent sensing unit collects point cloud data of the material to be processed to generate three-dimensional data; the data server extracts the contour data of the material from the three-dimensional data to identify the material type, fits the contour data into a series of standardized contour curve segments, converts the standardized contour curve segments into process parameters, and configures an initial cutting speed for the material to be processed; the parameter controller converts the process parameters into motion control parameters; the cutting robot performs cutting according to the motion control parameters; the detector acquires the cutting quality parameters of the material, and the detector is electrically connected to the data server, which adjusts the cutting speed according to the cutting quality parameters. The system of this invention achieves flexible speed matching for different material shapes during cutting operations.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing technology for robots, specifically relating to a system and cutting method based on an adaptive cutting speed matching algorithm. Background Technology

[0002] Steel plate cutting operations typically use laser, plasma, or flame cutting guns. The traditional method involves mounting the cutting gun on a cutting machine, which guides the cutting gun to perform arc initiation, cutting, and arc extinguishing operations according to the shape in the nesting diagram. The cutting speed is usually determined based on the material and thickness of the object being cut, and it is recommended to use the corresponding empirical speed to complete the cutting operation at a fixed speed.

[0003] Vertical cutting of steel plates typically uses specialized cutting machines. However, with the increasing maturity of industrial robot equipment, more and more customers are accepting the use of industrial robots equipped with cutting guns for beveling. The technical approaches for industrial robot beveling generally include two approaches: the first is manual teaching and offline programming to fix the robot path, followed by robot cutting; the second is intelligent path conversion based on visual material recognition, followed by robot cutting. The difference between the two approaches lies in the source of the robot cutting path. However, once the cutting path is determined, the robot still sets a fixed cutting speed based on the material's material and thickness to perform the cutting operation. However, under current methods, due to the wide variety of materials in industry, if the robot with a cutting gun cuts at a fixed speed, the cutting efficiency is low, and the lack of operational flexibility leads to low factory production efficiency and capacity. Summary of the Invention

[0004] To address the aforementioned problems in the prior art, the present invention is achieved through the following technical solution:

[0005] In a first aspect of the present invention, a system based on an adaptive cutting speed matching algorithm is provided, the system comprising:

[0006] The system comprises a material intelligent sensing unit, a data server, a parameter controller, and a cutting robot, which are connected in sequence. The material intelligent sensing unit collects point cloud data of the material to be processed, preprocesses the point cloud data to generate 3D data of the material, and transmits the 3D data to the data server. The data server extracts the contour data of the material to be processed based on the 3D data, identifies the type of the material, determines the arc initiation and extinguishing points based on the material type and contour data, fits the contour data of the material to be processed into a series of standard contour curves, converts the series of standard contour curves into process parameter data, and configures an initial cutting speed for the material. The parameter controller converts the process parameter data into motion control parameters for the cutting robot. The cutting robot cuts the material to be processed based on the motion control parameters, the arc initiation and extinguishing points, and the initial cutting speed.

[0007] The system also includes a detector electrically connected to a data server. The detector acquires the cutting quality parameters of the material to be processed in real time and transmits the cutting quality parameters to the data server. The data server adjusts the cutting speed in real time according to the cutting quality parameters.

[0008] In one embodiment of the present invention, the data server includes a process parameter configuration unit, an edge curve fitting unit, a data conversion unit, and a parameter registration unit electrically connected in sequence. The process parameter configuration unit is also electrically connected to a material intelligent sensing unit and a parameter controller, the data conversion unit is connected to the parameter controller, and the parameter registration unit is electrically connected to a detector and the parameter controller. The process parameter configuration unit extracts contour data of the material to be processed from three-dimensional data, performs data precision processing on the contour data to generate accurate contour data, identifies the type of the material to be processed, automatically matches a preset speed range according to the type of the material to be processed, and determines the starting and ending points of the accurate contour data. The system transmits the starting and ending arc positions to the parameter controller. The edge curve fitting unit fits the precise contour data into a combination of standard contour curve segments using a graphics algorithm and outputs the result. The data conversion unit converts each standard contour curve segment into process parameter data using three-dimensional coordinate data. The parameter registration unit sets the initial cutting speed for the material to be processed according to the speed range and adjusts the cutting speed of the standard contour curve segments according to the transmitted cutting quality parameters. The cutting speed is then transmitted to the parameter controller. The process parameter data includes the cutting angle, cutting length, cutting arc, cutting start point, cutting end point, and cutting accuracy of each standard contour curve segment.

[0009] In one embodiment of the present invention, adjusting the cutting speed of a standard contour curve segment according to the transmitted cutting quality parameters includes: for the same minimum cutting curve, when the cutting quality is greater than a preset cutting quality, the parameter registration unit configures the cutting speed of the minimum cutting curve to increase within its speed range according to a preset incremental step; when the cutting quality is equal to the preset cutting quality, the parameter registration unit sets the current cutting speed to remain unchanged; when the cutting quality is less than the preset cutting quality, the cutting speed is reduced according to the preset deceleration step.

[0010] In one embodiment of the present invention, the parameter controller includes a process controller and a robot controller connected to each other. The process controller is electrically connected to a data conversion unit and can convert process parameter data into motion control parameters for the cutting robot. The robot controller is electrically connected to the cutting robot, the process parameter configuration unit, and the parameter registration unit. The robot controller controls the operation of the cutting robot according to the motion control parameters, the arc starting point position, the arc ending point position, and the initial cutting speed. The motion control parameters include proportional, integral, and derivative parameters.

[0011] In one embodiment of the present invention, the cutting robot includes an industrial robot and a cutting gun mounted at its end, the industrial robot being connected to the robot controller, and the industrial robot and the cutting gun moving at the same speed.

[0012] In a second aspect of the invention, a cutting method based on the aforementioned system is provided, comprising:

[0013] S1. The intelligent material sensing unit collects point cloud data of the material to be processed, and generates three-dimensional data of the material to be processed after preprocessing.

[0014] S2. The data server generates a combination of standard contour curve segments of the material to be processed, and generates the arc start point position, arc end point position, initial cutting speed and process parameters of each standard contour curve segment.

[0015] S3. The parameter controller converts the process parameter data into motion control parameters for the cutting robot.

[0016] S4. The parameter controller controls the cutting robot to cut according to the standard contour curve segment based on the motion control parameters, the arc starting point position, the arc ending point position and the cutting speed.

[0017] S5. The detector acquires the cutting quality of the standard contour curve segment in real time. The parameter registration unit adjusts the cutting speed of the standard contour curve segment according to the cutting quality parameters and transmits the cutting speed to the parameter controller to control the cutting robot to cut according to the standard contour curve segment.

[0018] S6. Repeat step S5 until all the materials to be processed have been cut.

[0019] In one embodiment of the present invention, S2 includes:

[0020] S21. Extract the contour data of the material to be processed based on the three-dimensional data, perform data precision processing on the contour data to generate accurate contour data, identify the type of the material to be processed, automatically match the preset speed range according to the type of the material to be processed, and determine the starting point and ending point of the accurate contour data.

[0021] S22. Based on the graphics algorithm, fit the precise contour data into a combination of standard contour curve segments and output it;

[0022] S23. Convert each standard contour curve segment into process parameter data using three-dimensional coordinate data, wherein the process parameter data includes the cutting angle, cutting length, cutting arc, cutting start point, cutting end point, and cutting accuracy of each standard contour curve segment;

[0023] S24. Set an initial cutting speed for the material to be processed according to the speed range.

[0024] In one embodiment of the present invention, the parameter registration unit adjusts the cutting speed of the standard contour curve segment according to the cutting quality parameters, including:

[0025] When the cutting quality is greater than the preset cutting quality, the parameter registration unit configures the cutting speed of the minimum cutting curve to increase in a preset increment step within its speed range.

[0026] When the cutting quality equals the preset cutting quality, the parameter registration unit sets the current cutting speed to remain unchanged.

[0027] When the cutting quality is less than the preset cutting quality, the cutting speed is reduced according to the preset deceleration steps.

[0028] In one embodiment of the present invention, the contour data is processed to generate accurate contour data, including processing the contour data to generate accurate contour data through point cloud filtering algorithm, point cloud stitching algorithm and reconstruction algorithm.

[0029] In one embodiment of the present invention, the motion control parameters include proportional, integral, and derivative parameters.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] 1. The system based on a self-adaptive cutting speed matching algorithm provided by this invention converts precise contour data into a combination of standard contour curve segments, converts each standard contour curve segment into process parameter data, and generates corresponding initial cutting speeds and motion control parameters recognizable by the robot controller based on the process parameter data for different material types. The cutting quality feedback from the detector enables the robot to intelligently and dynamically adjust the appropriate cutting speed according to the material shape, achieving flexible speed matching for different material shapes during cutting operations, significantly improving production capacity. Furthermore, in this embodiment, intelligent speed control is based on real-time feedback from the detector on the operation quality, ensuring cutting quality while improving efficiency, thus achieving intelligent control of operation efficiency.

[0032] 2. The cutting method provided by this invention converts precise contour data into a combination of standard contour curve segments, converts each standard contour curve segment into process parameter data, and generates corresponding initial cutting speeds and motion control parameters that the robot controller can recognize based on the process parameter data for the material type. Through feedback on the cutting quality, the robot can intelligently and dynamically adjust the appropriate cutting speed according to the material shape, realizing flexible speed matching for different material shapes when performing cutting operations. While ensuring cutting quality, it achieves intelligent control of operation efficiency and improves production efficiency.

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of a system based on an adaptive cutting speed matching algorithm provided in an embodiment of the present invention;

[0035] Figure 2 This is a flowchart illustrating a cutting method based on an adaptive cutting speed matching algorithm provided in an embodiment of the present invention.

[0036] Explanation of reference numerals in the attached figures:

[0037] 10 - Intelligent material sensing unit; 20 - Data server; 30 - Parameter controller; 40 - Cutting robot; 50 - Detector. Detailed Implementation

[0038] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description of the solution according to the present invention is provided in conjunction with the accompanying drawings and specific embodiments.

[0039] The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of specific embodiments in conjunction with the accompanying drawings. Through the description of the specific embodiments, a more in-depth and concrete understanding can be gained of the technical means and effects adopted by the present invention to achieve its intended purpose. However, the accompanying drawings are for reference and illustration only and are not intended to limit the technical solutions of the present invention.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that an article or apparatus comprising a list of elements includes not only those elements but also other elements not expressly listed. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or apparatus that includes said element.

[0041] Example 1

[0042] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a system based on an adaptive cutting speed matching algorithm provided in an embodiment of the present invention. The system includes a detector 50, and a material intelligent sensing unit 10, a data server 20, a parameter controller 30, and a cutting robot 40 connected in sequence.

[0043] Specifically, the intelligent material sensing unit 10 can collect point cloud data of the material to be processed, generate three-dimensional data of the material to be processed after point cloud data preprocessing, and transmit the three-dimensional data to the data server 20. The data server 20 extracts the contour data of the material to be processed based on the three-dimensional data, identifies the type of the material to be processed, determines the arc initiation point and arc extinguishing point based on the type of the material to be processed and the contour data, fits the contour data of the material to be processed into a series of standardized contour curves, converts the standardized contour curves into process parameter data, and configures an initial cutting speed for the material to be processed. The parameter controller 30 converts the process parameter data into motion control parameters for the cutting robot 40. The cutting robot 40 cuts the material to be processed based on the motion control parameters, the arc initiation point position, the arc extinguishing point position, and the initial cutting speed. The detector 50 is electrically connected to the data server 20. The detector 50 acquires the cutting quality parameters of the material to be processed in real time and transmits the cutting quality parameters to the data server 20. The data server 20 adjusts the cutting speed in real time according to the cutting quality parameters.

[0044] Furthermore, the data server 20 includes a process parameter configuration unit, an edge curve fitting unit, a data conversion unit, and a parameter registration unit, which are electrically connected in sequence. The process parameter configuration unit is also electrically connected to the material intelligent sensing unit 10 and the parameter controller 30. Specifically, the process parameter configuration unit extracts the contour data of the material to be processed based on the three-dimensional data. It performs data precision processing on the contour data to generate accurate contour data, identifies the type of material to be processed, automatically matches a preset speed range based on the type of material, determines the starting and ending points of the accurate contour data, and transmits these points to the parameter controller 30. The edge curve fitting unit fits the accurate contour data into a combination of standard contour curve segments using a graphics algorithm and outputs the result. The data conversion unit is also connected to the parameter controller 30. The data conversion unit can convert each standard contour curve segment into process parameter data using three-dimensional coordinate data and transmit this process parameter data to the parameter controller 30. This three-dimensional coordinate data is the three-dimensional coordinate data of the material to be processed generated after preprocessing the point cloud data. Furthermore, the process parameter data includes the cutting angle, cutting length, cutting arc, cutting start point, cutting end point, and cutting accuracy of each standard contour curve segment; the parameter registration unit is electrically connected to the detector 50 and the parameter controller 30 respectively. The parameter registration unit sets the initial cutting speed for the material to be processed according to the speed range, and adjusts the cutting speed of the standard contour curve segment according to the transmitted cutting quality parameters, and transmits the cutting speed to the parameter controller 30. That is, when the cutting speed is the initial cutting speed, the initial cutting speed is transmitted to the parameter controller 30, and when the cutting speed is adjusted, the adjusted cutting speed is transmitted to the parameter controller 30. Specifically, the detector 50 acquires the cutting quality of the material to be processed in real time at the current cutting speed. The detector 50 transmits the cutting quality parameters to the parameter registration unit in the data server 20. In the same minimum cutting curve, when the cutting quality is greater than the preset cutting quality, that is, when the cutting quality meets the standard, the parameter registration unit configures the cutting speed of the minimum cutting curve to increase within its speed range according to the preset incremental step. When the cutting quality is equal to the preset cutting quality, that is, when the cutting quality barely meets the standard, the parameter registration unit sets the current cutting speed to remain unchanged. When the cutting quality is less than the preset cutting quality, that is, when the cutting quality does not meet the standard, the cutting speed is reduced according to the preset deceleration step.

[0045] In this embodiment, the material intelligent sensing unit 10 is a 3D camera. The contour data is the edge data of the material to be processed. The process parameter configuration unit performs data accuracy processing on the contour data to generate accurate contour data. The data accuracy processing method of the parameter registration unit includes high-precision point cloud filtering algorithms, point cloud stitching and reconstruction algorithms, etc., which improves the accuracy of the material contour data. Since the cutting power supply usually includes laser cutting power supply, plasma cutting power supply and flame cutting power supply, each type of cutting power supply adapts to different operating speed range values ​​according to the thickness and material of different materials. The process parameter configuration unit can automatically match the speed range value according to the identified three-dimensional data of the material, and determine the arc starting point position and arc ending point position according to the type of material to be processed and the contour data, that is, the coordinate values ​​of the arc starting point and arc ending point on the contour data. These coordinate values ​​are the three-dimensional coordinate data of the material to be processed generated after the point cloud data is preprocessed. Furthermore, due to the diverse shapes of materials and the frequent occurrence of burrs during processing, the edge curve fitting unit uses graphics algorithms to fit the precise contour data of the material to be processed. This converts the precise contour data into combinations of standard curves, such as straight lines, straight lines + arcs, and arcs + arcs. The entire contour of the material to be processed is then divided into minimum units by the edge curve fitting unit, forming a combination of standard contour curve segments. The data conversion unit converts each standard contour curve segment in the above combination of standard contour curve segments into process parameter data using three-dimensional coordinate data. This process parameter data includes cutting angle, length, curvature, precision, plasma power supply current, and voltage. The parameter registration unit is used to configure speed settings for the material to be processed. The lower limit of the speed range can be used for the first speed registration, and the speed can be adjusted in steps based on the cutting quality feedback from the detector 50.

[0046] In traditional material cutting, the cutting speed depends on the process parameters, and therefore is usually a fixed speed. The system based on a self-adaptive cutting speed matching algorithm provided in this embodiment converts precise contour data into a combination of standard contour curve segments. Each standard contour curve segment is then converted into process parameter data. Based on this process parameter data, a corresponding initial cutting speed and motion control parameters recognizable by the robot controller are generated for each material type. The cutting quality feedback from the detector 50 enables the robot to intelligently and dynamically adjust the appropriate cutting speed according to the material shape, achieving flexible speed matching for different material shapes during cutting operations and significantly improving production capacity. Furthermore, in this embodiment, intelligent speed control is based on real-time feedback from the detector 50 on the work quality, ensuring cutting quality while improving efficiency, thus achieving intelligent control of work efficiency.

[0047] Furthermore, the parameter controller 30 includes a process controller and a robot controller connected to each other. The process controller is electrically connected to a data conversion unit. The process controller can convert the received process parameter data into motion control parameters for the cutting robot 40. These motion control parameters mainly include PID parameters, namely proportional, integral, and derivative parameters. Specifically, after passing through the data processing system, the process controller obtains adapted process parameter data. Subsequently, the process controller establishes a universe of discourse rule between the process parameter data and the proportional-integral-derivative (PID) parameters, converting the process parameter data into motion control parameters that the robot controller can recognize. The process parameter data is matched with the variable range and rules of the pre-configured motion control parameters in the process controller. The matching rule establishes a universe of discourse correspondence between the process parameter data and the motion control parameters. For example, a controller proportional parameter P of 2 corresponds to a radius of 10°. The motion control parameters are then transmitted to the robot controller to achieve the goal of parameter solidification for the robot controller.

[0048] Preferably, the system based on the self-adaptive cutting speed matching algorithm provided in this embodiment integrates the data server 20 and the process controller into a high-configuration server to achieve the integration of the functions of the data server 20 and the process controller, thereby reducing one level of data communication.

[0049] The robot controller is electrically connected to the cutting robot 40, the process parameter configuration unit, and the parameter registration unit. The robot controller controls the cutting robot 40's operation based on motion control parameters, the arc initiation point position, the arc extinguishing point position, and the initial cutting speed. The motion control parameters include PID parameters. Specifically, industrial robots typically have six axes. The robot controller converts the process parameter data (generated by the process controller), the resulting motion control parameters (arc initiation point position, arc extinguishing point position, and initial cutting speed), and then converts these into speed values ​​for each robot axis joint (i.e., the robot axis motor speed) through robot programming rules. This results in the robot's motion exhibiting the corresponding operating speed value of the end effector's movement.

[0050] Furthermore, the cutting robot 40 includes an industrial robot and a cutting gun mounted at its end. The industrial robot is connected to a robot controller, and the industrial robot and the cutting gun move at the same speed. Because the cutting gun is mounted at the end of the robot, the cutting gun moves at the same speed as the robot, and the start and stop of the cutting gun are determined by the cutting start point and the cutting end point.

[0051] Many industrial processing fields, such as engineering machinery, shipbuilding, coal mining machinery, and steel structures, are characterized by a wide variety of material types, small batches, and diverse steel plate shapes. This invention, through its intelligent material sensing unit and autonomous cutting speed adaptation functions, generates the robot's working actions, fully realizing intelligent, unmanned, and efficient cutting methods. Furthermore, the system technology based on the self-adaptive cutting speed matching algorithm proposed in this invention can be extended from the cutting process to fields such as grinding and coating, demonstrating technological advancement and scalability.

[0052] Example 2

[0053] Please see Figure 2 , Figure 2 This is a flowchart illustrating a cutting method based on an adaptive cutting speed matching algorithm provided in an embodiment of the present invention. The cutting method includes the following steps:

[0054] S1. The material intelligent sensing unit 10 collects the point cloud data of the material to be processed and generates the three-dimensional data of the material to be processed after preprocessing.

[0055] S2. Data server 20 generates a combination of standard contour curve segments of the material to be processed, and generates the arc start point position, arc end point position, initial cutting speed and process parameters of each standard contour curve segment.

[0056] This step specifically includes the following steps:

[0057] S21. Extract the contour data of the material to be processed from the three-dimensional data, perform data precision processing on the contour data to generate accurate contour data, identify the type of the material to be processed, automatically match the preset speed range according to the type of the material to be processed, and determine the starting point and ending point of the accurate contour data.

[0058] Specifically, precise contour data is generated by performing data precision processing on the contour data through point cloud filtering algorithm, point cloud stitching algorithm and reconstruction algorithm, and the initial cutting speed of the material to be processed is generated according to the type of material to be processed and the preset speed range.

[0059] S22. Based on the graphics algorithm, fit the precise contour data into a combination of standard contour curve segments and output it;

[0060] S23. Convert each standard contour curve segment into process parameter data using three-dimensional coordinate data, wherein the process parameter data includes the cutting angle, cutting length, cutting arc, cutting start point, cutting end point, and cutting accuracy of each standard contour curve segment;

[0061] S24. Set the initial cutting speed for the material to be processed according to the speed range.

[0062] S3, parameter controller 30 converts process parameter data into motion control parameters for cutting robot 40;

[0063] Specifically, motion control parameters include proportional, integral, and derivative parameters.

[0064] S4. The parameter controller 30 controls the cutting robot 40 to cut according to the standard contour curve segment based on the motion control parameters, the arc start point position, the arc end point position and the cutting speed.

[0065] S5. The detector 50 acquires the cutting quality of the standard contour curve segment in real time and sends the cutting quality parameters back to the parameter registration unit. The parameter registration unit adjusts the cutting speed of the standard contour curve segment according to the cutting quality parameters and sends the cutting speed to the parameter controller 30 to control the cutting robot 40 to cut according to the standard contour curve segment.

[0066] Specifically, the parameter registration unit adjusts the cutting speed of the standard contour curve segment according to the cutting quality parameters. This includes: when the cutting quality is greater than the preset cutting quality, the parameter registration unit configures the cutting speed of the minimum cutting curve to increase within its speed range according to a preset incremental step; when the cutting quality is equal to the preset cutting quality, the parameter registration unit sets the current cutting speed unchanged; and when the cutting quality is less than the preset cutting quality, the cutting speed is reduced according to a preset deceleration step. Subsequently, the robot controller in the parameter controller 30 controls the cutting robot 40 to cut according to the standard contour curve segment based on the adjusted cutting speed.

[0067] S6. Repeat step S5 until all the materials to be processed have been cut.

[0068] The cutting method based on the self-adaptive cutting speed matching algorithm provided in this embodiment converts precise contour data into a combination of standard contour curve segments. Each standard contour curve segment is then converted into process parameter data. Based on the process parameter data, a corresponding initial cutting speed and motion control parameters that the robot controller can recognize are generated for the material type. By feeding back the cutting quality, the robot can intelligently and dynamically adjust the appropriate cutting speed according to the material shape. This achieves flexible speed matching for different material shapes when performing cutting operations, ensuring cutting quality while realizing intelligent control of work efficiency and improving production capacity efficiency.

[0069] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A system based on a self-adaptive cutting speed matching algorithm, characterized in that, include: The material intelligent sensing unit (10), data server (20), parameter controller (30), and cutting robot (40) are connected in sequence. The material intelligent sensing unit (10) can collect point cloud data of the material to be processed, generate three-dimensional data of the material to be processed after completing the point cloud data preprocessing, and transmit the three-dimensional data to the data server (20). The data server (20) extracts the contour data of the material to be processed according to the three-dimensional data, identifies the type of the material to be processed, determines the arc starting point position and arc ending point position based on the type of the material to be processed and the contour data, fits the contour data of the material to be processed into a series of standard contour curves, converts the series of standard contour curves into process parameter data, and configures the initial cutting speed for the material to be processed. The parameter controller (30) converts the process parameter data into motion control parameters for the cutting robot (40). The cutting robot (40) cuts the material to be processed based on the motion control parameters, the arc starting point position, the arc ending point position, and the initial cutting speed. It also includes a detector (50), which is electrically connected to a data server (20). The detector (50) acquires the cutting quality parameters of the material to be processed in real time and transmits the cutting quality parameters to the data server (20). The data server (20) adjusts the cutting speed in real time according to the cutting quality parameters. The data server (20) includes a process parameter configuration unit, an edge curve fitting unit, a data conversion unit, and a parameter registration unit that are electrically connected in sequence. The process parameter configuration unit is also electrically connected to the material intelligent sensing unit (10) and the parameter controller (30), respectively. The data conversion unit is connected to the parameter controller (30), and the parameter registration unit is electrically connected to the detector (50) and the parameter controller (30), respectively. The process parameter configuration unit extracts the contour data of the material to be processed based on the three-dimensional data, performs data precision processing on the contour data to generate accurate contour data, identifies the type of the material to be processed, automatically matches the preset speed range according to the type of the material to be processed, determines the starting point and ending point of the accurate contour data, and transmits the starting point and ending point to the parameter controller (30); the edge curve fitting unit fits the accurate contour data into a combination of standard contour curve segments according to the graphics algorithm and outputs it; the data conversion unit can convert each standard contour curve segment into process parameter data through three-dimensional coordinate data; the parameter registration unit sets the initial cutting speed for the material to be processed according to the speed range, and adjusts the cutting speed of the standard contour curve segments according to the transmitted cutting quality parameters, and transmits the cutting speed to the parameter controller (30). The process parameter data includes the cutting angle, cutting length, cutting arc, cutting start point, cutting end point and cutting accuracy of each standard contour curve segment.

2. The system based on the self-adaptive cutting speed matching algorithm according to claim 1, characterized in that, Adjusting the cutting speed of the standard contour curve segment according to the transmitted cutting quality parameters includes: for the same minimum cutting curve, when the cutting quality is greater than the preset cutting quality, the parameter registration unit configures the cutting speed of the minimum cutting curve to increase by a preset incremental step within its speed range; when the cutting quality is equal to the preset cutting quality, the parameter registration unit sets the current cutting speed to remain unchanged; when the cutting quality is less than the preset cutting quality, the cutting speed is reduced according to a preset deceleration step.

3. The system based on the self-adaptive cutting speed matching algorithm according to claim 1, characterized in that, The parameter controller (30) includes a process controller and a robot controller that are connected to each other. The process controller is electrically connected to the data conversion unit. The process controller can convert process parameter data into motion control parameters of the cutting robot (40). The robot controller is electrically connected to the cutting robot (40), the process parameter configuration unit and the parameter registration unit respectively. The robot controller controls the operation of the cutting robot (40) according to the motion control parameters, the arc starting point position, the arc ending point position and the initial cutting speed. The motion control parameters include proportional, integral and derivative parameters.

4. The system based on the self-adaptive cutting speed matching algorithm according to claim 3, characterized in that, The cutting robot (40) includes an industrial robot and a cutting gun mounted at its end. The industrial robot is connected to the robot controller, and the industrial robot and the cutting gun move at the same speed.

5. A cutting method based on the system according to any one of claims 1-4, characterized in that, include: S1. The intelligent material sensing unit (10) collects point cloud data of the material to be processed and generates three-dimensional data of the material to be processed after preprocessing. S2. The data server (20) generates a combination of standard contour curve segments of the material to be processed, and generates the starting point position, the ending point position, the initial cutting speed and the process parameters of each standard contour curve segment. S3, the parameter controller (30) converts the process parameter data into motion control parameters for the cutting robot (40); S4. The parameter controller (30) controls the cutting robot (40) to cut according to the standard contour curve segment based on the motion control parameters, the arc starting point position, the arc ending point position and the cutting speed. S5. The detector (50) acquires the cutting quality of the standard contour curve segment in real time. The parameter registration unit adjusts the cutting speed of the standard contour curve segment according to the cutting quality parameter and transmits the cutting speed to the parameter controller (30) to control the cutting robot (40) to cut according to the standard contour curve segment. S6. Repeat step S5 until all the materials to be processed have been cut.

6. The cutting method according to claim 5, characterized in that, S2 includes: S21. Extract the contour data of the material to be processed based on the three-dimensional data, perform data precision processing on the contour data to generate accurate contour data, identify the type of the material to be processed, automatically match the preset speed range according to the type of the material to be processed, and determine the starting point and ending point of the accurate contour data. S22. Based on the graphics algorithm, fit the precise contour data into a combination of standard contour curve segments and output it; S23. Convert each standard contour curve segment into process parameter data using three-dimensional coordinate data, wherein the process parameter data includes the cutting angle, cutting length, cutting arc, cutting start point, cutting end point, and cutting accuracy of each standard contour curve segment; S24. Set an initial cutting speed for the material to be processed according to the speed range.

7. The cutting method according to claim 6, characterized in that, The parameter registration unit adjusts the cutting speed of the standard contour curve segment according to the cutting quality parameters, including: For the same minimum cutting curve, when the cutting quality is greater than the preset cutting quality, the parameter registration unit configures the cutting speed of the minimum cutting curve to increase in a preset increment step within its speed range. When the cutting quality equals the preset cutting quality, the parameter registration unit sets the current cutting speed to remain unchanged. When the cutting quality is less than the preset cutting quality, the cutting speed is reduced according to the preset deceleration steps.

8. The cutting method according to claim 6, characterized in that, The contour data is processed to generate accurate contour data, including by using point cloud filtering algorithms, point cloud stitching algorithms, and reconstruction algorithms to process the contour data to generate accurate contour data.

9. The cutting method according to any one of claims 5-8, characterized in that, The motion control parameters include proportional, integral, and derivative parameters.

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