Method and device for path planning of laser cutting and laser cutting machine

Abstract

The application provides a laser cutting path planning method and device and a laser cutting machine, and relates to the field of laser cutting. The laser cutting path planning method comprises the following steps: determining effective primitives in a to-be-cut graph; dividing the effective primitives into at least one primitive set according to geometric characteristics; connecting all the effective primitives in the primitive set by using a line segment with a non-cutting mark to form a sub-cutting path; and connecting the sub-cutting paths by using a line segment with a non-cutting mark to form a final cutting path. The laser cutting path planning method provided by the embodiment of the application can divide the to-be-processed graph into layers, and laser cutting is performed according to the layers, so that the lifting, lowering and stopping of the cutting head in the laser cutting process can be greatly reduced, and the acceleration and deceleration of the laser cutting head in the cutting process can also be greatly reduced.

Description

Technical Field

[0001] This application relates to the field of laser cutting, and more specifically, to a laser cutting path planning method, apparatus, and laser cutting machine. Background Technology

[0002] Laser cutting is a high-precision cutting method widely used in various materials and industries. The efficiency of laser cutting is usually affected by a number of factors, such as laser power, the properties of the material being cut, cutting speed, and path planning. Among these, laser power, the properties of the material being cut, and cutting speed are limited by hardware upgrades, while path planning improves the efficiency of laser processing by using software algorithms to plan a reasonable cutting path.

[0003] Currently, common methods for laser cutting path planning include basic sorting methods such as bottom-to-top, left-to-right, top-to-bottom, or right-to-left, or the shortest-distance flying cutting method for blocks and round holes. However, in actual cutting, the cutting head decelerates, changes direction, and accelerates at corners within the contour (continuous line segment), and it may also rise and fall between contours. These problems are particularly pronounced for some thin plates, leading to reduced laser cutting efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a laser cutting path planning method, apparatus, and laser cutting machine. By decomposing the effective primitives in the image to be processed, at least one primitive set is determined, where the primitives in each set have the same geometric characteristics. The path within each primitive set is first determined, and then the path between primitive sets is determined, thereby obtaining the laser cutting path. This laser cutting path planning method, used in laser cutting of workpieces, can significantly reduce the laser cutting head's tilting up, lowering down, acceleration, deceleration, and pauses.

[0005] In a first aspect, embodiments of this application provide a path planning method for laser cutting, the method comprising: determining effective primitives in a graphic to be cut; dividing the effective primitives into at least one primitive set according to their geometric characteristics; connecting all effective primitives in the primitive set with line segments marked as not to be cut to form a sub-cutting path; and connecting the sub-cutting paths with line segments marked as not to be cut to form a final cutting path.

[0006] In the above implementation process, the laser cutting path planning method provided in this application divides effective primitives into at least one primitive set according to the set characteristics of the primitives, and connects all primitives within each primitive set and the sub-paths of each primitive set. The laser cutting path planning method provided in this application breaks through the path planning method with continuous line segments as the smallest unit, which can greatly reduce the frequent raising, pausing, lowering, or acceleration and deceleration of the laser cutting head, thereby improving the efficiency of laser cutting.

[0007] Optionally, in this embodiment of the application, the effective graphic elements include line segments, and dividing the effective graphic elements into at least one set of graphic elements according to their geometric characteristics includes: obtaining the slope of the line segments; dividing line segments with the same slope into a set of graphic elements to obtain at least one set of line segment graphic elements.

[0008] Optionally, in this embodiment, using line segments with non-cutting marks to connect all valid primitives within the set of line segment primitives to form a sub-cutting path includes: if the set of line segment primitives includes a set of primitives composed of line segments with a slope of zero, then using line segments with non-cutting marks to connect all lines within the set of primitives with a slope of zero in order according to the y-intercept of the line segments, to form a sub-cutting path for the set of primitives composed of line segments with a slope of zero; if the set of line segment primitives includes a set of primitives composed of line segments with a slope of infinity, then using line segments with non-cutting marks to connect all lines within the set of primitives with a slope of zero according to the y-intercept of the line segments. The size and order of line segments are used to connect all lines within the primitive set composed of line segments with infinite slopes to form a sub-cutting path for the primitive set composed of line segments with infinite slopes. If the primitive set of line segments includes a primitive set composed of line segments with a slope of k, where k is a non-zero real number, then line segments with a non-cutting mark are used to connect all lines within the primitive set composed of line segments with a slope of k in order according to the size of the ordinate of the line segments to form a sub-cutting path for the primitive set composed of line segments with a slope of k. It is assumed that the ordinate and lateral ordinate of all line segments are located in the first quadrant of the Cartesian coordinate system.

[0009] In the above implementation process, the effective primitives in the laser cutting path planning method provided in this application embodiment can be straight line segments. The straight line segments can be divided into different sets of straight line segment primitives according to their slope. The straight line segments in each set are connected by line segments with non-cutting marks to form sub-cutting paths. The sub-cutting paths are then connected by line segments with non-cutting marks. It can be clearly seen that after decomposing the primitives according to the method provided in this application embodiment, the frequent up-and-down movement, pauses, and descents of the cutting head during the cutting process, as well as acceleration and deceleration, can be greatly reduced. Compared with the shortest path cutting or the basic route cutting method, the efficiency of laser cutting can be improved.

[0010] Optionally, in this embodiment of the application, the effective graphic elements include arc segments, and dividing the effective graphic elements into at least one graphic element set according to geometric characteristics includes: obtaining the center and radius of the arc segments, and dividing arc segments with the same center and equal radius into the same graphic element set to obtain at least one arc segment graphic element set.

[0011] Optionally, in this embodiment of the application, using line segments with non-cutting marks to connect all valid elements in the arc segment element set to form a sub-cutting path includes: connecting the arc segments in each arc segment element set in a clockwise or counterclockwise order using line segments with non-cutting marks to form a sub-cutting path for at least one arc segment element set.

[0012] Optionally, in this embodiment of the application, using line segments with non-cutting marks to connect sub-cutting paths to form a final cutting path includes: sorting the arc segment primitive set according to the radius of the arc segments within the set, and sequentially using line segments with non-cutting marks to connect the sub-cutting paths of each arc segment primitive set to form the final cutting path of the arc segments.

[0013] In the above implementation process, the effective primitives in the laser cutting path planning method provided in this application embodiment can be arc segments. The arc segments can be divided into different sets of arc segment primitives according to their center and radius. The arc segments in each set are connected by arc segments with non-cutting marks to form sub-cutting paths. The sub-cutting paths are then connected by arc segments with non-cutting marks. It can be clearly seen that after decomposing the primitives according to the method provided in this application embodiment, the efficiency of laser cutting can be improved compared with the shortest empty-movement cutting or basic route cutting methods. It also reduces the frequent head-up, pause, and descent, as well as acceleration and deceleration during the cutting process.

[0014] Optionally, in this embodiment of the application, the effective graphic elements include effective line segments; determining the effective graphic elements in the graphic to be cut includes: filtering out groups of non-target processing line segments in the graphic to be cut and points in the graphic to be cut to obtain the effective line segments in the graphic to be cut.

[0015] In the above implementation process, for the drawing to be cut, not every part of the graphic in the drawing needs to be cut. Some drawings contain graphics with pre-designed processing methods or meaningless points. These graphic elements are identified as invalid graphic elements and need to be filtered out, which is beneficial to the efficiency of subsequent processing of valid graphic elements.

[0016] Secondly, embodiments of this application provide a laser cutting path planning device, the device comprising: an effective graphic element screening module, an effective graphic element decomposition module, a sub-cutting path determination module, and a final cutting path determination module; the effective graphic element screening module is used to determine the effective graphic elements in the graphic to be cut; the effective graphic element decomposition module is used to divide the effective graphic elements into at least one graphic element set according to their geometric characteristics; the sub-cutting path determination module is used to connect all effective graphic elements in the graphic element set using line segments with non-cutting marks to form a sub-cutting path; the final cutting path determination module is used to connect the sub-cutting paths using line segments with non-cutting marks to form a final cutting path.

[0017] Thirdly, embodiments of this application provide a laser cutting machine, which includes a memory and a processor. The memory stores program instructions, and when the processor runs the program instructions, it executes the steps in any of the implementations of the first aspect described above.

[0018] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform the steps in any implementation of the first aspect described above. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart of a laser cutting path planning method provided in an embodiment of this application;

[0021] Figure 2 An example image composed of line segments is provided for an embodiment of this application;

[0022] Figure 3 Another example of an image composed of line segments provided for embodiments of this application;

[0023] Figure 4 Provided for the embodiments of this application Figure 2 The first decomposition diagram of the primitives;

[0024] Figure 5 Provided for the embodiments of this application Figure 4 A schematic diagram showing the connection of straight line segments in the diagram;

[0025] Figure 6 Provided for the embodiments of this application Figure 3 The first decomposition diagram of the primitives;

[0026] Figure 7 Provided for the embodiments of this application Figure 2 The second decomposition diagram of the primitives;

[0027] Figure 8 Provided for the embodiments of this application Figure 2 The third decomposition diagram of the primitives;

[0028] Figure 9 Provided for the embodiments of this application Figure 7 A schematic diagram showing the connection of straight line segments in the diagram;

[0029] Figure 10 Provided for the embodiments of this application Figure 3 The second decomposition diagram of the primitives;

[0030] Figure 11 Provided for the embodiments of this application Figure 3 The third decomposition diagram of the primitives;

[0031] Figure 12 An example image composed of arc segments is provided for an embodiment of this application;

[0032] Figure 13 Provided for the embodiments of this application Figure 12 A schematic diagram showing the connections between the various arc segment primitives within and between them;

[0033] Figure 14 An example image composed of straight line segments and arc segments is provided for an embodiment of this application;

[0034] Figure 15 Provided for the embodiments of this application Figure 14 The first decomposition diagram of the primitives;

[0035] Figure 16 Provided for the embodiments of this application Figure 14 The second primitive decomposition diagram.

[0036] Figure 17 The laser cutting path planning device provided in the embodiments of this application;

[0037] Figure 18 This is a schematic diagram of the structure of a laser cutting machine provided in an embodiment of this application. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings. For example, the flowcharts and block diagrams in the drawings illustrate the architecture, functions, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0039] Laser cutting is a high-precision cutting method and an emerging sheet metal processing technology that is widely used in various materials and industries. Examples include cutting tracks, car bodies, and interior panels in high-speed rail construction and rail transit; cutting stainless steel, carbon steel, or aluminum plates in the sheet metal processing industry; cutting car bodies and doors in the automotive industry; and cutting steel structure plates, steel pipes, or irregularly shaped profiles in the steel structure industry. The efficiency of laser cutting is typically affected by various factors, such as laser power, the properties of the material being cut, cutting speed, and path planning. Laser power, the properties of the material being cut, and cutting speed are all limited by hardware upgrades, while path planning, through software algorithms, optimizes the cutting path to improve laser processing efficiency.

[0040] The laser cutting path planning method used in the comparative embodiment is based on sorting methods such as bottom to top, left to right, top to bottom, or right to left, or a flying cutting processing method with the shortest air distance for squares and round holes.

[0041] The inventors discovered that during actual cutting, the cutting head experiences deceleration, reversal, and acceleration at corners within the contour (continuous line segments), and pitches up and down between contours. These problems are particularly pronounced for thin plates, leading to reduced laser cutting efficiency. Furthermore, existing path planning methods for flight cutting can only perform specific path planning for rectangular blocks and regular circular holes. However, many graphics requiring laser cutting consist of straight line segments, triangles, polygons, or arcs, or any combination of these elements. Therefore, the application scenarios of the laser cutting path planning method provided in the comparative embodiment are limited.

[0042] Based on this, this application proposes a laser cutting path planning method, apparatus, and laser cutting machine. The laser cutting path planning method decomposes the effective primitives in the image to be processed to determine at least one primitive set, where the primitives in each primitive set have the same geometric characteristics. First, the path within each primitive set is determined, and then the path between primitive sets is determined, thereby obtaining the laser cutting path. This laser cutting path planning method, when used for path planning in laser cutting of workpieces, can significantly reduce the laser cutting head's tilting up, lowering down, acceleration, deceleration, and pauses.

[0043] Please refer to Figure 1 , Figure 1 A flowchart illustrating a laser cutting path planning method provided in an embodiment of this application; this application provides a laser cutting path planning method that can... Figure 18 The laser cutting machine performs the process. The path planning method includes the following steps:

[0044] Step S100: Determine the valid primitives in the graphic to be cut.

[0045] In step S100 above, the graphic to be cut is obtained. The graphic to be cut refers to the graphic of the workpiece that needs to be laser cut, or a part of the graphic of the workpiece that needs to be laser cut. Further, the effective graphic elements in the graphic to be cut are determined. The effective graphic elements refer to the parts of the graphic to be cut that need to be laser cut. The graphic elements include points, lines, and groups. Since not all parts of a graphic to be cut may need to be laser cut, there may be some parts that do not need to be cut. Therefore, the parts that do not need to be cut need to be filtered out, leaving only the effective graphic elements that need to be cut.

[0046] Step S200: Divide the valid primitives into at least one primitive set according to their geometric characteristics.

[0047] In step S200 above, the valid primitives are divided into at least one primitive set according to their geometric characteristics. A primitive set includes one or more primitives, and the primitives in the same primitive set have the same geometric characteristics. Geometric characteristics can be the relationship between the shape, size, or position of geometric figures.

[0048] Step S300: Connect all valid primitives in the primitive set using line segments with non-cutting marks to form a sub-cutting path.

[0049] In step S300 above, all valid primitives within all primitive sets are connected using line segments with non-cutting marks, forming a sub-cutting path for each primitive set; for example, valid primitives are divided into primitive set A and primitive set B according to their geometric characteristics, and the primitives in primitive set A are connected using line segments with non-cutting marks to form a sub-cutting path L. A Connect the primitives in primitive set B using line segments marked with no cut to form a sub-cutting path L. B .

[0050] It should be noted that the line segments marked with "no cutting" used in the embodiments of this application are those that can be identified as part of the path, and no laser cutting will be performed when the laser cutting head passes over the line segments marked with "no cutting". In the embodiments listed in this application, the line segments marked with "no cutting" are straight lines; in some cases, arcs marked with "no cutting" can also be used for connection.

[0051] Step S400: Connect the sub-cutting paths with line segments marked with no cuts to form the final cutting path.

[0052] In step S400 above, after connecting the primitives within each primitive set to form sub-cutting paths, all sub-cutting paths are further connected using line segments with non-cutting markers to form the final cutting path. For example, sub-cutting path L... A Sub-cutting path L B Connect the line segments marked with "no cut" to form the final cutting path of the cut pattern.

[0053] pass Figure 1As can be seen, the laser cutting path planning method provided in this application divides effective graphic elements into at least one graphic element set according to their set characteristics, and connects all graphic elements within each graphic element set and the sub-paths of each graphic element set. This laser cutting path planning method breaks through the path planning method that uses continuous line segments as the smallest unit. It divides graphic elements with the same geometric characteristics into a set, each set forming a sub-path, and connects the sub-paths to form the final cutting path. During processing, cutting is performed along the final cutting path, cutting when graphic elements are encountered, and not cutting when line segments marked as not to be cut are encountered. This greatly reduces the frequent raising, pausing, lowering, or acceleration / deceleration of the laser cutting head, thereby improving the efficiency of laser cutting.

[0054] Please refer to Figure 2 , Figure 2 An example image composed of line segments is provided for an embodiment of this application; in an optional embodiment, the effective primitives include line segments.

[0055] The step S200 above, which divides the effective primitives into at least one primitive set according to their geometric characteristics, can be: obtaining the slope of the line segment; dividing line segments with the same slope into a primitive set, thereby obtaining at least one line segment primitive set.

[0056] In other words, if the valid primitives include line segments, then the slope of each line segment can be calculated, and primitives with the same slope can be grouped into a set of line segment primitives. For example, Figure 2 In a figure where the hexagon is the smallest unit, there are three different slopes; therefore, these line segments can be divided into three sets of line segment primitives. Please refer to [the relevant documentation / reference]. Figure 3 , Figure 3 Another example of an image composed of line segments provided for embodiments of this application; from Figure 3 It can be seen from this that Figure 3 There are line segments with four different slopes, which means that... Figure 3 The figure is divided into four sets of line segments.

[0057] Please Figure 2 Based on the above, refer to Figure 4 , Figure 4 Provided for the embodiments of this application Figure 2 The first decomposition diagram of the primitives; in an optional embodiment, if the set of linear segment primitives includes a set of primitives composed of linear segments with a slope of zero, then using line segments with a non-cutting mark, according to the size of the y-intercept of the linear segments, all the linear segments in the set of primitives with a slope of zero are connected in order to form a sub-cutting path of the set of primitives composed of linear segments with a slope of zero.

[0058] When the slope of the line segments in the set of line segments is zero, that is, when all the line segments in the set are horizontal, the graph of the set is as follows. Figure 4 As shown, all line segments are horizontal; based on this, please refer to... Figure 5 , Figure 5 Provided for the embodiments of this application Figure 4 A diagram showing the connection of straight line segments in the diagram; Figure 5 In this process, line segments with non-cutting marks are used to connect all line segments according to their intercepts from smallest to largest (assuming that the intercepts of all images provided in this embodiment are located in the first quadrant of the Cartesian coordinate system), forming a sub-cutting path of a set of primitives composed of line segments with a slope of zero. Figure 5 In the middle, straight line segments are connected using straight lines with non-intercepting markers, arranged from smallest to largest y-intercept, to form a pattern like... Figure 5 The cutting path shown indicates that during cutting, the cutting will proceed along... Figure 5 Proceed in the direction of the middle arrow. Of course, in practice, you can also connect all the line segments according to the intercept from largest to smallest.

[0059] If the set of line segment primitives includes a set of primitives composed of line segments with infinite slope, then line segments with non-cutting marks are used to connect all the lines in the set of primitives composed of line segments with infinite slope in order according to the x-intercept of the line segments, so as to form a sub-cutting path for the set of primitives composed of line segments with infinite slope.

[0060] In some embodiments, line segments with slopes of zero and slopes of infinity can be grouped into one set. For a set of line segment primitives consisting solely of line segments with slopes of infinity (perpendicular line segments), the formation of their subpaths will not be illustrated separately. When line segments with slopes of zero and slopes of infinity are grouped into one set of line segments, an example will be provided below. Figure 3 Based on the above, refer to Figure 6 , Figure 6 Provided for the embodiments of this application Figure 3 The first decomposition diagram of the primitives; Figure 6 This includes Figure 3 The line segments with a slope of zero and line segments with a slope of infinity. Figure 6 In this context, line segments can be combined by first connecting line segments with a slope of zero, and then connecting line segments with a slope of infinity; or by first connecting line segments with a slope of infinity, and then connecting line segments with a slope of zero; and then connecting the paths of the line segments with a slope of zero and the line segments with a slope of infinity.

[0061] If the set of line segment primitives includes a set of primitives consisting of line segments with a slope of k, where k is a non-zero real number, then line segments with a non-cutting mark are used to connect all the lines in the set of primitives consisting of line segments with a slope of k in order according to the size of the y-intercept of the line segments, so as to form a sub-cutting path of the set of primitives consisting of line segments with a slope of k.

[0062] Please Figure 2 Based on the above, refer to Figure 7 and Figure 8 , Figure 7 Provided for the embodiments of this application Figure 2 The second decomposition diagram of the primitives; Figure 8 Provided for the embodiments of this application Figure 2 The third decomposition diagram of the primitives; Figure 2 In addition to the existence of Figure 4 The horizontal straight line segment in the middle still exists Figure 7 The line segments with slope k1, all line segments with slope k1 form a pattern like this. Figure 7 The set shown is another set of line segments. And... Figure 8 The line segments with a slope of k2, all line segments with a slope of k2 form a pattern like this. Figure 8 The other set of line segments shown.

[0063] Please Figure 7 Based on the above, refer to Figure 9 , Figure 9 Provided for the embodiments of this application Figure 7 A diagram showing the connection of straight line segments in the diagram; Figure 9 In the process, line segments with non-cutting marks are used to connect all line segments according to their intercepts from small to large, forming a sub-cutting path of a set of primitives composed of line segments with a slope of k1. Figure 9 In the middle, straight line segments are connected using straight lines with non-intercepting markers, arranged from smallest to largest y-intercept, to form a pattern like... Figure 9 The cutting path shown indicates that during cutting, the cutting will proceed along... Figure 9 Proceed in the direction of the middle arrow. Of course, in practice, you can also connect all the line segments according to the intercept from largest to smallest. Figure 8 The connection method for straight line segments is similar and will not be repeated here.

[0064] Please Figure 3 Based on the above, refer to Figure 10 and Figure 11 , Figure 10 Provided for the embodiments of this application Figure 3 The second decomposition diagram of the primitives; Figure 11 Provided for the embodiments of this application Figure 3 The third decomposition of primitives; similarly, Figure 3 In addition to the existence of lines with slopes of zero and infinity, there also exists... Figure 10 The line segments with a slope of k3, all line segments with a slope of k3 form a pattern like this. Figure 10 The set shown is another set of line segments. And... Figure 11 The line segments with a slope of k4, all line segments with a slope of k4 form a pattern like this. Figure 11 The other set of line segments shown. Figure 10 and Figure 11 The specific connection method of the middle straight segment and Figure 7 and Figure 8 The connection method for straight line segments is similar and will not be repeated here.

[0065] pass Figures 2-11 As can be seen, the effective primitives in the laser cutting path planning method provided in this application embodiment can be straight line segments. The straight line segments can be divided into different sets of straight line segment primitives according to their slope. The straight line segments in each set are connected by line segments with non-cutting marks to form sub-cutting paths. The sub-cutting paths are then connected by line segments with non-cutting marks, which can greatly reduce the frequent up-and-down movement, pauses and descents of the cutting head during the cutting process, as well as acceleration and deceleration. Compared with the shortest path cutting or basic route cutting methods, this method can improve the efficiency of laser cutting.

[0066] Please refer to Figure 12 , Figure 12 An example image composed of arc segments is provided for an embodiment of this application; in an optional embodiment, the effective primitives include arc segments.

[0067] The step S200 above, which divides the effective primitives into at least one primitive set according to their geometric characteristics, can be done by obtaining the center and radius of the arc segment, and dividing the arc segments with the same center and equal radius into the same primitive set, thereby obtaining at least one arc segment primitive set.

[0068] like Figure 12 As shown, arc segments with the same radius and common center can be divided into a set of primitives. Figure 12 There is a set of 12 arc segment primitives.

[0069] Please Figure 12 Based on the above, refer to Figure 13 , Figure 13 Provided for the embodiments of this application Figure 12 A schematic diagram showing the connections between the various arc segment primitives within and between them.

[0070] In an optional embodiment, connecting all valid primitives within an arc segment primitive set using line segments with non-cutting marks to form a sub-cutting path includes: connecting arc segments within each arc segment primitive set in a clockwise or counterclockwise order using line segments with non-cutting marks to form a sub-cutting path for at least one arc segment primitive set.

[0071] In an optional embodiment, connecting sub-cutting paths with line segments marked with no cutting marks to form a final cutting path includes: sorting the arc segment primitive set according to the radius of the arc segments within the set, and sequentially connecting the sub-cutting paths of each arc segment primitive set with line segments marked with no cutting marks to form the final cutting path of the arc segments.

[0072] exist Figure 13 In this process, for each set of arc segments, line segments marked with "no cutting" are used to connect the straight segments within the set in a clockwise or counterclockwise order, forming sub-cutting paths for each arc segment set. It's easy to understand that all sub-cutting paths should be a series of concentric rings. Furthermore, using line segments marked with "no cutting," the sub-cutting paths are connected sequentially according to their radii, forming... Figure 13 The cutting path shown.

[0073] pass Figure 12 and Figure 13 As can be seen, the effective primitives in the laser cutting path planning method provided in this application embodiment can be arc segments. The arc segments can be divided into different sets of arc segment primitives according to their center and radius. The arc segments in each set are connected by arc segments with non-cutting marks to form sub-cutting paths. The sub-cutting paths are then connected by arc segments with non-cutting marks. Compared with the shortest path cutting or the basic route cutting method, this method can improve the efficiency of laser cutting and reduce the frequent head-up, pause, and descent, as well as acceleration and deceleration during the cutting process.

[0074] In an optional embodiment, the image to be cut may also be composed of straight line segments and curved line segments. Please see [link / reference]. Figure 14 , Figure 14 An example image composed of straight line segments and arc segments is provided for an embodiment of this application; Figure 14 It includes a series of concentric rings and multiple sets of straight line segments with different slopes.

[0075] First, determine that the figure includes straight line segments and arc segments. You can process the arc segments first and then the straight line segments, or you can process the straight line segments first and then the arc segments.

[0076] We can first further divide the straight line segments and the arc segments into preliminary categories. Figure 15 and 16 ; Figure 15 Provided for the embodiments of this application Figure 14 The first decomposition diagram of the primitives, Figure 16 Provided for the embodiments of this application Figure 14 The second primitive decomposition diagram. Figure 15 Including Figure 14 All straight line segments in the middle, Figure 16 Including Figure 14 All the arc segments in it.

[0077] Referring to the above, for all line segments including 14... Figure 15 The process involves obtaining the slope of line segments; dividing line segments with the same slope into a set of line segments, thus obtaining at least one set of line segment primitives. For each set of line segments, all line segments within the set are connected using line segments marked with a non-cutting flag, forming sub-cutting paths for each set; these sub-cutting paths are then further connected. For example, if... Figure 15 Given line segments with slopes K1, K2, K3, and K4, we divide these line segments into four sets M1, M2, M3, and M4 respectively. For each set, we connect all line segments with non-cutting line segments to form sub-cutting paths l1, l2, l3, and l4. Finally, we connect l1, l2, l3, and l4 to obtain the final cutting path L1 for the line segments.

[0078] For all 14 arc segments Figure 16 The process involves obtaining the center and radius of each arc segment, and grouping arc segments with the same center and equal radius into multiple primitive sets. Within each primitive set, the arc segments are connected in clockwise or counterclockwise order using line segments marked with no-cutting indicators, forming sub-cutting paths for these sets. Further, the primitive sets are sorted according to the radius of the arc segments within each set, and the sub-cutting paths of each set are sequentially connected using line segments marked with no-cutting indicators to form the arc segment cutting path L2.

[0079] Finally, the cutting path L1 for the straight line segment and the cutting path L2 for the arc segment are connected by line segments with non-cutting marks to form the final cutting path L.

[0080] pass Figures 14-16 It is understood that the laser cutting path planning method provided in this application embodiment can be applied to the graphics to be cut, including rectangles, polygons, arcs, or combinations of rectangles, polygons and / or arcs, and has a wider range of application scenarios; it can avoid the large number of corners that may exist in the cutting path with continuous line segments as the smallest cutting unit in the comparative embodiment, as well as the raising and lowering of the cutting head between each continuous line segment.

[0081] In an optional embodiment, the valid graphic elements in this application embodiment refer to valid line segments; determining the valid graphic elements in the graphic to be cut includes: filtering out groups composed of non-target processing line segments in the graphic to be cut and points in the graphic to be cut to obtain the valid line segments in the graphic to be cut.

[0082] For drawings to be cut, not every part of the graphic needs to be cut. Some drawings contain graphics with pre-designed processing methods or meaningless points. These graphic elements are considered invalid and need to be filtered out, which is beneficial to the efficiency of subsequent processing of valid graphic elements.

[0083] Please refer to Figure 17 , Figure 17 The laser cutting path planning device 100 provided in this application embodiment includes: an effective primitive screening module 110, an effective primitive decomposition module 120, a sub-cutting path determination module 130, and a final cutting path determination module 140.

[0084] The effective element filtering module 110 is used to determine the effective elements in the graphic to be cut.

[0085] The effective primitive decomposition module 120 is used to divide effective primitives into at least one primitive set according to their geometric characteristics.

[0086] The sub-cutting path determination module 130 is used to connect all valid primitives in the primitive set using line segments with non-cutting marks to form a sub-cutting path.

[0087] The final cutting path determination module 140 is used to connect sub-cutting paths using line segments with non-cutting marks to form the final cutting path.

[0088] In an optional embodiment, where the effective primitives include line segments, the effective primitive decomposition module 120, in the process of dividing the effective primitives into at least one primitive set according to geometric characteristics, is specifically used to: obtain the slope of the line segments; divide line segments with the same slope into a primitive set, and obtain at least one set of line segment primitives.

[0089] In an optional embodiment, the effective primitive decomposition module 120 includes a line segment primitive processing unit 121; connecting all effective primitives within the line segment primitive set using line segments with non-cutting marks to form a sub-cutting path includes: if the line segment primitive set includes a primitive set composed of line segments with a slope of zero, then the line segment primitive processing unit 121 uses line segments with non-cutting marks to connect all lines within the primitive set with a slope of zero in sequence according to the y-intercept of the line segments, to form a sub-cutting path for the primitive set composed of line segments with a slope of zero. If the line segment primitive set includes a primitive set composed of line segments with a slope of infinity, then the line segment primitive processing unit 121 uses line segments with non-cutting marks to connect all lines within the primitive set composed of line segments with a slope of infinity in sequence according to the x-intercept of the line segments, to form a sub-cutting path for the primitive set composed of line segments with a slope of infinity. If the set of line segment primitives includes a set of primitives composed of line segments with a slope of k, where k is a non-zero real number, then the line segment primitive processing unit 121 uses line segments with a non-cutting mark to connect all the lines in the set of primitives composed of line segments with a slope of k in sequence according to the magnitude of the ordinate of the line segments, so as to form a sub-cutting path for the set of primitives composed of line segments with a slope of k. Pre-set, the abscissa and ordinate of all line segments are located in the first quadrant of the Cartesian coordinate system.

[0090] In an optional embodiment, the effective primitives include arc segments. The effective primitive decomposition module 120, in the process of dividing the effective primitives into at least one primitive set according to geometric characteristics, is further specifically used to: obtain the center and radius of the arc segments, and divide the arc segments with the same center and equal radius into the same primitive set, thereby obtaining at least one arc segment primitive set.

[0091] In an optional embodiment, the effective primitive decomposition module 120 further includes an arc segment primitive processing unit 122; in the process of connecting all effective primitives in the arc segment primitive set with line segments marked with non-cutting marks to form a sub-cutting path: the arc segment primitive processing unit 122 is specifically used to connect the arc segments in each arc segment primitive set in a clockwise or counterclockwise order with line segments marked with non-cutting marks to form a sub-cutting path of at least one arc segment primitive set.

[0092] In an optional embodiment, during the process of connecting sub-cutting paths using line segments with non-cutting marks to form the final cutting path: the arc segment primitive processing unit 122 further has the function of: sorting the arc segment primitive set according to the radius of the arc segments in the set, and sequentially connecting the sub-cutting paths of each arc segment primitive set using line segments with non-cutting marks to form the final cutting path of the arc segment.

[0093] In an optional embodiment, the laser cutting path planning device 100 further includes a graphic element filtering module 150. Valid graphic elements include valid line segments; in determining the valid graphic elements in the graphic to be cut: the graphic element filtering module 150 is specifically used to filter out groups of non-target processing line segments and points in the graphic to be cut, thereby obtaining the valid line segments in the graphic to be cut.

[0094] Please see Figure 18 , Figure 18 This is a schematic diagram of the structure of a laser cutting machine provided in an embodiment of this application. A laser cutting machine 200 provided in this application includes: a processor 201 and a memory 202. The memory 202 stores machine-readable instructions executable by the processor 201. When the machine-readable instructions are executed by the processor 201, the aforementioned laser cutting path planning method is performed.

[0095] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform steps in any implementation of the above-described laser cutting path planning method.

[0096] The computer-readable storage medium can be any medium capable of storing program code, such as Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM).

[0097] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0098] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A path planning method for laser cutting, characterized in that, The method includes: Identify the valid primitives in the graphic to be cut; The effective primitives are divided into at least one primitive set according to their geometric characteristics; Connect all valid primitives within the primitive set using line segments marked with no cut to form a sub-cutting path; Connect the sub-cutting paths with line segments marked with no cuts to form the final cutting path; The effective graphic elements include effective line segments; the determination of effective graphic elements in the graphic to be cut includes: filtering out groups of non-target processing line segments in the graphic to be cut and points in the graphic to be cut to obtain effective line segments in the graphic to be cut; The effective primitives include line segments. Dividing the effective primitives into at least one primitive set according to geometric characteristics includes: obtaining the slope of the line segments; dividing line segments with the same slope into one primitive set to obtain at least one line segment primitive set; connecting all effective primitives within the line segment primitive set using line segments with non-cutting marks to form a sub-cutting path includes: if the line segment primitive set includes a primitive set composed of line segments with a slope of zero, then using line segments with non-cutting marks to connect all lines within the primitive set with a slope of zero in sequence according to the y-intercept of the line segments to form a sub-cutting path for the primitive set composed of line segments with a slope of zero; if the line segment primitive set includes line segments with a slope of zero... For a set of primitives composed of infinitely large line segments, line segments with non-cutting marks are used to connect all lines within the set of primitives composed of line segments with infinitely large slopes in order according to the magnitude of the x-intercept of the line segments, to form a sub-cutting path for the set of primitives composed of line segments with infinitely large slopes; if the set of primitives composed of line segments includes a set of primitives composed of line segments with a slope of k, where k is a non-zero real number, line segments with non-cutting marks are used to connect all lines within the set of primitives composed of line segments with a slope of k in order according to the magnitude of the y-intercept of the line segments, to form a sub-cutting path for the set of primitives composed of line segments with a slope of k; wherein, it is assumed that the x-intercept and y-intercept of all the line segments are located in the first quadrant of the Cartesian coordinate system.

2. The method according to claim 1, characterized in that, in, The effective primitives include arc segments, and dividing the effective primitives into at least one primitive set according to geometric characteristics includes: Obtain the center and radius of the arc segment, and divide the arc segments with the same center and equal radius into the same primitive set to obtain at least one arc segment primitive set.

3. The method according to claim 2, characterized in that, Connect all valid primitives within the arc segment primitive set using line segments marked with no cut to form a sub-cutting path, including: Connect the arc segments within each arc segment primitive set in a clockwise or counterclockwise order using line segments marked with no cut, to form at least one sub-cutting path for the arc segment primitive set.

4. The method according to claim 3, characterized in that, The step of connecting the sub-cutting paths using line segments with non-cutting marks to form the final cutting path includes: The arc segment primitive sets are sorted according to the radius of the arc segments within the sets, and the sub-cutting paths of each arc segment primitive set are connected sequentially using line segments with non-cutting marks to form the final cutting path of the arc segments.

5. A path planning device for laser cutting, characterized in that, The device includes: an effective primitive filtering module, an effective primitive decomposition module, a sub-cutting path determination module, and a final cutting path determination module; The effective graphic element filtering module is used to determine the effective graphic elements in the graphic to be cut. The effective primitive decomposition module is used to divide the effective primitives into at least one primitive set according to their geometric characteristics; The sub-cutting path determination module is used to connect all valid elements in the element set using line segments with non-cutting marks to form sub-cutting paths; The final cutting path determination module is used to connect the sub-cutting paths using line segments with non-cutting marks to form the final cutting path; The effective graphic elements include effective line segments; the device further includes a graphic element filtering module, which is used to filter out groups of non-target processing line segments in the graphic to be cut and points in the graphic to be cut, so as to obtain the effective line segments in the graphic to be cut. The effective primitives include line segments. The effective primitive decomposition module is specifically used for: obtaining the slope of the line segments; dividing the line segments with the same slope into a primitive set to obtain at least one set of line segment primitives; the effective primitive decomposition module includes a line segment primitive processing unit, wherein connecting all effective primitives in the set of line segment primitives with a non-cutting mark to form a sub-cutting path includes: if the set of line segment primitives includes a set of primitives composed of line segments with a slope of zero, then the line segment primitive processing unit uses line segments with a non-cutting mark to connect all lines in the set of primitives with a slope of zero in sequence according to the y-intercept of the line segments to form a sub-cutting path of the set of primitives composed of line segments with a slope of zero; if the set of line segment primitives includes a set of primitives composed of line segments with a slope of zero, then the line segment primitive processing unit uses line segments with a non-cutting mark to connect all lines in the set of primitives with a slope of zero in sequence according to the y-intercept of the line segments to form a sub-cutting path of the set of primitives composed of line segments with a slope of zero; if the set of line segment primitives includes a set of primitives with a slope of zero, then the line segment primitive processing unit uses line segments with a slope of zero to connect all lines in the set of primitives with a slope of zero in sequence; If the set of primitives consists of infinitely large straight line segments, the line segment primitive processing unit uses line segments marked with no cut to connect all the straight lines in the set of primitives with infinitely large slopes in order according to the x-intercept of the line segments, to form a sub-cutting path for the set of primitives with infinitely large slopes. If the set of primitives includes a set of primitives with a slope of k, where k is a non-zero real number, the line segment primitive processing unit uses line segments marked with no cut to connect all the straight lines in the set of primitives with a slope of k in order according to the y-intercept of the line segments, to form a sub-cutting path for the set of primitives with a slope of k. Presumably, the x-intercept and y-intercept of all the line segments are located in the first quadrant of the Cartesian coordinate system.

6. A laser cutting machine, characterized in that, The laser cutting machine includes a memory and a processor. The memory stores program instructions, and when the processor runs the program instructions, it performs the steps of the method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, perform the steps of the method according to any one of claims 1-4.

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