Height control method, device, storage medium and computer program

Abstract

The application discloses a height control method, equipment, a storage medium and a computer program, and relates to the technical field of cutting equipment, in particular to a height control method, equipment, a storage medium and a computer program. The height control method comprises the following steps: during cutting, the horizontal distance of the movement of a cutting head is calculated, and it is judged whether the preset distance is reached; if not, the cutting head keeps the current height and continues cutting; if yes, the height of the nozzle of the cutting head to the surface of a product is measured by a distance sensor, the cutting head is controlled to rise or fall to the preset height according to the measured height, and cutting is carried out at the preset height. The actual nozzle height of the cutting head is compared with the set nozzle height by the distance sensor in the mode of interval preset distance, deviation is corrected, the error between the actual nozzle height during cutting and the set nozzle height is within an acceptable range, the detection times of the distance sensor are reduced in the process, the interference factors of the distance sensor are reduced, and the detection precision of the distance sensor is improved.

Description

Technical Field

[0001] This invention relates to the field of laser cutting technology, and in particular to a height control method, device, storage medium, and computer program. Background Technology

[0002] Laser-flame hybrid cutting is a high-precision, high-efficiency cutting technology. It combines the advantages of laser cutting and flame cutting, enabling rapid and precise cutting processes on various materials.

[0003] In traditional laser cutting solutions, capacitive sensors are typically used to measure the distance between the cutting head and the material to achieve servo control of the cutting head. However, in laser-flame hybrid cutting, the nozzle is subjected to prolonged flame burning, which causes changes in the dielectric constant of the nozzle, the material, and the medium between them. This interferes with the measurement accuracy of the capacitive sensor, making it impossible for the cutting head to accurately control the cutting depth. Summary of the Invention

[0004] In view of the shortcomings of the prior art, this application provides a height control method, device, storage medium and computer program that can accurately measure the height of the cutting head from the product surface, thereby improving the cutting accuracy.

[0005] The following technical solution is adopted in this embodiment:

[0006] A height control method includes the following steps: During the cutting process, the horizontal distance the cutting head moves is calculated, and it is determined whether the preset distance has been reached; If the target height is not reached, the cutting head will continue cutting at the current height. If the desired height is achieved, the cutting head measures the height from the nozzle of the cutting head to the product surface using a distance sensor. Based on the measured height, the cutting head is controlled to rise and fall to the preset height, and then the cutting is performed at the preset height.

[0007] Furthermore, in the height control method, the step of calculating the horizontal distance the cutting head moves includes: Record the coordinates of the cutting head's position during the last distance sensor measurement. , ); Get the coordinates (x, y) of the current cutting head position; Horizontal distance of cutting head movement = .

[0008] Furthermore, the height control method also includes the step of: Obtain the maximum allowable slope of the product surface for cutting. And obtain the maximum allowable height error of the product surface during cutting. ; Set preset distance and set a preset distance ≤ .

[0009] Furthermore, in the height control method, the distance sensor is a displacement sensor, and the cutting head is provided with a contact follower device and a lifting drive assembly. The displacement sensor is disposed on the cutting head, and the contact follower device is simultaneously connected to the sensing end of the displacement sensor and the driving end of the lifting drive assembly.

[0010] Furthermore, in the height control method, the step of measuring the height of the cutting head from the product surface using a distance sensor includes: The lifting drive assembly drives the contact follower to move below the nozzle of the cutting head; The cutting head is controlled to descend until the contact point of the contact-type follower device contacts the surface of the product; The voltage value measured by the displacement sensor is acquired in real time and compared with the reference voltage value to confirm the height of the nozzle of the cutting head from the product surface.

[0011] Furthermore, the height control method also includes the step of: The drive end of the lifting assembly is controlled to rise and fall to a preset height range. After the contact follower device is installed on the drive end of the lifting assembly, the contact point of the contact follower device is lower than the nozzle of the cutting head and contacts the product surface. Lower the cutting head so that the cutting head nozzle contacts the product surface, obtain the voltage measured by the displacement sensor, and set it as the reference voltage.

[0012] Furthermore, in the height control method, the step of controlling the cutting head to rise and fall to a preset height based on the measured height includes: Control the cutting head to descend, ensuring the nozzle height above the product surface is the reference height. Record the Z-axis coordinate of the cutting head at this time. The Z-axis coordinate of the cutting head was obtained when the height of the nozzle of the cutting head from the product surface was 0. ; Set preset height The cutting head is driven to rise and fall, moving it to the set Z-axis coordinate. .

[0013] Furthermore, in the height control method, the cutting head is a laser-plus-flame composite cutting head.

[0014] A height control device includes a processor and a memory; the memory is used to store a computer program, the computer program including program instructions; the processor is used to invoke the computer program to implement the above-described height control method.

[0015] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described height control method.

[0016] A computer program product, wherein the computer program product stores computer instructions, which, when executed by a processor, implement the steps of the above-described height control method.

[0017] Compared to existing technologies, the height control method, device, storage medium, and computer program provided in this application, when the cutting head moves beyond a preset distance during cutting, remeasures the height of the cutting head nozzle from the product surface using a distance sensor to obtain the current actual nozzle height. This actual nozzle height is then compared with the set nozzle height for correction. This ensures that the error between the actual nozzle height and the set nozzle height during cutting is within an acceptable range. Furthermore, this process reduces the number of detections by the distance sensor, minimizes interference factors, and thus improves the detection accuracy of the distance sensor. Attached Figure Description

[0018] Figure 1 A flowchart of the height control method provided in this application.

[0019] Figure 2 A schematic diagram of the overall structure of the cutting head in the descending state of the contact-type follower device in a specific embodiment of the height control method provided in this application.

[0020] Figure 3 for Figure 2 The diagram shows the overall structure of the cutting head in the raised state of the contact-type follower device.

[0021] Figure 4 for Figure 2 The diagram shows the overall structure of the contact-type follower device on the cutting head.

[0022] Figure 5 for Figure 4 The diagram shows a contact-type follower device from another angle.

[0023] Figure 6 A structural block diagram of the height control device provided in this application. Detailed Implementation

[0024] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description of this application is provided with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0025] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0026] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0027] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0028] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0029] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0031] This application provides a height control method applicable to laser cutting or laser-plus-flame composite cutting to control the height of the cutting head during the cutting process. Please refer to... Figure 1 The height control method provided in this application includes the following steps: S10. During the cutting process, calculate the horizontal distance the cutting head moves and determine whether the preset distance has been reached; S20. If the target is not reached, the cutting head will maintain its current height and continue cutting. S30. If the desired height is achieved, the distance sensor measures the height from the nozzle of the cutting head to the product surface. Based on the measured height, the cutting head is raised or lowered to the preset height, and cutting is performed at the preset height.

[0032] In actual cutting, the height of different parts of the product surface is usually inconsistent, which causes the distance between the cutting head nozzle and the product surface to vary. Taking a sheet material as an example, due to factors such as improper placement of the sheet material or its own thickness error, the surface of the sheet material may be tilted. If the cutting head maintains the same height for cutting, the cutting depth will change, or even the product may become uncut.

[0033] To avoid a large deviation between the actual nozzle height of the cutting head and the set nozzle height, steps S10-S30 are executed. After the cutting head moves beyond the preset distance during cutting, the distance sensor remeasures the height of the cutting head nozzle from the product surface to obtain the current actual nozzle height. The current actual nozzle height is then compared with the set nozzle height for correction. This ensures that the error between the actual nozzle height and the set nozzle height during cutting is within an acceptable range, guaranteeing the normal operation of the cutting action.

[0034] During each re-inspection process, the cutting head can continue cutting to avoid interruption due to inspection, thus preventing a reduction in cutting efficiency. Alternatively, the cutting head can pause cutting to further reduce interference from factors such as the high temperature of the laser or flame and molten slag generated during cutting, ensuring the detection accuracy of the distance sensor.

[0035] In some embodiments, the step of calculating the horizontal distance the cutting head moves in step S10 includes: S11. Record the coordinates of the cutting head's position during the last distance sensor measurement. , ); S12. Obtain the coordinates (x, y) of the current cutting head position; S13, Horizontal distance of cutter head movement = .

[0036] The cutting head is typically driven by X, Y, and Z axes to adjust its spatial position. When a servo motor is used, the controller sends a signal to the servo motor indicating the specified position. The servo motor then rotates to the designated position and outputs a feedback signal to the controller, providing its position information. Therefore, the cutting equipment can read the coordinates of the cutting head and, through steps S11-S13, confirm the horizontal distance of the cutting head. This distance is then compared with a preset distance to determine if the nozzle height needs to be remeasured.

[0037] Alternatively, the X-axis and Y-axis coordinates of the cutting head can be confirmed in other ways, such as by manual measurement or by installing photoelectric sensors or laser sensors on the laser equipment to measure the coordinate points of the cutting head.

[0038] After calculating the horizontal distance the cutting head moves in real time, the current horizontal distance value can be compared with the preset distance value. If the current horizontal distance value is greater than or equal to the preset distance value, the nozzle height of the cutting head needs to be measured again and adjusted.

[0039] In some embodiments, the step of setting the value of the preset distance includes: Obtain the maximum allowable slope of the product surface for cutting. And obtain the maximum allowable height error of the product surface during cutting. ; Set preset distance and set a preset distance ≤ .

[0040] During the sheet metal cutting process, the sheet surface may be tilted. The cutting head has requirements regarding the tilt range and maximum height error range of the sheet surface to ensure normal cutting. Therefore, a preset distance is set. There is an upper limit value. Existence requires ensuring a preset distance. It is less than the upper limit.

[0041] For example, when using a laser-flame composite cutting method to cut thick plates, a high degree of flatness of the plate surface is required; otherwise, the dimensional error of the cut workpiece will be large. Therefore, the tilt angle of the plane is adjusted to be very small when the plate is placed, with the maximum allowable slope being... The value is 0.01. During cutting, the nozzle height is typically set to around 10mm, with an allowable nozzle height error of approximately ±5mm, which is the maximum permissible height error. If it is ±5mm, then 500mm, preset distance The diameter must be less than 500mm to meet normal cutting requirements. In actual cutting, the cutting speed of the board is relatively slow, typically below 1000mm / min, and the cutting is done at preset intervals. If so, the actual height of the cutting head nozzle will be re-detected.

[0042] In some embodiments, the cutting head may be a laser-plus-flame composite cutting head.

[0043] The nozzle of the laser-flame hybrid cutting head can emit laser and flame separately, and achieve a high-precision and high-efficiency cutting process by combining laser cutting and flame cutting. Furthermore, compared to traditional laser cutting, the nozzle of the laser-flame hybrid cutting head is subjected to prolonged flame burning, which causes changes in the dielectric constant of the nozzle, the product, and the medium between the nozzle and the product. By implementing the height control method provided in this application, the interference of temperature on detection accuracy can be reduced.

[0044] In some embodiments, please refer to Figure 2 and Figure 3 The distance sensor is selected as displacement sensor 20. The cutting head 10 is equipped with a contact follower device 30 and a lifting drive assembly 40. The displacement sensor 20 is set on the cutting head 10, and the contact follower device 30 is connected to both the sensing end of the displacement sensor 20 and the driving end of the lifting drive assembly 40.

[0045] A mounting bracket can be fixed on the cutting head 10. The displacement sensor 20 is mounted on the cutting head 10 via the mounting bracket. The lifting drive assembly 40 is mounted on the mounting bracket or the displacement sensor 20. The displacement sensor 20 includes a guide rail, a slider, and other structures. A contact follower device 30 is connected to the slider. Through the transmission of the guide rail and the slider, the displacement sensor 20 and the contact follower device 30 will generate a vertical displacement. This displacement is converted into an analog voltage and transmitted to the control system port. The control system reads the value of the analog voltage, calculates the distance between the nozzle of the cutting head 10 and the product surface, and then drives the cutting head 10 to rise and fall via the Z-axis, so that the distance between the nozzle of the cutting head 10 and the product surface is equal to the preset height.

[0046] The height of the nozzle of the cutting head 10 is detected by the displacement sensor 20 in conjunction with the contact servo device 30. Even if the dielectric constant of the nozzle, the product, or the medium between the nozzle and the product changes, the detection accuracy of the displacement sensor 20 will not be affected.

[0047] However, during laser-flame perforation, when the plate is thick and the flame core diameter is large, a large amount of molten slag will be generated. The molten slag generated during perforation will splash onto the contact-type follower device 30, causing a large amount of molten slag to adhere to the contact-type follower device 30, making it unable to slide on the plate, and the follower height will also be inaccurate.

[0048] Meanwhile, the flame will continue to burn, and the surrounding temperature is extremely high, which will cause the contact follower device 30 to be easily damaged by the high temperature, resulting in the failure of the follower control. During cutting, the contact follower device 30 is in contact with the surface of the plate for a long time, which is easy to wear, resulting in frequent replacement of parts. When the cutting head 10 is lifted, the contact follower device 30 has no fulcrum, will automatically fall and block the nozzle, making it inconvenient to replace the nozzle.

[0049] By setting up the lifting drive assembly 40, the contact-type follower device 30 can be driven to rise during cutting. First, it effectively avoids the problems of inaccurate follow-up and damage to the contact-type follower device 30 due to slag adhesion and high-temperature burning during the piercing process; second, it effectively avoids the problem of the follower device burning out due to prolonged high-temperature burning during the cutting process; and third, it effectively avoids the problem of excessive wear caused by prolonged contact between the follower device contacts and the plate surface.

[0050] Furthermore, before replacing the nozzle, the contact follower device 30 can be raised by the lifting drive assembly 40 to facilitate nozzle replacement.

[0051] The lifting drive assembly 40 can be driven by a cylinder, with the contact follower 30 connected to the piston rod of the cylinder. The extension or retraction of the cylinder piston rod drives the contact follower 30 to move up and down. For example, when the cylinder piston rod retracts, the contact follower 30 rises; when the cylinder piston rod extends, the contact follower 30 lowers, and the cylinder is in a relaxed state, allowing the contact follower 30 to move relative to the cylinder, and causing a voltage change in the displacement sensor 20 related to the amount of relative displacement.

[0052] The lifting drive assembly 40 can also use a motor, electric cylinder, and guide rail slider to drive the lifting of the contact follower device 30, or use a spring mechanism to complete the lifting of the contact follower device 30, or use other existing lifting drive methods to achieve lifting.

[0053] Please see Figure 4 and Figure 5The contact-type follower device 30 may include a transmission bracket 31 and multiple contact elements 32. The transmission bracket 31 is connected to both the sensing end of the displacement sensor 20 and the driving end of the lifting drive assembly 40. The multiple contact elements 32 are disposed on the transmission bracket 31 and are used to contact the surface of the product. The part of the contact element 32 that contacts the product is the contact point of the contact-type follower device 30.

[0054] Contact element 32 may surround the nozzle of cutting head 10 to contact the surface of the material from all directions of cutting head 10. It also ensures that at least one contact element 32 can contact the surface of the material when the material is cut or when cutting head 10 moves to the edge of the material.

[0055] Specifically, the transmission bracket 31 is connected to both the slider of the displacement sensor 20 and the piston rod of the cylinder, and a through hole is provided on the transmission bracket 31 so that the transmission bracket 31 can be sleeved on the cutting head 10; the contact element 32 is a round-headed nut, and the number is set to four, which are arranged in a circle on the transmission bracket 31 at 90-degree intervals.

[0056] Alternatively, the contact-type follower device 30 can also be a follower device from other existing laser cutting equipment to achieve its follower movement to the cutting head 10 and contact with the product surface.

[0057] In some embodiments, the step of measuring the height of the cutting head from the product surface using a distance sensor in step S30 includes: S311, The lifting drive assembly drives the contact follower to move below the nozzle of the cutting head; S312. Control the cutting head to descend until the contact point of the contact-type follower device contacts the surface of the product; S313. The voltage value measured by the displacement sensor is acquired in real time and compared with the reference voltage value to confirm the height of the nozzle of the cutting head from the product surface.

[0058] The voltage value measured by the displacement sensor 20 is typically linearly related to the displacement generated within the sensor 20; for example, a smaller voltage value indicates a larger displacement, or vice versa. The reference voltage is usually selected as the voltage V0 measured by the displacement sensor 20 when the nozzle of the cutting head 10 is 0 meters above the product surface.

[0059] During the actual piercing and cutting process, after determining that the horizontal distance moved by the cutting head 10 has reached the preset distance, the control system can send a signal to control the cylinder piston rod to extend, causing the contact follower device 30 to descend. Then, the cutting head 10 is lowered by controlling the Z-axis. After the contact point of the contact follower device 30 contacts the surface of the board, the displacement sensor 20 will generate an upward displacement Δh, which is converted into a voltage V. The control system can compare the current voltage V with the reference voltage V0 to obtain the height of the nozzle of the cutting head 10 from the product surface in real time, and then adjust the nozzle of the cutting head 10 to the preset height based on the confirmed height.

[0060] Of course, before the cutting head 10 starts cutting, the height of the nozzle of the cutting head 10 from the product surface can be confirmed through steps S31-33, and then the nozzle of the cutting head 10 can be adjusted to the preset height according to the confirmed height.

[0061] In some embodiments, step S30, which involves controlling the cutting head to rise and fall to a preset height based on the measured height, includes: S321. Control the cutting head to descend, so that the height of the nozzle of the cutting head from the product surface is the reference height. Record the Z-axis coordinate of the cutting head at this time. The Z-axis coordinate of the cutting head was obtained when the height of the nozzle of the cutting head from the product surface was 0. ; S322, Set preset height The cutting head is driven to rise and fall, moving it to the set Z-axis coordinate. .

[0062] During the measurement process, after the contact point of the contact-type follower device 30 contacts the surface of the product, the height of the nozzle of the cutting head 10 from the product surface can be obtained in real time based on the voltage value measured in real time by the displacement sensor 20. A reference height is then set. After confirming that the cutting head 10 has reached the reference height, the descent stops. Then, the cutting head 10 is driven to rise via the Z-axis, raising it to the set Z-axis coordinate. At this time, the nozzle of the cutting head 10 is at a preset height from the product surface. .

[0063] During each measurement, the cutting head 10 is moved to the reference height. Then move from the reference height to the preset height. This ensures that the cutting head 10 moves the same distance each time the height is adjusted, thereby reducing errors and improving the accuracy of the cutting head 10's movement.

[0064] In some embodiments, the process of setting the reference voltage V0 includes: The drive end of the lifting drive assembly is controlled to rise and fall to a preset height range. After the contact follower device is installed on the drive end of the lifting drive assembly, the contact point of the contact follower device is lower than the nozzle of the cutting head and contacts the product surface. Lower the cutting head so that the cutting head nozzle contacts the product surface, obtain the voltage measured by the displacement sensor, and set it as the reference voltage.

[0065] In practice, the piston rod of the cylinder is extended, and the cutting head 10 is lowered so that the nozzle is a certain distance from the board surface, for example, about 20mm. Then, the contact follower device 30 is installed on the cutting head 10, and during the installation process, it is ensured that the contact of the contact follower device 30 is in contact with the board surface. Next, the position of the displacement sensor 20 is adjusted so that it is under pressure and has voltage sensing, and it is necessary to ensure that the system port can obtain the voltage value. Finally, the cutting head 10 is slowly lowered so that the bottom end of the nozzle of the cutting head 10 contacts the board surface, and the voltage of the displacement sensor 20 at this time is recorded, which is used as the reference voltage V0 when the nozzle height of the cutting head 10 is 0.

[0066] During each measurement, the voltage currently measured by the displacement sensor 20 can be compared with the reference voltage V0. The difference between the two voltages is used to determine the distance difference they represent, thereby confirming the current nozzle height of the cutting head 10.

[0067] Furthermore, other types of measuring devices can be used to replace the displacement sensor 20 for height measurement. For example, an ultrasonic sensor can be used for distance measurement. After determining that the horizontal distance moved by the cutting head 10 has reached a preset distance, the control system can send a signal to measure the height of the nozzle of the cutting head 10 through the ultrasonic sensor installed on the cutting head 10, and then adjust the cutting head 10 to the preset height for cutting.

[0068] This application also provides a height control device; please refer to [link / reference]. Figure 6 The height control device includes at least one processor A1, a communication bus A2, a memory A3, and at least one communication interface A4.

[0069] Processor A1 can be a general-purpose central processing unit (CPU), a network processor (NP), a microprocessor, or one or more integrated circuits for implementing the solution of this application, such as application-specific integrated circuits (ASICs). Specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The aforementioned PLDs can be complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), etc. Programmable gate array (FPGA), generic array logic (GAL), or any combination thereof.

[0070] Communication bus A2 is used to transmit information between the aforementioned components. Communication bus A2 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0071] Memory A3 can be a read-only memory (read memory). It can be either ROM (Read-Only Memory), Random Access Memory (RAM), or Electrically Erasable Programmable Read-Only Memory (EEPROM). Read-only memory (EEPROM), optical discs (including compact discs) Only memory, CD The memory A3 may be a ROM (ROM), compressed optical disc, laser disc, digital universal optical disc, Blu-ray disc, etc., disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. The memory A3 may exist independently and be connected to the processor A1 via the communication bus A2. Alternatively, the memory A3 may be integrated with the processor A1.

[0072] Communication interface A4 uses any transceiver-like device for communicating with other devices or communication networks. Communication interface A4 includes a wired communication interface and may also include a wireless communication interface. The wired communication interface can be, for example, an Ethernet interface. The Ethernet interface can be an optical interface, an electrical interface, or a combination thereof. The wireless communication interface can be a wireless local area network (WLAN) interface, a cellular network communication interface, or a combination thereof.

[0073] In a specific implementation, processor A1 may include one or more CPUs.

[0074] In a practical implementation, a highly controlled device may include multiple processors. Each of these processors may be a single-core processor or a multi-core processor. Here, a processor may refer to one or more devices, circuits, and / or processing cores used to process data (such as computer program instructions).

[0075] In a specific implementation, as one embodiment, the height control device may further include an output device A5 and an input device A6. The output device A5 communicates with the processor A1 and can display information in various ways. For example, the output device A5 may be a liquid crystal display (LCD), a light-emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector, etc. The input device A6 communicates with the processor A1 and can receive user input in various ways. For example, the input device A6 may be a displacement sensor 10, other types of distance sensors, a mouse, a keyboard, a touchscreen device, or other sensing devices, etc.

[0076] In some embodiments, memory A3 is used to store program code A7 that executes the scheme of this application, and processor A1 can execute program code A7 stored in memory A3. The program code A7 may include one or more software modules, and the height control device can implement the height control method provided in the foregoing embodiments through processor A1 and program code A7 in memory A3.

[0077] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital versatile disc (DVD)), or a semiconductor medium (e.g., solid-state disk (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiments of this application can be a non-volatile storage medium; in other words, it can be a non-transient storage medium.

[0078] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the steps of the above-described high-level control method.

[0079] This application also provides a computer program product containing instructions that, when executed on a computer, cause the computer to perform the steps of the aforementioned height control method. Alternatively, a computer program is provided that, when executed on a computer, causes the computer to perform the steps of the aforementioned height control method.

[0080] It is understood that those skilled in the art can make equivalent substitutions or changes based on the technical solution and concept of this application, and all such substitutions or changes should fall within the protection scope of the appended claims.

Claims

1. A height control method, characterized in that, Including the following steps: During the cutting process, the horizontal distance the cutting head moves is calculated, and it is determined whether the preset distance has been reached; If the target height is not reached, the cutting head will continue cutting at the current height. If the desired height is achieved, the distance sensor measures the height from the nozzle of the cutting head to the product surface. Based on the measured height, the cutting head is controlled to rise and fall to the preset height, and cutting is performed at the preset height. It also includes the following steps: Obtain the maximum allowable slope of the product surface for cutting. And obtain the maximum allowable height error of the product surface during cutting. ; Set preset distance and set a preset distance ≤ .

2. The height control method according to claim 1, characterized in that, The step of calculating the horizontal distance the cutting head moves includes: Record the coordinates of the cutting head's position during the last distance sensor measurement. , ); Get the coordinates (x, y) of the current cutting head position; Horizontal distance of cutting head movement = .

3. The height control method according to claim 1 or 2, characterized in that, The distance sensor is a displacement sensor. The cutting head is equipped with a contact follower device and a lifting drive assembly. The displacement sensor is located on the cutting head, and the contact follower device is connected to both the sensing end of the displacement sensor and the driving end of the lifting drive assembly.

4. The height control method according to claim 3, characterized in that, The step of measuring the height of the cutting head from the product surface using a distance sensor includes: The lifting drive assembly drives the contact follower to move below the nozzle of the cutting head; The cutting head is controlled to descend until the contact point of the contact-type follower device contacts the surface of the product; The voltage value measured by the displacement sensor is acquired in real time and compared with the reference voltage value to confirm the height of the nozzle of the cutting head from the product surface.

5. The height control method according to claim 4, characterized in that, It also includes the following steps: The drive end of the lifting assembly is controlled to rise and fall to a preset height range. After the contact follower device is installed on the drive end of the lifting assembly, the contact point of the contact follower device is lower than the nozzle of the cutting head and contacts the product surface. Lower the cutting head so that the cutting head nozzle contacts the product surface, obtain the voltage measured by the displacement sensor, and set it as the reference voltage.

6. The height control method according to claim 4, characterized in that, The step of controlling the cutting head to rise and fall to a preset height based on the measured height includes: Control the cutting head to descend, ensuring the nozzle height above the product surface is the reference height. Record the Z-axis coordinate of the cutting head at this time. The Z-axis coordinate of the cutting head was obtained when the height of the nozzle of the cutting head from the product surface was 0. ; Set preset height The cutting head is driven to rise and fall, moving it to the set Z-axis coordinate. .

7. The height control method according to claim 1, characterized in that, The cutting head is a laser-plus-flame composite cutting head.

8. A height control device, characterized in that, It includes a processor and a memory; the memory is used to store a computer program, the computer program including program instructions; the processor is used to invoke the computer program to implement the height control method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the height control method according to any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product stores computer instructions, which, when executed by a processor, implement the steps of the height control method according to any one of claims 1 to 7.

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