Laser cutting head anti-collision protection control method and device

Abstract

The present application provides a method and device for controlling the anti-collision protection of a laser cutting head, which determines the collision density entropy at each cutting gap through each cutting collision record; determines the focusing gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process, and determines the collision likelihood characteristics at each cutting corner point according to each focusing gap and all collision density entropies; determines the collision risk coefficient at each cutting gap through displacement sensitivity and all collision density entropies, and determines the anti-collision protection gap at each cutting corner point according to all collision risk coefficients and each collision likelihood characteristics; and balances the cutting gap based on each anti-collision protection gap. Based on the above scheme, the balanced adjustment of the cutting gap between the laser cutting head and the target cutting workpiece at different corners can be achieved, thereby effectively reducing the collision risk of the laser cutting head during the cutting process.

Description

Technical Field

[0001] The present application relates to the field of laser cutting technology, and more specifically, to a method and device for controlling anti-collision protection of a laser cutting head. Background Art

[0002] Laser cutting is a high-precision and high-efficiency processing technology. Laser cutting is widely used in metal processing, electronic manufacturing, automotive industry and other fields. The laser cutting head emits a high-energy laser beam and focuses on the surface of the workpiece to quickly heat and melt the local area to achieve the purpose of cutting. Due to the non-contact, high energy density and good directionality of laser cutting, it has significant advantages in cutting complex graphics and high-hardness materials.

[0003] In the laser cutting process, the relative position of the laser cutting head and the workpiece is crucial. The gap between the cutting head and the cutting workpiece, that is, the cutting gap, directly affects the cutting quality and efficiency. A too large cutting gap will cause the laser beam energy to disperse and the cutting surface to be rough; while a too small gap may cause the laser head to collide with the workpiece, causing equipment damage and production interruption. Cutting corners is one of the most challenging parts of the laser cutting process. Due to the sudden change of the cutting path, the movement speed and direction of the laser head at the cutting corner change dramatically, resulting in greater fluctuations in the cutting gap and a significant increase in the risk of collision. Laser cutting equipment usually relies on preset cutting paths and parameters to control the cutting process. However, due to the complex shape of the workpiece and the changeable material properties, the preset parameters are difficult to adapt to all cutting scenarios, especially at corners, where the limitations of the preset parameters are more obvious. Therefore, how to achieve balanced adjustment of the cutting gap between the laser cutting head and the target cutting workpiece at different corners, so as to effectively reduce the risk of collision of the laser cutting head during the cutting process, is a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides a laser cutting head anti-collision protection control method and device, which can achieve balanced adjustment of the cutting gap between the laser cutting head and the target cutting workpiece at different corners, thereby effectively reducing the collision risk of the laser cutting head during the cutting process.

[0005] In a first aspect, the present application provides a laser cutting head anti-collision protection control method, comprising:

[0006] Obtain the historical cutting records of the laser cutting head, and then obtain the historical cutting data;

[0007] Extracting all cutting collision records of the laser cutting head from the historical cutting data, and then determining the collision density entropy of the laser cutting head at each cutting gap through each cutting collision record;

[0008] Acquire the corner shape feature of each cutting corner point in the target cutting workpiece, determine the focus gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process according to each corner shape feature and the focus record in the historical cutting data, and determine the collision likelihood feature of the target cutting workpiece at each cutting corner point according to each focus gap and all collision density entropies;

[0009] Determine the displacement sensitivity of the capacitor plate in the laser cutting head during cutting, determine the collision risk coefficient of the laser cutting head at each cutting gap through the displacement sensitivity and all collision density entropies, and determine the anti-collision protection gap of the laser cutting head at each cutting corner point based on all collision risk coefficients and each collision likelihood feature;

[0010] When a laser cutting head is used to cut a target workpiece, a cutting gap between the laser cutting head and the target workpiece is balanced and adjusted based on each anti-collision protection gap, thereby completing anti-collision protection for the laser cutting head.

[0011] In some embodiments, extracting all cutting collision records of the laser cutting head from the historical cutting data specifically includes:

[0012] Obtaining collision information of each historical cutting record in the historical cutting data;

[0013] Filter out valid collision data from all collision information;

[0014] All cutting collision records of the laser cutting head are extracted from the historical cutting data according to the effective collision data.

[0015] In some embodiments, determining the collision density entropy of the laser cutting head at each cutting gap through each cutting collision record specifically includes:

[0016] For each cutting gap, the gap collision data corresponding to the cutting gap is selected from all cutting collision records;

[0017] determining a collision density of each gap collision record in the gap collision data;

[0018] The collision density entropy of the laser cutting head under the cutting gap is determined through all the collision densities, and then the collision density entropy of the laser cutting head under each cutting gap is obtained.

[0019] In some embodiments, determining the focus gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process by using the shape features of each corner and the focus records in the historical cutting data specifically includes:

[0020] For each cutting corner point in the target cutting workpiece, obtaining a corner shape feature of the cutting corner point;

[0021] Screening all focus records of the corner shape feature in the historical cutting data;

[0022] The focusing gap of the laser between the nozzle and the cutting corner point of the laser cutting head during the cutting process is determined through all focusing records, and then the focusing gap of the laser between the nozzle and each cutting corner point in the target cutting workpiece during the cutting process is obtained.

[0023] In some embodiments, determining the collision likelihood features of the target cutting workpiece at each cutting corner point according to each focus gap and all collision density entropies specifically includes:

[0024] For each cutting corner point in the target cutting workpiece, a focusing gap of the laser between the nozzle of the laser cutting head and the cutting corner point during the cutting process is obtained;

[0025] Determining all gap collision densities of the focusing gap by means of respective collision density entropies;

[0026] The collision likelihood features of the target cutting workpiece at the cutting corner points are determined according to all gap collision densities, and then the collision likelihood features of the target cutting workpiece at each cutting corner point are obtained.

[0027] In some embodiments, determining the collision risk coefficient of the laser cutting head at each cutting gap by using the displacement sensitivity and all collision density entropies specifically includes:

[0028] For each cutting gap, obtain the collision density entropy of the cutting gap;

[0029] Determine the displacement capacitance of the laser cutting head by means of the displacement sensitivity;

[0030] The collision risk coefficient of the laser cutting head at the cutting gap is determined according to the displacement capacitance and the collision density entropy, and then the collision risk coefficient of the laser cutting head at each cutting gap is obtained.

[0031] In some embodiments, determining the anti-collision protection gap of the laser cutting head at each cutting corner point according to all collision risk coefficients and each collision likelihood feature specifically includes:

[0032] For each cutting corner point, obtain the collision likelihood feature of the cutting corner point;

[0033] Determining the collision safety value of the cutting corner point at each cutting gap through each collision risk coefficient and the collision likelihood feature;

[0034] The anti-collision protection gap of the laser cutting head at the cutting corner point is determined according to all collision safety values, and then the anti-collision protection gap of the laser cutting head at each cutting corner point is obtained.

[0035] In a second aspect, the present application provides a laser cutting head anti-collision protection control device, comprising:

[0036] An acquisition module is used to acquire the historical cutting records of the laser cutting head, and then obtain the historical cutting data;

[0037] A processing module, used for extracting all cutting collision records of the laser cutting head from the historical cutting data, and then determining the collision density entropy of the laser cutting head at each cutting gap through each cutting collision record;

[0038] The processing module is also used to obtain the corner shape features of each cutting corner point in the target cutting workpiece, determine the focus gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process through each corner shape feature and the focus record in the historical cutting data, and determine the collision likelihood features of the target cutting workpiece at each cutting corner point according to each focus gap and all collision density entropies;

[0039] The processing module is also used to determine the displacement sensitivity of the capacitance of the capacitor plate in the laser cutting head during cutting, determine the collision risk coefficient of the laser cutting head at each cutting gap through the displacement sensitivity and all collision density entropies, and determine the anti-collision protection gap of the laser cutting head at each cutting corner point according to all collision risk coefficients and each collision likelihood feature;

[0040] The execution module is used to balance the cutting gap between the laser cutting head and the target cutting workpiece based on each anti-collision protection gap when using the laser cutting head to cut the target cutting workpiece, so as to complete the anti-collision protection of the laser cutting head.

[0041] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the above-mentioned laser cutting head anti-collision protection control method.

[0042] In a fourth aspect, the present application provides a computer-readable storage medium, in which instructions or codes are stored. When the instructions or codes are run on a computer, the computer implements the above-mentioned laser cutting head anti-collision protection control method when executing.

[0043] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects:

[0044] In a method and device for controlling anti-collision protection of a laser cutting head provided by the present application, a historical cutting record of the laser cutting head is obtained to obtain historical cutting data; all cutting collision records of the laser cutting head are extracted from the historical cutting data, and then the collision density entropy of the laser cutting head at each cutting gap is determined through each cutting collision record; the corner shape feature of each cutting corner point in the target cutting workpiece is obtained, and the focusing gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process is determined through each corner shape feature and the focusing record in the historical cutting data, and the collision likelihood feature of the target cutting workpiece at each cutting corner point is determined according to each focusing gap and all collision density entropies; the displacement sensitivity of the capacitor of the capacitor plate in the laser cutting head during cutting is determined, and the collision risk coefficient of the laser cutting head at each cutting gap is determined through the displacement sensitivity and all collision density entropies, and the anti-collision protection gap of the laser cutting head at each cutting corner point is determined according to all collision risk coefficients and each collision likelihood feature; when the laser cutting head is used to cut the target cutting workpiece, the cutting gap between the laser cutting head and the target cutting workpiece is balanced and adjusted based on each anti-collision protection gap to complete the anti-collision protection of the laser cutting head.

[0045] It can be seen that in this application, when a laser cutting head is used to cut a target workpiece, the cutting gap between the laser cutting head and the target workpiece is balanced and adjusted based on each anti-collision protection gap to complete the anti-collision protection of the laser cutting head; wherein, by determining the collision density entropy under each cutting gap, the frequency and severity of collisions under different gaps can be quantified, and the collision density entropy is an important indicator for measuring the collision risk of the laser cutting head under a specific cutting gap; secondly, by determining the collision likelihood characteristics under the cutting corner point by focusing on the gap and the collision density entropy, the collision risk of different corner points in the cutting process can be accurately identified, and the cutting gap, corner shape and The collision frequency is calculated to balance the relationship between the three and ensure that effective anti-collision measures are taken in high-risk areas. Then, the displacement sensitivity of the capacitor plate reflects the change in the distance between the laser cutting head and the workpiece. The displacement capacitance of the laser head can be further accurately calculated through the displacement sensitivity of the capacitor plate. After combining with the collision density entropy, the collision risk coefficient of the laser head under each cutting gap can be determined, and the key indicators for predicting collision events and formulating protective measures can be obtained. In summary, based on the above scheme, the cutting gap between the laser cutting head and the target cutting workpiece at different corners can be balanced and adjusted, thereby effectively reducing the collision risk of the laser cutting head during the cutting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0047] Figure 1 is an exemplary flow chart of a laser cutting head anti-collision protection control method according to some embodiments of the present application;

[0048] Figure 2 is a schematic diagram of a process for determining a focus gap according to some embodiments of the present application;

[0049] Figure 3 is a schematic diagram of a process for determining a collision risk coefficient according to some embodiments of the present application;

[0050] Figure 4 is a schematic diagram of exemplary hardware and / or software of a laser cutting head anti-collision protection control device according to some embodiments of the present application;

[0051] Figure 5 It is a structural schematic diagram of a computer device for implementing a laser cutting head anti-collision protection control method according to some embodiments of the present application. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] The embodiment of the present application provides a method and device for controlling the anti-collision protection of a laser cutting head, the core of which is to determine the collision density entropy under each cutting gap through each cutting collision record; determine the focusing gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process, and determine the collision likelihood characteristics under each cutting corner point according to each focusing gap and all collision density entropies; determine the collision risk coefficient under each cutting gap through displacement sensitivity and all collision density entropies, and determine the anti-collision protection gap under each cutting corner point according to all collision risk coefficients and each collision likelihood characteristics; and balance the cutting gap based on each anti-collision protection gap. Based on the above scheme, the cutting gap between the laser cutting head and the target cutting workpiece at different corners can be balancedly adjusted, thereby effectively reducing the collision risk of the laser cutting head during the cutting process.

[0054] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. Figure 1 , which is an exemplary flow chart of a laser cutting head anti-collision protection control method according to some embodiments of the present application, and the laser cutting head anti-collision protection control method mainly includes the following steps:

[0055] In step 101, historical cutting records of a laser cutting head are obtained, thereby obtaining historical cutting data.

[0056] It should be noted that, in the present application, the historical cutting data is a data set consisting of multiple historical cutting records, and the historical cutting record refers to the cutting process record of the laser cutting head on the cutting workpiece, and each historical cutting record contains the focusing information and collision information of the laser cutting head, and the focusing information refers to the changing process information of the focusing position and focusing effect of the laser cutting head, and the collision information refers to the changing process information of the collision position and collision time when the laser cutting head collides with the cutting workpiece, and the collision information includes the cutting gap at the time of collision; in specific implementation, the historical cutting records within a preset time period are obtained in the control system of the laser cutting head, and the collection of all historical cutting records can be used as the historical cutting data.

[0057] In step 102, all cutting collision records of the laser cutting head are extracted from the historical cutting data, and then the collision density entropy of the laser cutting head at each cutting gap is determined through each cutting collision record.

[0058] In some embodiments, extracting all cutting collision records of the laser cutting head from the historical cutting data can be achieved by using the following steps:

[0059] Obtaining collision information of each historical cutting record in the historical cutting data;

[0060] Filter out valid collision data from all collision information;

[0061] All cutting collision records of the laser cutting head are extracted from the historical cutting data according to the effective collision data.

[0062] It should be noted that, in the present application, the cutting collision record refers to the record of the collision process when the laser cutting head collides with the cutting workpiece; in the specific implementation, first, the collision information of each historical cutting record in the historical cutting data is obtained; then, for each collision information, if there is a collision position in the collision information, the collision information is used as valid collision information, if the collision information is empty, the collision information is used as invalid collision information, and all valid collision information and all invalid collision information can be obtained in the above manner, and the set of all valid collision information can be used as valid collision data; finally, the set of historical cutting records corresponding to each valid collision information in the valid collision data in the historical cutting data can be used as all cutting collision records of the laser cutting head.

[0063] In some embodiments, determining the collision density entropy of the laser cutting head at each cutting gap through each cutting collision record can be achieved by using the following steps:

[0064] For each cutting gap, the gap collision data corresponding to the cutting gap is selected from all cutting collision records;

[0065] determining a collision density of each gap collision record in the gap collision data;

[0066] The collision density entropy of the laser cutting head under the cutting gap is determined through all the collision densities, and then the collision density entropy of the laser cutting head under each cutting gap is obtained.

[0067] It should be noted that, in the present application, collision density entropy is an indicator to measure the uncertainty of collision density distribution; in specific implementation, first, for each cutting gap, the cutting gap in the collision information of each cutting collision record is obtained as the collision gap, and the set of all cutting collision records corresponding to the collision gap that is the same as the cutting gap can be used as the gap collision data corresponding to the cutting gap; then, a gap collision record in the gap collision data is selected as the selected gap collision record, the number of collisions and the cutting time (in seconds) in the selected gap collision record can be counted, and the ratio of the number of collisions to the cutting time can be used as the collision density of the selected gap collision record, and the above is repeated. The above steps are followed to continue determining the collision density of the remaining gap collision records in the gap collision data, where the collision density refers to the number of collisions that occur within a unit time period (the default is 1s); finally, the frequency of occurrence of each collision density is counted and the probability of the corresponding collision density is calculated, and the collision density entropy of the cutting gap can be calculated using the existing information entropy formula, and the collision density entropy of the laser cutting head under each cutting gap can be obtained in the above manner; it should be noted that the above steps can comprehensively evaluate the collision situation of the laser cutting head under different cutting gaps, and can identify the optimal cutting gap, thereby optimizing the cutting process, reducing collision events, and reducing the damage rate of the laser cutting head.

[0068] In step 103, the corner shape features of each cutting corner point in the target cutting workpiece are obtained, and the focusing gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process is determined through each corner shape feature and the focusing record in the historical cutting data. The collision likelihood features of the target cutting workpiece at each cutting corner point are determined according to each focusing gap and all collision density entropies.

[0069] It should be noted that in the present application, the corner shape feature is a feature that describes the geometric shape of the cutting corner point in the target cutting workpiece, and the corner shape feature includes the corner angle, corner curvature, corner side length and corner path; in specific implementation, all cutting corner points in the target cutting workpiece and the corner shape features of each cutting corner point can be obtained in the manufacturing instructions of the target cutting workpiece.

[0070] In some embodiments, the focus gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process is determined by using the shape features of each corner and the focus records in the historical cutting data, referring to Figure 2 As described above, the figure is a schematic diagram of a process for determining a focus gap in some embodiments of the present application. In this embodiment, determining the focus gap can be achieved by using the following steps:

[0071] In step 1031, for each cutting corner point in the target cutting workpiece, a corner shape feature of the cutting corner point is obtained;

[0072] In step 1032, all focus records of the corner shape feature are screened in the historical cutting data;

[0073] In step 1033, the focusing gap of the laser between the nozzle and the cutting corner point of the laser cutting head during the cutting process is determined through all focusing records, and then the focusing gap of the laser between the nozzle and each cutting corner point in the target cutting workpiece during the cutting process is obtained.

[0074] It should be noted that in this application, the focusing gap refers to the maximum distance between the laser cutting head nozzle and the cutting corner point under the premise of ensuring the focusing accuracy of the laser cutting head; in specific implementation, first, for each cutting corner point in the target cutting workpiece, the corner shape characteristics of the cutting corner point are obtained, and then the corner angle (degrees), corner curvature (mm) and other characteristics are screened out from the historical cutting data. -1), the difference between the corner side length (mm) and the corner shape feature is within the preset error threshold range, and the focusing information in each historical cutting record is taken as the focusing record, so that all the focusing records of the corner shape feature can be obtained, wherein the initial value of the error threshold can be set to 1, and if the number of focusing records is greater than or equal to the expected focusing number (the default is 100), the screening is completed; if the number of focusing records is less than the expected focusing number, the error threshold is increased by one unit length for screening until the number of focusing records is greater than or equal to the expected focusing number position; finally, the ratio of the cutting gap in each focusing record to the error threshold is taken as the focusing influence gap of the corresponding focusing record on the cutting corner point, and the average of all focusing influence gaps can be taken as the focusing gap of the laser between the nozzle and the cutting corner point of the laser cutting head during the cutting process. The focusing gap of the laser between the nozzle and each cutting corner point in the target cutting workpiece during the cutting process can be obtained in the above manner.

[0075] In some embodiments, determining the collision likelihood features of the target cutting workpiece at each cutting corner point according to each focus gap and all collision density entropies can be implemented by the following steps:

[0076] For each cutting corner point in the target cutting workpiece, a focusing gap of the laser between the nozzle of the laser cutting head and the cutting corner point during the cutting process is obtained;

[0077] Determining all gap collision densities of the focusing gap by means of respective collision density entropies;

[0078] The collision likelihood features of the target cutting workpiece at the cutting corner points are determined according to all gap collision densities, and then the collision likelihood features of the target cutting workpiece at each cutting corner point are obtained.

[0079] It should be noted that the collision likelihood feature is a probability feature that describes the collision of the laser cutting head at a specific corner point during the cutting process; in specific implementation, first, for each cutting corner point in the target cutting workpiece, the focusing gap of the laser between the nozzle and the cutting corner point of the laser cutting head during the cutting process is obtained; then, the cutting gap corresponding to each collision density entropy is obtained, and the collision density entropy corresponding to each cutting gap whose difference with the focusing gap is within a preset collision gap threshold can be used as the gap collision density, and all gap collision densities corresponding to the focusing gap can be obtained; finally, a feature extraction model is initialized, and all gap collision densities are used as the extraction source of the feature extraction model, and the extraction result of the feature extraction model can be used as the collision likelihood feature of the target cutting workpiece at the cutting corner point, and then the collision likelihood feature of the target cutting workpiece at each cutting corner point is obtained; it should be noted that through the above steps, the laser focusing gap between the nozzle of the laser cutting head and each cutting corner point in the target cutting workpiece during the cutting process, as well as the collision likelihood feature under each focusing gap, can be averaged, thereby effectively reducing the cutting collision events between the laser cutting head and the target cutting workpiece.

[0080] In step 104, the displacement sensitivity of the capacitance of the capacitor plates in the laser cutting head during cutting is determined, and the collision risk coefficient of the laser cutting head at each cutting gap is determined by the displacement sensitivity and all collision density entropies. The anti-collision protection gap of the laser cutting head at each cutting corner point is determined based on all collision risk coefficients and various collision likelihood characteristics.

[0081] It should be noted that in the present application, the capacitor plate is a component in the laser cutting head that affects the laser intensity, and the displacement sensitivity refers to the capacitance change caused by the displacement of the capacitor plate in the laser cutting head during the cutting process. The capacitance change will affect the intensity of the laser emitted by the laser cutting head, thereby affecting the cutting distance of the laser cutting head; in specific implementation, a large number of experiments can be conducted on the displacement sensitivity of the laser cutting head when it is displaced at different distances, and the ratio of the displacement sensitivity to the distance in each experiment can be used as the experimental displacement capacitance, and the average of all experimental displacement capacitances can be used as the displacement sensitivity of the capacitance of the capacitor plate in the laser cutting head during cutting.

[0082] In some embodiments, the collision risk coefficient of the laser cutting head at each cutting gap is determined by the displacement sensitivity and all collision density entropies, referring to Figure 3 As described above, the figure is a schematic diagram of a process for determining a collision risk coefficient in some embodiments of the present application. In this embodiment, determining the collision risk coefficient can be implemented by the following steps:

[0083] In step 1041, for each cutting gap, the collision density entropy of the cutting gap is obtained;

[0084] In step 1042, the displacement capacitance of the laser cutting head is determined by the displacement sensitivity;

[0085] In step 1043, a collision risk coefficient of the laser cutting head at a cutting gap is determined according to the displacement capacitance and the collision density entropy, and then the collision risk coefficient of the laser cutting head at each cutting gap is obtained.

[0086] It should be noted that, in the present application, the collision risk coefficient represents the risk probability of a laser cutting head colliding under a specific cutting gap; in specific implementation, first, for each cutting gap, the collision density entropy of the cutting gap is obtained; then, the displacement sensitivity can be mapped to the displacement capacitance of the laser cutting head using the existing standardized algorithm, and the displacement capacitance can be determined to provide the displacement capacitance data of the laser cutting head, so as to provide support for the subsequent calculation of the collision risk coefficient; finally, a risk assessment model is initialized, and the collision density entropy is used as the initial risk value of the risk assessment model, and the displacement capacitance is used as the risk assessment model, and the risk assessment model is used to complete the risk assessment of the laser cutting head under the cutting gap, and the assessment result can be used as the collision risk coefficient of the laser cutting head under the cutting gap, and the collision risk coefficient of the laser cutting head under each cutting gap can be obtained in the above manner, and a scientific basis for optimizing the cutting process is provided by systematically evaluating the collision risk under each cutting gap.

[0087] In some embodiments, determining the anti-collision protection gap of the laser cutting head at each cutting corner point according to all collision risk coefficients and each collision likelihood feature can be achieved by the following steps:

[0088] For each cutting corner point, obtain the collision likelihood feature of the cutting corner point;

[0089] Determining the collision safety value of the cutting corner point at each cutting gap through each collision risk coefficient and the collision likelihood feature;

[0090] The anti-collision protection gap of the laser cutting head at the cutting corner point is determined according to all collision safety values, and then the anti-collision protection gap of the laser cutting head at each cutting corner point is obtained.

[0091] It should be noted that the anti-collision protection gap is the minimum safe distance that the laser cutting head maintains with the cut workpiece during the cutting process in order to avoid collision. In the specific implementation, first, for each cutting corner point, the collision likelihood feature of the cutting corner point is obtained; then, a cutting gap is selected as the selected cutting gap, and the collision risk coefficient of the laser cutting head under the selected cutting gap is obtained. The collision likelihood feature is converted into a collision likelihood feature value using the existing feature normalization algorithm. The product of the collision risk coefficient and the collision likelihood feature value can be used as the collision safety value of the cutting corner point under the selected cutting gap. The above steps are repeated to continue to determine the cutting corner point in the remaining cutting gaps. The collision safety value under the residual cutting gap is a safety index that reflects the cutting corner point under specific conditions. Determining the collision safety value of the cutting corner point under each cutting gap can provide the collision safety index of each cutting corner point under different cutting gaps, and provide a basis for determining the anti-collision protection gap; finally, the set of all collision safety values ​​can be used as the value range of the anti-collision protection gap of the laser cutting head under the cutting corner point. The minimum safety distance of each cutting corner point is systematically determined through the above steps, which helps to improve the safety and reliability of the cutting process, and can effectively reduce collision events, thereby improving cutting quality and efficiency.

[0092] In step 105, when the laser cutting head is used to cut the target workpiece, the cutting gap between the laser cutting head and the target workpiece is balanced and adjusted based on each anti-collision protection gap to complete the anti-collision protection of the laser cutting head.

[0093] In some embodiments, when a laser cutting head is used to cut a target workpiece, the following steps may be used to balance the cutting gap between the laser cutting head and the target workpiece based on each anti-collision protection gap:

[0094] When using a laser cutting head to cut a target workpiece, determine the next cutting corner point;

[0095] Obtaining the anti-collision protection gap of the cutting corner point;

[0096] When the laser cutting head reaches the cutting corner point, the anti-collision protection gap is used as the cutting gap between the laser cutting head and the target cutting workpiece, thereby completing the anti-collision protection of the laser cutting head at the cutting corner point.

[0097] In the specific implementation, first, when using the laser cutting head to cut the target cutting workpiece, the position point of the laser cutting head currently cutting the target cutting workpiece is obtained, and the first cutting corner point after the position point in the target cutting workpiece can be used as the next cutting corner point; then, the anti-collision protection gap of the cutting corner point is screened out from all the anti-collision protection gaps; finally, when the laser cutting head reaches the cutting corner point, the anti-collision protection gap is used as the cutting gap between the laser cutting head and the target cutting workpiece to complete the anti-collision protection of the laser cutting head at the cutting corner point, and the above steps are repeated to complete the anti-collision protection of the laser cutting head.

[0098] In the present application, when a laser cutting head is used to cut a target workpiece, the cutting gap between the laser cutting head and the target workpiece is balanced and adjusted based on each anti-collision protection gap to complete the anti-collision protection of the laser cutting head; wherein, by determining the collision density entropy under each cutting gap, the frequency and severity of collisions under different gaps can be quantified, and the collision density entropy is an important indicator for measuring the collision risk of the laser cutting head under a specific cutting gap; secondly, by focusing on the gap and the collision density entropy to determine the collision likelihood characteristics under the cutting corner point, the collision risk of different corner points in the cutting process can be accurately identified, and the cutting gap, corner shape and collision are comprehensively considered. frequency, thereby balancing the relationship between the three and ensuring that effective anti-collision measures are taken in high-risk areas; then, the displacement sensitivity of the capacitor plate reflects the change in the distance between the laser cutting head and the workpiece. The displacement capacitance of the laser head can be further accurately calculated through the displacement sensitivity of the capacitor plate. After combining with the collision density entropy, the collision risk coefficient of the laser head under each cutting gap can be determined, and the key indicators for predicting collision events and formulating protective measures can be obtained; in summary, based on the above scheme, the cutting gap between the laser cutting head and the target cutting workpiece at different corners can be balanced and adjusted, thereby effectively reducing the collision risk of the laser cutting head during the cutting process.

[0099] In addition, in another aspect of the present application, in some embodiments, the present application provides a laser cutting head anti-collision protection control device, referring to Figure 4 , which is a schematic diagram of exemplary hardware and / or software of a laser cutting head anti-collision protection control device according to some embodiments of the present application, and the laser cutting head anti-collision protection control device includes: an acquisition module 201, a processing module 202 and an execution module 203, which are respectively described as follows:

[0100] Acquisition module 201, in this application, acquisition module 201 is mainly used to acquire historical cutting records of the laser cutting head, and then obtain historical cutting data;

[0101] Processing module 202, in the present application, the processing module 202 is used to extract all cutting collision records of the laser cutting head from the historical cutting data, and then determine the collision density entropy of the laser cutting head at each cutting gap through each cutting collision record;

[0102] It should be noted that the processing module 202 is also used to obtain the corner shape features of each cutting corner point in the target cutting workpiece, determine the focus gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process through each corner shape feature and the focus record in the historical cutting data, and determine the collision likelihood features of the target cutting workpiece at each cutting corner point according to each focus gap and all collision density entropies;

[0103] In addition, the processing module 202 is also used to determine the displacement sensitivity of the capacitance of the capacitor plate in the laser cutting head during cutting, determine the collision risk coefficient of the laser cutting head at each cutting gap through the displacement sensitivity and all collision density entropies, and determine the anti-collision protection gap of the laser cutting head at each cutting corner point according to all collision risk coefficients and each collision likelihood feature;

[0104] Execution module 203. In the present application, execution module 203 is mainly used to balance the cutting gap between the laser cutting head and the target cutting workpiece based on various anti-collision protection gaps when using the laser cutting head to cut the target cutting workpiece, so as to complete the anti-collision protection of the laser cutting head.

[0105] The above describes in detail the examples of the anti-collision protection control method and device for the laser cutting head provided in the embodiments of the present application. It can be understood that in order to realize the above functions, the corresponding device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0106] In some embodiments, the present application also provides a computer device, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the above-mentioned laser cutting head anti-collision protection control method.

[0107] In some embodiments, reference Figure 5, the dotted line in the figure indicates that the unit or the module is optional, and the figure is a structural schematic diagram of a computer device for implementing a laser cutting head anti-collision protection control method according to an embodiment of the present application. The laser cutting head anti-collision protection control method described in the above embodiment can be Figure 5 The computer device shown in the figure is implemented, and the computer device includes at least one processor 301, a memory 302 and at least one communication unit 305. The computer device can be a terminal device, a server or a chip.

[0108] The processor 301 may be a general-purpose processor or a special-purpose processor. For example, the processor 301 may be a central processing unit (CPU), which may be used to control the computer device, execute software programs, and process data of the software programs. The computer device may also include a communication unit 305 to implement signal input (reception) and output (transmission).

[0109] For example, the computer device may be a chip, the communication unit 305 may be an input and / or output circuit of the chip, or the communication unit 305 may be a communication interface of the chip, and the chip may be a component of a terminal device, a network device, or other devices.

[0110] For another example, the computer device may be a terminal device or a server, and the communication unit 305 may be a transceiver of the terminal device or the server, or the communication unit 305 may be a transceiver circuit of the terminal device or the server.

[0111] The computer device may include one or more memories 302, on which a program 304 is stored. The program 304 can be executed by the processor 301 to generate instructions 303, so that the processor 301 performs the method described in the above method embodiment according to the instructions 303. Optionally, data (such as a target audit model) can also be stored in the memory 302. Optionally, the processor 301 can also read the data stored in the memory 302, and the data can be stored at the same storage address as the program 304, or the data can be stored at a different storage address from the program 304.

[0112] The processor 301 and the memory 302 may be provided separately or integrated together, for example, integrated on a system on chip (SOC) of the terminal device.

[0113] It should be understood that each step of the above method embodiment can be completed by a hardware-based logic circuit or software-based instructions in the processor 301. The processor 301 can be a CPU, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0114] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0115] For example, in some embodiments, the present application also provides a computer-readable storage medium, in which instructions or codes are stored. When the instructions or codes are run on a computer, the computer implements the above-mentioned laser cutting head anti-collision protection control method when executing.

[0116] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0117] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A laser cutting head anti-collision protection control method, characterized in that: The steps include: Obtain the historical cutting records of the laser cutting head, and then obtain the historical cutting data; Extracting all cutting collision records of the laser cutting head from the historical cutting data, and then determining the collision density entropy of the laser cutting head at each cutting gap through each cutting collision record; Acquire the corner shape feature of each cutting corner point in the target cutting workpiece, determine the focus gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process according to each corner shape feature and the focus record in the historical cutting data, and determine the collision likelihood feature of the target cutting workpiece at each cutting corner point according to each focus gap and all collision density entropies; Determine the displacement sensitivity of the capacitor plate in the laser cutting head during cutting, determine the collision risk coefficient of the laser cutting head at each cutting gap through the displacement sensitivity and all collision density entropies, and determine the anti-collision protection gap of the laser cutting head at each cutting corner point based on all collision risk coefficients and each collision likelihood feature; When a laser cutting head is used to cut a target workpiece, a cutting gap between the laser cutting head and the target workpiece is balanced and adjusted based on each anti-collision protection gap, thereby completing anti-collision protection for the laser cutting head.

2. The method according to claim 1, characterized in that Extracting all cutting collision records of the laser cutting head from the historical cutting data specifically includes: Obtaining collision information of each historical cutting record in the historical cutting data; Filter out valid collision data from all collision information; All cutting collision records of the laser cutting head are extracted from the historical cutting data according to the effective collision data.

3. The method according to claim 1, characterized in that The collision density entropy of the laser cutting head at each cutting gap is determined by each cutting collision record, specifically including: For each cutting gap, the gap collision data corresponding to the cutting gap is selected from all cutting collision records; determining a collision density of each gap collision record in the gap collision data; The collision density entropy of the laser cutting head under the cutting gap is determined through all the collision densities, and then the collision density entropy of the laser cutting head under each cutting gap is obtained.

4. The method according to claim 1, characterized in that Determining the focusing gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process by using the shape features of each corner and the focusing records in the historical cutting data specifically includes: For each cutting corner point in the target cutting workpiece, obtaining a corner shape feature of the cutting corner point; Screening all focus records of the corner shape feature in the historical cutting data; The focusing gap of the laser between the nozzle and the cutting corner point of the laser cutting head during the cutting process is determined through all focusing records, and then the focusing gap of the laser between the nozzle and each cutting corner point in the target cutting workpiece during the cutting process is obtained.

5. The method according to claim 1, characterized in that The collision likelihood features of the target cutting workpiece at each cutting corner point are determined according to each focus gap and all collision density entropies, specifically including: For each cutting corner point in the target cutting workpiece, a focusing gap of the laser between the nozzle of the laser cutting head and the cutting corner point during the cutting process is obtained; Determining all gap collision densities of the focusing gap by means of respective collision density entropies; The collision likelihood features of the target cutting workpiece at the cutting corner points are determined according to all gap collision densities, and then the collision likelihood features of the target cutting workpiece at each cutting corner point are obtained.

6. The method according to claim 1, characterized in that Determining the collision risk coefficient of the laser cutting head at each cutting gap by using the displacement sensitivity and all collision density entropies specifically includes: For each cutting gap, obtain the collision density entropy of the cutting gap; Determine the displacement capacitance of the laser cutting head by means of the displacement sensitivity; The collision risk coefficient of the laser cutting head at the cutting gap is determined according to the displacement capacitance and the collision density entropy, and then the collision risk coefficient of the laser cutting head at each cutting gap is obtained.

7. The method according to claim 1, characterized in that According to all the collision risk coefficients and various collision likelihood characteristics, the anti-collision protection gap of the laser cutting head at each cutting corner point is determined, including: For each cutting corner point, obtain the collision likelihood feature of the cutting corner point; Determining the collision safety value of the cutting corner point at each cutting gap through each collision risk coefficient and the collision likelihood feature; The anti-collision protection gap of the laser cutting head at the cutting corner point is determined according to all collision safety values, and then the anti-collision protection gap of the laser cutting head at each cutting corner point is obtained.

8. A laser cutting head anti-collision protection control device, characterized in that: include: An acquisition module is used to acquire the historical cutting records of the laser cutting head, and then obtain the historical cutting data; A processing module, used for extracting all cutting collision records of the laser cutting head from the historical cutting data, and then determining the collision density entropy of the laser cutting head at each cutting gap through each cutting collision record; The processing module is also used to obtain the corner shape features of each cutting corner point in the target cutting workpiece, determine the focus gap of the laser between the laser cutting head and the corresponding cutting corner point during the cutting process through each corner shape feature and the focus record in the historical cutting data, and determine the collision likelihood features of the target cutting workpiece at each cutting corner point according to each focus gap and all collision density entropies; The processing module is also used to determine the displacement sensitivity of the capacitance of the capacitor plate in the laser cutting head during cutting, determine the collision risk coefficient of the laser cutting head at each cutting gap through the displacement sensitivity and all collision density entropies, and determine the anti-collision protection gap of the laser cutting head at each cutting corner point according to all collision risk coefficients and each collision likelihood feature; The execution module is used to balance the cutting gap between the laser cutting head and the target cutting workpiece based on each anti-collision protection gap when using the laser cutting head to cut the target cutting workpiece, so as to complete the anti-collision protection of the laser cutting head.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the laser cutting head anti-collision protection control method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions or codes, and when the instructions or codes are executed on a computer, the computer implements the anti-collision protection control method for a laser cutting head as described in any one of claims 1 to 7.

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