Method and system for sequencing laser cutting trajectories

Abstract

The application provides a kind of laser cutting track sequencing method and system, the method comprises: determining the starting position and termination position of this sequencing;Based on the track between starting position and termination position, obtain the track list to be sorted;The track in the track list to be sorted is filtered;The track in the track list to be sorted after screening is sorted.The system comprises: sequencing range determination module, track list to be sorted acquisition module, track screening module, track sorting module.The technical scheme of the application realizes real-time adjustment according to the cutting order of the current mechanical state figure in the automatic processing process, reacts the mechanical parameters to the filtering and sorting of the figure, real-time matches the figure with the mechanical state, improves the cutting precision and efficiency, and can achieve better cutting effect;It can also adapt to the mechanical state in real time, and is not easy to cause the interruption of processing.

Description

TECHNICAL FIELD

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

[0002] In the current field of laser sheet metal cutting, the order of cutting graphics depends on the drawing of the drawing, and cannot be modified in real time during the machining process. When drawing the cutting drawing, the details in the automatic machining process cannot be considered, resulting in poor actual cutting accuracy and efficiency, and the possible scenarios include the following:

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

[0004] (2) The order of cutting graphics is not the order that takes the least time in the current mechanical state, and if the cutting is performed according to the order of the drawing, the mechanical shaft will take a detour during the movement process, reducing the cutting efficiency;

[0005] (3) When cutting according to the order specified in the drawing, the clamping device cannot perform the pulling feeding motion on the pipe as expected due to the design of the mechanical structure, resulting in interrupted machining and reduced cutting efficiency.

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

[0007] The present application provides a laser cutting track sorting method and system to solve the problem of poor actual cutting accuracy and efficiency caused by the fact that the drawing of the cutting drawing cannot consider the details in the machining process in the prior art.

[0008] To solve the above technical problems, the present application is realized by the following technical scheme:

[0009] According to the first aspect of the present application, a laser cutting track sorting method is provided, which comprises:

[0010] determining the starting position and the ending position of the current sorting;

[0011] obtaining a to-be-sorted track list based on the tracks between the starting position and the ending position;

[0012] screening the tracks in the to-be-sorted track list;

[0013] sorting the tracks in the to-be-sorted list after screening.

[0014] Optionally, the sorting includes two cases: first-time sorting and non-first-time sorting.

[0015] The determining of the start position and the end position of the current sorting specifically includes:

[0016] When the first-time sorting is performed, the start position and the end position of the current sorting are determined according to the current mechanical coordinate of the cutting head.

[0017] When the non-first-time sorting is performed, the start position and the end position of the current sorting are determined based on the last sorting.

[0018] Optionally, the chuck is used for clamping and positioning the pipe, the clamping jaw is used for clamping the pipe to realize axial movement of the pipe, and the centering device is used for clamping the pipe to realize centering in the width direction of the pipe.

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

[0020] For the cutting lines covered by the groove range in the trajectories that cannot be completed in the current sorting 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 away from the chuck than the cutting head along the length direction of the pipe, the method further includes:

[0022] For the cutting lines near the end position of the current sorting, if there are non-cross-face trajectories that are not in the current trajectory list to be sorted within a first preset distance, the cutting lines are deleted.

[0023] 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 away from the chuck than the cutting head along the length direction of the pipe, the method further includes:

[0025] For the cutting lines within a second preset distance range from the chuck, the cutting lines are deleted.

[0026] 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 the non-first-time sorting is performed, the determining of the start position of the current sorting specifically includes:

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

[0029] 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] Determining the end position of the current sorting based on satisfying the cutting stroke requirements and taking into account the effectiveness conditions of the clamping jaws and the centering device for the next time;

[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, cutting lines;

[0035] sorting the wells;

[0036] The cut-off lines are sorted.

[0037] Optionally, sorting the holes specifically includes:

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

[0039] Among them, sorting by surface means sorting the holes in the next surface after sorting the holes in the current surface. When the final hole of the previous sorting and the starting hole of the next surface sorting are located on the same longitudinal section of the pipe, and the holes in the same surface 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, sorting the cut-off lines specifically includes:

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

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

[0044] Optionally, the determining the termination position of the current sorting further includes:

[0045] Determining the axial movement distance of the current pipe material.

[0046] Optionally, the determining the axial movement distance of the current pipe material further includes:

[0047] Determining the clamping position of the current pipe material, the clamping position being located on the pipe material to clamp the pipe material at the clamping position to realize the axial movement of the pipe material.

[0048] According to a second aspect of the present application, a sorting system of laser cutting tracks is provided, which includes:

[0049] A sorting range determining module is configured to determine the starting position and the termination position of the current sorting.

[0050] A to-be-sorted track list obtaining module is configured to obtain a to-be-sorted track list based on the tracks between the starting position and the termination position.

[0051] A track screening module is configured to screen the tracks in the to-be-sorted track list.

[0052] A track sorting module is configured to sort the tracks in the to-be-sorted track list after the screening.

[0053] According to a third aspect of the present application, an electronic device is provided, which includes:

[0054] A processor;

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

[0056] The processor realizes the steps in the sorting method of any one of the above aspects by running the executable instructions.

[0057] According to a fourth aspect of the present application, a computer-readable storage medium is provided, which stores a computer program, the computer program being executed by a processor to realize the steps in the sorting method of any one of the above aspects.

[0058] The laser cutting track sorting method and system provided by the application can dynamically adjust the cutting order of the figure in real time according to the current mechanical state in the automatic processing process, reflect the mechanical parameters on the screening and sorting of the figure, and make the figure and the mechanical state real-time fit, thereby improving the cutting precision and efficiency and achieving better cutting effect.

[0059] In addition, the laser cutting track sorting method and system provided by the application can sort the cutting order of the figure in real time according to the current mechanical state in the automatic processing process, can adapt to the mechanical state in real time, and can always perform the pulling and feeding motion on the pipe material according to the prediction in the processing process, so that the processing interruption is not easy to occur. BRIEF DESCRIPTION OF DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0061] Figure 1 The flowchart of the laser cutting track sorting method of an embodiment of the application;

[0062] Figure 2 The flowchart of the screening of the track in the track list to be sorted of an embodiment of the application;

[0063] Figure 3a The schematic diagram of the effective clamping position of the centering device and the position of the cutting head of an embodiment of the application;

[0064] Figure 3b The schematic diagram of the effective clamping position of the centering device and the position of the cutting head of another embodiment of the application;

[0065] Figure 3c The schematic diagram of the effective clamping position of the centering device and the position of the cutting head of another embodiment of the application;

[0066] Figure 4a The schematic diagram of the effective clamping position of the clamping jaw and the position of the cutting head of an embodiment of the application;

[0067] Figure 4b The schematic diagram of the effective clamping position of the clamping jaw and the position of the cutting head of an embodiment of the application;

[0068] Figure 4c The schematic diagram of the effective clamping position of the clamping jaw and the position of the cutting head of an embodiment of the application;

[0069] Figure 5 Flow chart for sorting trajectories in the filtered current to-be-sorted list for an embodiment of the present application;

[0070] Figure 6 Schematic diagram of a sorting system for laser cutting trajectories for an embodiment of the present application;

[0071] Figure 7 Schematic diagram of an electronic device for an embodiment of the present application;

[0072] BRIEF DESCRIPTION OF DRAWINGS

[0073] 101 - chuck;

[0074] 102 - pipe;

[0075] 103 - centering device,

[0076] 104 - cutting head,

[0077] 105 - gripper;

[0078] 201 - cutting line;

[0079] 11 - sorting range determination module,

[0080] 12 - to-be-sorted trajectory list acquisition module,

[0081] 13 - trajectory filtering module,

[0082] 14 - trajectory sorting module;

[0083] 21 - processor,

[0084] 22 - internal bus,

[0085] 23 - network interface,

[0086] 24 - memory,

[0087] 25 - storage. DETAILED DESCRIPTION

[0088] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0089] In the description of the present application, it should be understood that the terms "upper", "lower", "upper end", "lower end", "lower surface", "upper surface" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0090] In the description of the present application, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features.

[0091] In the description of the present application, the meaning of "a plurality of" is a plurality, for example, two, three, four, etc., unless otherwise explicitly specified and limited.

[0092] In the description of the present application, unless otherwise explicitly specified and limited, the term "connection" and the like should be broadly understood, for example, it can be fixedly connected, or detachably connected, or integrated; it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0093] The technical solutions of the present application will be described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes can not be described in some examples.

[0094] In an embodiment, a method for sorting laser cutting tracks is provided, please refer to Figure 1 , which comprises:

[0095] S11: determining the starting position and the ending position of the present sorting;

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

[0097] S13: screening the tracks in the track list to be sorted;

[0098] S14: sorting the tracks in the track list to be sorted after screening.

[0099] In an embodiment, when the to-be-cut pattern is relatively large and cannot be completed in one cutting stroke based on the current mechanical coordinates of the cutting head, the sorting includes two cases: first sorting and non-first sorting. The start position and the end position of the first sorting can be determined based on the current mechanical coordinates of the cutting head; and the start position and the end position of the non-first sorting can be determined based on the last sorting, so as to avoid cutting omission.

[0100] Specifically, determining the start position and the end position of the current sorting specifically includes:

[0101] When the first sorting is performed, the start position and the end position of the current sorting are determined based on the current mechanical coordinates of the cutting head.

[0102] When the non-first sorting is performed, the start position and the end position of the current sorting are determined based on the last sorting.

[0103] In an embodiment, please refer to Figure 2 S13 screens the trajectories in the to-be-sorted trajectory list, and specifically includes:

[0104] S131: For the cutting lines covered by the groove range in the trajectories that cannot be completed in the current sorting at the end position of the current sorting, the cutting lines are deleted.

[0105] In order to complete continuous processing and accurate processing of cutting, some auxiliary clamping devices are often needed, such as chucks, clamping jaws, centering devices, etc. Among them, the chuck 101 is used for clamping and positioning the pipe 102; the clamping jaw 103 is used for clamping the pipe to pull the material and realize continuous processing; and the centering device 104 is used for clamping the pipe to realize the centering of the pipe in the width direction and realize accurate processing. Generally, for non-cross-face trajectories (i.e., trajectories located on one face of the pipe), the centering device can be used for clamping and centering; and for cross-face trajectories (i.e., trajectories located on multiple faces of the pipe), in order to facilitate the switching of different faces of the pipe, the centering device is not used for clamping and centering.

[0106] In order to ensure that the clamping jaw and the centering device are always effective during processing, the trajectories also need to be screened. The positions of the centering device and the clamping jaw can be different under different machine types. Hereinafter, one of the arrangement modes is taken as an example to specifically describe the trajectory screening:

[0107] 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, please refer to Figure 3a 、 3b , 3c, the screening of the trajectories in the to-be-sorted trajectory list further includes:

[0108] S132: If there is a non-crossing surface trajectory not in the current to-be-sequenced trajectory list within the first preset distance D1 of the cutting line 201 near the termination position of the current sequencing, the cutting 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 the effectiveness of the centering device and maintain high cutting precision, for the cutting line near the termination position of the current sequencing, it is necessary to consider whether there is a non-crossing surface trajectory not in the current sequencing range (i.e. near the starting position of the next sequencing) within the first preset distance range. If there is, because the non-crossing surface trajectory generally needs to be centered by the centering device, the non-crossing surface trajectory needs to be cut before the cutting line is cut, that is, the cutting line needs to be deleted from the current sequencing.

[0111] The effective clamping position of the centering device can be understood as: the centering device can clamp the pipe and effectively center. Along the length direction of the pipe, the surface of the centering device for clamping the pipe has a certain length d1, and the effective clamping position can be as long as half 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 ; The effective clamping position can also need more than half the length to clamp the pipe to achieve effective centering. At this time, the effective clamping position A of the centering device is more than half the length, please refer to Figure 3b , which is located at 3 / 4, 4 / 5, or other positions, which can be different for different models; Of course, the most effective clamping is that the centering device can clamp the pipe with the entire length, and at this time the effective clamping position A of the centering device is at the position of the entire length, please refer to Figure 3c .

[0112] When the effective clamping position of the clamping jaw is farther from the chuck than the cutting head in the length direction of the pipe, please refer to Figure 4a 、 Figure 4b 、 Figure 4c , the trajectory in the to-be-sequenced trajectory list is also selected:

[0113] S133: For the cutting line 201 within the second preset distance D2 from the chuck 101, delete it;

[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 jaw is always effective, it is necessary to ensure that after this cutting is completed, the clamp jaw can pull out the remaining pipe for the next cutting. Therefore, it is necessary to ensure that the clamp jaw can effectively clamp the pipe after the cutting head moves to the limit position, that is, it is necessary to ensure that the remaining pipe is greater than or equal to the second preset distance, and therefore it is necessary to delete the cutting line in the preset distance range.

[0116] For the position of the clamp jaw for effectively clamping the pipe, it can be understood that the clamp jaw can clamp the pipe and realize the axial movement of the pipe. Along the length direction of the pipe, the face of the clamp jaw for clamping the pipe has a certain length d2, and the effective clamping position can be that as long as half the length can clamp the pipe, the axial movement of the pipe can be realized, and at this time the effective clamping position B of the clamp jaw is the middle position, please refer to Figure 4a ; the effective clamping of the pipe can also require more than half the length to clamp the pipe to realize the axial movement of the pipe, and at this time the effective clamping position B of the clamp jaw is more than half the length of the position, please refer to Figure 4b , specifically at 3 / 4, 4 / 5, or other positions, different models can have different considerations; of course, the most effective clamping is that the clamp jaw can clamp the pipe throughout the length, and at this time the effective clamping position B of the clamp jaw is at the full length position, please refer to Figure 4c .

[0117] It should be noted that in other models, the above-mentioned trajectory screening in the embodiment can be adjusted to realize the processing flow scene under different processing modes in different models. For example, in the above-mentioned embodiment, the position of the centering device for effectively clamping the pipe is farther away from the chuck than the cutting head along the length direction of the pipe. In order to effectively clamp, it is necessary to cut the non-crossing surface trajectory within the first preset distance range first; in different embodiments, the centering device and the cutting head can have other position settings under different models, such as the position of the centering device for effectively clamping the pipe along the length direction of the pipe. The distance from the chuck to the cutting head can be the same, and at this time there is no first preset distance. Similarly, the relative position of the clamp jaw and the cutting head can be different under different models, and the above-mentioned trajectory screening scheme can be adjusted according to different position settings.

[0118] Further, under different models, other auxiliary devices in addition to the clamp jaw and the centering device can be included, and the above-mentioned trajectory screening scheme can be adjusted according to the effective conditions of the auxiliary devices.

[0119] In an embodiment, when the non-first sorting is executed, the starting position of the current sorting is determined, specifically including:

[0120] Select the minimum of the four values as the starting position of this time sorting; the four values are: the minimum value of the Y-axis coordinate of the track deleted in the last sorting screening, the minimum value of the Y-axis coordinate of the groove range of the cut-off line deleted in the last sorting screening, the minimum value of the Y-axis coordinate of the groove range of the track in the range of the amplitude of the last sorting termination position, and the minimum value of the Y-axis coordinate of the track passing through the last sorting termination position. The starting position of this time sorting selected through the above method can meet the effective conditions of the auxiliary clamping device, will not cause the omission of the machining track, and can also ensure the reasonable sorting of machining and improve the machining efficiency.

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

[0122] In an embodiment, determining the termination position of this time sorting specifically includes:

[0123] The termination position of this time sorting is determined based on meeting the cutting stroke requirement and taking into account the effective conditions of the next clamping jaw and centering device.

[0124] Taking into account the effective conditions of the clamping jaw and the centering device can be understood as: on the basis of meeting the cutting stroke requirement, ensuring that the remaining pipe after this cutting is completed can ensure the effective clamping of the clamping jaw, and ensuring that the non-crossing track near the next sorting starting position can ensure the effective clamping of the centering device.

[0125] The cutting stroke requirement can include two types: non-crossing track cutting stroke requirement and crossing track cutting stroke requirement. Since the non-crossing track can use the centering device for auxiliary clamping, the cutting stroke requirement of the non-crossing track can be longer than that of the crossing track.

[0126] To determine which cutting stroke requirement to use, first determine whether there is a crossing track in the maximum stroke range. If not, use the non-crossing track cutting stroke requirement. If there is, use the crossing track cutting stroke requirement.

[0127] In an embodiment, after determining the termination position of this time sorting, it further includes determining the axial movement distance of the pipe.

[0128] In practice, the axial movement distance of the pipe can be determined based on the distance between the starting position and the termination position of this time sorting, the effective clamping of the next clamping jaw, and the effective clamping of the centering device for the non-crossing track near the starting position of this time sorting.

[0129] In an embodiment, after determining the axial movement distance of the pipe material, the method further comprises: determining a clamping position of the current time, the clamping position being located on the pipe material, so that the pipe material is clamped at the clamping position by the clamping jaw to achieve the axial movement of the pipe material.

[0130] In an embodiment, the optimal clamping position of the current time can be determined based on the relative position of the clamping jaw and the cutting head and the starting position of the current time in the sequence, so that the coordinate of the cutting head after the axial movement of the pipe material is completed is consistent with the starting position of the current time in the sequence as much as possible, thereby saving the position adjustment time of the cutting head and accelerating the cutting progress.

[0131] In an embodiment, referring to Figure 5 S14 sorts the trajectories in the filtered trajectory list, specifically comprising:

[0132] S141: classifies the trajectories into holes and cutting lines;

[0133] S142: sorts the holes;

[0134] S143: sorts the cutting lines.

[0135] As an embodiment, the holes can be sorted by face.

[0136] Specifically, the sorting by face means that the holes in the next face are sorted after the holes in the current face are sorted, and the holes in the same face are sorted by the shortest air movement. In addition, the final hole of the sorting of the current face and the starting hole of the sorting of the next face are located on the same longitudinal section of the pipe material, that is, the sorting trajectories of the current face and the next face are opposite, so that the cutting trajectory walks in an "S" shape between the faces.

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

[0138] Specifically, the sorting by the shortest time means that the sum of the air movement times between the holes participating in the sorting is calculated, and the holes are sorted in the way of the shortest sum of air movement times; wherein the holes participating in the sorting include the holes of all faces.

[0139] In an embodiment, after sorting the holes, the method further comprises: generating a one-stroke fly-cut for the sorted holes, so that the operator does not have to repeatedly modify the drawing to meet the automated process.

[0140] In an embodiment, the holes on the pipe face can be fly-cut in a C1 continuous smooth path, and the constraint of not passing through the hole is considered.

[0141] In an embodiment, the sorting of the cutting lines can be performed according to the following rule: after the sorting in S142, the cutting lines are sequentially inserted after the last sorting element within a 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-mentioned sorting rule of the cutting lines can satisfy the effect of "cutting the pipe surface pattern within the cross-section range from the effective clamping position of the centering device to the cutting head first", and will not cause the situation that the centering device cannot effectively clamp the pipe when the cutting lines are cut first and then the pipe surface pattern within the cross-section range is cut, and thus the centering cannot be achieved, resulting in poor cutting accuracy.

[0142] In an embodiment, a sorting system for laser cutting trajectories is also provided, please refer to Figure 6 which comprises:

[0143] a sorting range determination module 11 for determining the starting position and the ending position of the current sorting;

[0144] a to-be-sorted trajectory list acquisition module 12 for obtaining a to-be-sorted trajectory list based on the trajectories between the starting position and the ending position;

[0145] a trajectory screening module 13 for screening the trajectories in the to-be-sorted trajectory list;

[0146] a trajectory sorting module 14 for sorting the trajectories in the to-be-sorted trajectory list after screening.

[0147] In an embodiment, the trajectory screening module 13 comprises:

[0148] a first deletion module for deleting the cutting lines covered by the bevel range in the trajectories that cannot complete cutting at the ending position of the current sorting.

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

[0150] a second deletion module for deleting the cutting lines near the ending position of the current sorting if there are non-cross-section trajectories not in the to-be-sorted trajectory list within a first preset distance of the cutting lines; 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 jaw is farther from the chuck than the cutting head in the length direction of the pipe, the trajectory screening module 13 further comprises:

[0152] The third deleting module is configured to delete the cutting-off line within the second preset distance range from the chuck.

[0153] In an embodiment, the sorting range determining module 11 specifically comprises:

[0154] The sorting start position determining module is configured to determine a start position of the current sorting.

[0155] The sorting end position determining module is configured to determine an end position of the current sorting.

[0156] In an embodiment, when performing the non-first sorting, the sorting start position determining module is specifically configured to select a minimum value of four values as the start position of the current sorting, the four values including: a minimum value of Y-axis coordinates in the track deleted in the last sorting screening, a minimum value of Y-axis coordinates of the beveling range in the cutting-off line deleted in the last sorting screening, a minimum value of Y-axis coordinates of the track passing through the last sorting end position in the beveling range within a swing range from the last sorting end position, and a minimum value of Y-axis coordinates of the track passing through the last sorting end position.

[0157] In an embodiment, the sorting end position determining module is specifically configured to determine the end position of the current sorting based on the requirement of the cutting stroke and the effective condition of the next jaw and centering device.

[0158] In an embodiment, the sorting system further comprises an axial movement distance determining module configured to determine an axial movement distance of the current pipe.

[0159] In an embodiment, the sorting system further comprises a clamping position determining module configured to determine a clamping position of the current sorting.

[0160] In summary, the sorting method and system for the laser cutting track provided by the embodiments of the present application can dynamically adjust the cutting order of the graphics in real time according to the current mechanical state in the automatic processing process, reflect the mechanical parameters on the screening and sorting of the graphics, and real-time fit the graphics with the mechanical state, thereby improving the cutting precision and efficiency and achieving better cutting effect. In addition, the cutting order of the graphics is sorted in real time according to the current mechanical state, which can adapt to the mechanical state in real time, so that the pipe can be axially moved according to the prediction in the processing process at all times, and the processing interruption is not easy to occur.

[0161] In an embodiment, an electronic device is further provided, please refer to Figure 7At the hardware level, the device comprises a processor 21, an internal bus 22, a network interface 23, a memory 24 and a storage 25, and possibly other hardware necessary for the operation of the device. One or more embodiments of the application can be implemented in software, for example by the processor 21 reading a corresponding computer program from the storage 25 to the memory 24 and then executing it. Of course, in addition to the software implementation, one or more embodiments of the application do not exclude other implementations, for example a logic device or a combination of software and hardware, and so on, that is, the execution subject of the following processing flow is not limited to the logical unit, but can also be hardware or a logic device.

[0162] The systems, apparatuses, modules or units illustrated in the above embodiments can be specifically implemented by a computer chip or an entity, or by a product with certain functions. A typical implementation device is a computer, and the specific form of the computer can be 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 e-mail device, 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 (CPUs), input / output interfaces, network interfaces and memories.

[0164] The memory can include non-persistent memory in computer readable media, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or Flash memory. The memory is an example of computer readable media.

[0165] The computer readable media includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, disk storage, quantum memory, graphene-based storage medium or other magnetic storage device, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition in this paper, computer readable media does not include transitory computer readable media, such as modulated data signals and carriers.

[0166] The above described a particular embodiment of the present application. Other embodiments are within the scope of the following claims. In some cases, the acts or steps recited in the claims can be performed in a different order and still accomplish the desired results. Also, the order or sequence of those processes depicted in the diagrams is not necessarily the only order or sequence that can be implemented. In some embodiments, multitasking and parallel processing can be advantageous or possible.

[0167] In the description of the present specification, the description of the terms "one embodiment", "one example", "specific implementation process", "one example" and the like 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 application. In the present specification, the illustrative description 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 application, and not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of sequencing laser cutting trajectories, characterized in that, The sorting includes two cases: first sorting and non-first sorting; the chuck is used for clamping and positioning the pipe, and the clamp jaw is used for clamping the pipe to realize axial movement of the pipe; The centering device is used for clamping the pipe to realize width direction centering of the pipe; The sorting method comprises: determining a starting position and a termination position of the current sorting; specifically comprising: when performing the first sorting, determining the starting position and the termination position of the current sorting according to the current cutting head mechanical coordinate; when performing the non-first sorting, determining the starting position and the termination position of the current sorting based on the last sorting; obtaining a to-be-sorted trajectory list based on a trajectory between the starting position and the termination position; screening the trajectories in the to-be-sorted trajectory list; specifically comprising: for the cutting lines covered by the groove range in the trajectories that cannot be completed this time, the cutting lines are deleted at the termination position of the current sorting; 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, further comprising: for the cutting lines near the termination position of the current sorting, if there are non-crossing surface trajectories that are not in the to-be-sorted trajectory list of the current sorting within a first preset distance thereof, the cutting lines are 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 along the length direction of the pipe; when the effective clamping position of the clamp jaw is farther from the chuck than the cutting head along the length direction of the pipe, further comprising: for the cutting lines within a second preset distance range from the chuck, the cutting lines are deleted; wherein the second preset distance is determined according to the distance from the effective clamping position of the clamp jaw to the cutting head along the length direction of the pipe; sorting the trajectories in the to-be-sorted list after screening.

2. The ranking method of claim 1, wherein, When performing the non-first sorting, the determination of the starting position of the current sorting specifically comprises: selecting the minimum value of the Y-axis coordinates of the trajectories deleted in the screening of the last sorting, the minimum value of the Y-axis coordinates of the groove range of the deleted cutting lines in the screening of the last sorting, the minimum value of the Y-axis coordinates of the groove range of the trajectories within the swing range from the termination position of the last sorting, and the minimum value of the Y-axis coordinates of the trajectories passing through the termination position of the last sorting, and taking the minimum value as the starting position of the current sorting; wherein the swing range is: along the length direction of the pipe, the swing cutting range of the cutting head.

3. The ranking method of claim 1, wherein, When performing the non-first sorting, the determination of the termination position of the current sorting specifically comprises: determining the termination position of the current sorting based on the cutting stroke requirement and taking into account the effective conditions of the clamp jaw and the centering device next time; wherein the cutting stroke requirement includes: non-crossing surface trajectory cutting stroke requirement and crossing surface trajectory cutting stroke requirement; the crossing surface trajectory cutting stroke requirement is less than the non-crossing surface trajectory cutting stroke requirement. The effective condition is that, on the basis of meeting the cutting stroke requirement, it is ensured that the pipe material remaining after this cutting is completed can guarantee the effective clamping of the clamping jaw, and it is ensured that, for the non-cross-track near the next sorting starting position, the effective clamping of the centering device is guaranteed.

4. The ranking method according to any one of claims 1 to 3, characterized in that, The sorting of the tracks in the filtered list includes: The tracks are classified into holes and cutting lines. The holes are sorted. The cutting lines are sorted.

5. The ranking method of claim 4, wherein, The sorting of the holes includes: The holes are sorted by face or by the shortest time. The sorting by face means that the holes in the next face are sorted after the holes in the current face are sorted, and the final hole in the sorting of the current face and the starting hole in the sorting of the next face are located on the same longitudinal section of the pipe material, and the holes in the same face are sorted by the shortest empty movement. The sorting by the shortest time means that the sum of the empty movement times between the holes participating in the sorting is calculated, and the holes are sorted in the way that the sum of the empty movement times is the shortest.

6. The ranking method of claim 4, wherein, The sorting of the cutting lines 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 pipe material, the cutting lines are inserted into 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 along the length direction of the pipe material.

7. The ranking method of claim 1, wherein, After determining the termination position of the current sorting, the axial movement distance of the current pipe material is determined. After determining the axial movement distance of the current pipe material, the clamping position of the current pipe material is determined.

8. The ranking method of claim 7, wherein, The sorting includes two cases: first sorting and non-first sorting. The chuck is used to clamp and position the pipe material, and the clamping jaw is used to clamp the pipe material to realize the axial movement of the pipe material.

9. A system for sequencing laser cutting trajectories, characterized in that, The centering device is used to clamp the pipe material to realize the centering of the pipe material in the width direction. The sorting system includes: A sorting range determination module is configured to determine the starting position and the termination position of the current sorting. When the first sorting is performed, the starting position and the termination position of the current sorting are determined according to the current mechanical coordinate of the cutting head. When the non-first sorting is performed, the starting position and the termination position of the current sorting are determined based on the last sorting. A to-be-sorted track list acquisition module is configured to obtain a to-be-sorted track list based on the tracks between the starting position and the termination position. A track filtering module is configured to filter the tracks in the to-be-sorted track list. For the cutting lines covered by the bevel range in the tracks that cannot be completed in the termination 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 material, the cutting lines are deleted if there are non-cross tracks in the first preset distance range that are not in the to-be-sorted track list of the current sorting. 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 away from the chuck than the cutting head in the length direction of the pipe, the method further comprises: For the cutting line within the second preset distance range from the chuck, the cutting line is deleted; 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; The trajectory sorting module is configured to sort the trajectories in the filtered trajectory list.

10. An electronic device, comprising: Comprise: A processor; And a memory for storing processor-executable instructions; The processor implements the steps in the sorting method of any one of claims 1-8 by running the executable instructions.

11. A computer readable storage medium, characterized in that, A computer program is stored thereon, and the computer program is executed by a processor to implement the steps in the sorting method of any one of claims 1-8.

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