Multi-axis linkage rotary laser processing control method, device, equipment and storage medium

Abstract

The present invention provides a multi-axis linkage rotary laser processing control method, device, equipment and storage medium, the method comprising: generating laser-workpiece contact area entity data according to the entity data of the target workpiece and the current motion data of the multi-axis linkage rotary laser device, and performing two-dimensional image projection and function conversion on the data to obtain the laser-workpiece contact window function. Subsequently, based on the contact window function, the preset ideal laser energy density distribution is corrected to obtain the effective laser energy density distribution. According to the effective distribution, the processing parameters of the multi-axis linkage rotary laser device are collaboratively optimized, parameter adjustment instructions are generated, and the device is controlled by these instructions to perform precise processing on the target workpiece. According to the entity data of the workpiece and the motion data of the equipment, the present invention corrects the laser energy density distribution in real time, and dynamically optimizes the processing parameters, thereby improving the processing accuracy and efficiency, and meeting the high-precision processing requirements of complex workpieces.

Description

Technical Field

[0001] The present invention relates to the field of workpiece processing, and in particular to a multi-axis linkage rotary laser processing control method, device, equipment and storage medium. Background Art

[0002] As the manufacturing industry continues to increase its requirements for the processing accuracy of complex workpieces, multi-axis linkage rotary laser processing technology has been widely used. Multi-axis linkage technology allows laser processing equipment to move simultaneously in multiple axes, with more flexible processing capabilities and higher processing accuracy. This technology is particularly suitable for processing complex three-dimensional workpieces. However, in practical applications, due to the complex geometry of the workpiece, uneven laser energy distribution, and the difficulty in accurately controlling the motion trajectory of the multi-axis linkage equipment, the laser energy density distribution during the processing process deviates, affecting the processing quality and accuracy.

[0003] Existing laser processing control methods usually rely on the energy density distribution setting under ideal conditions, without fully considering the dynamic shape changes of the workpiece and the equipment motion data. This static control method is difficult to cope with the complex situations in multi-axis linkage rotation processing. Summary of the invention

[0004] The main purpose of the present invention is to solve the technical problem that the existing laser processing control method does not fully consider the dynamic shape change of the workpiece and the equipment motion data, and is difficult to cope with the complex situation in multi-axis linkage rotation processing;

[0005] A first aspect of the present invention provides a multi-axis linkage rotary laser processing control method, the multi-axis linkage rotary laser processing control method comprising:

[0006] Generate laser-workpiece contact area entity data according to the workpiece entity data during the target workpiece processing and the current motion data of the multi-axis linkage rotating laser device;

[0007] Performing two-dimensional image projection and function conversion on the laser-workpiece contact area entity data to obtain a laser-workpiece contact window function;

[0008] Correcting the preset ideal laser energy density distribution of the multi-axis linkage rotating laser device according to the laser-workpiece contact window function to obtain an effective laser energy density distribution;

[0009] The processing parameters of the multi-axis linkage rotating laser device are collaboratively optimized according to the effective laser energy density distribution to obtain parameter adjustment instructions for the processing parameters, and the multi-axis linkage rotating laser device is controlled based on the processing parameters and the parameter adjustment instructions to perform processing operations on the target workpiece.

[0010] Optionally, in a first implementation of the first aspect of the present invention, generating the laser-workpiece contact area entity data according to the workpiece entity data during the target workpiece processing and the current motion data of the multi-axis linkage rotating laser device includes:

[0011] Performing motion decomposition on the current motion data of the multi-axis linkage rotary laser device to obtain a horizontal motion component along the workpiece surface, a motion component perpendicular to the workpiece surface, and a rotational motion component around the normal direction of the workpiece surface;

[0012] According to the horizontal motion component, the vertical motion component and the rotational motion component, the historical adjacent position points of the multi-axis linkage rotation laser device are screened and processed to obtain a set of historical adjacent position points that meet a preset distance condition;

[0013] Performing geometric reconstruction processing on the historical adjacent position point set to obtain a historical laser beam entity set;

[0014] According to the workpiece entity data of the target workpiece, the current laser beam entity data of the multi-axis linkage rotating laser device and the historical laser beam entity set, spatial Boolean operation processing is performed to obtain laser-workpiece contact area entity data.

[0015] Optionally, in a second implementation of the first aspect of the present invention, performing two-dimensional image projection and function conversion on the laser-workpiece contact area entity data to obtain the laser-workpiece contact window function comprises:

[0016] Extracting boundary box parameters of the laser-workpiece contact area entity data to obtain a plurality of boundary parameters of the laser-workpiece contact area entity data in a processing coordinate system;

[0017] According to the boundary parameters, the entity data of the laser-workpiece contact area is subjected to rotational projection processing to obtain two-dimensional images on multiple orthogonal planes, and the two-dimensional images are subjected to binarization processing to obtain a binary matrix representing the laser-workpiece contact state;

[0018] According to the binary matrix, two-dimensional linear interpolation processing is performed on the laser-workpiece contact state to obtain a continuous contact state function, and the contact state function is circumferentially expanded and normalized to obtain a laser-workpiece contact window function.

[0019] Optionally, in a third implementation of the first aspect of the present invention, performing two-dimensional linear interpolation processing on the laser-workpiece contact state according to the binary matrix to obtain a continuous contact state function, and performing circumferential expansion and normalization processing on the contact state function to obtain the laser-workpiece contact window function includes:

[0020] Mapping pixel coordinates and actual space coordinates of the binary matrix to obtain actual size distribution of the laser-workpiece contact area;

[0021] According to the actual size distribution, bilinear interpolation calculation is performed on the laser-workpiece contact state to obtain a continuous contact state function, and polar coordinate transformation processing is performed on the contact state function to obtain a circumferential contact state description centered on the laser beam axis;

[0022] According to the description of the circumferential contact state, the contact state is periodically replicated and spliced ​​to obtain an expansion function covering a complete rotation period, and the expansion function is numerically normalized and discretely sampled to obtain a laser-workpiece contact window function.

[0023] Optionally, in a fourth implementation of the first aspect of the present invention, the ideal laser energy density distribution preset for the multi-axis linkage rotating laser device is corrected according to the laser-workpiece contact window function to obtain an effective laser energy density distribution, including:

[0024] Performing Fourier transformation on the laser-workpiece contact window function to obtain frequency domain characteristics of the laser-workpiece contact state;

[0025] According to the frequency domain characteristics, a preset ideal laser energy density distribution is subjected to frequency domain filtering to obtain a preliminary corrected energy distribution taking the contact state into consideration;

[0026] Performing incident angle compensation processing on the preliminary corrected energy distribution to obtain an angle corrected energy distribution that takes into account the influence of multi-axis motion, and performing absorption rate compensation processing on the angle corrected energy distribution according to the material properties of the workpiece to obtain an energy absorption distribution that takes into account the material properties;

[0027] The energy absorption distribution is spatially integrated and normalized to obtain an effective laser energy density distribution.

[0028] Optionally, in a fifth implementation of the first aspect of the present invention, the collaborative optimization of the processing parameters of the multi-axis linkage rotary laser device according to the effective laser energy density distribution to obtain the parameter adjustment instruction of the processing parameters includes:

[0029] Performing parameter sensitivity analysis on the effective laser energy density distribution to obtain the influence weight of each processing parameter on the energy distribution;

[0030] According to the influence weights, multi-objective optimization modeling is performed on the processing parameters of the multi-axis linkage rotary laser equipment to obtain an optimization model that takes into account the parameter coupling effect;

[0031] The optimization model is solved by an improved particle swarm algorithm to obtain a preliminary parameter solution set, and based on the preliminary parameter solution set, the inter-axis coordination of the machining parameters is evaluated to obtain an optimization parameter combination that takes into account multi-axis linkage characteristics;

[0032] Dynamic response analysis and smoothing processing are performed on the optimized parameter combination to obtain parameter adjustment instructions for the processing parameters.

[0033] Optionally, in a sixth implementation of the first aspect of the present invention, controlling the multi-axis linkage rotary laser device to perform processing on the target workpiece based on the processing parameters and the parameter adjustment instructions includes:

[0034] Performing time-series fusion processing on the processing parameters and parameter adjustment instructions to obtain a comprehensive processing parameter sequence, and performing trajectory planning processing on the motion trajectory of the multi-axis linkage rotating laser device according to the comprehensive processing parameter sequence to obtain a spatial discrete control point set;

[0035] Performing kinematic inverse solution processing on the spatial discrete control point set to obtain real-time position, speed and acceleration instructions of each axis execution component of the multi-axis linkage rotating laser device;

[0036] According to the real-time position, speed and acceleration instructions, dynamically compensate the laser power and focus position of the multi-axis linkage rotating laser device to obtain a laser output parameter sequence;

[0037] The laser output parameter sequence and the execution instructions of each axis are synchronized in time and space to obtain a real-time control instruction stream of the multi-axis linkage rotating laser device, and the multi-axis linkage rotating laser device is controlled according to the real-time control instruction stream to perform processing operations on the target workpiece.

[0038] A second aspect of the present invention provides a multi-axis linkage rotary laser processing control device, the multi-axis linkage rotary laser processing control device comprising:

[0039] A data processing module, used for generating laser-workpiece contact area entity data according to workpiece entity data during the processing of the target workpiece and current motion data of the multi-axis linkage rotating laser device;

[0040] A projection conversion module, used for performing two-dimensional image projection and function conversion on the laser-workpiece contact area entity data to obtain a laser-workpiece contact window function;

[0041] An energy density distribution correction module is used to correct the ideal laser energy density distribution preset by the multi-axis linkage rotating laser device according to the laser-workpiece contact window function to obtain an effective laser energy density distribution;

[0042] A control module is used to collaboratively optimize the processing parameters of the multi-axis linkage rotary laser device according to the effective laser energy density distribution, obtain parameter adjustment instructions for the processing parameters, and control the multi-axis linkage rotary laser device to perform processing operations on the target workpiece based on the processing parameters and the parameter adjustment instructions.

[0043] The third aspect of the present invention provides a multi-axis linkage rotary laser processing control device, comprising: a memory and at least one processor, wherein instructions are stored in the memory, and the memory and the at least one processor are interconnected through lines; the at least one processor calls the instructions in the memory to enable the multi-axis linkage rotary laser processing control device to perform the steps of the above-mentioned multi-axis linkage rotary laser processing control method.

[0044] A fourth aspect of the present invention provides a computer-readable storage medium, in which instructions are stored, which, when executed on a computer, enable the computer to execute the steps of the above-mentioned multi-axis linkage rotary laser processing control method.

[0045] The above-mentioned multi-axis linkage rotary laser processing control method, device, equipment and storage medium generate the laser-workpiece contact area entity data according to the entity data of the target workpiece and the current motion data of the multi-axis linkage rotary laser device, and perform two-dimensional image projection and function conversion on the data to obtain the laser-workpiece contact window function. Subsequently, the preset ideal laser energy density distribution is corrected based on the contact window function to obtain the effective laser energy density distribution. According to the effective distribution, the processing parameters of the multi-axis linkage rotary laser equipment are collaboratively optimized, parameter adjustment instructions are generated, and the equipment is controlled by these instructions to perform precise processing on the target workpiece. According to the entity data of the workpiece and the motion data of the equipment, the present invention corrects the laser energy density distribution in real time, and dynamically optimizes the processing parameters, thereby improving the processing accuracy and efficiency, and meeting the high-precision processing requirements of complex workpieces.

[0046] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of a first embodiment of a multi-axis linkage rotary laser processing control method in an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of an embodiment of a multi-axis linkage rotary laser processing control device in an embodiment of the present invention;

[0050] Figure 3 It is a schematic diagram of an embodiment of a multi-axis linkage rotary laser processing control device in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] The terms "including" and "having" and any variations thereof mentioned in the embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device end including a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or device ends.

[0053] To facilitate understanding of this embodiment, a multi-axis linkage rotary laser processing control method disclosed in an embodiment of the present invention is first described in detail. Figure 1 As shown, the method comprises the following steps:

[0054] 101. Generate laser-workpiece contact area entity data according to workpiece entity data during the target workpiece processing and current motion data of the multi-axis linkage rotating laser device;

[0055] In one embodiment of the present invention, the method of generating laser-workpiece contact area entity data based on workpiece entity data during the processing of the target workpiece and current motion data of the multi-axis linkage rotating laser device includes: performing motion decomposition on the current motion data of the multi-axis linkage rotating laser device to obtain a horizontal motion component along the workpiece surface, a motion component perpendicular to the workpiece surface, and a rotational motion component around the normal of the workpiece surface; screening and processing historical adjacent position points of the multi-axis linkage rotating laser device according to the horizontal motion component, the vertical motion component, and the rotational motion component to obtain a set of historical adjacent position points that meet a preset distance condition; geometrically reconstructing the set of historical adjacent position points to obtain a set of historical laser beam entities; and performing spatial Boolean operation processing on the workpiece entity data of the target workpiece, the current laser beam entity data of the multi-axis linkage rotating laser device, and the set of historical laser beam entities to obtain laser-workpiece contact area entity data.

[0056] Specifically, it is necessary to obtain the current motion data of the multi-axis linkage rotating laser device. The motion data usually includes the motion trajectory and angular position of the device on the workpiece surface. These motions can be decomposed into three components, namely the horizontal motion component, the vertical motion component and the rotational motion component. The horizontal motion component represents the motion of the laser device in the direction parallel to the workpiece surface, which is usually represented by the linear axis motion in the multi-axis. The vertical motion component represents the motion of the device perpendicular to the workpiece surface, indicating the height change of the device on the workpiece surface. The rotational motion component represents the rotational motion of the device around the normal of the workpiece surface, which is usually the motion generated by the rotation axis of the device. In order to realize the decomposition of these motion components, the form of coordinate transformation matrix is ​​used to realize the angular rotation and translation between different axes. The basis of this process is to decompose each motion of the multi-axis device into the workpiece coordinate system, thereby obtaining the horizontal, vertical and rotational motion components along the workpiece surface.

[0057] Specifically, after obtaining the current motion components, it is necessary to filter the historical neighboring position points according to these motion components. The historical neighboring position points refer to the neighboring points on the surface of the workpiece that the laser device has passed in the previous time. In order to accurately describe the contact area between the laser and the workpiece, it is necessary to filter out the historical neighboring position points within a certain distance range from the current laser position. The screening process is based on the preset distance condition, usually by calculating the spatial distance between the current laser beam position and the historical neighboring position points. Points with a spatial distance less than a preset threshold will be retained, and other points will be filtered out. After obtaining the set of historical neighboring position points that meet the preset distance conditions, it is necessary to geometrically reconstruct these position points. The purpose of geometric reconstruction is to reconstruct the complete historical laser beam entity through these discrete historical position points. Geometric reconstruction usually uses a triangular meshing algorithm to convert a discrete point set into a continuous laser beam surface. The specific method is to connect adjacent points to form triangles, and then construct the spatial geometric entity of the laser beam. Commonly used triangular meshing algorithms such as Delaunay triangulation can ensure that the generated triangles are optimal and suitable for processing three-dimensional point cloud data. After obtaining the historical laser beam entity set and the current laser beam entity data, the next step is to generate the laser-workpiece contact area entity data through spatial Boolean operations. Spatial Boolean operations perform set operations on two or more geometric entities, such as union, intersection, and difference operations, to obtain new geometric forms. Here, Boolean intersection operations are used to calculate the interaction area between the laser beam and the workpiece surface.

[0058] 102. Perform two-dimensional image projection and function conversion on the entity data of the laser-workpiece contact area to obtain the laser-workpiece contact window function;

[0059] In one embodiment of the present invention, performing two-dimensional image projection and function conversion on the laser-workpiece contact area entity data to obtain the laser-workpiece contact window function includes: extracting boundary box parameters of the laser-workpiece contact area entity data to obtain multiple boundary parameters of the laser-workpiece contact area entity data in a processing coordinate system; performing rotational projection processing on the laser-workpiece contact area entity data according to the boundary parameters to obtain two-dimensional images on multiple orthogonal planes, and binarizing the two-dimensional images to obtain a binary matrix representing the laser-workpiece contact state; performing two-dimensional linear interpolation processing on the laser-workpiece contact state according to the binary matrix to obtain a continuous contact state function, and performing circumferential expansion and normalization processing on the contact state function to obtain a laser-workpiece contact window function.

[0060] Specifically, in the multi-axis linkage rotary laser processing process, it is first necessary to extract the bounding box parameters of the laser-workpiece contact area entity data. The purpose of this step is to determine the spatial range of the entity in the processing coordinate system to provide a basis for subsequent projection processing. In specific implementation, the principal component analysis (PCA) method is used to determine the main directions of the entity, and then the boundary parameters are calculated in these directions. This method can better adapt to the contact area of ​​complex shapes. The bounding box parameter extraction can be expressed by the following mathematical model:

[0061] ;

[0062] ;

[0063] in, is the point set of the contact area entity, is the covariance matrix of the point set, and the eig() function calculates the eigenvector V and eigenvalue D. and are the minimum and maximum coordinate values ​​of the point set in the original coordinate system, and B is the bounding box parameter matrix after transformation. V is an orthogonal matrix composed of eigenvectors, representing the axis of the new coordinate system; D is a diagonal matrix whose diagonal elements are eigenvalues, representing the variance of the data in each main direction; B is a 2×3 matrix, each row of which contains the minimum and maximum coordinate values ​​in the transformed coordinate system.

[0064] Specifically, based on the obtained bounding box parameters, the solid data of the laser-workpiece contact area needs to be rotated and projected to obtain two-dimensional images on multiple orthogonal planes. The key to this step is to select a suitable projection plane and projection method to retain the characteristic information of the contact area to the greatest extent. In specific implementation, a plane parallel to the main axis of the bounding box is selected as the projection plane, and the parallel projection method is used for projection. After projection, the obtained two-dimensional image is binarized to convert the continuous grayscale image into a discrete binary matrix. This process can be represented by the following mathematical model:

[0065] ;

[0066] ;

[0067] in, is the image on the kth projection plane, is a three-dimensional solid function, is the Dirac delta function, is the projection matrix, r is the three-dimensional space vector, is the binary matrix after binarization, H() is the Heaviside step function, and T is the binarization threshold. The main purpose of this formula is to project a three-dimensional entity onto a two-dimensional plane and perform binarization. Represents the grayscale value of the projected image at point (x, y). The integral operation realizes the projection from three-dimensional to two-dimensional; It is the result of binarization, and its value is 0 or 1.

[0068] Specifically, two-dimensional linear interpolation is performed on the binary matrix to obtain a continuous contact state function. This step needs to consider the accuracy and computational efficiency of the interpolation. In the specific implementation, the bicubic spline interpolation method is used, which can maintain continuity while maintaining a certain degree of smoothness.

[0069] Furthermore, according to the binary matrix, two-dimensional linear interpolation processing is performed on the laser-workpiece contact state to obtain a continuous contact state function, and the contact state function is circumferentially expanded and normalized to obtain a laser-workpiece contact window function, including: mapping pixel coordinates and actual space coordinates of the binary matrix to obtain an actual size distribution of the laser-workpiece contact area; according to the actual size distribution, bilinear interpolation calculation is performed on the laser-workpiece contact state to obtain a continuous contact state function, and the contact state function is polar coordinate transformed to obtain a circular contact state description centered on the laser beam axis; according to the circumferential contact state description, the contact state is periodically replicated and spliced ​​to obtain an expanded function covering a complete rotation period, and the expanded function is numerically normalized and discretely sampled to obtain a laser-workpiece contact window function.

[0070] Specifically, in the multi-axis linkage rotary laser processing process, it is first necessary to map the pixel coordinates in the binary matrix to the actual spatial coordinate system. The purpose of this step is to convert the discrete binary image into a size distribution with actual physical meaning. In specific implementation, it is necessary to use the bounding box parameters and image resolution information of the laser-workpiece contact area to establish a conversion function from pixel index to actual spatial coordinates. This mapping process can be represented by the following mathematical model:

[0071] ;

[0072] Where T is the mapping function, (i, j) is the pixel index in the binary matrix, (x, y, z) is the corresponding real space coordinate, ( , ) is the minimum coordinate of the bounding box, Δx and Δy are the actual sizes in pixels in the x and y directions, is the z coordinate determined from the binary value. The main purpose of this formula is to convert discrete pixel coordinates to continuous spatial coordinates. i and j are integer indices, and x, y, and z are real coordinate values.

[0073] Specifically, based on the actual size distribution obtained in step 1, it is necessary to perform bilinear interpolation calculation on the laser-workpiece contact state to obtain a continuous contact state function. The key to this step is to select a suitable interpolation method to ensure the smoothness of the interpolation result while maintaining the characteristics of the original data. In specific implementation, a bilinear interpolation algorithm is used, which achieves a good balance between computational efficiency and interpolation effect. The mathematical model of bilinear interpolation can be expressed as:

[0074] ;

[0075] in, is the interpolated function value, ( , )、( , )、( , )、( , ) are the four known points closest to (x,y), =(x- ) / ( - ), β=(y- ) / ( - ). The main purpose of this formula is to calculate continuous function values ​​between discrete data points. x and y are the coordinates of the points to be interpolated, and α and β are the normalized distance weights.

[0076] Specifically, the continuous contact state function obtained in step 2 is subjected to polar coordinate transformation, in order to obtain a description of the circumferential contact state centered on the laser beam axis. This step needs to consider the accuracy and computational efficiency of the coordinate system transformation. In specific implementation, the polar coordinate transformation formula is used, combined with the numerical integration method to process discrete data. The mathematical model of polar coordinate transformation can be described as:

[0077] ;

[0078] ;

[0079] ;

[0080] in, is a function in polar coordinates, is a function in rectangular coordinates, ( ) is the projection point of the laser beam axis on the xy plane, r is the distance to the center point, and θ is the polar angle. The main purpose of this formula is to convert a function in a rectangular coordinate system into a function in a polar coordinate system. r and θ are the independent variables of the polar coordinate system, and x and y are the independent variables of the rectangular coordinate system.

[0081] Specifically, based on the description of the circumferential contact state obtained in step 3, periodic replication and splicing are required to obtain an expansion function covering the entire rotation cycle. The purpose of this step is to expand the local contact state to the entire rotation cycle for subsequent processing control. When implementing it specifically, it is necessary to consider the rotation characteristics of the laser beam and the geometric shape of the workpiece, and reasonably perform periodic replication and splicing. This process can be represented by the following mathematical model:

[0082] ;

[0083] in, is the expanded window function, is the circular contact state function obtained in step 3, n is the periodic characteristic of the laser beam (such as the number of teeth), and mod is the modulus operation. The main purpose of this formula is to periodically expand the local contact state function to the entire rotation period. θ is the angle in the range [0, 2π], and z is the axial position. Finally, the expanded function is numerically normalized and discretely sampled to obtain the final laser-workpiece contact window function. The purpose of normalization is to map the function value to a standard interval to facilitate subsequent energy density calculations; discrete sampling is to obtain discrete data points that are convenient for numerical calculations. In specific implementation, nonlinear normalization methods and adaptive sampling strategies are used.

[0084] 103. According to the laser-workpiece contact window function, the preset ideal laser energy density distribution of the multi-axis linkage rotating laser equipment is corrected to obtain the effective laser energy density distribution;

[0085] In one embodiment of the present invention, the method of correcting the preset ideal laser energy density distribution of the multi-axis linkage rotating laser device according to the laser-workpiece contact window function to obtain an effective laser energy density distribution includes: performing Fourier transform on the laser-workpiece contact window function to obtain frequency domain characteristics of the laser-workpiece contact state; performing frequency domain filtering processing on the preset ideal laser energy density distribution according to the frequency domain characteristics to obtain a preliminary corrected energy distribution considering the contact state; performing incident angle compensation processing on the preliminary corrected energy distribution to obtain an angle-corrected energy distribution considering the influence of multi-axis motion, and performing absorption rate compensation processing on the angle-corrected energy distribution according to the material characteristics of the workpiece to obtain an energy absorption distribution considering the material characteristics; and performing spatial integration and normalization processing on the energy absorption distribution to obtain an effective laser energy density distribution.

[0086] Specifically, in the multi-axis linkage rotary laser processing process, it is first necessary to perform Fourier transform on the laser-workpiece contact window function to obtain its frequency domain characteristics. The purpose of this step is to convert the contact state information in the spatial domain into a frequency domain representation to facilitate subsequent frequency domain processing. In the specific implementation, we use the two-dimensional discrete Fourier transform (2D-DFT) method, which can effectively capture the periodic characteristics and spatial variations of the contact window function. Based on the frequency domain characteristics obtained in step 1, we need to perform frequency domain filtering on the preset ideal laser energy density distribution. The key to this step is to design a suitable filter to retain the main characteristics of the contact state while suppressing unnecessary high-frequency noise. In the specific implementation, we use an adaptive Wiener filter, which can automatically adjust the filtering parameters according to the local statistical characteristics of the signal.

[0087] Specifically, the initial corrected energy distribution obtained in step 2 is processed with incident angle compensation and material absorption rate compensation to consider the effects of multi-axis motion and material properties on energy absorption. This step requires combining the incident angle information of the laser beam with the optical properties of the workpiece material. In specific implementation, we first perform incident angle compensation, and then make further corrections based on the absorption characteristics of the material. This process can be represented by the following mathematical model:

[0088] ;

[0089] in, is the effective energy density distribution, IDFT stands for inverse discrete Fourier transform, is the local angle of incidence, is the absorptivity function of the material at temperature T. The main purpose of this formula is to convert the energy distribution after frequency domain filtering back to the spatial domain, and take into account the influence of the incident angle and the absorption characteristics of the material. cos(α(θ,z)) represents the influence of the incident angle on the energy density, and A(θ, z, T) represents the absorption characteristics of the material for different wavelengths and incident angles. The last step is to spatially integrate and normalize the energy absorption distribution to obtain the final effective laser energy density distribution. The purpose of this step is to ensure energy conservation and standardize the output results. In specific implementation, we first perform spatial integration on the entire processing area and then perform normalization. This process can be represented by the following mathematical model:

[0090] ;

[0091] ;

[0092] in, is the total energy, is the normalized effective laser energy density distribution. The main purpose of this formula is to ensure energy conservation and obtain a standardized energy density distribution. ∫∫ represents a double integral, The integral value of is always 1.

[0093] 104. Coordinately optimize the processing parameters of the multi-axis linkage rotating laser device according to the effective laser energy density distribution, obtain parameter adjustment instructions for the processing parameters, and control the multi-axis linkage rotating laser device to process the target workpiece based on the processing parameters and the parameter adjustment instructions.

[0094] In one embodiment of the present invention, the collaborative optimization of the processing parameters of the multi-axis linkage rotary laser device according to the effective laser energy density distribution to obtain parameter adjustment instructions for the processing parameters includes: performing parameter sensitivity analysis on the effective laser energy density distribution to obtain the influence weights of each processing parameter on the energy distribution; performing multi-objective optimization modeling on the processing parameters of the multi-axis linkage rotary laser device according to the influence weights to obtain an optimization model that considers parameter coupling effects; performing improved particle swarm algorithm solution processing on the optimization model to obtain a preliminary parameter solution set, and based on the preliminary parameter solution set, performing inter-axis synergy evaluation on the processing parameters to obtain an optimized parameter combination that considers multi-axis linkage characteristics; performing dynamic response analysis and smoothing processing on the optimized parameter combination to obtain parameter adjustment instructions for the processing parameters.

[0095] Specifically, in the process of multi-axis linkage rotary laser processing, parameter sensitivity analysis of effective laser energy density distribution is the first step to optimize processing parameters. This analysis is achieved by changing each processing parameter and observing the change in energy distribution, using local sensitivity analysis methods such as Morris screening method or Sobol index method. Through this analysis, the influence weight of each processing parameter on energy distribution is obtained, which provides a basis for the subsequent optimization process. Next, based on the obtained influence weight, multi-objective optimization modeling is performed on the processing parameters of the multi-axis linkage rotary laser equipment. This step takes into account the coupling effect between parameters and establishes an optimization model containing multiple objective functions. The objective function usually includes processing efficiency, surface quality, energy utilization, etc., and various constraints such as physical limitations of the equipment and process requirements need to be considered. The optimization model is established by mathematical programming methods, such as linear programming or nonlinear programming, depending on the nature of the objective function and constraints. Solving the established optimization model is the next key step. Considering the complexity and nonlinear characteristics of the multi-axis linkage system, an improved particle swarm algorithm is used for solution. This algorithm can effectively handle high-dimensional and non-convex optimization problems by simulating group intelligence behavior. The improved particle swarm algorithm introduces adaptive inertia weights and convergence factors to improve the convergence speed and global search capability of the algorithm. Through multiple iterative calculations, a set of preliminary parameter solutions that meet the optimization objectives is obtained. Subsequently, the obtained preliminary parameter solution set is evaluated for inter-axis coordination. This step aims to consider the characteristics of multi-axis linkage and ensure the motion coordination between the axes. During the evaluation process, the inter-axis coupling index and motion smoothness index are used to measure the applicability of the parameter combination. For example, for a five-axis linkage system, the evaluation will consider the speed matching and acceleration coordination between the linear axes (X, Y, Z) and the rotary axes (A, B). Through this evaluation, the optimal parameter combination that best suits the multi-axis linkage characteristics is selected from the preliminary parameter solution set. Finally, the selected optimal parameter combination is subjected to dynamic response analysis and smoothing. The dynamic response analysis uses system identification technology to establish a relationship model between parameter changes and system response. This step takes into account the dynamic characteristics of the equipment, such as the natural frequency of the mechanical structure and the response characteristics of the servo system. Smoothing processing uses digital filtering technology, such as low-pass filter or Savitzky-Golay filter, to reduce sudden changes in parameter adjustment and ensure the stability of the machining process. Through these processes, a set of parameter adjustment instructions that take into account dynamic characteristics and smoothness are finally obtained.

[0096] Furthermore, the controlling of the multi-axis linkage rotating laser device to perform processing on the target workpiece based on the processing parameters and the parameter adjustment instructions includes: performing time-series fusion processing on the processing parameters and the parameter adjustment instructions to obtain a comprehensive processing parameter sequence, and performing trajectory planning processing on the motion trajectory of the multi-axis linkage rotating laser device according to the comprehensive processing parameter sequence to obtain a set of spatial discrete control points; performing kinematic inverse solution processing on the set of spatial discrete control points to obtain real-time position, speed and acceleration instructions of each axis execution component of the multi-axis linkage rotating laser device; performing dynamic compensation processing on the laser power and focal position of the multi-axis linkage rotating laser device according to the real-time position, speed and acceleration instructions to obtain a laser output parameter sequence; performing time-space synchronization on the laser output parameter sequence and the execution instructions of each axis to obtain a real-time control instruction stream of the multi-axis linkage rotating laser device, and controlling the multi-axis linkage rotating laser device to perform processing on the target workpiece according to the real-time control instruction stream.

[0097] Specifically, in the process of multi-axis linkage rotary laser processing control, it is first necessary to perform time-series fusion processing on the processing parameters and parameter adjustment instructions to obtain a comprehensive processing parameter sequence. This step realizes the continuity and smooth transition of parameters through timestamp alignment and interpolation algorithm. Then, based on the obtained comprehensive processing parameter sequence, the motion trajectory of the multi-axis linkage rotary laser equipment is processed by trajectory planning. The trajectory planning adopts the quintic polynomial interpolation method to ensure the continuity of speed and acceleration, while considering the dynamic constraints of the equipment. In this way, a series of spatial discrete control point sets that meet the processing requirements are generated, and each control point contains position, time and other related parameter information. Subsequently, these spatial discrete control point sets are processed by kinematic inverse solution. The kinematic inverse solution uses a combination of analytical method and numerical iteration method to convert the target position in the Cartesian coordinate system into the joint space coordinates of each axis of the equipment. This process needs to consider the mechanical structure and kinematic model of the equipment, and obtain the real-time position, speed and acceleration instructions of each axis actuator by solving the nonlinear equation group. For example, for a five-axis linkage system, the inverse solution process converts a point (x, y, z) and two direction angles (A, B) in space into angles or displacement values ​​(X, Y, Z, A, B) of the five axes. After obtaining the motion instructions of the execution components of each axis, it is necessary to dynamically compensate the laser power and focus position. This step uses the effective laser energy density distribution and real-time position, velocity, and acceleration information obtained in the previous step, combined with the laser power model and focus position control algorithm to calculate the optimal laser output parameters at each moment. The dynamic compensation process takes into account the curvature changes of the processing path, the local characteristics of the material, and the geometric relationship changes caused by multi-axis motion, so as to obtain a laser output parameter sequence that accurately matches the motion trajectory. Finally, the laser output parameter sequence is synchronized with the execution instructions of each axis in time and space. Time and space synchronization is achieved through interpolation algorithms and timestamp alignment to ensure that the adjustment of laser parameters corresponds precisely to mechanical motion. This process generates a real-time control instruction stream containing complete information, including the position, velocity, and acceleration instructions of each axis, as well as the corresponding laser power, focus position and other parameters. This real-time control instruction stream is fed into the control system of the multi-axis linkage rotary laser equipment, which accurately controls the movement and laser output of each actuator through the underlying driver and actuator, ultimately achieving precise processing of the target workpiece. Throughout the entire process, each step is closely linked to form a closed-loop control system. From parameter fusion to trajectory planning, to inverse kinematics and dynamic compensation, each step provides the necessary input for the next step, and is also affected by real-time feedback from the processing process. This multi-level, multi-dimensional control strategy ensures high precision and efficiency in the multi-axis linkage rotary laser processing process, and can adapt to complex processing tasks and changing working conditions.

[0098] In this embodiment, the laser-workpiece contact area entity data is generated according to the entity data of the target workpiece and the current motion data of the multi-axis linkage rotating laser device, and the data is subjected to two-dimensional image projection and function conversion to obtain the laser-workpiece contact window function. Subsequently, the preset ideal laser energy density distribution is corrected based on the contact window function to obtain the effective laser energy density distribution. According to the effective distribution, the processing parameters of the multi-axis linkage rotating laser device are collaboratively optimized, parameter adjustment instructions are generated, and the device is controlled by these instructions to accurately process the target workpiece. According to the entity data of the workpiece and the motion data of the equipment, the present invention corrects the laser energy density distribution in real time and dynamically optimizes the processing parameters, thereby improving the processing accuracy and efficiency and meeting the high-precision processing requirements of complex workpieces.

[0099] The above describes the multi-axis linkage rotary laser processing control method in the embodiment of the present invention. The following describes the multi-axis linkage rotary laser processing control device in the embodiment of the present invention. Figure 2 In one embodiment of the present invention, a multi-axis linkage rotary laser processing control device includes:

[0100] The data processing module 201 is used to generate the laser-workpiece contact area entity data according to the workpiece entity data in the target workpiece processing process and the current motion data of the multi-axis linkage rotating laser device;

[0101] A projection conversion module 202 is used to perform two-dimensional image projection and function conversion on the laser-workpiece contact area entity data to obtain a laser-workpiece contact window function;

[0102] An energy density distribution correction module 203 is used to correct the ideal laser energy density distribution preset by the multi-axis linkage rotating laser device according to the laser-workpiece contact window function to obtain an effective laser energy density distribution;

[0103] The control module 204 is used to collaboratively optimize the processing parameters of the multi-axis linkage rotating laser device according to the effective laser energy density distribution, obtain parameter adjustment instructions for the processing parameters, and control the multi-axis linkage rotating laser device to perform processing operations on the target workpiece based on the processing parameters and the parameter adjustment instructions.

[0104] In an embodiment of the present invention, the multi-axis linkage rotary laser processing control device runs the above-mentioned multi-axis linkage rotary laser processing control method, and the multi-axis linkage rotary laser processing control device generates the laser-workpiece contact area entity data according to the entity data of the target workpiece and the current motion data of the multi-axis linkage rotary laser device, and performs two-dimensional image projection and function conversion on the data to obtain the laser-workpiece contact window function. Subsequently, the preset ideal laser energy density distribution is corrected based on the contact window function to obtain the effective laser energy density distribution. According to the effective distribution, the processing parameters of the multi-axis linkage rotary laser device are collaboratively optimized, parameter adjustment instructions are generated, and the device is controlled by these instructions to accurately process the target workpiece. According to the entity data of the workpiece and the motion data of the equipment, the present invention corrects the laser energy density distribution in real time, and dynamically optimizes the processing parameters, thereby improving the processing accuracy and efficiency, and meeting the high-precision processing requirements of complex workpieces.

[0105] above Figure 2 The multi-axis linkage rotary laser processing control device in the embodiment of the present invention is described in detail from the perspective of modular functional entity. The multi-axis linkage rotary laser processing control device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0106] Figure 3 3 is a schematic diagram of the structure of a multi-axis linkage rotary laser processing control device provided by an embodiment of the present invention. The multi-axis linkage rotary laser processing control device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 310 (for example, one or more processors) and a memory 320, and one or more storage media 330 (for example, one or more mass storage device terminals) storing application programs 333 or data 332. Among them, the memory 320 and the storage medium 330 can be short-term storage or permanent storage. The program stored in the storage medium 330 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the multi-axis linkage rotary laser processing control device 300. Furthermore, the processor 310 can be configured to communicate with the storage medium 330, and execute a series of instruction operations in the storage medium 330 on the multi-axis linkage rotary laser processing control device 300 to implement the steps of the above-mentioned multi-axis linkage rotary laser processing control method.

[0107] The multi-axis linkage rotary laser processing control device 300 may also include one or more power supplies 340, one or more wired or wireless network interfaces 350, one or more input and output interfaces 360, and / or one or more operating systems 331, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will appreciate that Figure 3 The structure of the multi-axis linkage rotary laser processing control device shown does not constitute a limitation on the multi-axis linkage rotary laser processing control device provided by the present invention, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0108] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the multi-axis linkage rotary laser processing control method.

[0109] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device, or unit can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0110] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0111] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-axis linkage rotary laser processing control method, characterized in that: The multi-axis linkage rotary laser processing control method comprises: Generate laser-workpiece contact area entity data according to the workpiece entity data during the target workpiece processing and the current motion data of the multi-axis linkage rotating laser device; Performing two-dimensional image projection and function conversion on the laser-workpiece contact area entity data to obtain a laser-workpiece contact window function; Correcting the preset ideal laser energy density distribution of the multi-axis linkage rotating laser device according to the laser-workpiece contact window function to obtain an effective laser energy density distribution; The processing parameters of the multi-axis linkage rotating laser device are collaboratively optimized according to the effective laser energy density distribution to obtain parameter adjustment instructions for the processing parameters, and the multi-axis linkage rotating laser device is controlled based on the processing parameters and the parameter adjustment instructions to perform processing operations on the target workpiece.

2. The multi-axis linkage rotary laser processing control method according to claim 1, characterized in that: The generating of the laser-workpiece contact area entity data according to the workpiece entity data during the target workpiece processing and the current motion data of the multi-axis linkage rotating laser device comprises: Performing motion decomposition on the current motion data of the multi-axis linkage rotating laser device to obtain a horizontal motion component along the workpiece surface, a vertical motion component perpendicular to the workpiece surface, and a rotational motion component around the normal direction of the workpiece surface; According to the horizontal motion component, the vertical motion component and the rotational motion component, the historical adjacent position points of the multi-axis linkage rotation laser device are screened and processed to obtain a set of historical adjacent position points that meet a preset distance condition; Performing geometric reconstruction processing on the historical adjacent position point set to obtain a historical laser beam entity set; According to the workpiece entity data of the target workpiece, the current laser beam entity data of the multi-axis linkage rotating laser device and the historical laser beam entity set, spatial Boolean operation processing is performed to obtain laser-workpiece contact area entity data.

3. The multi-axis linkage rotary laser processing control method according to claim 1, characterized in that: The performing two-dimensional image projection and function conversion on the laser-workpiece contact area entity data to obtain the laser-workpiece contact window function comprises: Extracting boundary box parameters of the laser-workpiece contact area entity data to obtain a plurality of boundary parameters of the laser-workpiece contact area entity data in a processing coordinate system; According to the boundary parameters, the entity data of the laser-workpiece contact area is subjected to rotational projection processing to obtain two-dimensional images on multiple orthogonal planes, and the two-dimensional images are subjected to binarization processing to obtain a binary matrix representing the laser-workpiece contact state; According to the binary matrix, two-dimensional linear interpolation processing is performed on the laser-workpiece contact state to obtain a continuous contact state function, and the contact state function is circumferentially expanded and normalized to obtain a laser-workpiece contact window function.

4. The multi-axis linkage rotary laser processing control method according to claim 3 is characterized in that: According to the binary matrix, two-dimensional linear interpolation processing is performed on the laser-workpiece contact state to obtain a continuous contact state function, and the contact state function is circumferentially expanded and normalized to obtain a laser-workpiece contact window function, including: Mapping pixel coordinates and actual space coordinates of the binary matrix to obtain actual size distribution of the laser-workpiece contact area; According to the actual size distribution, bilinear interpolation calculation is performed on the laser-workpiece contact state to obtain a continuous contact state function, and polar coordinate transformation processing is performed on the contact state function to obtain a circumferential contact state description centered on the laser beam axis; According to the description of the circumferential contact state, the contact state is periodically replicated and spliced ​​to obtain an expansion function covering a complete rotation period, and the expansion function is numerically normalized and discretely sampled to obtain a laser-workpiece contact window function.

5. The multi-axis linkage rotary laser processing control method according to claim 1, characterized in that: The step of correcting the preset ideal laser energy density distribution of the multi-axis linkage rotating laser device according to the laser-workpiece contact window function to obtain the effective laser energy density distribution comprises: Performing Fourier transformation on the laser-workpiece contact window function to obtain frequency domain characteristics of the laser-workpiece contact state; According to the frequency domain characteristics, a preset ideal laser energy density distribution is subjected to frequency domain filtering to obtain a preliminary corrected energy distribution taking the contact state into consideration; Performing incident angle compensation processing on the preliminary corrected energy distribution to obtain an angle corrected energy distribution that takes into account the influence of multi-axis motion, and performing absorption rate compensation processing on the angle corrected energy distribution according to the material properties of the workpiece to obtain an energy absorption distribution that takes into account the material properties; The energy absorption distribution is spatially integrated and normalized to obtain an effective laser energy density distribution.

6. The multi-axis linkage rotary laser processing control method according to claim 1, characterized in that: The step of collaboratively optimizing the processing parameters of the multi-axis linkage rotary laser device according to the effective laser energy density distribution to obtain the parameter adjustment instructions of the processing parameters includes: Performing parameter sensitivity analysis on the effective laser energy density distribution to obtain the influence weight of each processing parameter on the energy distribution; According to the influence weights, multi-objective optimization modeling is performed on the processing parameters of the multi-axis linkage rotary laser equipment to obtain an optimization model that takes into account the parameter coupling effect; The optimization model is solved by an improved particle swarm algorithm to obtain a preliminary parameter solution set, and based on the preliminary parameter solution set, the inter-axis coordination of the machining parameters is evaluated to obtain an optimization parameter combination that takes into account multi-axis linkage characteristics; Dynamic response analysis and smoothing processing are performed on the optimized parameter combination to obtain parameter adjustment instructions for the processing parameters.

7. The multi-axis linkage rotary laser processing control method according to claim 1, characterized in that: The controlling the multi-axis linkage rotating laser device to process the target workpiece based on the processing parameters and the parameter adjustment instructions comprises: Performing time-series fusion processing on the processing parameters and parameter adjustment instructions to obtain a comprehensive processing parameter sequence, and performing trajectory planning processing on the motion trajectory of the multi-axis linkage rotating laser device according to the comprehensive processing parameter sequence to obtain a spatial discrete control point set; Performing kinematic inverse solution processing on the spatial discrete control point set to obtain real-time position, speed and acceleration instructions of each axis execution component of the multi-axis linkage rotating laser device; According to the real-time position, speed and acceleration instructions, dynamically compensate the laser power and focus position of the multi-axis linkage rotating laser device to obtain a laser output parameter sequence; The laser output parameter sequence and the execution instructions of each axis are synchronized in time and space to obtain a real-time control instruction stream of the multi-axis linkage rotating laser device, and the multi-axis linkage rotating laser device is controlled according to the real-time control instruction stream to perform processing operations on the target workpiece.

8. A multi-axis linkage rotary laser processing control device, characterized in that: The multi-axis linkage rotary laser processing control device comprises: A data processing module, used for generating laser-workpiece contact area entity data according to workpiece entity data during the processing of the target workpiece and current motion data of the multi-axis linkage rotating laser device; A projection conversion module, used for performing two-dimensional image projection and function conversion on the laser-workpiece contact area entity data to obtain a laser-workpiece contact window function; An energy density distribution correction module is used to correct the ideal laser energy density distribution preset by the multi-axis linkage rotating laser device according to the laser-workpiece contact window function to obtain an effective laser energy density distribution; A control module is used to collaboratively optimize the processing parameters of the multi-axis linkage rotary laser device according to the effective laser energy density distribution, obtain parameter adjustment instructions for the processing parameters, and control the multi-axis linkage rotary laser device to perform processing operations on the target workpiece based on the processing parameters and the parameter adjustment instructions.

9. A multi-axis linkage rotary laser processing control device, characterized in that: The multi-axis linkage rotary laser processing control device comprises: a memory and at least one processor, wherein instructions are stored in the memory; The at least one processor calls the instructions in the memory so that the multi-axis linkage rotary laser processing control device executes the steps of the multi-axis linkage rotary laser processing control method as described in any one of claims 1-7.

10. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the steps of the multi-axis linkage rotation laser processing control method as described in any one of claims 1-7 are implemented.

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