Water jet calibration method, system and water-guided laser cutting equipment

Abstract

The invention provides a water jet calibration method, system and water-guided laser cutting equipment, and relates to the field of water-guided laser technology. The method first obtains a preset calibrator placed in a calibration area of ​​the water-guided laser cutting equipment; wherein the calibrator comprises a reflective surface, a base and a curved surface part; the reflective surface is arranged on a protruding part of the base; then a coordinate system is constructed based on a projection point of a nozzle on the calibrator as an origin, a first coordinate corresponding to the nozzle in the coordinate system is obtained, and the nozzle is controlled to emit a water jet to the calibrator, and the water jet contacts the protruding part along the curved surface tangent of the curved surface part; then an optical sensor is controlled to obtain a reflection critical point after the water jet passes through the reflective surface, and a second coordinate of the reflection critical point in the coordinate system is obtained; finally, the inclination angle of the water jet is calculated using the first coordinate and the second coordinate, and a coupling head is controlled according to the inclination angle to calibrate the water jet; the method is simple and fast, has low cost, and is easy to use and has high reliability.

Description

Technical Field

[0001] The present invention relates to the field of water-guided laser technology, and in particular to a water jet calibration method, system and water-guided laser cutting equipment. Background Art

[0002] The basic principle of water-guided laser cutting equipment is to couple a high-power pulsed laser beam into a water jet and then act on the workpiece surface to achieve processing. The laser beam is output by optical fiber coupling and focused by a lens to a nozzle placed on a flat water chamber base. The columnar water jet guide laser ejected from the nozzle acts vertically on the workpiece surface. Water-guided laser cutting equipment can produce a slit parallel to the cut section in the workpiece through the processing method of laser and water jet coupling, which not only ensures high processing precision, but also suppresses high temperature in the processing area.

[0003] It can be seen that the vertical calibration of water-guided laser cutting equipment is crucial. The water jet working perpendicularly to the workpiece can maximize the cutting efficiency. However, the calibration process of the water jet in the existing technology is relatively complicated and costly, and lacks simple and easy-to-use implementation methods. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a water jet calibration method, system and water-guided laser cutting equipment, which utilize the arc surface parts provided in the calibrator of the water-guided laser cutting equipment to obtain the reflection critical point of the water jet, and calculate the inclination angle of the water jet based on the reflection critical point, thereby realizing the calibration process of the water jet. The method is simple and fast, low in cost, and high in usability and reliability, thereby solving the problems of complex calibration process, high cost and poor usability in the prior art.

[0005] In a first aspect, an embodiment of the present invention provides a water jet calibration method, which is applied to a water-guided laser cutting device; wherein a coupling head of the water-guided laser cutting device is provided with a nozzle at one end and an optical sensor at the other end;

[0006] The method includes:

[0007] Obtain a preset calibrator placed in a calibration area of ​​a water-guided laser cutting device; wherein the calibrator includes a reflective surface, a base, and at least one arc-surface part; the reflective surface is arranged on a protruding portion of the base; the calibration area is arranged below the nozzle, and a water jet emitted from the water-guided laser cutting device contacts the protruding portion along a tangent line of the arc surface of the arc-surface part;

[0008] A coordinate system is constructed based on the projection point of the nozzle on the calibrator as the origin, a first coordinate corresponding to the nozzle in the coordinate system is obtained, and the nozzle is controlled to emit a water jet toward the calibrator;

[0009] Controlling the optical sensor to obtain the reflection critical point after the water jet passes through the reflective surface, and obtaining the second coordinate of the reflection critical point in the coordinate system;

[0010] The first coordinate and the second coordinate are used to calculate the inclination angle of the water jet, and the coupling head is controlled to calibrate the water jet according to the inclination angle;

[0011] Controlling the optical sensor to obtain the reflection critical point after the water jet passes through the reflective surface, and obtaining the second coordinate of the reflection critical point in the coordinate system, including:

[0012] Control the coupling head to emit a water jet toward the reflective surface in the protrusion along the tangent line of the arc surface of the arc surface part, and use an optical sensor to obtain a bright spot corresponding to the water jet reflected by the reflective surface;

[0013] The position of the coupling head is adjusted using a preset step length, the disappearance position of the bright spot is obtained in real time using an optical sensor, and the reflection critical point is determined based on the disappearance position;

[0014] The adjustment process of the coupling head is stopped, and the second coordinate corresponding to the reflection critical point in the coordinate system is obtained.

[0015] In one embodiment, obtaining a preset calibrator placed in a calibration area of ​​a water-guided laser cutting device includes:

[0016] Obtaining a preset fixed area in the calibrator; wherein the fixed area is located in a top concave area of ​​the calibrator;

[0017] Determine the arc surface part placed in the fixed area; wherein the arc surface part is a pin of a cylindrical structure, and the cylindrical bottom surface of the pin is fixed in the fixed part of the fixed area;

[0018] The calibrator placed in the calibration area is determined based on the pin axis.

[0019] In one embodiment, when the calibrator is provided with the same first pin and second pin, obtaining a preset calibrator placed in a calibration area of ​​the water-guided laser cutting device includes:

[0020] Acquire a first fixed area and a second fixed area preset in the calibrator; wherein the first fixed area and the second fixed area are located in a top recessed area of ​​the calibrator;

[0021] Determine a first pin placed in the first fixing area, and determine a second pin placed in the second fixing area; wherein the first pin and the second pin are both cylindrical structures, and the bottom surface of the cylinder of the first pin is fixed in the fixing portion of the first fixing area; the bottom surface of the cylinder of the second pin is fixed in the fixing portion of the second fixing area, and one bottom surface of the cylinder of the second pin contacts the side surface of the cylinder of the first pin;

[0022] A marker placed in the calibration area is determined based on the first pin axis and the second pin axis.

[0023] In one embodiment, a coordinate system is constructed based on the projection point of the nozzle on the calibrator as the origin, a first coordinate corresponding to the nozzle in the coordinate system is obtained, and the nozzle is controlled to emit a water jet toward the calibrator, including:

[0024] Determine the projection point between the nozzle and the top plane of the calibrator according to the position data of the nozzle in the water-guided laser cutting equipment;

[0025] A coordinate system is constructed based on the projection point and the top plane of the calibrator, and a first coordinate corresponding to the nozzle in the coordinate system is determined according to the distance between the nozzle and the projection point;

[0026] The nozzle is controlled to emit a water jet toward the calibrator.

[0027] In one embodiment, the inclination angle of the water jet is calculated using the first coordinate and the second coordinate, and the coupling head is controlled according to the inclination angle to calibrate the water jet, including:

[0028] Determine the horizontal inclination of the water jet using the first abscissa of the first coordinate and the second abscissa of the second coordinate;

[0029] Determine the vertical inclination of the water jet using the first ordinate of the first coordinate and the second ordinate of the second coordinate;

[0030] Determine the inclination angle of the water jet according to the horizontal inclination amount and the vertical inclination amount;

[0031] The tilt angle is used to generate a calibration instruction corresponding to the coupling head, and the coupling head is controlled to calibrate the water jet according to the calibration instruction.

[0032] In one embodiment, the method further comprises:

[0033] If the tilt angle is 0, the coupling head is controlled to stop the calibration process.

[0034] In one embodiment, determining the inclination angle of the water jet according to the horizontal inclination amount and the vertical inclination amount includes:

[0035] The inclination angle of the water jet is calculated by the following formula:

[0036] tan(A)=(X2-X1) / (Z2-Z1);

[0037] Wherein, A is the tilt angle; X1 is the first horizontal coordinate; X2 is the second horizontal coordinate; Z1 is the first vertical coordinate; Z2 is the second vertical coordinate.

[0038] In a second aspect, an embodiment of the present invention provides a water jet calibration system, which is applied to a water-guided laser cutting device, wherein a coupling head of the water-guided laser cutting device is provided with a nozzle at one end and an optical sensor at the other end;

[0039] The system includes:

[0040] The calibrator acquisition module is used to acquire a preset calibrator placed in the calibration area of ​​the water-guided laser cutting device; wherein the calibrator includes a reflective surface, a base and at least one arc-surface part; the reflective surface is arranged on the protrusion of the base; the calibration area is arranged below the nozzle, and the water jet emitted from the water-guided laser cutting device contacts the protrusion along the arc-surface tangent of the arc-surface part;

[0041] An initialization module, used to construct a coordinate system based on the projection point of the nozzle on the calibrator as the origin, obtain the first coordinate corresponding to the nozzle in the coordinate system, and control the nozzle to emit a water jet toward the calibrator;

[0042] A reflection critical point acquisition module, used to control the optical sensor to acquire the reflection critical point after the water jet passes through the reflective surface, and to acquire the second coordinate of the reflection critical point in the coordinate system;

[0043] A calibration execution module, used to calculate the inclination angle of the water jet using the first coordinate and the second coordinate, and control the coupling head to calibrate the water jet according to the inclination angle;

[0044] The reflection critical point acquisition module is also used to: control the coupling head to emit a water jet along the arc tangent of the arc surface part toward the reflective surface in the protrusion, and use the optical sensor to obtain the bright spot corresponding to the water jet reflected by the reflective surface; adjust the position of the coupling head using a preset step size, use the optical sensor to obtain the disappearance position of the bright spot in real time, and determine the reflection critical point according to the disappearance position; stop the adjustment process of the coupling head, and obtain the second coordinate corresponding to the reflection critical point in the coordinate system.

[0045] In a third aspect, an embodiment of the present invention further provides a water-conducting laser cutting device, which adopts the water jet calibration method mentioned in the first aspect during the water jet calibration process.

[0046] In a fourth aspect, an embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the steps of the water jet calibration method provided in the first aspect.

[0047] In a fifth aspect, an embodiment of the present invention further provides a storage medium storing computer executable instructions. When the computer executable instructions are called and executed by a processor, the computer executable instructions prompt the processor to implement the steps of the water jet calibration method provided in the first aspect.

[0048] A water jet calibration method, system and water-guided laser cutting equipment provided by an embodiment of the present invention are applied to water-guided laser cutting equipment; wherein a coupling head of the water-guided laser cutting equipment is provided with a nozzle at one end and an optical sensor at the other end; in the process of calibrating the water jet of the water-guided laser cutting equipment, the method first obtains a preset calibrator placed in a calibration area of ​​the water-guided laser cutting equipment; wherein the calibrator includes a reflective surface, a base and at least one arc surface part; the reflective surface is provided on a protruding part of the base; the calibration area is provided below the nozzle, and the water jet emitted from the water-guided laser cutting equipment contacts the protruding part along the arc surface tangent of the arc surface part; then a coordinate system is constructed based on the projection point of the nozzle on the calibrator as the origin, the first coordinate corresponding to the nozzle in the coordinate system is obtained, and the nozzle is controlled to emit a water jet to the calibrator; then the optical sensor is controlled to obtain the reflection critical point after the water jet passes through the reflective surface, and the second coordinate of the reflection critical point in the coordinate system is obtained; finally, the inclination angle of the water jet is calculated using the first coordinate and the second coordinate, and the coupling head is controlled according to the inclination angle to calibrate the water jet. The method utilizes the arc surface part set in the calibrator of the water-guided laser cutting equipment to obtain the reflection critical point of the water jet, and calculates the inclination angle of the water jet based on the reflection critical point, thereby realizing the calibration process of the water jet. The method is simple and fast, low in cost, and high in ease of use and reliability.

[0049] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0050] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 A flow chart of a water jet calibration method provided by an embodiment of the present invention;

[0053] Figure 2 A flowchart of step S101 in a water jet calibration method provided in an embodiment of the present invention;

[0054] Figure 3 A flowchart of step S101 in another water jet calibration method provided by an embodiment of the present invention;

[0055] Figure 4 A flow chart of step S102 in a water jet calibration method provided in an embodiment of the present invention;

[0056] Figure 5 A flow chart of step S103 in a water jet calibration method provided by an embodiment of the present invention;

[0057] Figure 6 A flowchart of step S104 in a water jet calibration method provided in an embodiment of the present invention;

[0058] Figure 7 A schematic diagram of the structure of a calibrator used in a water jet calibration method provided in an embodiment of the present invention;

[0059] Figure 8 A schematic diagram of the principle of a water jet calibration method provided by an embodiment of the present invention;

[0060] Fig. 9 A schematic diagram of the structure of a water jet calibration system provided by an embodiment of the present invention;

[0061] Fig.10 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0062] icon:

[0063] 910 - calibrator acquisition module; 920 - initialization module; 930 - reflection critical point acquisition module; 940 - calibration execution module;

[0064] 101 - processor; 102 - memory; 103 - bus; 104 - communication interface. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] The basic principle of water-guided laser cutting equipment is to couple a high-power pulsed laser beam into a water jet and then act on the workpiece surface to achieve processing. The laser beam is output by optical fiber coupling and focused by a lens to a nozzle placed on a flat water chamber base. The columnar water jet guide laser ejected from the nozzle acts vertically on the workpiece surface. Water-guided laser cutting equipment can produce a slit parallel to the cut section in the workpiece through the processing method of laser and water jet coupling, which not only ensures high processing precision, but also suppresses high temperature in the processing area.

[0067] It can be seen that the vertical calibration of water-guided laser cutting equipment is very important. The water jet works perpendicularly to the workpiece to maximize the cutting effect. However, the calibration process of the water jet in the prior art is relatively complicated, the cost is high, and there is a lack of simple and easy-to-use implementation methods. Based on this, the present invention implements a water jet calibration method, system and water-guided laser cutting equipment, which uses the arc surface parts set in the calibrator of the water-guided laser cutting equipment to obtain the reflection critical point of the water jet, and calculates the inclination angle of the water jet based on the reflection critical point, thereby realizing the calibration process of the water jet. The method is simple and fast, low in cost, and has high usability and reliability, thereby solving the problems of complex calibration process, high cost and poor usability in the prior art.

[0068] To facilitate understanding of this embodiment, firstly, a water jet calibration method disclosed in an embodiment of the present invention is described, which is applied to a water-guided laser cutting device; wherein a coupling head of the water-guided laser cutting device is provided with a nozzle at one end and an optical sensor at the other end. Figure 1 As shown, the method comprises the following steps:

[0069] Step S101, obtaining a preset calibrator placed in a calibration area of ​​a water-guided laser cutting device; wherein the calibrator includes a reflective surface, a base, and at least one curved surface part; the reflective surface is arranged on a protruding portion of the base; the calibration area is arranged below the nozzle, and a water jet emitted from the water-guided laser cutting device contacts the protruding portion along a curved surface tangent of the curved surface part;

[0070] Step S102, constructing a coordinate system based on the projection point of the nozzle on the calibrator as the origin, obtaining a first coordinate corresponding to the nozzle in the coordinate system, and controlling the nozzle to emit a water jet toward the calibrator;

[0071] Step S103, controlling the optical sensor to obtain the reflection critical point after the water jet passes through the reflective surface, and obtaining the second coordinate of the reflection critical point in the coordinate system;

[0072] Step S104, calculating the inclination angle of the water jet using the first coordinate and the second coordinate, and controlling the coupling head to calibrate the water jet according to the inclination angle.

[0073] Specifically, the calibration method uses a calibrator to implement the calibration process of the water-guided laser cutting device, and a water jet is ejected from a nozzle provided on the coupling head of the water-guided laser cutting device toward the calibrator. At this time, the calibrator is set in the calibration area, and the water jet emitted from the water-guided laser cutting device contacts the protrusion along the tangent line of the curved surface of the curved surface part. If the water jet reaches the reflective surface of the protrusion, a clear reflection will be seen in the optical sensor, and if it hits the curved surface of the curved surface part, no reflection will be seen.

[0074] The calibration process of the water jet needs to be combined with a specific coordinate system. The coordinate system is constructed based on the position data of the nozzle in the water-guided laser cutting equipment. The coordinate system is a two-dimensional coordinate system, usually constructed along the flow direction of the water jet. First, the first coordinate of the nozzle in the coordinate system is obtained, and then the optical sensor is controlled to obtain the second coordinate of the reflection critical point. Specifically, the optical sensor is controlled to obtain the reflection of the water jet in real time. When the water jet hits the reflective surface, the bright spot of the water jet will be collected in the optical sensor, indicating that the water jet hits the reflective surface at this time; when the water jet hits the curved surface of the curved part, the bright spot of the water jet will not be collected in the optical sensor, indicating that the water flow does not hit the reflective surface at this time. The acquisition of the reflection critical point is based on this bright spot. After the reflection critical point is obtained, its corresponding second coordinate can be obtained through the coordinate system.

[0075] After the first coordinate and the second coordinate are determined, the angle between them can be calculated, so as to calculate the inclination angle of the water jet, and then use the inclination angle to generate the corresponding calibration instruction to control the coupling head to calibrate the water jet. The calibration process uses the inclination angle to characterize the degree of inclination of the coupling head, so that the inclination angle can be used as an indicator parameter to adjust the position of the coupling head. The control effect is to reduce the inclination angle of the nozzle water jet until it is 0. The final effect of the calibration is that the inclination angle is 0. At this time, the columnar water jet ejected from the nozzle acts vertically on the surface of the workpiece, which can maximize the cutting effect. At this time, the coupling head can be controlled to stop the calibration process.

[0076] In one embodiment, the step S101 of obtaining a preset calibrator placed in a calibration area of ​​a water-guided laser cutting device is as follows: Figure 2 As shown, including:

[0077] Step S201, obtaining a preset fixed area in the calibrator; wherein the fixed area is located in a top concave area of ​​the calibrator;

[0078] Step S202, determining the arc surface part placed in the fixed area; wherein the arc surface part is a pin of a cylindrical structure, and the cylindrical bottom surface of the pin is fixed in the fixed part of the fixed area;

[0079] Step S203: Determine a calibrator placed in the calibration area based on the pin axis.

[0080] Specifically, the pin in the calibrator is a detachable component. When using the calibrator, it is necessary to first obtain the preset fixed area in the calibrator, and then determine the arc surface part placed in the fixed area. At this time, the arc surface part is placed in the fixed area of ​​the calibrator, and the arc surface part is a cylindrical pin. The bottom surface of the cylinder of the pin is fixed in the fixed area of ​​the calibrator and fixed by the fixing part. Finally, the calibrator placed in the calibration area is determined based on the pin. In the actual operation process, after the pin is fixed in the calibrator, the calibrator can be placed in the calibration area, and the water jet emitted from the water-guided laser cutting equipment can contact the protrusion along the tangent of the cylindrical side of the pin.

[0081] In one embodiment, the calibrator is provided with the same first pin and second pin, and at this time, a step S101 of obtaining a preset calibrator placed in the calibration area of ​​the water-guided laser cutting device is performed, such as Figure 3 As shown, including:

[0082] Step S301, obtaining a first fixed area and a second fixed area preset in the calibrator; wherein the first fixed area and the second fixed area are located in a top concave area of ​​the calibrator;

[0083] Step S302, determine the first pin placed in the first fixed area, and determine the second pin placed in the second fixed area; wherein the first pin and the second pin are both cylindrical structures, and the bottom surface of the cylinder of the first pin is fixed in the fixed part of the first fixed area; the bottom surface of the cylinder of the second pin is fixed in the fixed part of the second fixed area, and one bottom surface of the cylinder of the second pin is in contact with the side surface of the cylinder of the first pin.

[0084] Step S303: Determine a calibrator placed in the calibration area based on the first pin and the second pin.

[0085] Specifically, first obtain the first fixed area and the second fixed area preset in the calibrator, then determine the first pin placed in the first fixed area, and determine the second pin placed in the second fixed area. Since the first pin and the second pin are both detachable components, it is necessary to first place the first pin in the first fixed area of ​​the calibrator during the use of the calibrator. The first pin is a cylinder, and the bottom surface of the cylinder is fixed in the first fixed area of ​​the calibrator, and is fixed by its corresponding fixing part. Then place the second pin in the second fixed area of ​​the calibrator, and the second pin is also a cylinder, and the bottom surface of the cylinder is fixed in the second fixed area, one of the bottom surfaces is fixed in the fixing part of the second fixed area, and the other bottom surface contacts the side surface of the cylinder of the first pin, thereby fixing the second pin in the second fixed area, and finally determine the calibrator placed in the calibration area based on the first pin and the second pin. The specific structure of the calibrator at this time is as follows Figure 7 As shown, no further details are given.

[0086] In one embodiment, a coordinate system is constructed based on the projection point of the nozzle on the calibrator as the origin, a first coordinate corresponding to the nozzle in the coordinate system is obtained, and the nozzle is controlled to emit a water jet toward the calibrator in step S102, such as Figure 4 As shown, including:

[0087] Step S401, determining the projection point between the nozzle and the top plane of the calibrator according to the position data of the nozzle in the water-guided laser cutting equipment;

[0088] Step S402, constructing a coordinate system based on the projection point and the top plane of the calibrator, and determining a first coordinate corresponding to the nozzle in the coordinate system according to the distance between the nozzle and the projection point;

[0089] Step S403, controlling the nozzle to emit a water jet toward the calibrator.

[0090] As a two-dimensional coordinate system, this coordinate system is constructed based on the position data of the nozzle in the water-guided laser cutting equipment. The origin of this coordinate system can be determined by the projection point between the nozzle and the top plane of the calibrator. After determining the projection point according to the position data of the nozzle in the water-guided laser cutting equipment, the coordinate system is constructed in combination with the top plane of the calibrator, and then the first coordinate corresponding to the nozzle in the coordinate system is determined according to the distance between the nozzle and the projection point. If the projection point is the origin of the coordinate system, the horizontal coordinate under the first coordinate is zero, and the vertical coordinate is the distance between the nozzle and the projection point.

[0091] In one embodiment, the step S103 of controlling the optical sensor to obtain the reflection critical point after the water jet passes through the reflective surface and obtaining the second coordinate of the reflection critical point in the coordinate system is as follows: Figure 5 As shown, including:

[0092] Step S501, controlling the coupling head to emit a water jet toward the reflective surface in the protrusion along the arc surface tangent of the arc surface part, and using an optical sensor to obtain a bright spot corresponding to the water jet reflected by the reflective surface;

[0093] Step S502, adjusting the position of the coupling head using a preset step length, using an optical sensor to obtain the disappearance position of the bright spot in real time, and determining the reflection critical point according to the disappearance position;

[0094] Step S503, stop the adjustment process of the coupling head, and obtain the second coordinate corresponding to the reflection critical point in the coordinate system.

[0095] The process of obtaining the reflection critical point is achieved by gradually adjusting the position of the coupling head based on the optical sensor. Specifically, the position of the coupling head is gradually adjusted according to the preset step size, and then the optical sensor is used to obtain the bright spot corresponding to the water jet reflected by the reflective surface, and the reflection critical point is finally determined by the disappearance position of the bright spot. Then, the adjustment process of the coupling head is stopped, and the second coordinate corresponding to the reflection critical point is obtained in the current coordinate system.

[0096] In one embodiment, the step S104 of calculating the inclination angle of the water jet using the first coordinate and the second coordinate, and controlling the coupling head to calibrate the water jet according to the inclination angle is as follows: Figure 6 As shown, including:

[0097] Step S601, determining the horizontal inclination of the water jet using the first horizontal coordinate of the first coordinate and the second horizontal coordinate of the second coordinate;

[0098] Step S602, determining the vertical inclination of the water jet using the first ordinate of the first coordinate and the second ordinate of the second coordinate;

[0099] Step S603, determining the inclination angle of the water jet according to the horizontal inclination amount and the vertical inclination amount;

[0100] Step S604: Generate a calibration instruction corresponding to the coupling head using the tilt angle, and control the coupling head to calibrate the water jet according to the calibration instruction.

[0101] The horizontal tilt is determined by the difference between the first horizontal coordinate and the second horizontal coordinate, and the vertical tilt is determined by the difference between the first vertical coordinate and the second vertical coordinate. After the vertical tilt and the horizontal tilt are determined, the corresponding angle can be calculated according to the trigonometric function relationship to determine the tilt angle of the water jet. In the actual scenario, if the tilt angle is 0, the coupling head is controlled to stop the calibration process.

[0102] In one embodiment, determining the inclination angle of the water jet according to the horizontal inclination amount and the vertical inclination amount includes:

[0103] The inclination angle of the water jet is calculated by the following formula:

[0104] tan(A)=(X2-X1) / (Z2-Z1);

[0105] Wherein, A is the tilt angle; X1 is the first horizontal coordinate; X2 is the second horizontal coordinate; Z1 is the first vertical coordinate; Z2 is the second vertical coordinate.

[0106] like Figure 8 It can be seen from the schematic diagram of the principle of a water jet calibration method shown that a nozzle is provided at one end of the coupling head of the water-guided laser cutting equipment, and an optical sensor is provided at the other end. The water jet is ejected from the nozzle of the coupling head. The tangent point of the water jet at certain specific angles and the arc surface is the same point. When the coupling head is at different heights Z1 and Z2, the water jet will have different lengths. Because the water jet is oblique, the coupling head will have different X-coordinate positions at different heights Z1 and Z2, namely X1 and X2. If the water jet is completely vertical, the X-coordinate of the coupling head is the same at different heights Z1 and Z2, namely X1=X2. At this time, according to the formula, tanA=0, A=0.

[0107] It can be seen from the water jet calibration method in the above embodiment that the method uses the arc surface part set in the calibrator of the water-guided laser cutting equipment to obtain the reflection critical point of the water jet, and calculates the inclination angle of the water jet based on the reflection critical point, thereby realizing the calibration process of the water jet. The method is simple and fast, low in cost, and high in ease of use and reliability.

[0108] For the water jet calibration method provided in the above embodiment, the embodiment of the present invention provides a water jet calibration system, such as Fig. 9 As shown, the system is applied to a water-guided laser cutting device, wherein a nozzle is provided at one end of a coupling head of the water-guided laser cutting device, and an optical sensor is provided at the other end;

[0109] The system includes:

[0110] The calibrator acquisition module 910 is used to acquire a preset calibrator placed in the calibration area of ​​the water-guided laser cutting device; wherein the calibrator includes a reflective surface, a base and at least one curved surface part; the reflective surface is arranged on the protruding part of the base; the calibration area is arranged below the nozzle, and the water jet emitted from the water-guided laser cutting device contacts the protruding part along the curved surface tangent of the curved surface part;

[0111] Initialization module 920, used to construct a coordinate system based on the projection point of the nozzle on the calibrator as the origin, obtain the first coordinate corresponding to the nozzle in the coordinate system, and control the nozzle to emit a water jet toward the calibrator;

[0112] A reflection critical point acquisition module 930 is used to control the optical sensor to acquire the reflection critical point after the water jet passes through the reflective surface, and acquire the second coordinate of the reflection critical point in the coordinate system;

[0113] A calibration execution module 940 is used to calculate the inclination angle of the water jet using the first coordinate and the second coordinate, and control the coupling head to calibrate the water jet according to the inclination angle;

[0114] The reflection critical point acquisition module 930 is also used to: control the coupling head to emit a water jet along the arc tangent of the arc surface part toward the reflective surface in the protrusion, and use the optical sensor to obtain the bright spot corresponding to the water jet reflected by the reflective surface; adjust the position of the coupling head using a preset step size, use the optical sensor to obtain the disappearance position of the bright spot in real time, and determine the reflection critical point according to the disappearance position; stop the adjustment process of the coupling head, and obtain the second coordinate corresponding to the reflection critical point in the coordinate system.

[0115] From the water jet calibration system mentioned in the above embodiment, it can be seen that the curved surface part set in the calibrator of the water-guided laser cutting equipment is used to obtain the reflection critical point of the water jet, and the inclination angle of the water jet is calculated based on the reflection critical point, thereby realizing the calibration process of the water jet. This method is simple and fast, low in cost, and high in ease of use and reliability.

[0116] The water jet calibration system in the embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned water jet calibration method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned water jet calibration method embodiment.

[0117] This embodiment further provides a water-guided laser cutting device, which adopts the water jet calibration method mentioned in the above embodiment during the water jet calibration process.

[0118] The water jet calibration method adopted by the water-guided laser cutting device in the embodiment of the present invention during the water jet calibration process has the same implementation principle and technical effects as those in the aforementioned water jet calibration method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned water jet calibration method embodiment.

[0119] This embodiment also provides an electronic device. The structural diagram of the electronic device is as follows: Fig.10 As shown, the device includes a processor 101 and a memory 102; wherein the memory 102 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the steps of the above-mentioned water jet calibration method.

[0120] Fig.10The electronic device shown further includes a bus 103 and a communication interface 104 , and the processor 101 , the communication interface 104 and the memory 102 are connected via the bus 103 .

[0121] The memory 102 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The bus 103 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0122] The communication interface 104 is used to connect to at least one user terminal and other network units through a network interface, and send the encapsulated IPv4 message or IPv4 message to the user terminal through the network interface.

[0123] The processor 101 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 101. The above processor 101 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present disclosure can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 102, and the processor 101 reads the information in the memory 102 and completes the steps of the method of the above embodiment in combination with its hardware.

[0124] An embodiment of the present invention further provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the water jet calibration method in the above embodiment are executed.

[0125] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0126] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0127] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0128] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that can be executed by a processor. Based on this understanding, the technical solution of the present invention can essentially or in other words, the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0129] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A water jet calibration method, characterized in that: The method is applied to a water-guided laser cutting device; wherein a nozzle is provided at one end of a coupling head of the water-guided laser cutting device, and an optical sensor is provided at the other end; The method comprises: Obtain a preset calibrator placed in the calibration area of ​​the water-guided laser cutting device; wherein the calibrator includes a reflective surface, a base and at least one arc-surface part; the reflective surface is arranged on the protrusion of the base; the calibration area is arranged below the nozzle, and the water jet emitted from the water-guided laser cutting device contacts the protrusion along the arc-surface tangent of the arc-surface part; Constructing a coordinate system based on the projection point of the nozzle on the calibrator as the origin, obtaining a first coordinate corresponding to the nozzle in the coordinate system, and controlling the nozzle to emit a water jet toward the calibrator; Controlling the optical sensor to obtain a reflection critical point after the water jet passes through the reflection surface, and obtaining a second coordinate of the reflection critical point in the coordinate system; Calculating the inclination angle of the water jet using the first coordinate and the second coordinate, and controlling the coupling head to calibrate the water jet according to the inclination angle; The controlling the optical sensor to obtain the reflection critical point after the water jet passes through the reflection surface, and obtaining the second coordinate of the reflection critical point in the coordinate system, comprises: Controlling the coupling head to emit the water jet toward the reflective surface in the protrusion along the arc surface tangent of the arc surface part, and using the optical sensor to obtain the bright spot corresponding to the water jet reflected by the reflective surface; The position of the coupling head is adjusted using a preset step length, the disappearance position of the bright spot is acquired in real time using the optical sensor, and the reflection critical point is determined according to the disappearance position; The adjustment process of the coupling head is stopped, and the second coordinate corresponding to the reflection critical point in the coordinate system is obtained.

2. The water jet calibration method according to claim 1, characterized in that: The step of obtaining a preset calibrator placed in a calibration area of ​​the water-guided laser cutting device comprises: Acquire a preset fixed area in the calibrator; wherein the fixed area is located in a top recessed area of ​​the calibrator; Determine the arc surface part placed in the fixing area; wherein the arc surface part is a pin of a cylindrical structure, and the cylindrical bottom surface of the pin is fixed in the fixing part of the fixing area; The marker placed in the marking area is determined based on the pin axis.

3. The water jet calibration method according to claim 2, characterized in that: When the calibrator is provided with the same first pin and second pin, obtaining a preset calibrator placed in the calibration area of ​​the water-guided laser cutting device comprises: Acquire a first fixed area and a second fixed area preset in the calibrator; wherein the first fixed area and the second fixed area are located in a top recessed area of ​​the calibrator; Determine the first pin placed in the first fixing area, and determine the second pin placed in the second fixing area; wherein the first pin and the second pin are both cylindrical structures, and the bottom surface of the cylinder of the first pin is fixed in the fixing portion of the first fixing area; the bottom surface of the cylinder of the second pin is fixed in the fixing portion of the second fixing area, and one bottom surface of the cylinder of the second pin is in contact with the side surface of the cylinder of the first pin; The marker placed in the marking area is determined based on the first pin axis and the second pin axis.

4. The water jet calibration method according to claim 1, characterized in that: The method of constructing a coordinate system based on the projection point of the nozzle on the calibrator as the origin, obtaining a first coordinate corresponding to the nozzle in the coordinate system, and controlling the nozzle to emit a water jet toward the calibrator includes: Determine the projection point between the nozzle and the top plane of the calibrator according to the position data of the nozzle in the water-guided laser cutting device; Constructing the coordinate system based on the projection point and the top plane of the calibrator, and determining the first coordinate corresponding to the nozzle in the coordinate system according to the distance between the nozzle and the projection point; The nozzle is controlled to emit a water jet toward the calibrator.

5. The water jet calibration method according to claim 1, characterized in that: The method of calculating the inclination angle of the water jet by using the first coordinate and the second coordinate, and controlling the coupling head to calibrate the water jet according to the inclination angle, comprises: Determine the horizontal inclination of the water jet using a first abscissa of the first coordinate and a second abscissa of the second coordinate; Determine the vertical inclination of the water jet using a first ordinate of the first coordinate and a second ordinate of the second coordinate; Determining the inclination angle of the water jet according to the horizontal inclination amount and the vertical inclination amount; The tilt angle is used to generate a calibration instruction corresponding to the coupling head, and the coupling head is controlled to calibrate the water jet according to the calibration instruction.

6. The water jet calibration method according to claim 5, characterized in that: The method further comprises: If the tilt angle is 0, the coupling head is controlled to stop the calibration process.

7. The water jet calibration method according to claim 5, characterized in that: Determining the inclination angle of the water jet according to the horizontal inclination amount and the vertical inclination amount includes: The inclination angle of the water jet is calculated by the following formula: tan(A)=(X2-X1) / (Z2-Z1); Wherein, A is the tilt angle; X1 is the first horizontal coordinate; X2 is the second horizontal coordinate; Z1 is the first vertical coordinate; and Z2 is the second vertical coordinate.

8. A water jet calibration system, characterized in that: The system is applied to a water-guided laser cutting device, wherein a nozzle is arranged at one end of a coupling head of the water-guided laser cutting device, and an optical sensor is arranged at the other end; The system comprises: A calibrator acquisition module is used to acquire a preset calibrator placed in the calibration area of ​​the water-guided laser cutting device; wherein the calibrator includes a reflective surface, a base and at least one arc-surface part; the reflective surface is arranged on the protrusion of the base; the calibration area is arranged below the nozzle, and the water jet emitted from the water-guided laser cutting device contacts the protrusion along the arc tangent of the arc-surface part; An initialization module, used to construct a coordinate system based on the projection point of the nozzle on the calibrator as the origin, obtain the first coordinate corresponding to the nozzle in the coordinate system, and control the nozzle to emit a water jet toward the calibrator; A reflection critical point acquisition module, used for controlling the optical sensor to acquire the reflection critical point after the water jet passes through the reflective surface, and to acquire a second coordinate of the reflection critical point in the coordinate system; a calibration execution module, configured to calculate the inclination angle of the water jet using the first coordinate and the second coordinate, and control the coupling head to calibrate the water jet according to the inclination angle; The reflection critical point acquisition module is also used to: control the coupling head to emit the water jet toward the reflective surface in the protrusion along the arc surface tangent of the arc surface part, and use the optical sensor to obtain the bright spot corresponding to the water jet reflected by the reflective surface; adjust the position of the coupling head using a preset step size, use the optical sensor to obtain the disappearance position of the bright spot in real time, and determine the reflection critical point according to the disappearance position; stop the adjustment process of the coupling head, and obtain the second coordinate corresponding to the reflection critical point in the coordinate system.

9. A water-guided laser cutting device, characterized in that: The water-guided laser cutting device adopts the water jet calibration method described in any one of claims 1 to 7 during the water jet calibration process.

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