Method and system for sequencing laser cutting tracks

Abstract

The invention provides a sorting method and system for laser cutting tracks. The method comprises the steps that the starting position and the ending position of the sorting are determined; obtaining a to-be-sorted trajectory list based on the trajectory between the starting position and the ending position; screening the tracks in the to-be-sorted track list; and sorting the tracks in the screened list to be sorted. The system comprises a sorting range determining module, a to-be-sorted track list obtaining module, a track screening module and a track sorting module. According to the technical scheme, in the automatic machining process, real-time adjustment is conducted according to the cutting sequence of the current mechanical state graph, mechanical parameters are reflected to screening and sorting of the graph, the drawing and the mechanical state are attached in real time, the cutting precision and efficiency are improved, and the better cutting effect can be achieved; and the mechanical state can be adapted in real time, and machining interruption is not prone to being caused.

Description

Technical Field

[0001] The present invention relates to the field of laser cutting technology, and in particular to a laser cutting track sorting method and system. Background Art

[0002] In the current field of laser sheet metal cutting, the order of cutting graphics depends on the drawing, and cannot be modified in real time during the processing. When drawing the cutting drawing, the details of the automated processing process cannot be taken into account, resulting in poor actual cutting accuracy and efficiency. The following scenarios may occur:

[0003] (1) After the feeding movement, the actual cutting position of the pattern does not correspond to the drawing, and the instability caused by the mechanical movement during the cutting process leads to poor cutting quality;

[0004] (2) The order of cutting the graphics is not the order that takes the least time under the current mechanical state. If the graphics are cut in the order of the drawings, the mechanical axis will detour during the movement, reducing the cutting efficiency.

[0005] (3) When cutting according to the order specified in the drawing, due to the design of the mechanical structure, the clamping device cannot pull and feed the pipe as expected in a specific order, resulting in processing interruption and reduced cutting efficiency.

[0006] Therefore, there is an urgent need to provide a new laser trajectory sorting method to solve the problems of poor cutting accuracy and efficiency caused by the above-mentioned scenarios. Summary of the invention

[0007] The present invention provides a laser cutting trajectory sorting method and system to solve the problem in the prior art that the details of the processing process cannot be taken into account when drawing cutting drawings, resulting in poor actual cutting accuracy and efficiency.

[0008] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0009] According to a first aspect of the present invention, there is provided a method for sorting laser cutting trajectories, comprising:

[0010] Determine the starting position and ending position of this sort;

[0011] A list of trajectories to be sorted is obtained based on the trajectories between the starting position and the ending position;

[0012] Screening the trajectories in the list of trajectories to be sorted;

[0013] The trajectories in the to-be-sorted list after being screened are sorted.

[0014] Optionally, the sorting includes two situations: first sorting and non-first sorting;

[0015] Determining the starting position and the ending position of this sorting specifically includes:

[0016] When performing the first sorting, the starting position and the ending position of this sorting are determined according to the current mechanical coordinates of the cutting head;

[0017] When performing a non-first sort, the starting position and ending position of this sort are determined based on the previous sort.

[0018] Optionally, the chuck is used to clamp and position the pipe, the clamping jaws are used to clamp the pipe to achieve axial movement of the pipe; the centering device is used to clamp the pipe to achieve centering of the pipe in the width direction;

[0019] The screening of the trajectories in the list of trajectories to be sorted includes:

[0020] For the cutting lines covered by the groove range in the trajectory that cannot be cut at the end position of the current sorting, the cutting lines are deleted;

[0021] When the effective clamping position of the centering device is farther from the chuck than the cutting head along the length direction of the pipe, the method further comprises:

[0022] For the cut-off line near the end position of the current sorting, if there is a non-cross-surface track that is not in the list of tracks to be sorted this time within the first preset distance, the cut-off line is deleted;

[0023] Wherein, the first preset distance is determined according to the distance from the effective clamping position of the centering device to the cutting head in the length direction of the pipe;

[0024] When the effective clamping position of the clamping jaw is farther from the chuck than the cutting head along the length direction of the pipe, the method further comprises:

[0025] Deleting the cutting line within a second preset distance range from the chuck;

[0026] Wherein, the second preset distance is determined according to the distance from the effective clamping position of the clamping jaw to the cutting head in the length direction of the pipe.

[0027] Optionally, when performing a non-first sort, determining the starting position of the sort specifically includes:

[0028] The smallest of the minimum value of the Y-axis coordinate in the track deleted in the last sorting filter, the minimum value of the Y-axis coordinate in the groove range of the cut-off line deleted in the last sorting filter, the minimum value of the Y-axis coordinate in the groove range of the track within the swing length range from the last sorting end position passing the last sorting end position, and the minimum value of the Y-axis coordinate in the track passing the last sorting end position is selected as the starting position of the current sorting;

[0029] Wherein, the swing length range is: the swing cutting range of the cutting head along the length direction of the pipe.

[0030] Optionally, when performing a non-first sort, determining the end position of the sort specifically includes:

[0031] Based on satisfying the cutting stroke requirement and taking into account the effectiveness conditions of the clamping jaws and the centering device for the next time, determining the end position of the current sorting;

[0032] Among them, the cutting stroke requirement includes: a non-cross-surface trajectory cutting stroke requirement and a cross-surface trajectory cutting stroke requirement; the cross-surface trajectory cutting stroke requirement is smaller than the non-cross-surface trajectory cutting stroke requirement.

[0033] Optionally, the step of sorting the trajectories in the filtered list to be sorted specifically includes:

[0034] Classify the tracks into: holes, cut-off lines;

[0035] sorting the holes;

[0036] The cut-off lines are sorted.

[0037] Optionally, the holes are sorted, specifically comprising:

[0038] sorting the holes by face, or sorting the holes by shortest time;

[0039] Among them, sorting by face means sorting the holes in the next face after sorting the holes in the current face, when the final hole of the previous sorting and the starting hole of the next sorting are located on the same longitudinal section of the pipe, and the holes in the same face are sorted by the shortest displacement;

[0040] The shortest time sorting refers to calculating the sum of the migration times between the wells involved in the sorting, and sorting in a way that the sum of the migration times is the shortest.

[0041] Optionally, the cut-off lines are sorted, specifically including:

[0042] When the effective clamping position of the centering device is farther from the chuck than the cutting head along the length direction of the tube; the cutting line is sequentially inserted after the last sorting element within the third preset distance range;

[0043] The third preset distance is determined according to the distance from the effective clamping position of the centering device to the cutting head in the length direction of the pipe.

[0044] Optionally, after determining the end position of the sorting, the step further includes:

[0045] Determine the axial movement distance of the pipe this time.

[0046] Optionally, after determining the axial movement distance of the pipe, the step further includes:

[0047] The clamping position of this time is determined, and the clamping position is located on the pipe, so that the pipe is clamped at the clamping position to realize the axial movement of the pipe.

[0048] According to a second aspect of the present invention, there is provided a system for sorting laser cutting trajectories, comprising:

[0049] A sorting range determination module is used to determine the starting position and the ending position of this sorting;

[0050] A module for obtaining a list of trajectories to be sorted is used to obtain a list of trajectories to be sorted based on the trajectories between the starting position and the ending position;

[0051] A trajectory screening module, used for screening the trajectories in the list of trajectories to be sorted;

[0052] The trajectory sorting module is used to sort the trajectories in the list of trajectories to be sorted after being filtered.

[0053] According to a third aspect of the present invention, there is provided an electronic device, comprising:

[0054] processor;

[0055] and, a memory for storing processor-executable instructions;

[0056] The processor implements the steps in any one of the above-mentioned sorting methods by running the executable instructions.

[0057] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps in any one of the above-mentioned sorting methods.

[0058] The laser cutting trajectory sorting method and system provided by the present invention can dynamically adjust the cutting order of graphics in real time according to the current mechanical state during the automated processing, reflect the mechanical parameters in the screening and sorting of graphics, and fit the drawings to the mechanical state in real time, thereby improving the cutting accuracy and efficiency and achieving better cutting effects.

[0059] In addition, the laser cutting trajectory sorting method and system provided by the present invention can adapt to the mechanical state in real time by sorting the cutting order of the image in real time according to the current mechanical state during the automated processing, so that the pipe can be pulled and fed as expected during the processing, and the processing is not easily interrupted. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the embodiments of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0061] Figure 1 A flowchart of a method for sorting laser cutting tracks according to an embodiment of the present invention;

[0062] Figure 2 A flowchart of screening tracks in a list of tracks to be sorted according to an embodiment of the present invention;

[0063] Figure 3a A schematic diagram of the effective clamping position of the centering device and the position of the cutting head according to an embodiment of the present invention;

[0064] Figure 3b A schematic diagram of the effective clamping position of the centering device and the position of the cutting head according to another embodiment of the present invention;

[0065] Figure 3c A schematic diagram of the effective clamping position of the centering device and the position of the cutting head according to another embodiment of the present invention;

[0066] Figure 4a A schematic diagram of the effective clamping position of the clamping jaws and the position of the cutting head according to an embodiment of the present invention;

[0067] Figure 4b A schematic diagram of the effective clamping position of the clamping jaws and the position of the cutting head according to an embodiment of the present invention;

[0068] Figure 4c A schematic diagram of the effective clamping position of the clamping jaws and the position of the cutting head according to an embodiment of the present invention;

[0069] Figure 5 A flowchart of sorting the tracks in the list to be sorted after screening according to an embodiment of the present invention;

[0070] Figure 6 A schematic diagram of a laser cutting track sorting system according to an embodiment of the present invention;

[0071] Figure 7 is a schematic diagram of an electronic device according to an embodiment of the present invention;

[0072] Description of reference numerals:

[0073] 101-chuck;

[0074] 102- pipe;

[0075] 103- Centering device,

[0076] 104-cutting head,

[0077] 105-gripper;

[0078] 201-cut line;

[0079] 11- Sorting range determination module,

[0080] 12-Module for obtaining the list of trajectories to be sorted,

[0081] 13-Trajectory screening module,

[0082] 14-Trajectory sorting module;

[0083] 21- Processor,

[0084] 22-internal bus,

[0085] 23- Network interface,

[0086] 24-Memory,

[0087] 25-Memory. DETAILED DESCRIPTION

[0088] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0089] In the description of the specification of the present invention, it is necessary to understand that the orientation or position relationship indicated by the terms "upper part", "lower part", "upper end", "lower end", "lower surface", "upper surface", etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0090] In the description of the present specification, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0091] In the description of the present invention, "plurality" means a plurality, such as two, three, four, etc., unless otherwise clearly and specifically defined.

[0092] In the description of the present invention, unless otherwise clearly specified and limited, the term "connection" and other terms should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0093] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0094] In one embodiment, a method for sorting laser cutting tracks is provided. Figure 1 , which includes:

[0095] S11: Determine the starting position and the ending position of this sorting;

[0096] S12: obtaining a list of trajectories to be sorted based on the trajectories between the starting position and the ending position;

[0097] S13: screening the trajectories in the list of trajectories to be sorted;

[0098] S14: Sort the trajectories in the filtered to-be-sorted list.

[0099] In one embodiment, when the graphics to be cut are relatively large and cannot be completed in one cutting stroke based on the current mechanical coordinates of the cutting head, the sorting includes two situations: the first sorting and the non-first sorting. The starting position and the ending position of the first sorting can be determined based on the current mechanical coordinates of the cutting head; the starting position and the ending position of the non-first sorting can be determined based on the last sorting to avoid cutting omissions.

[0100] Specifically, determining the starting position and ending position of this sorting includes:

[0101] When performing the first sorting, the starting position and the ending position of this sorting are determined according to the current mechanical coordinates of the cutting head;

[0102] When performing a non-first sort, the starting position and ending position of this sort are determined based on the previous sort.

[0103] In one embodiment, please refer to Figure 2 , S13 screens the trajectories in the list of trajectories to be sorted, specifically including:

[0104] S131: Deleting the cutting lines covered by the groove range in the trajectory that cannot be cut at the end position of this sorting.

[0105] In order to complete the continuous and precise processing of cutting, some auxiliary clamping equipment is often required: such as: chucks, jaws, centering devices, etc. Among them, the chuck 101 is used to clamp and position the pipe 102; the jaws 103 are used to clamp the pipe to pull the material to achieve continuous processing; the centering device 104 is used to clamp the pipe to achieve the centering of the width direction of the pipe to achieve precise processing. Generally, for non-cross-surface trajectories (that is, the trajectory is only located on one side of the pipe), a centering device can be used for clamping and centering; for cross-surface trajectories (that is, the trajectory is located on multiple sides of the pipe), in order to facilitate the switching of different sides of the pipe, a centering device is not used for clamping and centering.

[0106] In order to ensure that the clamping jaws and centering devices are always effective during the processing, it is also necessary to screen the trajectory. Under different machine models, the position layout of the centering device and the clamping jaws may be different. The following takes one of the layout methods as an example to explain the trajectory screening in detail:

[0107] When the effective clamping position of the centering device is farther from the chuck than the cutting head along the length of the pipe, please refer to Figure 3a , 3b , 3c, filtering the trajectories in the list of trajectories to be sorted also includes:

[0108] S132: For the cut-off line 201 near the end position of the current sorting, if there is a non-cross-surface track that is not in the list of tracks to be sorted within the first preset distance D1, the cut-off line is deleted;

[0109] The first preset distance is determined according to the distance from the effective clamping position A of the centering device 103 to the cutting head 104 in the length direction of the pipe.

[0110] In order to ensure that the centering device is always effective and maintain a relatively high cutting accuracy, for the cutting line near the end position of this sort, it is necessary to consider whether there is a non-cross-surface trajectory within the first preset distance range that is not within the current sort range (that is, near the starting position of the next sort). If so, because the non-cross-surface trajectory generally requires centering by the centering device, the non-cross-surface trajectory needs to be cut before this cutting line is cut, that is, the cutting line needs to be deleted from this sort first.

[0111] The effective clamping position of the centering device can be understood as: the centering device can clamp the pipe and effectively center it. Along the length direction of the pipe, the surface of the centering device used to clamp the pipe has a certain length d1, and its effective clamping position can be as long as half of the length can clamp the pipe to achieve effective centering. At this time, the effective clamping position A of the centering device is the middle position, please refer to Figure 3a ; Its effective clamping position may also require more than half of the length to clamp the pipe to achieve effective centering. In this case, the effective clamping position A of the centering device is the position more than half of its length. Please refer to Figure 3b , whether it is located at 3 / 4, 4 / 5, or other positions, different models may have different considerations; of course, the most effective clamping is that the centering device can clamp the pipe along its entire length. In this case, the effective clamping position A of the centering device is the position of its entire length. Please refer to Figure 3c .

[0112] When the effective clamping position of the clamping jaws is farther from the chuck than the cutting head along the length of the pipe, please refer to Figure 4a , Figure 4b , Figure 4c , filtering the trajectories in the list of trajectories to be sorted also includes:

[0113] S133: deleting the cutting line 201 within the second preset distance D2 from the chuck 101;

[0114] The second preset distance is determined according to the distance from the effective clamping position B of the clamping jaw 105 to the cutting head 104 in the length direction of the pipe.

[0115] In order to ensure that the clamp is always effective, it is necessary to ensure that after the current cutting is completed, the clamp can pull out the remaining pipe for the next cutting. Therefore, it is necessary to ensure that after the cutting head moves to the extreme position, the clamp can effectively clamp the pipe, that is, it is necessary to ensure that the remaining pipe is greater than or equal to the second preset distance, so the cutting line within the preset distance needs to be deleted.

[0116] The effective clamping position of the clamp can be understood as: the clamp can clamp the pipe and realize the axial movement of the pipe. Along the length direction of the pipe, the surface of the clamp used to clamp the pipe has a certain length d2. Its effective clamping position can be that as long as half of the length can clamp the pipe, the axial movement of the pipe can be realized. At this time, the effective clamping position B of the clamp is the middle position. Please refer to Figure 4a ; Its effective clamping of the pipe may also require more than half of the length to clamp the pipe to achieve axial movement of the pipe. In this case, the effective clamping position B of the clamp is the position more than half of its length. Please refer to Figure 4b , whether it is located at 3 / 4, 4 / 5, or other positions, different models may have different considerations; of course, the most effective clamping is that the clamp can clamp the pipe along its entire length. In this case, the effective clamping position B of the clamp is the position of its entire length. Please refer to Figure 4c .

[0117] It should be noted that, under other machine models, the trajectory screening in the above embodiments can be adjusted to realize processing flow scenarios under different processing modes under different machine models. For example, in the above embodiment, the position of the centering device for effectively clamping the pipe along the length direction of the pipe is farther than the distance between the cutting head and the chuck. In order to effectively clamp, it is necessary to ensure that the non-cross-surface trajectory within the first preset distance range is cut first; in different embodiments, under different machine models, the centering device and the cutting head may have other position settings. For example, along the length direction of the pipe, the position of the centering device for effectively clamping the pipe may be the same as the distance between the cutting head and the chuck. In this case, the first preset distance does not exist. Similarly, under different machine models, the relative position of the clamp and the cutting head may also be different. The above trajectory screening scheme can be adjusted according to different position settings.

[0118] Furthermore, in different machine models, other auxiliary devices besides the clamping jaws and the centering device may be included, and the above-mentioned trajectory screening scheme can be adjusted according to the effectiveness conditions of these auxiliary devices.

[0119] In one embodiment, when performing a non-first sort, determining the starting position of the sort specifically includes:

[0120] The smallest of the four values ​​is selected as the starting position of this sorting; the four values ​​are: the minimum value of the Y-axis coordinate in the track deleted in the last sorting screening, the minimum value of the Y-axis coordinate in the groove range of the cut-off line deleted in the last sorting screening, the minimum value of the Y-axis coordinate in the groove range of the track within the swing length range from the last sorting end position passing the last sorting end position, and the minimum value of the Y-axis coordinate in the track passing the last sorting end position. The starting position of this sorting selected above can not only meet the effective conditions of the auxiliary clamping device, but also will not cause the omission of the processing track, and can also ensure the reasonable sorting of processing and improve the processing efficiency.

[0121] The swing length range can be understood as the swing cutting range of the cutting head along the length direction of the pipe. For the groove trajectory, the cutting head is no longer perpendicular to the pipe and needs to swing at a certain angle. The swing length range here is the maximum range that the cutting head can complete the swing cutting.

[0122] In one embodiment, determining the end position of this sorting specifically includes:

[0123] The end position of this sorting is determined based on meeting the cutting stroke requirements and taking into account the effectiveness conditions of the next clamping jaws and centering device.

[0124] The effective conditions of both the clamp and the centering device can be understood as: on the basis of meeting the cutting stroke requirements, it is necessary to ensure that the remaining pipe after the current cutting is completed can ensure the effective clamping of the clamp, and to ensure that the non-cross-surface trajectory near the starting position of the next sorting can be effectively clamped by the centering device.

[0125] Among them, the cutting stroke requirements may include two types: non-cross-surface trajectory cutting stroke requirements and cross-surface trajectory cutting stroke requirements. Since the non-cross-surface trajectory can use a centering device for auxiliary clamping, its cutting stroke requirement can be longer than the cutting stroke requirement of the cross-surface trajectory.

[0126] As for how to determine which cutting stroke requirement to adopt, you can first check whether there is a cross-surface trajectory within the maximum stroke range. If not, adopt the non-cross-surface trajectory cutting stroke requirement. If so, adopt the cross-surface trajectory cutting stroke requirement.

[0127] In one embodiment, after determining the end position of this sorting, the method further includes: determining the axial movement distance of the pipe this time.

[0128] Practically, the axial movement distance of the pipe can be determined based on: the distance between the starting position and the ending position of the sort, the ability of the next clamp to effectively clamp, and the ability of the centering device to effectively clamp the non-cross-surface trajectory near the starting position of the sort.

[0129] In one embodiment, after determining the axial movement distance of the pipe this time, the method further includes: determining the clamping position this time, the clamping position being located on the pipe, so as to clamp the pipe at the clamping position using a clamping claw or the like to achieve the axial movement of the pipe.

[0130] It is feasible to determine the best clamping position based on the relative position of the clamping jaws and the cutting head and the starting position of the sorting to ensure that the coordinates of the cutting head are as close as possible to the starting position of the sorting after the axial movement of the pipe is completed. This can save the time of adjusting the position of the cutting head and speed up the cutting progress.

[0131] In one embodiment, please refer to Figure 5 S14 sorts the trajectories in the list of trajectories to be sorted after screening, specifically including:

[0132] S141: classifying the track into: hole, cutting line;

[0133] S142: sort the holes;

[0134] S143: Sort the cut lines.

[0135] As an implementation method, the holes may be sorted by face.

[0136] Specifically, sorting by face means sorting the holes in the next face after sorting the holes in the current face, and the holes in the same face are sorted according to the shortest displacement; in addition, when the final hole of the previous sorting and the starting hole of the next face sorting are located on the same longitudinal section of the pipe, that is, the sorting trajectories of the current face and the next face are opposite, the cutting trajectory moves in an "S" shape between faces.

[0137] As another embodiment, the multiple holes may be sorted by the shortest time.

[0138] Specifically, the shortest time sorting refers to calculating the sum of the migration times between the holes involved in the sorting, and sorting them in a way that the sum of the migration times is the shortest; wherein the holes involved in the sorting include the holes on all surfaces.

[0139] In one embodiment, after the holes are sorted, the method may further include: generating a one-stroke fly-cut for the sorted holes, so that the operator does not need to repeatedly modify the drawings to meet the automation process.

[0140] Practically, the tube surface can be fly-cut in a C1 continuous smooth path, and the constraint of not crossing the hole can be considered.

[0141] In one embodiment, the cut-off lines can be sorted according to the following rules: in the sorting result after the sorting in S142, the cut-off lines are sequentially inserted after the last sorting element within the third preset distance range, wherein the third preset distance is determined according to the distance from the effective clamping position of the centering device to the cutting head in the length direction of the pipe. The above cut-off line sorting rule can meet the effect of "the pipe surface graphics within the cross-surface range from the effective clamping position of the centering device to the cutting head are cut first", and will not cause the centering device to be unable to effectively clamp the pipe when the pipe surface graphics within the cross-surface range are cut because the cut-off lines are cut first, and then the pipe surface graphics within the cross-surface range are cut, thereby failing to achieve centering, resulting in poor cutting accuracy.

[0142] In one embodiment, a laser cutting track sorting system is also provided, please refer to Figure 6 , which includes:

[0143] The sorting range determination module 11 is used to determine the starting position and the ending position of this sorting;

[0144] A to-be-sorted trajectory list acquisition module 12 is used to obtain a to-be-sorted trajectory list based on the trajectory between the starting position and the ending position;

[0145] A trajectory screening module 13, used for screening the trajectories in the trajectory list to be sorted;

[0146] The trajectory sorting module 14 is used to sort the trajectories in the list of trajectories to be sorted after being screened.

[0147] In one embodiment, the trajectory screening module 13 includes:

[0148] The first deletion module deletes the cutting lines covered by the groove range in the trajectory that cannot be cut at the end position of this sorting.

[0149] When the effective clamping position of the centering device is farther from the chuck than the cutting head along the length direction of the pipe, the trajectory screening module 13 further includes:

[0150] The second deletion module is used to delete the cutting line near the end position of this sorting if there is a non-cross-surface trajectory that is not in the list of trajectories to be sorted within its first preset distance; wherein the first preset distance is determined according to the distance from the effective clamping position A of the centering device to the cutting head 104 in the length direction of the pipe.

[0151] When the effective clamping position of the clamping jaws is farther from the chuck than the cutting head along the length direction of the pipe, the trajectory screening module 13 further includes:

[0152] The third deletion module is used to delete the cutting line within a second preset distance from the chuck; wherein the second preset distance is determined according to the distance from the effective clamping position B of the clamping jaw to the cutting head 104 in the length direction of the pipe.

[0153] In one embodiment, the sorting range determination module 11 specifically includes:

[0154] A sorting starting position determination module is used to determine the starting position of this sorting;

[0155] The sorting end position determination module is used to determine the end position of this sorting.

[0156] In one embodiment, when a non-first sort is performed, a sorting starting position determination module is specifically used to select the smallest of four values ​​as the starting position of this sort; the four values ​​include: the minimum value of the Y-axis coordinate in the trajectory deleted in the screening of the last sort, the minimum value of the Y-coordinate of the groove range in the cutting line deleted in the screening of the last sort, the minimum value of the Y-coordinate of the groove range in the trajectory within the pendulum length range from the last sorting end position passing the last sorting end position, and the minimum value of the Y-coordinate in the trajectory passing the last sorting end position.

[0157] In one embodiment, the sorting end position determination module is specifically used to determine the current sorting end position based on satisfying the cutting stroke requirements and taking into account the effectiveness conditions of the next clamping jaw and the centering device.

[0158] In one embodiment, the sorting system further includes: an axial movement distance determination module, which is used to determine the axial movement distance of the pipe this time.

[0159] In one embodiment, the sorting system further includes: a clamping position determination module, which is used to determine the current clamping position.

[0160] In summary, the laser cutting trajectory sorting method and system provided by the embodiments of the present invention can improve the cutting accuracy and efficiency and achieve better cutting effects by dynamically adjusting the cutting order of the graphics in real time according to the current mechanical state during the automated processing, reflecting the mechanical parameters in the screening and sorting of the graphics, and fitting the drawings to the mechanical state in real time. In addition, the cutting order of the images is sorted in real time according to the current mechanical state, and the mechanical state can be adapted in real time, so that the pipe can be axially moved as expected during the processing, and the processing is not easily interrupted.

[0161] In one embodiment, an electronic device is also provided, please refer to Figure 7. At the hardware level, the device includes a processor 21, an internal bus 22, a network interface 23, a memory 24 and a storage 25, and may also include hardware required for other services. One or more embodiments of the present invention may be implemented based on software, such as the processor 21 reading the corresponding computer program from the storage 25 into the memory 24 and then running it. Of course, in addition to software implementation, one or more embodiments of the present invention do not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but may also be hardware or logic devices.

[0162] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, which may be in the form of a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver, a game console, a tablet computer, a wearable device or a combination of any of these devices.

[0163] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0164] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0165] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0166] The above describes specific embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0167] In the description of this specification, the description with reference to the terms "an implementation", "an example", "a specific implementation process", "an example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0168] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for sorting laser cutting tracks, characterized in that: include: Determine the starting position and ending position of this sort; A list of trajectories to be sorted is obtained based on the trajectories between the starting position and the ending position; Screening the trajectories in the list of trajectories to be sorted; The trajectories in the to-be-sorted list after being screened are sorted.

2. The sorting method according to claim 1, characterized in that: Sorting includes two situations: first sorting and non-first sorting; Determining the starting position and the ending position of this sorting specifically includes: When performing the first sorting, the starting position and the ending position of this sorting are determined according to the current mechanical coordinates of the cutting head; When performing a non-first sort, the starting position and ending position of this sort are determined based on the previous sort.

3. The sorting method according to claim 2, characterized in that: The chuck is used to clamp and position the pipe, and the clamping claw is used to clamp the pipe to achieve axial movement of the pipe; the centering device is used to clamp the pipe to achieve centering of the pipe in the width direction; The screening of the trajectories in the list of trajectories to be sorted includes: For the cutting lines covered by the groove range in the trajectory that cannot be cut at the end position of the current sorting, the cutting lines are deleted; When the effective clamping position of the centering device is farther from the chuck than the cutting head along the length direction of the pipe, the method further comprises: For the cut-off line near the end position of the current sorting, if there is a non-cross-surface track that is not in the list of tracks to be sorted this time within the first preset distance, the cut-off line is deleted; Wherein, the first preset distance is determined according to the distance from the effective clamping position of the centering device to the cutting head in the length direction of the pipe; When the effective clamping position of the clamping jaw is farther from the chuck than the cutting head along the length direction of the pipe, the method further comprises: Deleting the cutting line within a second preset distance range from the chuck; Wherein, the second preset distance is determined according to the distance from the effective clamping position of the clamping jaw to the cutting head in the length direction of the pipe.

4. The sorting method according to claim 3, characterized in that: When performing a non-first sort, determining the starting position of this sort specifically includes: The smallest of the minimum value of the Y-axis coordinate in the track deleted in the last sorting filter, the minimum value of the Y-axis coordinate in the groove range of the cut-off line deleted in the last sorting filter, the minimum value of the Y-axis coordinate in the groove range of the track within the swing length range from the last sorting end position passing the last sorting end position, and the minimum value of the Y-axis coordinate in the track passing the last sorting end position is selected as the starting position of the current sorting; Wherein, the swing length range is: the swing cutting range of the cutting head along the length direction of the pipe.

5. The sorting method according to claim 3, characterized in that: When performing a non-first sort, determining the end position of this sort specifically includes: Based on satisfying the cutting stroke requirement and taking into account the effectiveness conditions of the clamping jaws and the centering device for the next time, determining the end position of the current sorting; Among them, the cutting stroke requirement includes: a non-cross-surface trajectory cutting stroke requirement and a cross-surface trajectory cutting stroke requirement; the cross-surface trajectory cutting stroke requirement is smaller than the non-cross-surface trajectory cutting stroke requirement.

6. The sorting method according to any one of claims 3 to 5, characterized in that: The sorting of the tracks in the to-be-sorted list after screening specifically includes: Classify the tracks into: holes, cut-off lines; sorting the holes; The cut-off lines are sorted.

7. The sorting method according to claim 6, characterized in that: Sorting the holes specifically comprises: sorting the holes by face, or sorting the holes by shortest time; Among them, sorting by face means sorting the holes in the next face after sorting the holes in the current face, when the final hole of the previous sorting and the starting hole of the next sorting are located on the same longitudinal section of the pipe, and the holes in the same face are sorted by the shortest displacement; The shortest time sorting refers to calculating the sum of the migration times between the wells involved in the sorting, and sorting in a way that the sum of the migration times is the shortest.

8. The sorting method according to claim 6, characterized in that: Sorting the cut-off lines specifically includes: When the effective clamping position of the centering device is farther from the chuck than the cutting head along the length direction of the tube; the cutting line is sequentially inserted after the last sorting element within the third preset distance range; The third preset distance is determined according to the distance from the effective clamping position of the centering device to the cutting head in the length direction of the pipe.

9. The sorting method according to claim 1, characterized in that: After determining the end position of this sorting, the method further includes: Determine the axial movement distance of the pipe this time.

10. The sorting method according to claim 9, characterized in that: After determining the axial movement distance of the pipe, the method further includes: The clamping position of this time is determined, and the clamping position is located on the pipe, so that the pipe is clamped at the clamping position to realize the axial movement of the pipe.

11. A laser cutting track sorting system, characterized in that: include: A sorting range determination module is used to determine the starting position and the ending position of this sorting; A module for obtaining a list of trajectories to be sorted is used to obtain a list of trajectories to be sorted based on the trajectories between the starting position and the ending position; A trajectory screening module, used for screening the trajectories in the list of trajectories to be sorted; The trajectory sorting module is used to sort the trajectories in the list of trajectories to be sorted after being filtered.

12. An electronic device, characterized in that: include: processor; and, a memory for storing processor-executable instructions; The processor implements the steps of the sorting method described in any one of claims 1 to 10 by running the executable instructions.

13. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the steps in the sorting method according to any one of claims 1 to 10 are implemented.

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