Laser cutting method and system

Abstract

The application provides a laser cutting method and system suitable for a laser processing device of a rotary table type, the laser processing device having a corresponding B-axis stroke, comprising: obtaining a safety zone based on a feeding support of the laser processing device; obtaining a plurality of alternative starting points on a second cutting track according to a pre-device selection rule, the second cutting track being a cutting track that is first cut in a current processing task; performing a plurality of times of loop processing to obtain a safe starting point and a corresponding B-axis position at the safe starting point; and performing laser cutting of the current processing task based on the pre-set B-axis movement logic, the safe starting point and the corresponding B-axis position at the safe starting point. The application improves processing safety, reduces the risk of processing interruption and can better meet the processing requirements of continuous processing in the automatic processing process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine tool control, and in particular to a laser cutting method and system. BACKGROUND

[0002] Laser processing refers to a method of processing materials using a converged laser beam, which is usually completed using a laser device including a laser, a processing machine, an optical fiber, and a laser processing head.

[0003] Existing laser devices include chuck machine types and rotary table machine types. Among them, the laser processing head of the chuck machine type remains stationary and relies on the chuck to rotate and pull the material (pipe, etc.) for cutting. Due to the mechanical movement of the chuck rotation and the swinging of the pipe, the precision is poor. The rotary table machine type is a rotary table that moves with the laser head through the optical fiber, and the material only moves on the feeding support without rotation, so the processing precision can be significantly improved.

[0004] However, on the one hand, the laser processing head of the rotary table machine type has a wider range of motion, so when the starting position of the cutting trajectory planned on the drawing is unreasonable, it is easy to cause the laser processing head to be damaged due to the falling of the parts, thereby reducing the processing safety of the rotary table machine type. On the other hand, due to the feedback limitation of the B-axis encoder and the length limitation of the optical fiber of the rotary table machine type, the B-axis stroke often needs to be limited within an interval and cannot rotate infinitely, so during the laser processing process, it is easy to cause the processing to be interrupted due to the B-axis position exceeding the range of the B-axis stroke. Therefore, not only is the processing safety poor, but also the continuous processing requirement of the automatic processing process cannot be met. SUMMARY

[0005] The present application provides a laser cutting method and system suitable for a rotary table machine type laser processing device to improve processing safety, reduce processing interruptions, and better meet the continuous processing requirements of the automatic processing process.

[0006] In a first aspect of the present application, a laser cutting method suitable for a rotary table machine type laser processing device is provided, the laser processing device having a corresponding B-axis stroke, and the laser cutting method comprising:

[0007] Based on the feeding support of the laser processing device, a safety zone is obtained;

[0008] According to a pre-device selection rule, a plurality of alternative starting points are obtained on a second cutting trajectory, the second cutting trajectory being the first cutting trajectory in the current processing task;

[0009] the Rth cycle processing, the second initial B-axis position corresponding to the second cutting trajectory at the initial safe starting point in the Rth cycle processing is obtained based on the first posture angle, the first B-axis position, the second cutting trajectory, the initial safe starting point in the Rth cycle processing, and a preset B-axis motion logic; if the second initial B-axis position corresponding to the second cutting trajectory at the initial safe starting point in the Rth cycle processing is within the range of the B-axis stroke, the initial safe starting point in the Rth cycle processing is taken as the safe starting point, and the second initial B-axis position corresponding to the second cutting trajectory at the initial safe starting point in the Rth cycle processing is taken as the B-axis position corresponding to the safe starting point; if the second initial B-axis position corresponding to the second cutting trajectory at the initial safe starting point in the Rth cycle processing is beyond the range of the B-axis stroke, a second corrected B-axis position corresponding to the initial safe starting point in the Rth cycle processing is obtained based on the second initial B-axis position corresponding to the second cutting trajectory at the initial safe starting point in the Rth cycle processing and a preset rotation correction angle; if the second corrected B-axis position corresponding to the initial safe starting point in the Rth cycle processing meets a preset B-axis constraint condition, the initial safe starting point in the Rth cycle processing is taken as the safe starting point, and the second corrected B-axis position corresponding to the initial safe starting point in the Rth cycle processing is taken as the B-axis position corresponding to the safe starting point; if the second corrected B-axis position corresponding to the initial safe starting point in the Rth cycle processing does not meet the preset B-axis constraint condition, an (R+1)th cycle processing is performed;

[0010] based on the preset B-axis motion logic, the safe starting point, and the B-axis position corresponding to the safe starting point, laser cutting of the current machining task is performed;

[0011] If there is no machining task before the current machining task, the first posture angle is a preset posture angle of a laser cutting head in the laser processing device, and the first B-axis position is a preset B-axis position. If there is a previous machining task before the current machining task, the first posture angle is a posture angle of the laser cutting head at an end position of the previous machining task, and the first B-axis position is a corresponding B-axis position at the end position of the previous machining task.

[0012] Optionally, the method of obtaining a plurality of candidate starting points on the second cutting track according to pre-device selection rules comprises: obtaining a plurality of candidate starting points according to pre-device selection starting point conditions; and sorting the plurality of candidate starting points according to pre-set sorting rules to form a candidate starting point list; wherein the pre-device selection starting point conditions comprise at least one of the following types: a long edge midpoint in the second cutting track that is longer than a preset length, a line segment midpoint in a bounding box boundary corresponding to the second cutting track after two-dimensional expansion, a plurality of preset sampling points on a distal boundary of the second cutting track, a midpoint of a specified long edge of the second cutting track outside the cutting line, and an endpoint of a micro-continuous segment in the second cutting track; the specified long edge is a line segment formed by all line segments connected end to end on the same line after two-dimensional expansion of the cutting track; and the obtaining of an initial safe starting point of the Rth cycle processing in the safety area from the plurality of candidate starting points further comprises: obtaining an initial safe starting point of the Rth cycle processing in the safety area from the plurality of candidate starting points based on the sorting of the plurality of candidate starting points in the candidate starting point list.

[0013] Optionally, the obtaining of the plurality of candidate starting points according to the pre-device selection starting point conditions further comprises: if the second cutting track is at least partially in the safety area, obtaining the plurality of candidate starting points according to the pre-device selection starting point conditions.

[0014] Optionally, the pre-set sorting rules comprise: sorting each of the candidate starting points based on a Z-axis coordinate of each of the candidate starting points, with a candidate starting point having a larger Z-axis coordinate being prioritized over a candidate starting point having a smaller Z-axis coordinate, the Z-axis being a coordinate axis parallel to a feeding direction, and the Z-axis coordinate decreasing in the feeding direction; and when the Z-axis coordinates of the plurality of candidate starting points are the same, sorting based on a pre-set type priority.

[0015] Optionally, the pre-set type priority is in the order of: an endpoint of a micro-continuous segment in the second cutting track, a midpoint of a specified long edge of the second cutting track outside the cutting line, a long edge midpoint in the second cutting track that is longer than a preset length, a line segment midpoint in a bounding box boundary corresponding to the second cutting track after two-dimensional expansion, and a plurality of preset sampling points on a distal boundary of the second cutting track.

[0016] Optionally, the Rth cycle processing further comprises: judging whether there is an obtainable initial safe starting point in the Rth cycle processing based on the sorting of the plurality of candidate starting points in the candidate starting point list; if there is, obtaining an initial safe starting point of the Rth cycle processing in the safety area from the plurality of candidate starting points based on the sorting of the plurality of candidate starting points in the candidate starting point list; and if there is not, making a not-in-safety-area prompt and aborting the cycle processing.

[0017] Optionally, when the safe starting point and the corresponding B-axis position at the safe starting point cannot be obtained in the several times of loop processing, the laser cutting method further comprises: suspending the current processing task.

[0018] Optionally, the method further comprises: if all the second cutting tracks or all the several alternative starting points are outside the safe area, and the second cutting track does not contain a micro-connection segment, adding a micro-connection segment on the second cutting track.

[0019] Optionally, the method for obtaining the second initial B-axis position corresponding to the second cutting track in the Rth loop processing based on the first attitude angle, the first B-axis position, the second cutting track, the initial safe starting point of the Rth loop processing, and the preset B-axis motion logic comprises: obtaining the attitude angle of the laser cutting head on the second cutting track based on the second cutting track; obtaining the second initial B-axis position corresponding to the initial safe starting point of the Rth loop processing based on the first attitude angle, the first B-axis position, the preset B-axis motion logic, and the attitude angle of the laser cutting head at the initial safe starting point of the Rth loop processing; and obtaining the second initial B-axis position corresponding to the second cutting track in the Rth loop processing based on the preset B-axis motion logic, the second initial B-axis position corresponding to the initial safe starting point of the Rth loop processing, and the attitude angle of the laser cutting head on the second cutting track.

[0020] Optionally, the method for obtaining the attitude angle of the laser cutting head on the second cutting track comprises: obtaining a two-dimensional normal vector of a three-dimensional normal vector of the second cutting track on a projection plane, the projection plane being perpendicular to the feeding direction of the laser processing equipment; and sampling the two-dimensional normal vector of the second cutting track on the projection plane based on a sag error to obtain the attitude angle of the laser cutting head at each sampling point in a plurality of sampling points, the plurality of sampling points including the initial safe starting point of the Rth loop processing.

[0021] Optionally, the method for obtaining the second initial B-axis position corresponding to the second cutting track in the Rth cycle processing comprises: sorting the m sampling points, m being a natural number greater than 3; obtaining the second initial B-axis position corresponding to the nth sampling point based on the preset B-axis movement logic, the second initial B-axis position corresponding to the (n-1)th sampling point, the attitude angle of the laser cutting head at the (n-1)th sampling point, and the attitude angle of the laser cutting head at the nth sampling point, wherein 2≤n≤m, n being a natural number, and when n=2, the (n-1)th sampling point is the initial safe starting point of the Rth cycle processing; and obtaining the second initial B-axis position corresponding to the second cutting track in the Rth cycle processing based on the second initial B-axis positions corresponding to the m sampling points, the second initial B-axis position corresponding to the second cutting track in the Rth cycle processing being a B-axis position range with the second initial B-axis position corresponding to the initial safe starting point of the Rth cycle processing as a starting point.

[0022] Optionally, the second initial B-axis position corresponding to the second cutting track in the Rth cycle processing is a B-axis position range with the second initial B-axis position BCur R at the initial safe starting point of the Rth cycle processing as a starting point, and the method for obtaining the second corrected B-axis position BAdj R corresponding to the initial safe starting point of the Rth cycle processing comprises: obtaining the first correction angle value ExtRotation0 R of the Rth cycle processing based on the relationship between the second initial B-axis position corresponding to the second cutting track other than the initial safe starting point of the Rth cycle processing and the B-axis stroke, and a first preset correction angle; obtaining the second correction angle value ExtRotation1 R of the Rth cycle processing based on the relationship between the second initial B-axis position corresponding to the second cutting track other than the initial safe starting point of the Rth cycle processing and the B-axis stroke, and a second preset correction angle; and obtaining the second corrected B-axis position BAdj R corresponding to the initial safe starting point of the Rth cycle processing if at least one of the first correction angle value ExtRotation0 R and the second correction angle value ExtRotation1 R is not 0°, wherein BAdj R =BCur R +ExtRotation0 R +ExtRotation1 R .

[0023] Optionally, the first correction angle value ExtRotation0 RThe method further comprises: if the second initial B-axis position BCur R outside the range of the B-axis stroke, based on the first preset correction angle and the corresponding correction direction, forming the first correction angle value ExtRotation0 R ; if the second initial B-axis position BCur R inside the range of the B-axis stroke, the first correction angle value ExtRotation0 R is 0°; wherein, if the second initial B-axis position BCur R exceeds the positive limit of the B-axis stroke, in the Rth cycle processing, the correction direction corresponding to the first preset correction angle is reverse; if the second initial B-axis position BCur R exceeds the negative limit of the B-axis stroke, in the Rth cycle processing, the correction direction corresponding to the first preset correction angle is positive.

[0024] Optionally, the method for obtaining the second correction angle value ExtRotation1 R further comprises: if the second initial B-axis position corresponding to the second cutting track outside the initial safe starting point of the Rth cycle processing exceeds the range of the B-axis stroke, based on the second preset correction angle and the corresponding correction direction, forming the second correction angle value ExtRotation1 R ; if the second initial B-axis position corresponding to the second cutting track outside the initial safe starting point of the Rth cycle processing is inside the range of the B-axis stroke, the second correction angle value ExtRotation1 R is 0°; wherein, if the second initial B-axis position corresponding to the second cutting track outside the initial safe starting point of the Rth cycle processing exceeds the positive limit of the B-axis stroke, in the Rth cycle processing, the correction direction corresponding to the second preset correction angle is reverse; if the second initial B-axis position corresponding to the second cutting track outside the initial safe starting point of the Rth cycle processing exceeds the negative limit of the B-axis stroke, in the Rth cycle processing, the correction direction corresponding to the second preset correction angle is positive.

[0025] Optionally, the first preset correction angle is equal to the second preset correction angle, and the first preset correction angle and the second preset correction angle are both 360°.

[0026] Optionally, the second modified B-axis position at the initial safety starting point of the Rth cycle processing meets a preset B-axis constraint condition further includes: the second intermediate B-axis position of the Rth cycle processing and the second intermediate B-axis position range are both within the range of the B-axis stroke, wherein the second intermediate B-axis position of the Rth cycle processing is based on the second initial B-axis position BCur R superimposing the first modified angle value ExtRotation0 R forming the second intermediate B-axis position range of the Rth cycle processing is based on the second initial B-axis position BCur R , the first modified angle value ExtRotation0 R , and the second modified angle value ExtRotation1 R are superimposed.

[0027] Optionally, the method for obtaining a safety zone based on a feeding support of the laser processing device includes: obtaining the safety zone based on a support angle of the feeding support, the safety zone being within a range of the support angle.

[0028] Optionally, the preset B-axis motion logic includes: within the range of the B-axis stroke, a rotating mechanism of the laser processing device moves in an arc motion between any two B-axis positions, and when the B-axis position is at 180°, the rotating mechanism moves to 0 position in the B-axis stroke.

[0029] Optionally, before obtaining the plurality of alternative starting points on the second cutting trajectory, the method further includes: sorting Q cutting trajectories in a current processing task according to a preset trajectory sorting rule to form current processing task trajectory information, Q being a natural number; determining the second cutting trajectory from the Q cutting trajectories according to the current processing task trajectory information; and performing laser cutting of the current processing task based on the preset B-axis motion logic, the safety starting point, and the B-axis position corresponding to the safety starting point further includes: performing laser cutting of the current processing task based on the preset B-axis motion logic, the safety starting point, the B-axis position corresponding to the safety starting point, and the current processing task trajectory information.

[0030] Optionally, the method for sorting the Q cutting tracks in the current machining task according to the preset track sorting rule to form the current machining task track information comprises: determining a rotation direction of a rotating mechanism of the laser machining device based on the first B-axis position and the preset B-axis movement logic; sorting the Q cutting tracks in the current machining task based on the first position, the rotation direction of the rotating mechanism and the shortest empty movement principle to form the current machining task track information; wherein, if there is no machining task before the current machining task, the first position is a preset position of the laser cutting head; if there is a previous machining task before the current machining task, the first position is an end position of the laser cutting head in the previous machining task.

[0031] Optionally, before the Q cutting tracks in the current machining task are sorted according to the preset track sorting rule to form the current machining task track information, the method further comprises: screening P cutting tracks in the to-be-machined range to form the current machining task containing Q cutting tracks, P is a natural number, and 1≤Q≤P.

[0032] Optionally, the method for screening the P cutting tracks in the to-be-machined range to form the current machining task containing Q cutting tracks comprises: obtaining the P cutting tracks in the to-be-machined range; dividing the P cutting tracks into first-type cutting tracks and second-type cutting tracks, the first-type cutting tracks including cut-off lines and cross-face tracks, and the second-type cutting tracks including other cutting tracks except the first-type cutting tracks; sorting each cutting track in the first-type cutting tracks in the order of Zbmax from small to large to form a first list, the Z-axis being a coordinate axis parallel to the feeding direction, the Z-axis coordinate decreasing in the feeding direction, and Zbmax being the maximum Z-axis coordinate of the bounding box of the cutting track on the Z-axis; sorting each cutting track in the second-type cutting tracks in the order of Zbmax from small to large or in the order of face sorting based on the rotation direction of the rotating mechanism to form a second list; obtaining a first target cutting track in the first list, the first target cutting track being the cutting track with the smallest Zbmax in the first list; obtaining a plurality of second target cutting tracks in the second list, the Zbmax of the second target cutting track being smaller than the Zbmax of the first target cutting track, and the Q cutting tracks including the first target cutting track and the plurality of second target cutting tracks.

[0033] Optionally, the method further comprises: during the process of performing the previous machining task, performing the plurality of times of cyclic processing.

[0034] Optionally, the method further comprises: during the process of performing the previous machining task and after the cyclic processing is completed, performing a midpoint adding processing and a fly-cut generating processing on the current machining task.

[0035] In a second aspect, the present application provides a laser cutting system, which is suitable for a laser processing device of a rotary table type, the laser processing device having a corresponding B-axis stroke, and the laser cutting system adopts the laser cutting method according to any one of the above.

[0036] In a third aspect, the present application provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of the above when executing the program.

[0037] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the method according to any one of the above when executed by a processor.

[0038] Compared with the prior art, the technical scheme of the present application has the following beneficial effects:

[0039] In the laser cutting method and system provided by the technical scheme of the present application, before the current processing task is performed, the safety zone is obtained based on the bracket angle of the feeding bracket, and in the loop processing, the safety starting point is obtained based on the initial safety starting point in the safety zone, so that the starting point of the laser cutting of the current processing task is set as the safety starting point (i.e., the laser cutting of the current processing task is performed based on the safety starting point), thereby reducing the risk of the laser cutting head being damaged by falling parts in the laser cutting process, and thus improving the processing safety of the laser processing device of the rotary table type. On this basis, since the relationship between the second initial B-axis position corresponding to the initial safety starting point and the B-axis stroke range is predicted before the current processing task is performed through the loop processing, in the case that the second initial B-axis position corresponding to the initial safety starting point exceeds the B-axis stroke range, the second corrected B-axis position which can adjust and optimize the B-axis action of the current processing task is formed, and on the basis that the second corrected B-axis position meets the preset B-axis constraint condition, the initial safety starting point is determined as the safety starting point for the subsequent laser cutting of the current processing task, so that while improving the processing safety of the laser processing device of the rotary table type, the processing interruption is reduced, and the processing demand of continuous processing in the automatic processing process is better met. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical schemes in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0041] Figure 1 is a flowchart of a laser cutting method according to an embodiment of the present application;

[0042] Figure 2 is a cross-sectional view of a feeding support, a support angle and a safety zone in a projection plane according to an embodiment of the present application;

[0043] Figure 3 is a cross-sectional view of a feeding support, a support angle and a safety zone in a projection plane according to another embodiment of the present application;

[0044] Figure 4 is a flowchart of step S500 according to an embodiment of the present application;

[0045] Figure 5 is a schematic view of a B-axis stroke, a second cutting trajectory and a laser cutting head according to an embodiment of the present application;

[0046] Figure 6 is a flowchart of the Rth cycle processing according to an embodiment of the present application;

[0047] Figure 7 is a schematic view of a first B-axis position after the B-axis stroke is developed, a second cutting trajectory and an initial safety starting point RS of the Rth cycle processing according to an embodiment of the present application;

[0048] Figure 8 is a flowchart of step S630 according to an embodiment of the present application;

[0049] Figure 9 is a schematic view of a second modified B-axis position corresponding to the safety starting point after the B-axis stroke is developed according to an embodiment of the present application. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0051] The terms "first", "second", "third", "fourth" and the like in the description and claims of the present application, and above-mentioned drawings, if any, are used as identifiers for distinguishing between similar objects, and do not necessarily describe a particular sequential or chronological order. It should be understood that the use of such identifiers is merely for the convenience of the reader and is not intended to limit the application to the application of the embodiments described herein. In addition, the terms "comprise", "comprising", "have", "having", "include", "including", and any variations thereof are intended to cover non-exclusive inclusion, such that processes, methods, systems, products, or devices that comprise, have, include a list of steps or units not necessarily limited to those explicitly listed, but can include other steps or units not expressly listed or inherent to such processes, methods, products, or devices.

[0052] The technical solutions of the application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in some embodiments.

[0053] The embodiment of the application provides a laser cutting method, which is suitable for a laser processing equipment of a rotary table type, and the laser processing equipment of the rotary table type has a corresponding B-axis stroke.

[0054] Specifically, the rotating mechanism of the laser processing equipment is a rotary table, and the B-axis is a rotary axis of the rotary table.

[0055] The corresponding B-axis stroke of the laser processing equipment is a rotation angle range of the B-axis.

[0056] Correspondingly, the B-axis stroke has a positive limit and a negative limit.

[0057] In addition, in order to facilitate explanation and description, in the embodiment of the application, a coordinate system is defined.

[0058] Specifically, the Z-axis is defined as a coordinate axis parallel to the feeding direction, a plane perpendicular to the Z-axis is a projection plane, and the projection plane contains an orthogonal coordinate system composed of the X-axis and the Y-axis, wherein the X-axis direction is a horizontal direction, the Y-axis direction is a vertical direction, and the Z-axis coordinate decreases in the feeding direction.

[0059] It should be understood that in actual application occasions, the coordinate system can be defined according to actual needs, and the definition of the coordinate system does not affect the technical effects of the application.

[0060] Please refer to Figure 1 The laser cutting method provided by the embodiment of the application comprises:

[0061] In step S400, based on the feeding support of the laser processing equipment, a safety zone is obtained.

[0062] Step S500, obtaining a plurality of candidate starting points on the second cutting track according to a pre-device selection rule;

[0063] Step S600, performing a plurality of loop processes to obtain a safe starting point and a corresponding B-axis position at the safe starting point;

[0064] Step S700, performing laser cutting of the current machining task based on a preset B-axis motion logic, the safe starting point, and the corresponding B-axis position at the safe starting point.

[0065] The following will be described in detail in conjunction with the accompanying drawings.

[0066] Please refer to Figure 2 For step S400, the safe area A is obtained based on the feeding support 10 of the laser machining device.

[0067] In some optional embodiments, the method of obtaining the safe area A based on the feeding support 10 of the laser machining device comprises: obtaining the safe area A based on the support angle C of the feeding support 10, the safe area A being within the range of the support angle C.

[0068] Specifically, on the projection plane, the area where the feeding support 10 supports the material 20 corresponds to have the support angle C.

[0069] It should be noted that in actual application scenarios, due to the different structures of various laser cutting machines, each laser cutting machine corresponds to have its own support angle C.

[0070] In addition, the support angle C not only contains angle information, but also contains position information based on the feeding support 10. Therefore, in actual application scenarios, in order to accurately express the support angle C, the range corresponding to the support angle C can be converted into a corresponding coordinate range based on the above-mentioned orthogonal coordinate system composed of the X-axis and the Y-axis, and the range of the safe area A is determined.

[0071] It should be understood that since the safe area A is obtained based on the support angle C, similar to the support angle C, the safe area A can also convert the corresponding range into a corresponding coordinate range.

[0072] In some optional embodiments, the safe area A and the support angle C have the same range. For ease of explanation, Figure 2 the range boundary of the safe area A is schematically represented by a dashed line in

[0073] In some other optional embodiments, the range of the safe area B is smaller than the range of the support angle C (as shown in Figure 3 ). Thus, the safety of the obtained safe area is higher. For ease of explanation, Figure 3 the range boundary of the safe area B is schematically represented by a dashed line in

[0074] Please continue to refer to Figure 1 In step S500, the second cutting trajectory is the cutting trajectory that is first cut in the current machining task.

[0075] It should be noted that the current machining task is a task that has not yet started processing.

[0076] In some optional embodiments, please refer to Figure 4 For step S500, the method of obtaining a plurality of alternative starting points on the second cutting trajectory according to the pre-equipment selection rule includes: step S510, obtaining a plurality of alternative starting points according to the pre-equipment selection starting point condition.

[0077] Specifically, the pre-equipment selection starting point condition includes at least one of the following types:

[0078] 1) the midpoint of the long edge in the cutting trajectory that is longer than a preset length;

[0079] 2) the midpoint of the line segment in the bounding box boundary corresponding to the two-dimensional expansion of the cutting trajectory;

[0080] 3) a plurality of preset sampling points on the distal boundary of the cutting trajectory;

[0081] 4) the midpoint of a designated long edge of the cutting trajectory other than the cutting line;

[0082] 5) the endpoint of a micro-continuous segment in the cutting trajectory.

[0083] The various types of alternative starting points will be further described below to facilitate understanding.

[0084] 1) the midpoint of the long edge in the cutting trajectory that is longer than a preset length.

[0085] Generally, in the case of taking a point on the short edge as the cutting starting point, or taking the endpoint of the line segment as the cutting starting point, the deviation of the cut pattern is large and it is not easy to perforate during cutting, resulting in poor cutting effect. Therefore, by using the midpoint of the long edge longer than the preset length as the alternative starting point, the alternative starting point is excluded from being selected on the too short edge and the endpoint of the line segment to form a safe starting point, thereby improving the cutting precision and cutting effect of laser cutting.

[0086] In some optional embodiments, the preset length is 5mm.

[0087] 2) the midpoint of the line segment in the bounding box boundary corresponding to the two-dimensional expansion of the cutting trajectory.

[0088] By taking the midpoint of the line segment in the bounding box boundary corresponding to the two-dimensional expansion of the cutting trajectory as the pre-equipment selection starting point condition, alternative starting points can be provided for cases where the cutting trajectory contains an arc, or the cutting trajectory is circular, elliptical, etc.

[0089] 3) several preset sampling points on the distal boundary of the cutting trajectory.

[0090] Specifically, the distal boundary of the cutting trajectory refers to the boundary with the largest Z-axis coordinate on the cutting trajectory.

[0091] By taking the preset sampling points on the distal boundary of the cutting trajectory as the alternative starting points, the risk of the clamping of the laser processing equipment being empty during the feeding process can be reduced.

[0092] Further, the preset sampling points can be directly selected by the technician or selected according to certain preset sampling rules.

[0093] For example, the specific number of preset sampling points, the distribution manner of preset sampling points, etc. can be preset as the sampling rules.

[0094] In some optional embodiments, the preset sampling points are multiple and uniformly distributed on the distal boundary of the cutting trajectory. For example, 5 preset sampling points uniformly distributed on the distal boundary of the cutting trajectory are taken as the alternative starting points.

[0095] 4) the midpoint of the designated long side of the cutting trajectory outside the cutting line.

[0096] The cutting line is one of the cutting trajectories, and the cutting line is usually used to cut off the pipe material so that the finished part falls off.

[0097] The designated long side refers to a line segment formed by all line segments connected head to tail on the same straight line after the cutting trajectory is unfolded in two dimensions.

[0098] Specifically, for example, when cutting a pipe material with a circular cross section according to a rectangular cutting trajectory, since the surface of the pipe material is an arc surface, the cutting trajectory formed after the rectangular cutting trajectory is unfolded in two dimensions will include multiple continuous line segments connected head to tail on the same straight line, and a long line segment is finally formed by the multiple continuous line segments connected head to tail.

[0099] 5) the endpoint of the micro-continuous segment in the cutting trajectory.

[0100] That is to say, when the cutting trajectory itself has a micro-continuous segment, the endpoint of the micro-continuous segment can be taken as the alternative starting point.

[0101] It should be understood that the types of preset alternative starting point conditions can be one, two, multiple, or all of the above types. When a smaller number of types are used, the processing efficiency can be improved. When a larger number of types are used, more alternative starting points are provided for selection, so that the safe starting point that meets the conditions and the B-axis position corresponding to the safe starting point are easily obtained.

[0102] In actual application scenarios, the pre-device selection starting point condition can also be selected according to the pre-judgment of the graphics of the cutting track. For example, when the cutting track includes an arc or a circle, the midpoint of the line segment of the bounding box boundary after the two-dimensional expansion of the cutting track can be selected as the pre-device selection starting point condition to obtain the candidate starting points; when the cutting track is a rectangle on a pipe with a circular cross-section, the midpoint of the long side of the cutting track above the preset length, the midpoint of the specified long side of the cutting track outside the cutting line, etc. can be selected as the pre-device selection starting point condition to obtain the candidate starting points.

[0103] In some optional embodiments, the step S510 of obtaining a plurality of candidate starting points according to the pre-device selection starting point condition further includes: if the second cutting track is at least partially in the safety zone, obtaining a plurality of candidate starting points according to the pre-device selection starting point condition.

[0104] Specifically, if the second cutting track is at least partially in the safety zone, the method of obtaining a plurality of candidate starting points according to the pre-device selection starting point condition includes:

[0105] determining whether all the cutting tracks are outside the safety zone;

[0106] If not, the step S510 of obtaining a plurality of candidate starting points according to the pre-device selection starting point condition is performed.

[0107] The determination of whether all the cutting tracks are outside the safety zone can be made by determining the relationship between the projection of the cutting track on the projection plane and the safety zone.

[0108] In actual application scenarios, the determination can also be made by comparing the coordinate information of the cutting track on the projection plane with the coordinate range of the safety zone.

[0109] Since the second cutting track is at least partially in the safety zone, a plurality of candidate starting points are obtained according to the pre-device selection starting point condition. Therefore, by efficiently excluding the case where a safe starting point cannot be selected from the candidate starting points, the processing efficiency is improved, and early risk warning is facilitated.

[0110] In some optional embodiments, please continue to refer to Figure 4 The method of obtaining a plurality of candidate starting points on the second cutting track according to the pre-device selection rule in step S500 further includes: step S520 of sorting a plurality of candidate starting points according to a preset sorting rule to form a candidate starting point list.

[0111] Further, the preset sorting rule includes:

[0112] 1) sorting each of the candidate starting points based on the Z-axis coordinates of each of the candidate starting points, and the candidate starting point with a larger Z-axis coordinate is prior to the candidate starting point with a smaller Z-axis coordinate;

[0113] 2) When the Z-axis coordinates of several alternative starting points are the same, the preset category priority is used for sorting.

[0114] That is to say, the larger the coordinate of the alternative starting point on the Z-axis, the higher the sorting priority, and when the coordinates of two or more alternative starting points on the Z-axis are the same, the preset category priority is used for sorting.

[0115] By giving priority to the alternative starting point with a larger Z-axis coordinate when sorting, the risk of the clamping jaw of the laser processing equipment being empty during processing can be better reduced.

[0116] In some optional embodiments, the preset category priority is in the order of: the endpoint of the micro-segment in the cutting trajectory, the midpoint of the specified long side of the cutting trajectory other than the cutting line, the long side midpoint in the cutting trajectory that is longer than the preset length, the midpoint of the line segment in the bounding box boundary corresponding to the two-dimensional expansion of the cutting trajectory, and the preset sampling points on the distal boundary of the cutting trajectory.

[0117] In order to make the description clearer, the preset category priority is shown as follows: the endpoint of the micro-segment in the cutting trajectory > the midpoint of the specified long side of the cutting trajectory other than the cutting line > the long side midpoint in the cutting trajectory that is longer than the preset length > the midpoint of the line segment in the bounding box boundary corresponding to the two-dimensional expansion of the cutting trajectory > the preset sampling points on the distal boundary of the cutting trajectory.

[0118] By taking the endpoint of the micro-segment in the cutting trajectory as the alternative starting point with the highest priority, the tool path logic of the laser cutting head can be conveniently planned, the cutting time can be saved, and the cutting efficiency can be improved.

[0119] Of course, in some other optional embodiments, other sorting methods can also be used.

[0120] Please refer to Figure 1 and Figure 6 for the step S600, a plurality of loop processes are performed to obtain the safe starting point and the B-axis position corresponding to the safe starting point, wherein the Rth loop process in the plurality of loop processes includes the step S620 of obtaining the initial safe starting point of the Rth loop process in the safe area from the plurality of alternative starting points.

[0121] R is a natural number.

[0122] The determination of whether the alternative starting point is in the safe area can be made by determining the relationship between the projection of the alternative starting point on the projection plane and the safe area.

[0123] In actual application scenarios, the initial safe starting point of the Rth loop process can also be obtained by determining whether the coordinate information of the alternative starting point on the projection plane is within the coordinate range of the safe area.

[0124] In some optional embodiments, the Rth cycle in the plurality of cycles further comprises:

[0125] determining whether there is an obtainable initial safe starting point in the Rth cycle based on the ranking of the plurality of alternative starting points in the alternative starting point list;

[0126] If not, step S610 is performed to make a not-in-safe-zone prompt and end the cycle processing;

[0127] If so, step S620 is performed.

[0128] In step S620, the method for obtaining the initial safe starting point of the Rth cycle in the plurality of alternative starting points within the safe zone further comprises: obtaining the initial safe starting point of the Rth cycle in the plurality of alternative starting points within the safe zone based on the ranking of the plurality of alternative starting points in the alternative starting point list.

[0129] Specifically, when the Rth cycle is performed, the first alternative starting point can be taken as the starting point according to the ranking order of the alternative starting points in the alternative starting point list, and each alternative starting point is sequentially screened until an alternative starting point within the safe zone is screened out, and the screened alternative starting point within the safe zone is taken as the initial safe starting point of the Rth cycle (R=1). When the Rth cycle is performed, the next alternative starting point of the initial safe starting point in the previous cycle can be taken as the starting point according to the ranking order of the alternative starting points in the alternative starting point list, and each alternative starting point is sequentially screened until an alternative starting point within the safe zone is screened out, and the screened alternative starting point within the safe zone is taken as the initial safe starting point of the Rth cycle (R≥2). On this basis, if an alternative starting point within the safe zone cannot be screened out when the Rth cycle is performed, it is determined that there is no obtainable initial safe starting point in the Rth cycle.

[0130] By making a not-in-safe-zone prompt when there is no initial safe starting point, the technical personnel are warned and the technical personnel can intervene in advance.

[0131] Please continue to refer to Figure 1 and Figure 6 For step S600, the Rth cycle in the plurality of cycles further comprises: step S630, obtaining the second initial B-axis position corresponding to the second cutting trajectory in the Rth cycle based on the first attitude angle, the first B-axis position, the second cutting trajectory, the initial safe starting point of the Rth cycle, and the preset B-axis motion logic.

[0132] Please refer to Figure 7 , Figure 7The first B-axis position, the second cutting trajectory, and the corresponding relationship between the initial safe starting point RS of the Rth cycle processing and the B-axis stroke after unfolding are schematically represented.

[0133] Specifically, the first B-axis position and the first attitude angle are determined based on whether there is a previous machining task before the current machining task:

[0134] If there is no machining task before the current machining task, the first attitude angle is a preset attitude angle of the laser cutting head in the laser processing device, and the first B-axis position is a preset B-axis position.

[0135] If there is a previous machining task before the current machining task, the first attitude angle is the attitude angle of the laser cutting head at the end position of the previous machining task, and the first B-axis position is the corresponding B-axis position at the end position of the previous machining task.

[0136] That is, in the case where there is no previous machining task, the first B-axis position and the first attitude angle are set in advance. In the case where there is a previous machining task, the first B-axis position and the first attitude angle are determined based on the first cutting trajectory, wherein the first cutting trajectory is the cutting trajectory in the previous machining task.

[0137] In some embodiments, the preset B-axis motion logic includes: within the B-axis stroke range, the rotating mechanism of the laser processing device moves between any two B-axis positions in an arc, and when the B-axis position is at 180°, the rotating mechanism moves to the 0 position in the B-axis stroke.

[0138] The 0 position in the B-axis stroke refers to the middle B-axis position between the positive limit and the negative limit of the B-axis stroke.

[0139] Since the rotating mechanism moves in an arc between any two B-axis positions within the B-axis stroke range, the B-axis action can always be completed in the shortest path without exceeding the B-axis stroke range, thereby improving the cutting efficiency.

[0140] In some optional embodiments, referring to Figure 6 and Figure 8 for step S630, based on the first attitude angle, the first B-axis position, the second cutting trajectory, the initial safe starting point of the Rth cycle processing, and the preset B-axis motion logic, the method for obtaining the second initial B-axis position corresponding to the second cutting trajectory in the Rth cycle processing includes: step S631, based on the second cutting trajectory, obtaining the attitude angle of the laser cutting head on the second cutting trajectory.

[0141] Specifically, for step S631, the method for obtaining the pose angle of the laser cutting head on the second cutting trajectory based on the second cutting trajectory comprises: step S6311, obtaining a two-dimensional normal vector of a three-dimensional normal vector of the second cutting trajectory on a projection plane; and step S6312, sampling the two-dimensional normal vector of the second cutting trajectory on the projection plane based on the camber error to obtain the pose angle of the laser cutting head at each sampling point in a plurality of sampling points.

[0142] wherein the plurality of sampling points comprises an initial safe starting point of the Rth loop processing.

[0143] In some optional embodiments, please continue to refer to Figure 6 and Figure 8 , for step S630, the method for obtaining the second initial B-axis position corresponding to the second cutting trajectory in the Rth loop processing based on the first pose angle, the first B-axis position, the second cutting trajectory, the initial safe starting point of the Rth loop processing, and the preset B-axis motion logic further comprises: step S632, obtaining the second initial B-axis position corresponding to the initial safe starting point of the Rth loop processing based on the first pose angle, the first B-axis position, the preset B-axis motion logic, and the pose angle of the laser cutting head at the initial safe starting point of the Rth loop processing.

[0144] Specifically, by the first pose angle, the first B-axis position, and the pose angle of the laser cutting head at the initial safe starting point of the Rth loop processing, the second initial B-axis position BCur corresponding to the initial safe starting point of the Rth loop processing can be calculated according to the preset B-axis motion logic without adjustment and optimization. R .

[0145] In some optional embodiments, please continue to refer to Figure 6 and Figure 8 , for step S630, the method for obtaining the second initial B-axis position corresponding to the second cutting trajectory in the Rth loop processing based on the first pose angle, the first B-axis position, the second cutting trajectory, the initial safe starting point of the Rth loop processing, and the preset B-axis motion logic further comprises: step S633, obtaining the second initial B-axis position corresponding to the second cutting trajectory in the Rth loop processing based on the preset B-axis motion logic, the second initial B-axis position corresponding to the initial safe starting point of the Rth loop processing, and the pose angle of the laser cutting head on the second cutting trajectory.

[0146] Further, for step S633, the method for obtaining the second initial B-axis position corresponding to the second cutting trajectory in the Rth loop processing based on the preset B-axis motion logic, the second initial B-axis position corresponding to the initial safe starting point of the Rth loop processing, and the pose angle of the laser cutting head on the second cutting trajectory comprises:

[0147] Step S6331, the m sampling points are sorted;

[0148] Step S6332, based on the preset B-axis motion logic, the second initial B-axis position corresponding to the n-1 sampling point, the posture angle of the laser cutting head at the n-1 sampling point, and the posture angle of the laser cutting head at the n sampling point, the second initial B-axis position corresponding to the n sampling point is obtained.

[0149] Step S6333, based on the second initial B-axis position corresponding to the m sampling points, the second initial B-axis position corresponding to the second cutting trajectory in the Rth cycle processing is obtained.

[0150] Wherein, m is the number of sampling points, and m is a natural number greater than 3. n is a natural number, and 2≤n≤m.

[0151] In addition, when n=2, the n-1 sampling point is the initial safe starting point of the Rth cycle processing.

[0152] That is to say, similar to the way of obtaining the second initial B-axis position BCur R corresponding to the initial safe starting point of the Rth cycle processing, the second initial B-axis position corresponding to each sampling point can be obtained by repeating step S6332.

[0153] On this basis, a corresponding B-axis position change range can be obtained through the second initial B-axis position corresponding to each sampling point, and thus, through the B-axis position change range and the second initial B-axis position BCur R corresponding to the initial safe starting point of the Rth cycle processing, the second initial B-axis position corresponding to the second cutting trajectory in the Rth cycle processing can be constituted without adjustment and optimization.

[0154] That is to say, the second initial B-axis position corresponding to the second cutting trajectory in the Rth cycle processing refers to the B-axis position range with the second initial B-axis position BCur R corresponding to the initial safe starting point of the Rth cycle processing as the starting point.

[0155] Please continue to refer to Figure 1, the Rth cycle in the plurality of cycle processes further comprises: if the second initial B-axis position corresponding to the second cutting track in the Rth cycle is within the range of the B-axis stroke, taking the initial safe starting point of the Rth cycle as the safe starting point, and taking the second initial B-axis position corresponding to the second cutting track at the initial safe starting point of the Rth cycle as the corresponding B-axis position at the safe starting point; if the second initial B-axis position corresponding to the second cutting track in the Rth cycle is out of the range of the B-axis stroke, obtaining the second corrected B-axis position corresponding to the initial safe starting point of the Rth cycle based on the second initial B-axis position corresponding to the second cutting track in the Rth cycle and the preset rotation correction angle.

[0156] The preset rotation correction angle includes a first preset correction angle and a second preset correction angle.

[0157] Specifically, please continue to refer to Figure 6 , execute step S640, obtain the first correction angle value ExtRotation0 R of the Rth cycle based on the second initial B-axis position BCur R and the relationship between the B-axis stroke and the first preset correction angle.

[0158] Further, for step S640, the method for obtaining the first correction angle value ExtRotation0 R of the Rth cycle comprises:

[0159] determining whether the second initial B-axis position BCur R is out of the range of the B-axis stroke;

[0160] if yes, execute steps S641 and S642, and if no, execute step S643:

[0161] Step S641, obtain the corresponding correction direction based on the limit direction exceeded by the second initial B-axis position BCur R : if the second initial B-axis position BCur R exceeds the positive limit of the B-axis stroke, the correction direction corresponding to the first preset correction angle in the Rth cycle is the reverse direction; if the second initial B-axis position BCur R exceeds the negative limit of the B-axis stroke, the correction direction corresponding to the first preset correction angle in the Rth cycle is the positive direction.

[0162] Step S642, form the first correction angle value ExtRotation0 R based on the first preset correction angle and the corresponding correction direction.

[0163] Step S643, determine the first correction angle value ExtRotation0 R is 0°.

[0164] In some alternative embodiments, the first preset correction angle is 360°. Thus, the first preset correction angle is set as the minimum rotation angle, thereby facilitating to reduce the rotation angle needed to be adjusted when correcting the second correction B-axis position corresponding to the starting point of the second cutting track, so as to facilitate to improve the processing efficiency.

[0165] Correspondingly, when the correction direction is reverse, the first correction angle value ExtRotation0 R is -360°; when the correction direction is forward, the first correction angle value ExtRotation0 R is +360°.

[0166] In some other alternative embodiments, the first preset correction angle can also be other integer multiples of 360° according to actual conditions.

[0167] Please continue to refer to Figure 6 Step S650, based on the relationship between the second initial B-axis position corresponding to the second cutting track other than the initial safe starting point of the Rth loop processing and the B-axis stroke, and the second preset correction angle, obtain the second correction angle value ExtRotation1 R of the Rth loop processing.

[0168] Further, for step S650, the method for obtaining the second correction angle value ExtRotation1 R of the Rth loop processing includes:

[0169] determine whether the second initial B-axis position corresponding to the second cutting track other than the initial safe starting point of the Rth loop processing is out of the range of the B-axis stroke;

[0170] if yes, execute step S651 and step S652, and if no, execute step S653:

[0171] Step S651, based on the exceeding limit direction of the second initial B-axis position corresponding to the second cutting track other than the initial safe starting point of the Rth loop processing, obtain the corresponding correction direction: if the second initial B-axis position corresponding to the second cutting track other than the initial safe starting point of the Rth loop processing exceeds the positive limit of the B-axis stroke, the corresponding correction direction is reverse; if the second initial B-axis position corresponding to the second cutting track other than the initial safe starting point of the Rth loop processing exceeds the negative limit of the B-axis stroke, the corresponding correction direction is forward;

[0172] Step S652: Based on the second preset correction angle and the corresponding correction direction, form the second correction angle value ExtRotation1. R ;

[0173] Step S653, determine the second correction angle value ExtRotation1 R It is 0°.

[0174] In some optional embodiments, the second preset correction angle is the same as the first preset correction angle, both being 360°. Therefore, the second corrected B-axis position BAdj corresponding to the initial safe starting point of the Rth cycle processing can be formed with a minimum rotation angle. R This will help to further improve processing efficiency.

[0175] Correspondingly, when the correction direction is reversed, the second correction angle value ExtRotation1 R -360°; when the correction direction is positive, the second correction angle value is ExtRotation1. R It is +360°.

[0176] In some other alternative embodiments, the second preset correction angle may be made into other integer multiples of 360°, depending on the actual situation.

[0177] In some other alternative embodiments, the second preset correction angle may also be different from the first preset correction angle. For example, one of them may be 360°, while the other may be 2 or 3 times 360°.

[0178] Please continue to refer to this. Figure 6 Determine the first correction angle value ExtRotation0 R Second correction angle value ExtRotation1 R Are all values ​​0°? If yes, proceed to step S660; otherwise, proceed to step S670.

[0179] Step S660: Take the initial safe starting point of the Rth cycle as the safe starting point, and take the second initial B-axis position corresponding to the initial safe starting point of the second cutting trajectory in the Rth cycle as the B-axis position corresponding to the safe starting point.

[0180] Step S670: Obtain the second corrected B-axis position BAdj corresponding to the initial safe starting point of the Rth iteration. R Among them, BADj R =BCur R +ExtRotation0 R +ExtRotation1 R .

[0181] That is, in the present embodiment, it is determined whether the second initial B-axis positions corresponding to the entire second cutting trajectory in the Rth loop processing are all within the range of the B-axis stroke by acquiring the first correction angle value ExtRotation0 R and the second correction angle value ExtRotation1 R .

[0182] In some other optional embodiments, the second initial B-axis positions corresponding to the entire second cutting trajectory in the Rth loop processing can also be directly compared with the range of the B-axis stroke to determine whether the second initial B-axis positions corresponding to the entire second cutting trajectory in the Rth loop processing are all within the range of the B-axis stroke.

[0183] On this basis, based on the initial safe starting point corresponding to the Rth loop processing being acquired, in the case that the second initial B-axis positions corresponding to the second cutting trajectory in the Rth loop processing are within the range of the B-axis stroke, there is no need to further adjust the B-axis positions.

[0184] Please continue to refer to Figure 6 , determine whether the second corrected B-axis position BAdj R at the initial safe starting point of the Rth loop processing meets the preset B-axis constraint condition, if yes, execute step S680, if not, execute step S690:

[0185] Step S680, taking the initial safe starting point of the Rth loop processing as the safe starting point, and taking the second corrected B-axis position BAdj R at the initial safe starting point of the Rth loop processing as the B-axis position corresponding to the safe starting point;

[0186] Step S690, perform the (R+1)th loop processing.

[0187] In some optional embodiments, the method for determining whether the second corrected B-axis position BAdj R at the initial safe starting point of the Rth loop processing meets the preset B-axis constraint condition includes: determining whether the second intermediate B-axis position BMid0 R and the second intermediate B-axis position range BMid1 R are all within the range of the B-axis stroke; if yes, the second corrected B-axis position BAdj R at the initial safe starting point of the Rth loop processing meets the preset B-axis constraint condition; if not, the second corrected B-axis position BAdj R at the initial safe starting point of the Rth loop processing does not meet the preset B-axis constraint condition.

[0188] Wherein, the second initial B-axis position BCur RThe first correction angle value ExtRotation0 is superimposed R , to form the second intermediate B-axis position BMid0 R . Specifically, BMid0 R = BCur + ExtRotation0.

[0189] By obtaining the second intermediate B-axis position BMid0 R , the B-axis position needed to be adjusted for the first stage of B-axis action (i.e., from the first B-axis position to the second initial B-axis position BCur R ) can be obtained in the case that the second initial B-axis position BCur R exceeds the B-axis stroke range.

[0190] On this basis, by judging whether the second intermediate B-axis position BMid0 R is within the B-axis stroke range, it can be determined whether the adjusted B-axis position in the first stage still exceeds the B-axis stroke range, so as to further determine whether the next loop processing needs to be continued to obtain a safe B-axis position in the first stage that does not exceed the B-axis stroke range.

[0191] The second initial B-axis position BCur R , the first correction angle value ExtRotation0 R , and the second correction angle value ExtRotation1 R are superimposed to form the second intermediate B-axis position range BMid1 R . Specifically, BMid1 R = BCur R + ExtRotation0 R + ExtRotation1 R + BCRan R .

[0192] BCRan is the second initial B-axis position corresponding to the second cutting track in the Rth loop processing.

[0193] It should be noted that BMid1 R and BCRan R both refer to a range.

[0194] By obtaining the second intermediate B-axis position range BMid1 R , the B-axis position range needed to be adjusted for the second stage of B-axis action (i.e., the stage of B-axis action from the second initial B-axis position BCur R according to the entire second cutting track) can be obtained in the case that the second initial B-axis position corresponding to the Rth loop processing exceeds the B-axis stroke range.

[0195] On this basis, by judging whether the second intermediate B-axis position range BMid1 R is within the range of B-axis stroke, it can be determined whether the adjusted B-axis position range in the second stage still exceeds the range of B-axis stroke, thereby further determining whether to continue the next loop processing to obtain the safe B-axis position range in the first stage that does not exceed the range of B-axis stroke.

[0196] Thus, through several loop processes, the safe starting point and the corresponding B-axis position at the safe starting point can be obtained, and the step S700 is continued to be executed based on the preset B-axis motion logic, the safe starting point, and the corresponding B-axis position at the safe starting point, to perform laser cutting of the current machining task.

[0197] Specifically, in the B-axis action of step S700, when the corresponding B-axis position at the safe starting point is obtained based on the correction of the second initial B-axis position, based on the preset B-axis motion logic, through the correction of the corresponding B-axis position at the safe starting point, the rotating mechanism will move according to the optimal arc (such as shown in Figure 9 ) motion to reach the corresponding B-axis position at the safe starting point, or move according to the optimal arc superimposed by 360° integer times to reach the corresponding B-axis position at the safe starting point.

[0198] In addition, in order to facilitate explanation and understanding, Figure 9 the process from the first B-axis position to the starting point of the current machining task is shown schematically in the first B-axis position to the second initial B-axis position, and adjusted to the process from the first B-axis position to the second corrected B-axis position by optimizing the B-axis action after the B-axis stroke is unfolded.

[0199] In the embodiment of the present application, before the current processing task is performed, the safe area is obtained based on the support angle of the feeding support, and in the loop processing, the safe starting point is obtained based on the initial safe starting point in the safe area, so that by setting the starting point of the laser cutting of the current processing task as the safe starting point (i.e. performing the laser cutting of the current processing task based on the safe starting point), the risk of the laser cutting head being damaged by falling parts during the laser cutting processing is reduced, thereby improving the processing safety of the rotary table type laser processing equipment. On this basis, since the relationship between the second initial B-axis position corresponding to the initial safe starting point and the B-axis stroke range is predicted before the current processing task is performed through the loop processing, if the second initial B-axis position corresponding to the initial safe starting point exceeds the B-axis stroke range, a second corrected B-axis position that can adjust and optimize the B-axis action of the current processing task is formed, and only when the second corrected B-axis position meets the preset B-axis constraint condition, the initial safe starting point is determined as the safe starting point for subsequent laser cutting of the current processing task. Therefore, while improving the processing safety of the rotary table type laser processing equipment, the processing interruption is reduced, and the continuous processing requirement in the automatic processing process is better met.

[0200] Moreover, since the B-axis action of the current processing task is optimized by forming the B-axis position corresponding to the safe starting point, that is, the adjustment required for the two B-axis actions from the first B-axis position to the second initial B-axis position corresponding to the second cutting trajectory starting point and the second initial B-axis position corresponding to the second cutting trajectory starting point completing the entire second cutting trajectory is concentrated in the process from the first B-axis position to the B-axis position corresponding to the safe starting point, the B-axis action optimization required for covering the aforementioned two B-axis actions is directly and one-time completed, so that the B-axis action does not need to be adjusted during the cutting according to the second cutting trajectory, thereby improving the processing efficiency while reducing the processing interruption.

[0201] In some other optional embodiments, whether the second corrected B-axis position BAdj R corresponding to the initial safe starting point of the Rth loop processing meets the preset B-axis constraint condition is determined in advance.

[0202] For example, between step S642 and step S653, whether the second intermediate B-axis position BMid0 R of the Rth loop processing is within the range of the B-axis stroke is determined:

[0203] If not, it is determined that the second corrected B-axis position BAdj R corresponding to the initial safe starting point of the Rth loop processing does not meet the preset B-axis constraint condition, and step S690 is performed to perform the (R+1)th loop processing.

[0204] If yes, between step S653 and step S670, it is judged whether the second intermediate B-axis position range BMid1 R whether in the range of B-axis stroke:

[0205] If no, the second corrected B-axis position BAdj corresponding to the initial safe starting point of the Rth cycle processing is determined R not meeting the preset B-axis constraint condition, and step S690 is performed to perform the (R+1)th cycle processing;

[0206] If yes, the second corrected B-axis position BAdj corresponding to the initial safe starting point of the Rth cycle processing is determined R meeting the preset B-axis constraint condition, and step S670 and step S680 are performed.

[0207] by splitting the preset B-axis constraint condition, and using the split preset B-axis constraint condition alone to determine the second corrected B-axis position BAdj corresponding to the initial safe starting point of the Rth cycle processing R whether meeting the preset B-axis constraint condition in advance, the second cutting trajectory cannot form a reliable second corrected B-axis position BAdj in the Rth cycle processing can be determined more in advance R to improve the B-axis action, thereby further improving the processing efficiency. In some optional embodiments, the laser cutting method further comprises: when the safe starting point and the B-axis position corresponding to the safe starting point cannot be obtained in several cycle processes, performing step S810 to suspend the current processing task.

[0208] thereby avoiding the situation of processing interruption in the process of performing the current processing task, thereby improving the processing efficiency and reducing the problems of waste materials and yield reduction.

[0209] In other optional embodiments, the laser cutting method further comprises: when the safe starting point and the B-axis position corresponding to the safe starting point cannot be obtained in several cycle processes, performing:

[0210] step S820, obtaining a second initial B-axis position corresponding to the second cutting trajectory according to a preset initial starting point;

[0211] step S830, when the second initial B-axis position does not exceed the range of B-axis stroke, continuing the current processing task based on the preset initial starting point and the corresponding second initial B-axis position;

[0212] step S840, when the second initial B-axis position exceeds the range of B-axis stroke, obtaining a second corrected B-axis position corresponding to the preset initial starting point based on the corresponding second initial B-axis position and a preset rotation correction angle;

[0213] Step S850, if the second modified B-axis position corresponding to the preset initial starting point meets the preset B-axis constraint condition, continue the current machining task according to the preset initial starting point and the second modified B-axis position corresponding to the preset initial starting point.

[0214] Step S860, if the second modified B-axis position corresponding to the preset initial starting point does not meet the preset B-axis constraint condition, then abort the current machining task.

[0215] The specific implementation of steps S820 to S860 can refer to the implementation of each step in the loop processing, which will not be repeated here.

[0216] Thus, the ability of continuous automatic machining is further enhanced.

[0217] Meanwhile, if steps S820 to S860 are performed on the basis of step S610, the ability of continuous automatic machining is further enhanced, and the technician can focus on the current machining task with higher risk for manual intervention at any time, so that the machining efficiency and machining risk are better balanced.

[0218] In some optional embodiments, the laser cutting method further comprises: if all the second cutting tracks or all the several alternative starting points are outside the safety zone, and no micro-connection segment is contained on the second cutting track, performing step S900, adding a micro-connection segment on the second cutting track.

[0219] When all the second cutting tracks or all the several alternative starting points are outside the safety zone, by adding a micro-connection segment on the second cutting track which does not contain a micro-connection segment, the risk of the laser cutting head being damaged by the falling workpiece can be better avoided, thereby further improving the machining safety.

[0220] In some optional embodiments, step S900 further comprises: adding a micro-connection segment on the second cutting track and making a prompt that it is not in the safety zone.

[0221] In some other optional embodiments, if all the second cutting tracks or all the several alternative starting points are outside the safety zone, and no micro-connection segment is contained on the second cutting track, the above-mentioned step S900 and the above-mentioned steps S820 to S860 are performed.

[0222] In some optional embodiments, the endpoint of the micro-connection segment added on the second cutting track is taken as the preset initial starting point.

[0223] In some other optional embodiments, the endpoint of the original micro-connection segment on the second cutting track is taken as the preset initial starting point.

[0224] Please continue to refer to Figure 1In some optional embodiments, before step S400, the laser cutting method further comprises: step S100, screening P cutting tracks in the range to be processed to form a current processing task containing Q cutting tracks.

[0225] wherein P is a natural number, Q is a natural number, and 1≤Q≤P.

[0226] In some optional embodiments, the method for screening P cutting tracks in the range to be processed to form a current processing task containing Q cutting tracks in step S100 further comprises:

[0227] Step S110, obtaining P cutting tracks in the range to be processed;

[0228] Step S120, dividing the P cutting tracks into first-type cutting tracks and second-type cutting tracks;

[0229] Step S130, sorting each cutting track in the first-type cutting tracks in the order of Zbmax from small to large to form a first list;

[0230] Step S140, sorting each cutting track in the second-type cutting tracks in the order of Zbmax from small to large, or in the order of surface based on the rotation direction of the rotating mechanism, to form a second list;

[0231] Step S140, obtaining a first target cutting track in the first list;

[0232] Step S150, obtaining several second target cutting tracks in the second list.

[0233] wherein the first-type cutting tracks include cross-face tracks and cross-cut lines, and the second-type cutting tracks include other cutting tracks except the first-type cutting tracks.

[0234] Zbmax is the maximum Z-axis coordinate of the bounding box of the cutting track on the Z-axis

[0235] The first target cutting track is the cutting track with the smallest Zbmax in the first list.

[0236] The Zbmax of the second target cutting track is smaller than the Zbmax of the first target cutting track. Correspondingly, the several second target cutting tracks refer to all cutting tracks in the second list that meet the requirements of the second target cutting track.

[0237] The Q cutting tracks include the first target cutting track and the several second target cutting tracks.

[0238] Please continue to refer to Figure 1 In some optional embodiments, after step S100, the laser cutting method further comprises:

[0239] In step S200, the Q cutting tracks in the current machining task are sorted according to a preset track sorting rule to form track information of the current machining task.

[0240] In step S300, a second cutting track is determined from the Q cutting tracks according to the track information of the current machining task.

[0241] The track information of the current machining task includes the cutting tracks that need to be machined in the current machining task and the order of cutting the cutting tracks.

[0242] On this basis, in some optional embodiments, for step S700, the laser cutting of the current machining task based on the preset B-axis movement logic, the safe starting point, and the B-axis position corresponding to the safe starting point further includes: laser cutting of the current machining task based on the preset B-axis movement logic, the safe starting point, the B-axis position corresponding to the safe starting point, and the track information of the current machining task.

[0243] In some optional embodiments, for step S200, the method of sorting the Q cutting tracks in the current machining task according to the preset track sorting rule to form the track information of the current machining task includes:

[0244] In step S210, the rotation direction of the rotating mechanism of the laser machining device is determined based on the first B-axis position and the preset B-axis movement logic.

[0245] In step S220, the Q cutting tracks in the current machining task are sorted based on the first position, the rotation direction of the rotating mechanism, and the shortest displacement principle to form the track information of the current machining task.

[0246] If there is no machining task before the current machining task, the first position is a preset position of the laser cutting head; if there is a previous machining task before the current machining task, the first position is the end position of the laser cutting head in the previous machining task.

[0247] In some optional embodiments, the Q cutting tracks in the current machining task can be sorted by face sorting to form the track information of the current machining task.

[0248] In some other optional embodiments, other sorting methods can also be used to sort the Q cutting tracks in the current machining task to form the track information of the current machining task according to requirements.

[0249] In some optional embodiments, the laser cutting method further comprises: performing a plurality of cycles during the process of the previous machining task. Thus, the parameter calculation, risk prediction, risk warning and other processes performed for the current machining task are parallel to the implementation process of the previous machining task, so as to better realize automatic machining.

[0250] In some optional embodiments, the laser cutting method further comprises: performing a point-finding addition process and a fly-cut generation process for the current machining task after the cycle process is completed during the process of the previous machining task.

[0251] In some practical application scenarios, P cutting trajectories in the machining range are preliminarily screened out by CAM (Computer Aided Manufacturing) and transmitted to CAD (Computer Aided Design). Then, the steps in the embodiments of the present application are executed by CAD, and at the same time, CAM runs the automatic mechanical action of the previous machining task. When CAM completes the automatic mechanical action of the previous machining task, CAD transmits the relevant parameters obtained based on the steps in the embodiments of the present application to CAM, so as to continue running the automatic mechanical action of the current machining task. Thus, real-time scheduling in automatic machining is realized.

[0252] It should be understood that although the steps in the embodiments of the present application are numbered for ease of description and explanation, the order of the steps in the embodiments of the present application is not limited by the numbering order. The basis for performing any step is that the previous step of the step, the relevant judgment required for the step is performed, or the input data required for the step is obtained.

[0253] Correspondingly, the embodiments of the present application also provide a laser cutting system adopting the above laser cutting method, which is suitable for a rotary table type laser machining equipment having a corresponding B-axis stroke.

[0254] For the system embodiment, since it basically corresponds to the method embodiment, the relevant part can be referred to the part of the method embodiment.

[0255] The present application also provides an electronic device comprising a processor and a memory; the memory stores a program that can be called by the processor; wherein the processor implements the laser cutting method in the above-mentioned embodiments when executing the program.

[0256] The present application also provides a machine-readable storage medium having a program stored thereon, which is executed by a processor to implement the laser cutting method in the above-mentioned embodiments.

[0257] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A laser cutting method, suitable for rotary laser processing equipment, wherein the laser processing equipment has a corresponding B-axis stroke, characterized in that, The laser cutting method includes: Based on the feeding bracket of the laser processing equipment, a safe zone is obtained; According to the pre-selection rules, several alternative starting points are obtained on the second cutting trajectory, which is the cutting trajectory that is cut first in the current processing task; The process involves several iterations to obtain a safe starting point and the corresponding B-axis position. The Rth iteration of these iterations includes: obtaining an initial safe starting point for the Rth iteration within the safe zone from among several candidate starting points, where R is a natural number; obtaining a second initial B-axis position corresponding to the second cutting trajectory in the Rth iteration based on a first attitude angle, a first B-axis position, a second cutting trajectory, the initial safe starting point of the Rth iteration, and preset B-axis motion logic; if the second initial B-axis position corresponding to the second cutting trajectory in the Rth iteration is within the range of the B-axis travel, the initial safe starting point of the Rth iteration is taken as the safe starting point, and the second initial B-axis position corresponding to the initial safe starting point of the second cutting trajectory in the Rth iteration is taken as the safe starting point. The starting point corresponds to the B-axis position; if the second initial B-axis position corresponding to the second cutting trajectory in the Rth cycle exceeds the range of the B-axis travel, based on the second initial B-axis position corresponding to the second cutting trajectory in the Rth cycle and the preset rotation correction angle, the second corrected B-axis position corresponding to the initial safe starting point of the Rth cycle is obtained; if the second corrected B-axis position corresponding to the initial safe starting point of the Rth cycle meets the preset B-axis constraint condition, the initial safe starting point of the Rth cycle is taken as the safe starting point, and the second corrected B-axis position corresponding to the initial safe starting point of the Rth cycle is taken as the B-axis position corresponding to the safe starting point; if the second corrected B-axis position corresponding to the initial safe starting point of the Rth cycle does not meet the preset B-axis constraint condition, the R+1th cycle is performed. Based on the preset B-axis motion logic, the safety starting point, and the B-axis position corresponding to the safety starting point, laser cutting of the current processing task is performed; Wherein, if there is no previous processing task before the current processing task, the first attitude angle is the preset attitude angle of the laser cutting head in the laser processing equipment, and the first B-axis position is the preset B-axis position; if there is a previous processing task before the current processing task, the first attitude angle is the attitude angle of the laser cutting head at the end position of the previous processing task, and the first B-axis position is the corresponding B-axis position at the end position of the previous processing task.

2. The laser cutting method according to claim 1, characterized in that, The method for obtaining several candidate starting points on the second cutting trajectory according to pre-selection rules includes: Based on the pre-selected starting point conditions, several alternative starting points are obtained; The candidate starting points are sorted according to a preset sorting rule to form a candidate starting point list. The pre-selected starting point conditions include at least one of the following: the midpoint of the long side of the second cutting trajectory that is longer than a preset length, the midpoint of a line segment in the bounding box boundary corresponding to the two-dimensional unfolding of the second cutting trajectory, a number of preset sampling points on the far boundary of the second cutting trajectory, the midpoint of the specified long side of the second cutting trajectory other than the cutting line, and the endpoint of the micro-connecting segment in the second cutting trajectory; the specified long side is a line segment formed by all line segments connected end to end on the same straight line after the cutting trajectory is unfolded in two dimensions; The step of obtaining the initial safe starting point for the Rth cycle processing within the safe zone from among the plurality of candidate starting points further includes: obtaining the initial safe starting point for the Rth cycle processing within the safe zone from among the plurality of candidate starting points based on the sorting of the plurality of candidate starting points in the candidate starting point list.

3. The laser cutting method according to claim 2, characterized in that, The step of obtaining a plurality of candidate starting points based on pre-selected starting point conditions further includes: if the second cutting trajectory is at least partially within the safe zone, obtaining a plurality of candidate starting points based on the pre-selected starting point conditions.

4. The laser cutting method according to claim 2 or 3, characterized in that, The preset sorting rules include: The candidate starting points are sorted based on their Z-axis coordinates. Candidate starting points with larger Z-axis coordinates are given priority over candidate starting points with smaller Z-axis coordinates. The Z-axis is a coordinate axis parallel to the feeding direction, and the Z-axis coordinate decreases in the feeding direction. When several candidate starting points have the same Z-axis coordinate, they are sorted according to a preset category priority.

5. The laser cutting method according to claim 4, characterized in that, The preset categories are prioritized as follows: the endpoints of micro-connections in the second cutting trajectory, the midpoints of the specified long sides of the second cutting trajectory other than the cutting line, the midpoints of the long sides of the second cutting trajectory that are longer than a preset length, the midpoints of line segments in the bounding box boundary corresponding to the two-dimensional expansion of the second cutting trajectory, and several preset sampling points on the far boundary of the second cutting trajectory.

6. The laser cutting method according to claim 2, characterized in that, The Rth iteration in the plurality of iterations further includes: Based on the sorting of several candidate starting points in the candidate starting point list, determine whether there is an available initial safe starting point in the Rth iteration of the process. If so, based on the sorting of several candidate starting points in the candidate starting point list, obtain the initial safe starting point for the Rth cycle processing within the safe zone from among several candidate starting points; If not, issue an "Out of safe zone" warning and abort the loop process.

7. The laser cutting method according to claim 1 or 6, characterized in that, When a safe starting point and the corresponding B-axis position cannot be obtained in several cycles, the laser cutting method further includes: suspending the current processing task.

8. The laser cutting method according to claim 1, characterized in that, Also includes: If all of the second cutting trajectories or all of the candidate starting points are outside the safe zone, and the second cutting trajectories do not contain micro-connections, add micro-connections to the second cutting trajectories.

9. The laser cutting method according to claim 1, characterized in that, The method for obtaining the second initial B-axis position of the second cutting trajectory in the Rth cycle of processing, based on the first attitude angle, the first B-axis position, the second cutting trajectory, the initial safety starting point of the Rth cycle processing, and preset B-axis motion logic, includes: Based on the second cutting trajectory, the attitude angle of the laser cutting head on the second cutting trajectory is obtained; Based on the first attitude angle, the first B-axis position, the preset B-axis motion logic, and the attitude angle of the laser cutting head at the initial safe starting point of the Rth cycle, the second initial B-axis position corresponding to the initial safe starting point of the Rth cycle is obtained. Based on the preset B-axis motion logic, the second initial B-axis position corresponding to the initial safe starting point of the Rth cycle processing, and the attitude angle of the laser cutting head on the second cutting trajectory, the second initial B-axis position corresponding to the second cutting trajectory in the Rth cycle processing is obtained.

10. The laser cutting method according to claim 9, characterized in that, The method for obtaining the attitude angle of the laser cutting head on the second cutting trajectory includes: Obtain the two-dimensional normal vector of the three-dimensional normal vector of the second cutting trajectory on the projection plane, wherein the projection plane is perpendicular to the feeding direction of the laser processing equipment; Based on the bow height error, the two-dimensional normal vector of the second cutting trajectory on the projection plane is sampled to obtain the attitude angle of the laser cutting head at each sampling point in multiple sampling points, including the initial safety starting point of the Rth cycle processing.

11. The laser cutting method according to claim 10, characterized in that, The method for obtaining the second initial B-axis position corresponding to the second cutting trajectory in the Rth iteration includes: Sort the m sampling points, where m is a natural number greater than 3; Based on the preset B-axis motion logic, the second initial B-axis position corresponding to the (n-1)th sampling point, the attitude angle of the laser cutting head at the (n-1)th sampling point, and the attitude angle of the laser cutting head at the nth sampling point, the second initial B-axis position corresponding to the nth sampling point is obtained, where 2≤n≤m, n is a natural number, and when n=2, the (n-1)th sampling point is the initial safe starting point of the Rth loop processing; Based on the second initial B-axis positions corresponding to the m sampling points, the second initial B-axis position corresponding to the second cutting trajectory in the Rth cycle processing is obtained. The second initial B-axis position corresponding to the second cutting trajectory in the Rth cycle processing is a range of B-axis positions starting from the second initial B-axis position corresponding to the initial safe starting point of the Rth cycle processing.

12. The laser cutting method according to claim 9, characterized in that, The second initial B-axis position corresponding to the second cutting trajectory in the R-th cycle is the second initial B-axis position BCur corresponding to the initial safe starting point of the R-th cycle. R The B-axis position range is defined as the starting point, and the method for obtaining the second corrected B-axis position corresponding to the initial safe starting point of the Rth iteration includes: Based on the second initial B-axis position BCur R Based on the relationship with the B-axis travel and the first preset correction angle, the first correction angle value ExtRotation0 of the R-th iteration is obtained. R ; Based on the relationship between the second initial B-axis position and the B-axis travel corresponding to the second cutting trajectory other than the initial safety starting point of the Rth cycle processing, and the second preset correction angle, the second correction angle value ExtRotation1 of the Rth cycle processing is obtained. R ; If the first correction angle value ExtRotation0 R and the second correction angle value ExtRotation1 R If at least one of the values ​​is not 0°, obtain the second corrected B-axis position BAdj corresponding to the initial safe starting point of the Rth iteration. R Among them, BADj R =BCur R +ExtRotation0 R +ExtRotation1 R .

13. The laser cutting method according to claim 12, characterized in that, Obtain the first correction angle value ExtRotation0 R The method further includes: If the second initial B-axis position BCur R Beyond the range of the B-axis travel, based on the first preset correction angle and the corresponding correction direction, the first correction angle value ExtRotation0 is formed. R ; If the second initial B-axis position BCur R Within the range of the B-axis travel, the first correction angle value ExtRotation0 R It is 0°; Wherein, if the second initial B-axis position BCur R If the B-axis travel exceeds the positive limit, then in the Rth cycle of processing, the correction direction corresponding to the first preset correction angle is reversed; if the second initial B-axis position BCur R If the travel exceeds the negative limit of the B-axis, then in the Rth cycle of processing, the correction direction corresponding to the first preset correction angle is positive.

14. The laser cutting method according to claim 13, characterized in that, Obtain the second correction angle value ExtRotation1 R The method further includes: If the second initial B-axis position corresponding to the second cutting trajectory, other than the initial safety starting point of the Rth cycle, exceeds the range of the B-axis travel, a second correction angle value ExtRotation1 is formed based on the second preset correction angle and the corresponding correction direction. R ; If the second initial B-axis position corresponding to the second cutting trajectory other than the initial safety starting point of the Rth cycle processing is within the range of the B-axis travel, the second correction angle value ExtRotation1 R It is 0°; Specifically, if the second initial B-axis position corresponding to the second cutting trajectory other than the initial safety starting point of the Rth cycle exceeds the positive limit of the B-axis travel, then in the Rth cycle, the correction direction corresponding to the second preset correction angle is reversed; if the second initial B-axis position corresponding to the second cutting trajectory other than the initial safety starting point of the Rth cycle exceeds the negative limit of the B-axis travel, then in the Rth cycle, the correction direction corresponding to the second preset correction angle is positive.

15. The laser cutting method according to claim 12, characterized in that, The first preset correction angle is equal to the second preset correction angle, and both the first preset correction angle and the second preset correction angle are 360°.

16. The laser cutting method according to claim 12, characterized in that, The condition that the second corrected B-axis position corresponding to the initial safe starting point of the Rth cycle process meets the preset B-axis constraint condition further includes: the second intermediate B-axis position and the range of the second intermediate B-axis position in the Rth cycle process are both within the range of the B-axis travel, wherein the second intermediate B-axis position in the Rth cycle process is based on the second initial B-axis position BCur. R Superimposed with the first correction angle value ExtRotation0 R The second intermediate B-axis position range of the Rth iteration is formed based on the second initial B-axis position BCur. R The first correction angle value ExtRotation0 R and the second correction angle value ExtRotation1 R Formed by superposition.

17. The laser cutting method according to claim 1, characterized in that, The method for obtaining a safe zone based on the feeding bracket of the laser processing equipment includes: obtaining the safe zone based on the bracket angle of the feeding bracket, wherein the safe zone is within the range of the bracket angle.

18. The laser cutting method according to claim 1, characterized in that, The preset B-axis motion logic includes: within the B-axis travel range, the rotating mechanism of the laser processing equipment moves along a minor arc between any two B-axis positions, and when the B-axis position is 180°, the rotating mechanism moves towards the 0 position in the B-axis travel range.

19. The laser cutting method according to claim 1, characterized in that, Before obtaining the plurality of candidate starting points on the second cutting trajectory, the method further includes: sorting the Q cutting trajectories in the current processing task according to a preset trajectory sorting rule to form current processing task trajectory information, where Q is a natural number; and determining the second cutting trajectory from the Q cutting trajectories according to the current processing task trajectory information. The step of performing laser cutting of the current processing task based on the preset B-axis motion logic, the safety starting point, and the B-axis position corresponding to the safety starting point further includes: performing laser cutting of the current processing task based on the preset B-axis motion logic, the safety starting point, the B-axis position corresponding to the safety starting point, and the trajectory information of the current processing task.

20. The laser cutting method according to claim 19, characterized in that, The method for sorting the Q cutting trajectories in the current processing task according to a preset trajectory sorting rule to form the trajectory information of the current processing task includes: Based on the first B-axis position and the preset B-axis motion logic, the rotation direction of the rotating mechanism of the laser processing equipment is determined; Based on the first position, the rotation direction of the rotating mechanism, and the principle of minimizing idle distance, the Q cutting trajectories in the current processing task are sorted to form the trajectory information of the current processing task; Wherein, if there is no previous processing task before the current processing task, the first position is the preset position of the laser cutting head; if there is a previous processing task before the current processing task, the first position is the end position of the laser cutting head in the previous processing task.

21. The laser cutting method according to claim 19, characterized in that, Before sorting the Q cutting trajectories in the current processing task according to the preset trajectory sorting rules to form the trajectory information of the current processing task, the process also includes: filtering the P cutting trajectories within the processing range to form the current processing task containing Q cutting trajectories, where P is a natural number and 1≤Q≤P.

22. The laser cutting method according to claim 21, characterized in that, The method for filtering P cutting trajectories within the processing range to form a current processing task containing Q cutting trajectories includes: Obtain P cutting trajectories within the processing range; The P cutting trajectories are divided into a first type of cutting trajectory and a second type of cutting trajectory. The first type of cutting trajectory includes cutting lines and cross-surface trajectories, and the second type of cutting trajectory includes other cutting trajectories besides the first type of cutting trajectory. The cutting trajectories in the first type of cutting trajectory are sorted in ascending order of Zbmax to form a first list. The Z-axis is a coordinate axis parallel to the feeding direction. The Z-axis coordinate decreases towards the feeding direction. Zbmax is the maximum Z-axis coordinate of the bounding box of the cutting trajectory on the Z-axis. Sort the cutting trajectories in the second type of cutting trajectory according to Zbmax from smallest to largest, or according to the rotation direction of the rotating mechanism and sort by surface, to form a second list; Obtain the first target cutting trajectory from the first list. The first target cutting trajectory is the cutting trajectory with the minimum Zbmax in the first list. Several second target cutting trajectories are obtained from the second list. The Zbmax of the second target cutting trajectory is less than that of the first target cutting trajectory. The Q cutting trajectories include the first target cutting trajectory and several second target cutting trajectories.

23. The laser cutting method according to claim 1, characterized in that, Also includes: During the previous processing task, the aforementioned cyclic processing is performed several times.

24. The laser cutting method according to claim 23, characterized in that, Also includes: During the previous processing task, and after the completion of the loop processing, the current processing task is processed by adding a midpoint and generating a flying cut.

25. A laser cutting system, suitable for rotary laser processing equipment, wherein the laser processing equipment has a corresponding B-axis stroke, characterized in that, The laser cutting method described in any one of claims 1-24 is employed.

26. An electronic device, characterized in that, The method includes a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that the processor, when executing the program, implements the steps of any one of claims 1-24.

27. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of any of the methods described in claims 1-24.

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