A flexible material-based intelligent cutting system, method and storage medium

Abstract

The application relates to the technical field of workpiece cutting, and particularly discloses an intelligent cutting system based on flexible materials, an intelligent cutting method and a storage medium. The system comprises an information acquisition module, which is used for acquiring workpiece information to be cut and acquiring tool pose information and cutting feedback information in real time; a cutting control module, which is used for determining a cutting moving path and a tool lowering parameter according to the workpiece information to be cut, generating a cutting instruction based on the cutting moving path and the tool lowering parameter, and updating and adjusting the tool lowering parameter according to the tool pose information and the cutting feedback information acquired in real time during the cutting process, so as to generate a cutting update instruction; and a motion cutting module, which is used for starting cutting according to the cutting instruction and adjusting a cutting tool according to the cutting update instruction. The application monitors the pose state and the stress state of the cutting tool during the cutting process, adjusts the tool, and reduces the error generated during the cutting process to a certain extent.

Description

Technical Field

[0001] This application relates to the field of workpiece cutting technology, and in particular to an intelligent cutting system, method and storage medium based on flexible materials. Background Technology

[0002] The earliest method of cutting flexible materials was manual cutting. However, as the market expanded, the inefficiency and low precision of manual cutting became increasingly apparent. In its place, more intelligent CNC cutting equipment, such as vibrating knife cutting machines, was developed. These machines cut flexible materials by giving the cutting blade an up-and-down vibration impulse. Compared to laser cutting, they do not generate high temperatures that could damage the material, making them more environmentally friendly and applicable to a wider range of materials.

[0003] Existing methods for cutting flexible materials typically involve defining the cutting pattern or trajectory, setting the movement path and cutting parameters of the cutting tool, and finally controlling the movement of the cutting tool to complete the cutting of the flexible material in one go. While this method is efficient, the different softness and deformability of various flexible materials result in different cutting paths suitable for different materials. Furthermore, flexible materials may have uneven surfaces or uneven material distribution, which can easily lead to deviations during the cutting process, resulting in cut shapes and dimensions that do not meet requirements. Summary of the Invention

[0004] The purpose of this application is to provide an intelligent cutting system, method, and storage medium based on flexible materials. By planning the cutting process according to the characteristics of the flexible material before cutting and monitoring the position and stress state of the cutting tool during the cutting process, the tool can be adjusted to reduce the error generated during the cutting process to a certain extent.

[0005] In a first aspect, this application provides an intelligent cutting system based on flexible materials, comprising:

[0006] The information acquisition module is used to acquire information about the workpiece to be cut, as well as to acquire tool position information and cutting feedback information in real time during the cutting process;

[0007] The cutting control module is used to determine the cutting movement path and the tool entry parameters based on the information of the workpiece to be cut, generate a cutting command based on the cutting movement path and the tool entry parameters, and update and adjust the tool entry parameters based on the real-time acquired tool pose information and the cutting feedback information during the cutting process, and generate a cutting update command.

[0008] The motion cutting module is used to initiate cutting according to the cutting command and to adjust the cutting tool according to the cutting update command.

[0009] The above technical solution plans the cutting path and cutting parameters based on the characteristics of flexible materials, and acquires tool position information and cutting feedback information in real time during the cutting process to update and adjust the cutting tool. This reduces the error impact of the characteristics of various flexible materials on the cutting process.

[0010] Optionally, the tool pose information includes the position and orientation information of the tool relative to the workpiece, the cutting feedback information includes the torque change and amplitude deviation of the cutting tool, and the information acquisition module includes:

[0011] The tool pose information acquisition module is used to acquire and detect images of the cutting tool, the workpiece to be cut, and the work panel through machine vision, so as to obtain the position and posture information of the tool relative to the workpiece in real time during the cutting process.

[0012] The cutting feedback information acquisition module is used to monitor the operating status of the cutting tool in real time during the cutting process, so as to obtain the torque change and amplitude deviation of the cutting tool.

[0013] Optionally, the workpiece information includes material type, thickness, cutting dimensions, and cutting pattern, and the cutting control module includes:

[0014] The path planning module is used to perform surface texture detection on the workpiece to be cut, and to perform cutting registration based on the surface texture detection results, combined with the cutting pattern and the cutting size, to generate the original cutting trajectory.

[0015] The cutting instruction generation module is used to obtain the cutting parameters based on the material type and thickness of the workpiece to be cut by using preset historical reference data, and to determine the cutting movement path based on the original cutting trajectory, and to generate a cutting instruction based on the cutting parameters and the cutting movement path.

[0016] An adaptive adjustment module is used to adjust the cutting parameters based on the real-time acquired tool pose information and cutting feedback information after cutting begins, so as to generate a cutting update command.

[0017] Optionally, the cutting parameters include cutting angle, cutting position, cutting speed, and cutting depth, and the adaptive adjustment module includes:

[0018] The pose adjustment unit is used to generate a simulated cutting trajectory based on the tool pose information and the cutting movement path, and compare it with the original cutting trajectory. If a trajectory deviation occurs, the unit obtains adjustment parameters for the current tool's down-cutting angle and down-cutting position based on the trajectory deviation, and generates a cutting update command.

[0019] The motion control adjustment unit is used to obtain adjustment parameters for the cutting speed and cutting depth of the tool based on the torque change and amplitude deviation of the tool, and to generate cutting update commands.

[0020] Optionally, the motion cutting module includes:

[0021] The cutting start module is used to control the cutting tool to be positioned and calibrated, and to start cutting, according to the cutting command.

[0022] The cutting update module is used to adjust the cutting tool according to the cutting update command.

[0023] Optionally, the system further includes:

[0024] The storage and recording module is used to record the adjustment data of the cutting parameters throughout the cutting process, and store all the adjustment data together with the current workpiece information into a preset database.

[0025] Secondly, this application provides a smart cutting method based on flexible materials, comprising the following steps:

[0026] Obtain the workpiece information to be cut, including material type, thickness, cutting dimensions, and cutting pattern;

[0027] The surface texture of the workpiece to be cut is detected, and the cutting registration is performed based on the surface texture detection results, combined with the cutting pattern and cutting size, to generate the original cutting trajectory.

[0028] Based on the material type and thickness, the cutting parameters are obtained through preset historical reference data, and the cutting movement path is determined according to the original cutting trajectory.

[0029] Based on the cutting parameters and the cutting movement path, a cutting command is generated;

[0030] After the cutting process is initiated, tool position information and cutting feedback information are acquired in real time.

[0031] The cutting parameters are adjusted based on the tool position information and cutting feedback information to generate cutting update instructions.

[0032] Optionally, the cutting parameters include the cutting angle, cutting position, cutting speed, and cutting depth. Adjusting the cutting parameters based on the tool pose information to generate a cutting update command includes:

[0033] Based on the tool pose information, a simulated cutting trajectory is generated through the cutting movement path;

[0034] The simulated cutting trajectory is compared with the original cutting trajectory to determine whether there is a trajectory deviation;

[0035] If a trajectory deviation occurs, the current tool's entry angle and entry position are adjusted based on the trajectory deviation, and a cutting update command is generated.

[0036] Optionally, the cutting feedback information includes the torque variation and amplitude deviation of the cutting tool, and the step of adjusting the cutting parameters based on the cutting feedback information to generate a cutting update command includes:

[0037] Based on the torque variation and amplitude deviation of the cutting tool, adjustment parameters for the cutting speed and cutting depth are obtained, and cutting update instructions are generated.

[0038] Thirdly, this application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as described above for a smart cutting method based on flexible materials.

[0039] In summary, this application first plans the cutting path and cutting parameters based on the type and texture characteristics of the material to be cut before cutting. During the cutting process, the position and stress state of the cutting tool are monitored to determine if there are any deviations in the tool's state, so as to make timely adjustments to the tool and reduce the errors generated during the cutting process to a certain extent. In addition, by recording the cutting process, it is helpful to collect cutting data for different flexible materials, so as to build various adaptation models between flexible materials and cutting parameters through data analysis. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of an intelligent cutting system based on flexible materials provided in an embodiment of this application;

[0041] Figure 2 This is a schematic diagram of the information acquisition module provided in an embodiment of this application;

[0042] Figure 3 This is a schematic diagram of the cutting control module provided in an embodiment of this application;

[0043] Figure 4 This is a schematic diagram of the adaptive adjustment module provided in an embodiment of this application;

[0044] Figure 5 This is a schematic diagram of the motion cutting module provided in an embodiment of this application;

[0045] Figure 6 This is a flowchart of an intelligent cutting method based on flexible materials provided in an embodiment of this application. Detailed Implementation

[0046] The following is in conjunction with the appendix Figure 1 - Appendix Figure 6 This application will be described in further detail below.

[0047] This application provides an intelligent cutting system based on flexible materials, see [link]. Figure 1 The system includes an information acquisition module 10, a cutting control module 20, and a motion cutting module 30.

[0048] The information acquisition module 10 is used to acquire information about the workpiece to be cut, as well as to acquire tool position information and cutting feedback information in real time during the cutting process.

[0049] The cutting control module 20 is used to determine the cutting movement path and tool entry parameters based on the information of the workpiece to be cut, generate cutting instructions based on the cutting movement path and tool entry parameters, and update and adjust the tool entry parameters based on the real-time acquired tool pose information and cutting feedback information during the cutting process, and generate cutting update instructions.

[0050] The motion cutting module 30 is used to initiate cutting according to the cutting command and to adjust the cutting tool according to the cutting update command.

[0051] The workpiece to be cut is the flexible material currently being cut, such as textiles and rubber. Due to the softness and deformability of flexible materials, the requirements for cutting parameters such as cutting speed and cutting depth are higher compared to cutting rigid materials. Furthermore, flexible materials may have unevenness and uneven material distribution. In such cases, cutting depth that is too high or too low may cause deviations in the cutting process.

[0052] Therefore, for cutting flexible materials, in order to cope with the possible impact of the material's own characteristics on the cutting process, the tool position information and cutting feedback information are acquired in real time during the cutting process. Then, the cutting tool is adjusted according to the tool position information and cutting feedback information to reduce the deviation that occurs during the cutting process.

[0053] Among them, the tool pose information represents the position and orientation information of the tool relative to the workpiece. In fact, it is the height distance between the cutting tool and the workpiece to be cut, as well as the angle between the cutting tool and the working panel plane where the workpiece is located. The tool pose information can be used to measure whether the cutting trajectory of the tool has deviated.

[0054] Cutting feedback information characterizes the force situation of the cutting tool. Since forces are mutual, when the tool moves to cut the workpiece, it will be subject to the resistance given by the workpiece. Due to the characteristics of flexible materials, the resistance experienced by the tool may be uneven during the cutting process. This will cause changes in the tool torque or deviations in the tool amplitude. Changes in tool torque reflect changes in the resistance experienced by the tool during the cutting process, while amplitude deviations mean changes in the cutting depth of the tool during the cutting process. Of course, changes in cutting depth also mean changes in the force distribution.

[0055] Therefore, in this embodiment, the information acquisition module 10 is used to acquire the information of the workpiece to be cut, as well as the tool position information and cutting feedback information during the cutting process in real time. The cutting control module 20 generates cutting instructions and cutting update instructions based on the information acquired by the information acquisition module 10. The motion cutting module 30 starts cutting according to the cutting instructions and adjusts the cutting tool according to the cutting update instructions.

[0056] Specifically, see Figure 2 The information acquisition module 10 includes a tool position information acquisition module 11 and a cutting feedback information acquisition module 12.

[0057] The tool pose information acquisition module 11 is used to acquire and detect images of the cutting tool, the workpiece to be cut, and the work panel through machine vision, so as to obtain the position and posture information of the tool relative to the workpiece in real time during the cutting process.

[0058] The cutting feedback information acquisition module 12 is used to monitor the operating status of the cutting tool in real time during the cutting process, so as to obtain the torque change and amplitude deviation of the cutting tool.

[0059] Specifically, see Figure 3 The cutting control module 20 includes a path planning module 21, a cutting instruction generation module 22, and an adaptive adjustment module 23.

[0060] The path planning module 21 is used to perform surface texture detection on the workpiece to be cut, and to perform cutting registration based on the surface texture detection results, combined with the cutting pattern and the cutting size, to generate the original cutting trajectory.

[0061] The cutting instruction generation module 22 is used to obtain the cutting parameters based on the material type and thickness of the workpiece to be cut by using preset historical reference data, and to determine the cutting movement path based on the cutting size and original cutting trajectory of the workpiece to be cut, and to generate cutting instructions based on the cutting parameters and the cutting movement path.

[0062] The adaptive adjustment module 23 is used to adjust the cutting parameters based on the real-time acquired tool pose information and cutting feedback information after the cutting begins, so as to generate a cutting update command.

[0063] The information of the workpiece to be cut includes material type, thickness, cutting size, and cutting pattern. The cutting size is mainly for regular patterns. The cutting area is defined in the workpiece and a reference point is set to form the cutting trajectory. The cutting pattern is provided directly as a graphic example, and the cutting trajectory is generated based on the cutting pattern.

[0064] First, before starting to cut the workpiece, the cutting plan is made based on the information of the workpiece to be cut. This is mainly divided into two parts: the cutting path planning and the cutting parameters planning.

[0065] The cutting path is planned through the path planning module 21. This is mainly because different flexible materials have different adaptability to the cutting path. For example, the direction of the threads in fabrics and textiles is regular. Therefore, different cutting directions will produce different results. So, the surface texture of the workpiece can be detected to evaluate the best cutting direction for the material. The cutting registration is performed based on the surface texture detection results, combined with the cutting pattern and the cutting size. This means determining the cutting direction and the initial cutting point. Then, the original cutting trajectory is generated based on the cutting pattern and the cutting size. The initial cutting point is the starting point of the cutting. For cutting starting points that are required, they are usually marked in advance. For cutting starting points that are not required, the starting point is automatically located based on the cutting pattern and the cutting size.

[0066] The cutting path can be determined based on the original cutting trajectory. The cutting path is actually the path of the tool during the cutting process. The cutting of the workpiece is completed by the movement of the tool.

[0067] Planning the cutting parameters mainly involves generating the cutting parameters based on the material type, thickness, and material properties in the workpiece information. The cutting parameters include the cutting angle, cutting position, cutting speed, and cutting depth.

[0068] Because different flexible materials have different shapes or structures, the cutting parameters required during cutting will also vary. Before cutting the workpiece, you can first use historical reference data, which is the data recorded after cutting workpieces of this type of material. Based on the historical reference data, you can first determine an initial cutting parameter. If there is no historical reference data, you can also sample and test the cutting of workpieces of this type of material, and then set the initial cutting parameter.

[0069] After obtaining the information of the workpiece to be cut, the path planning module 21 first generates the original cutting trajectory by combining the cutting graphic and cutting size. Then, the cutting instruction generation module 22 obtains the cutting parameters and the original cutting trajectory based on the material type and thickness of the workpiece to be cut by using preset historical reference data, determines the cutting movement path, and then generates the cutting instruction based on the cutting parameters and the cutting movement path.

[0070] Once the cutting command is sent to the motion cutting module 30, cutting can begin. After cutting begins, the tool pose information acquisition module 11 will acquire the tool pose information in real time, and the cutting feedback information acquisition module 12 will acquire the cutting feedback information in real time.

[0071] Among them, obtaining tool pose information mainly involves using machine vision to acquire and detect images of the cutting tool, the workpiece to be cut, and the work panel, so as to calculate the position and orientation information of the tool relative to the workpiece during the cutting process.

[0072] The cutting feedback information is based on the initial tool running state. During the cutting process, the running state of the cutting tool is monitored in real time. By judging whether the running state of the tool has changed, if it has changed, the torque change and amplitude deviation of the cutting tool are calculated, which are used as cutting feedback information.

[0073] During the cutting process, after the information acquisition module 10 acquires the tool pose information and cutting feedback information, it will synchronously send them to the cutting control module 20. The adaptive adjustment module 23 will judge the current cutting status based on the real-time acquired tool pose information and cutting feedback information. If a cutting deviation occurs, the cutting parameters will be adjusted in time to generate a cutting update command.

[0074] Specifically, see Figure 4 The adaptive adjustment module 23 includes a pose adjustment unit 231 and a motion control adjustment unit 232.

[0075] The pose adjustment unit 231 is used to generate a simulated cutting trajectory based on the tool pose information and the cutting movement path, and compare it with the original cutting trajectory. If a trajectory deviation occurs, the unit obtains adjustment parameters for the current tool's down-cutting angle and down-cutting position based on the trajectory deviation, and generates a cutting update command.

[0076] The motion control adjustment unit 232 is used to obtain adjustment parameters for the cutting speed and cutting depth of the tool based on the torque change and amplitude deviation of the tool, and generate cutting update commands.

[0077] After obtaining the tool pose information, a simulated cutting trajectory can be generated. The simulated cutting trajectory refers to the theoretical cutting trajectory formed after the tool moves according to the current pose state. Since the tool pose state reflects the position and angle of the tool relative to the workpiece panel, once the workpiece movement trajectory is determined, the cutting trajectory formed by the tool is also determined. Therefore, the pose adjustment unit 231 can generate a simulated cutting trajectory based on the tool pose information and the cutting movement path, and compare it with the original cutting trajectory. If a trajectory deviation occurs, the current tool's down-cutting angle and down-cutting position are adjusted according to the trajectory deviation.

[0078] Based on the tool pose information, a simulated cutting trajectory is generated through the cutting movement path. The simulated cutting trajectory is then compared with the original cutting trajectory, since the original cutting trajectory represents the target shape to be formed, which is the correct cutting trajectory. By comparing the simulated cutting trajectory with the original cutting trajectory, curve fitting can be used to determine whether there is a deviation between the simulated cutting trajectory and the original cutting trajectory. If there is a deviation, it means that continuing to cut according to the current tool pose state is highly likely to deviate from the correct cutting trajectory. Therefore, it is necessary to determine the trajectory deviation based on the simulated cutting trajectory and the original cutting trajectory, and then adjust the current tool pose state according to the trajectory deviation. Specifically, adjustment parameters are generated for the current tool's entry angle and entry position based on the trajectory deviation, and then the adjustment parameters are added to the cutting update command.

[0079] After obtaining the cutting feedback information, the motion control adjustment unit 232 will adjust the cutting speed and cutting depth of the tool according to the cutting feedback information.

[0080] Because the cutting feedback information itself represents the changes in the tool's torque and amplitude deviation, this information is only obtained when the tool's working state changes. Therefore, it is only necessary to confirm the changes in the tool's working state based on the cutting feedback information, that is, to confirm whether the tool's torque has changed, the tool's amplitude has deviated, or both. Then, the cutting speed and cutting depth of the tool are adjusted accordingly based on the changes in the tool's torque and amplitude deviation. As for how to adjust it, it mainly involves measuring the impact of the torque or amplitude deviation on the cutting speed and cutting depth, and then calculating the adjustment parameters based on the impact, and adding the adjustment parameters to the cutting update command.

[0081] The initiation and control adjustment of the cutting are both implemented by the motion cutting module 30. For details, see [link to documentation]. Figure 5 The motion cutting module 30 includes a cutting start module 31 and a cutting update module 32.

[0082] The cutting start module 31 is used to control the cutting tool to be positioned and calibrated according to the cutting command, and to start cutting.

[0083] The cutting update module 32 is used to adjust the cutting tool according to the cutting update command.

[0084] After the motion cutting module 30 receives the cutting command, the cutting start module 31 will initiate the cutting process. Since the cutting command contains the tool entry parameters and the cutting movement path, after receiving the cutting command, the tool will first be positioned and calibrated using the tool entry parameters and the cutting movement path. Positioning is easy to understand; it means moving the tool to the cutting position. Before starting the cutting process, the cutting area or position of the workpiece to be cut will be marked accordingly, which means there will be a reference point. The tool can be positioned based on the reference point, and then the tool will be adjusted according to the tool entry parameters to ensure that the cutting will proceed according to the original cutting trajectory after the cutting begins. This is called tool calibration.

[0085] After the cutting tool is positioned and calibrated, cutting will begin, which means controlling the cutting tool to move according to the set cutting path.

[0086] During the cutting process, after the motion cutting module 30 receives the cutting update command, the cutting update module 32 will adjust the cutting tool according to the cutting update command. Similarly, the cutting update module contains corresponding adjustment parameters, and the cutting tool is directly adjusted according to the included adjustment parameters.

[0087] Since different types of flexible materials require different cutting parameters, the cutting parameters used in the entire cutting process are recorded and stored after each cut to enable more precise cutting of each type of flexible material. The cutting results are then evaluated through subsequent manual verification. This data analysis of the cutting parameters used in the entire cutting process allows for the acquisition of suitable cutting parameters for different flexible materials. In this way, when cutting various flexible materials, appropriate cutting parameters can be obtained in a timely manner, thereby improving cutting efficiency.

[0088] Therefore, in this embodiment of the application, the system further includes a storage record module 40.

[0089] Specifically, the storage and recording module 40 is used to record the adjustment data of the cutting parameters throughout the cutting process, and to store all the adjustment data together with the current workpiece information into a preset database.

[0090] Recording the cutting process helps collect cutting data for different flexible materials. Once a certain amount of data is stored, big data modeling can be used to build adaptation models between various flexible materials and cutting parameters. For example, some materials are suitable for fast cutting, while others are suitable for slow cutting. With such an adaptation model, appropriate cutting parameters can be assigned to the characteristics of various materials.

[0091] This application also provides an intelligent cutting method based on flexible materials, see [link to relevant documentation]. Figure 6 It includes the following steps:

[0092] S100. Obtain the workpiece information to be cut, including material type, thickness, cutting size and original cutting trajectory.

[0093] S200: Perform surface texture detection on the workpiece to be cut, and based on the surface texture detection results, perform cutting registration in conjunction with the cutting pattern and cutting dimensions to generate the original cutting trajectory.

[0094] S300: Based on the material type and thickness, obtain the cutting parameters through preset historical reference data, and determine the cutting movement path according to the original cutting trajectory.

[0095] S400 generates cutting instructions based on the cutting parameters and the cutting movement path.

[0096] The S500 acquires tool position information and cutting feedback information in real time after cutting is started.

[0097] S600: Adjust the cutting parameters based on the tool position information and cutting feedback information to generate a cutting update command.

[0098] In this embodiment, the information of the workpiece to be cut is first obtained. Then, the surface texture of the workpiece to be cut is detected by the path planning module 21. Based on the surface texture detection results, the cutting pattern and cutting size are combined to perform cutting registration to generate the original cutting trajectory. Then, the cutting instruction generation module 22 obtains the cutting parameters based on the material type and thickness and through preset historical reference data. Based on the original cutting trajectory, the cutting movement path is determined, and the cutting instruction is generated based on the cutting parameters and the cutting movement path.

[0099] After the cutting command is generated, it will be sent to the motion cutting module 30. The cutting start module 31 will control the cutting tool to be positioned and calibrated according to the cutting command, and then start cutting.

[0100] After cutting is started, the tool position information acquisition module 11 and the cutting feedback information acquisition module 12 acquire tool position information and cutting feedback information in real time. The adaptive adjustment module 23 adjusts the cutting parameters according to the tool position information and cutting feedback information to generate a cutting update command. Finally, the cutting update module 32 adjusts the cutting tool according to the cutting update command.

[0101] Specifically, the cutting parameters are adjusted based on the tool pose information to generate a cutting update command, including the following steps:

[0102] S510. Based on the tool position information, generate a simulated cutting trajectory through the cutting movement path.

[0103] S520. Compare the simulated cutting trajectory with the original cutting trajectory to determine whether there is a trajectory deviation.

[0104] S530. If a trajectory deviation occurs, adjust the current tool's entry angle and entry position based on the trajectory deviation, and generate a cutting update command.

[0105] The tool position adjustment parameters are adjusted based on the tool position information. This is mainly achieved by the position adjustment unit 231 generating a simulated cutting trajectory based on the tool position information and the cutting movement path, and comparing it with the original cutting trajectory. If a trajectory deviation occurs, the tool position angle and position are adjusted based on the trajectory deviation, and a cutting update command is generated.

[0106] Specifically, the cutting parameters are adjusted based on the cutting feedback information to generate a cutting update instruction, including the following steps:

[0107] S540: Based on the torque variation and amplitude deviation of the cutting tool, obtain adjustment parameters for the cutting speed and cutting depth of the tool, and generate a cutting update command.

[0108] The cutting parameters are adjusted based on the cutting feedback information. This is mainly achieved by the motion control adjustment unit 232, which obtains adjustment parameters for the cutting speed and cutting depth of the tool based on the changes in the tool's torque and amplitude deviation, and generates a cutting update command.

[0109] This application also provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described intelligent cutting methods based on flexible materials.

[0110] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the principles of this application should be covered within the scope of protection of this application.

Claims

1. A smart cutting system based on flexible materials, characterized in that, include: The information acquisition module is used to acquire information about the workpiece to be cut, as well as to acquire tool position information and cutting feedback information in real time during the cutting process; the tool position information is the position and orientation information of the tool relative to the workpiece, and the cutting feedback information includes the torque change and amplitude deviation of the cutting tool; The cutting control module is used to determine the cutting movement path and the tool entry parameters based on the information of the workpiece to be cut, generate a cutting command based on the cutting movement path and the tool entry parameters, and update and adjust the tool entry parameters based on the real-time acquired tool pose information and the cutting feedback information during the cutting process, and generate a cutting update command. The motion cutting module is used to initiate cutting according to the cutting command and to adjust the cutting tool according to the cutting update command; The information acquisition module includes: The tool pose information acquisition module is used to acquire and detect images of the cutting tool, the workpiece to be cut, and the work panel through machine vision, so as to obtain the position and posture information of the tool relative to the workpiece in real time during the cutting process. The cutting feedback information acquisition module is used to monitor the operating status of the cutting tool in real time during the cutting process, so as to obtain the torque change and amplitude deviation of the cutting tool. The workpiece information includes material type, thickness, cutting dimensions, and cutting pattern. The cutting control module includes: The path planning module is used to perform surface texture detection on the workpiece to be cut, and to perform cutting registration based on the surface texture detection results, combined with the cutting pattern and the cutting size, to generate the original cutting trajectory. The cutting instruction generation module is used to obtain the cutting parameters based on the material type and thickness of the workpiece to be cut by using preset historical reference data, and to determine the cutting movement path based on the original cutting trajectory, and to generate a cutting instruction based on the cutting parameters and the cutting movement path. An adaptive adjustment module is used to adjust the cutting parameters based on the real-time acquired tool pose information and cutting feedback information after the cutting begins, so as to generate a cutting update command. The cutting parameters include cutting angle, cutting position, cutting speed, and cutting depth. The adaptive adjustment module includes: The pose adjustment unit is used to generate a simulated cutting trajectory based on the tool pose information and the cutting movement path, and compare it with the original cutting trajectory. If a trajectory deviation occurs, the unit obtains adjustment parameters for the current tool's down-cutting angle and down-cutting position based on the trajectory deviation, and generates a cutting update command. The motion control adjustment unit is used to obtain adjustment parameters for the cutting speed and cutting depth of the tool based on the torque change and amplitude deviation of the tool, and to generate cutting update commands. The motion cutting module includes: The cutting start module is used to control the cutting tool to be positioned and calibrated, and to start cutting, according to the cutting command. The cutting update module is used to adjust the cutting tool according to the cutting update command; The storage and recording module is used to record the adjustment data of the cutting parameters throughout the cutting process, and store all the adjustment data together with the current workpiece information into a preset database.

2. A smart cutting method based on flexible materials, characterized in that, include: Obtain the workpiece information to be cut, including material type, thickness, cutting dimensions, and cutting pattern; The surface texture of the workpiece to be cut is detected, and the cutting registration is performed based on the surface texture detection results, combined with the cutting pattern and cutting size, to generate the original cutting trajectory. Based on the material type and thickness, the cutting parameters are obtained through preset historical reference data, and the cutting movement path is determined according to the original cutting trajectory; the cutting parameters include the cutting angle, cutting position, cutting speed, and cutting depth; Based on the cutting parameters and the cutting movement path, a cutting command is generated; After cutting is started, tool position information and cutting feedback information are acquired in real time; the tool position information is the position and orientation information of the tool relative to the workpiece, and the cutting feedback information includes the torque change and amplitude deviation of the cutting tool. The cutting parameters are adjusted based on the tool pose information and cutting feedback information to generate cutting update instructions; The step of adjusting the cutting parameters based on the tool pose information to generate a cutting update command includes: Based on the tool pose information, a simulated cutting trajectory is generated through the cutting movement path; The simulated cutting trajectory is compared with the original cutting trajectory to determine whether there is a trajectory deviation; If a trajectory deviation occurs, the tool's entry angle and entry position are adjusted based on the trajectory deviation, and a cutting update command is generated. The step of adjusting the cutting parameters based on cutting feedback information to generate a cutting update command includes: Based on the torque variation and amplitude deviation of the cutting tool, adjustment parameters for the cutting speed and cutting depth are obtained, and cutting update instructions are generated.

3. A computer-readable storage medium storing a computer program capable of being loaded by a processor and executed as described in claim 2, which is a smart cutting method based on flexible materials.

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