Robot control method, system, equipment and medium

Abstract

The invention provides a robot control method, system and device and a medium. According to the method, workpiece parameters of a to-be-cut workpiece are obtained, then a plasma cutting torch on a plasma cutting robot is started according to initial cutting parameters, and relative position information of the plasma cutting torch and the to-be-cut workpiece is obtained; plasma cutting control parameters of the plasma cutting torch at all position points on the cutting path are determined according to the initial cutting parameters, the workpiece parameters and the relative position information, and then the plasma cutting torch on the plasma cutting robot is controlled to cut the to-be-cut workpiece on the cutting path according to the plasma cutting control parameters. Therefore, cutting parameters are determined according to workpiece characteristics and cutting requirements, accurate control over the cutting process is achieved, the cutting quality and efficiency are improved, and energy consumption and cost in the cutting process are reduced.

Description

Technical Field

[0001] The present application relates to data processing technology, and in particular to a robot control method, system, device and medium. Background Art

[0002] In the field of industrial automation and manufacturing, plasma cutting technology is widely used in the cutting of metal materials due to its high efficiency and precision. However, the traditional plasma cutting process often relies on the operator's experience and preset fixed cutting parameters, which to some extent limits the improvement of cutting quality and efficiency.

[0003] In the traditional plasma cutting process, the operator sets a set of cutting parameters, such as plasma beam current, voltage, and working gas flow rate, based on his own experience. However, this method that relies on experience and fixed parameters has many shortcomings. On the one hand, due to the different material properties, sizes, and shapes of the workpieces, fixed cutting parameters often cannot adapt to all working conditions, resulting in unstable cutting quality, and even problems such as incomplete cutting, too wide kerf, or overheating and deformation. On the other hand, in order to ensure cutting quality, operators often need to adopt more conservative cutting parameters, which to a certain extent reduces cutting efficiency and increases energy consumption and costs. Summary of the invention

[0004] The present application provides a robot control method, system, device and medium for determining cutting parameters according to workpiece characteristics and cutting requirements to achieve precise control of the cutting process.

[0005] In a first aspect, the present application provides a robot control method, comprising: Acquiring workpiece parameters of the workpiece to be cut, wherein the workpiece parameters include material characteristic parameters and size parameters; Starting a plasma cutting torch on a plasma cutting robot with initial cutting parameters, and acquiring relative position information between the plasma cutting torch and the workpiece to be cut; Determining plasma cutting control parameters of the plasma cutting torch at each position point on a cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information, wherein the plasma cutting control parameters include plasma beam current, plasma beam voltage and working gas flow rate; The plasma cutting torch on the plasma cutting robot is controlled according to the plasma cutting control parameters to cut the workpiece to be cut on the cutting path.

[0006] In the above scheme, by obtaining the workpiece parameters of the workpiece to be cut, including material characteristic parameters (such as material cutting temperature, material density, material melting point, material conductivity, etc.) and size parameters (such as workpiece size, cutting path length, material thickness at each position on the cutting path, etc.), basic data support is provided for the subsequent precise control of the cutting process. This step ensures that the cutting process can be adaptively adjusted for workpieces of different materials, improving the accuracy and flexibility of cutting. Next, the plasma cutting torch on the plasma cutting robot is started with the initial cutting parameters, and the relative position information of the plasma cutting torch and the workpiece to be cut is obtained. This step enables the robot to perceive the spatial relationship between the cutting torch and the workpiece in real time, providing the necessary spatial positioning information for the subsequent adjustment of the cutting parameters. Then, according to the initial cutting parameters, workpiece parameters and relative position information, the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path are determined. These control parameters include plasma beam current, plasma beam voltage and working gas flow, which together determine the energy input and cutting efficiency of the cutting process. By accurately calculating these parameters, fine control of the cutting process can be achieved to ensure the consistency and stability of the cutting quality. Specifically, the process of determining the control parameters takes into account the combined influence of multiple factors. For example, according to the characteristic parameters of the material such as cutting temperature, density and conductivity, the plasma beam current and voltage can be adjusted to meet the cutting requirements of different materials. At the same time, combined with the material thickness and relative position information at each position on the cutting path, the cutting parameters can be further optimized to ensure the consistency of cutting depth and speed. In addition, the cutting parameters can be dynamically adjusted according to the geometric features such as the curvature and length of the cutting path to improve the cutting efficiency and accuracy. Finally, according to the determined plasma cutting control parameters, the plasma cutting torch on the plasma cutting robot is controlled to cut the workpiece to be cut on the cutting path. Since the cutting parameters are determined according to the characteristics of the workpiece and the cutting requirements, it is possible to achieve precise control of the cutting process, which not only improves the cutting quality and efficiency, but also reduces the energy consumption and cost in the cutting process.

[0007] Optionally, determining the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information includes: Determining the plasma beam current in the plasma cutting control parameters according to the initial working current in the initial cutting parameters, the material cutting temperature in the material characteristic parameters, and the material density; Determining the plasma beam voltage in the plasma cutting control parameters according to the initial working voltage in the initial cutting parameters, the material cutting temperature, the material melting point and the material conductivity in the material characteristic parameters; The working gas flow rate in the plasma cutting control parameter is determined according to the initial working gas flow rate in the initial cutting parameter, and the material cutting temperature, material conductivity and material density in the material characteristic parameters.

[0008] In the above scheme, firstly, when determining the plasma beam current, the three key factors of initial working current, material cutting temperature and material density are considered. The initial working current is the basic energy input of the cutting process, and its size directly affects the cutting efficiency and depth. The material cutting temperature and material density reflect the physical properties of the workpiece material, and have an important influence on the energy transfer and consumption in the cutting process. By comprehensively considering these factors, the plasma beam current suitable for different materials and cutting requirements can be determined, thereby realizing fine control of the cutting process. The technical effect of this step is to improve the cutting quality and stability, and avoid the problems of cutting defects or excessive energy consumption caused by improper current setting. Secondly, when determining the plasma beam voltage, in addition to considering the basic parameter of the initial working voltage, the three key variables of material cutting temperature, material melting point and material conductivity are also introduced. The material cutting temperature and melting point determine the energy threshold required in the cutting process, while the material conductivity affects the energy transfer efficiency in the material. By determining the influence of these factors on the plasma beam voltage, the adaptive adjustment of the voltage during the cutting process can be ensured to meet the energy requirements under different materials and cutting conditions. The technical effect of this step is to optimize cutting efficiency, reduce energy waste, and improve the flexibility of the cutting process. Finally, when determining the working gas flow rate, four factors are considered: initial working gas flow rate, material cutting temperature, material conductivity, and material density. The size of the working gas flow rate directly affects the gas protection effect and cutting speed during the cutting process. The material cutting temperature, conductivity, and density determine the flow characteristics and effects of the gas during the cutting process. By determining the impact of these factors on the working gas flow rate, precise control of the gas flow rate can be achieved, thereby ensuring the best gas protection effect and the fastest cutting speed during the cutting process. The technical effect of this step is to improve the safety and efficiency of the cutting process and reduce the risk of cutting defects or equipment damage caused by improper gas flow.

[0009] Optionally, determining the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information includes: Determining the plasma beam current in the plasma cutting control parameter according to the initial working current in the initial cutting parameter, the material cutting temperature and material density in the material characteristic parameters, and the material thickness at each position on the cutting path; Determining the plasma beam voltage in the plasma cutting control parameters according to the initial working voltage in the initial cutting parameters, the material cutting temperature, the material melting point, the material conductivity in the material characteristic parameters, and the material thickness at each position on the cutting path; The working gas flow rate in the plasma cutting control parameter is determined according to the initial working gas flow rate in the initial cutting parameter, the material cutting temperature, material conductivity, material density in the material characteristic parameters, and the material thickness at each position on the cutting path.

[0010] In the above scheme, when determining the plasma beam current, not only the basic parameters such as the initial working current, material cutting temperature, and material density are considered, but also the material thickness at each position on the cutting path is added. Changes in material thickness will directly affect the energy transfer and consumption during the cutting process, and thus affect the cutting quality and efficiency. By accurately measuring and considering the material thickness, the plasma beam current suitable for materials of different thicknesses can be more accurately calculated. The technical effect of this improvement is that it significantly improves the adaptability of the cutting process to materials of different thicknesses, ensures the stability and consistency of the cutting quality, and reduces the risk of cutting defects caused by improper current setting. When determining the plasma beam voltage, the variable of material thickness is also introduced, and is comprehensively considered with factors such as the initial working voltage, material cutting temperature, material melting point, and material conductivity. Changes in material thickness will affect the energy demand and voltage stability during the cutting process. By determining the impact of these factors on the plasma beam voltage and making adaptive adjustments in combination with the material thickness, the stability and accuracy of the voltage during the cutting process can be ensured. The technical effect of this improvement is that it optimizes the energy transfer efficiency during the cutting process, reduces energy waste, and improves the cutting speed and quality, especially for workpieces with uneven thickness, which can significantly improve the cutting effect. When determining the working gas flow rate, the influence of material thickness is also fully considered, combined with factors such as initial working gas flow rate, material cutting temperature, material conductivity and material density. Accurate control of the working gas flow rate is crucial to the gas protection effect and cutting speed during the cutting process. By comprehensively considering the influence of factors such as material thickness on the working gas flow rate, more precise control of the gas flow rate can be achieved, thereby ensuring the best gas protection effect and the fastest cutting speed during the cutting process. The technical effect of this improvement is that it further improves the safety and efficiency of the cutting process, especially for workpieces with large thickness variations, and can significantly reduce the risk of cutting defects or equipment damage caused by improper gas flow.

[0011] Optionally, determining the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information includes: Determining the plasma beam current in the plasma cutting control parameters according to the initial working current in the initial cutting parameters, the material cutting temperature, the material density, the material thickness at each position on the cutting path, the length of the cutting path, and the set cutting process duration in the material characteristic parameters; According to the initial working voltage in the initial cutting parameters, the material cutting temperature, the material melting point, the material conductivity, the material thickness at each position on the cutting path, the length of the cutting path and the setting of the cutting process duration in the material characteristic parameters; The working gas flow rate in the plasma cutting control parameters is determined according to the initial working gas flow rate in the initial cutting parameters, the material cutting temperature, material conductivity, material density, the material thickness at each position on the cutting path, the length of the cutting path and the set cutting process time in the material characteristic parameters.

[0012] In the above scheme, when determining the plasma beam current, not only the basic parameters such as the initial working current, material cutting temperature, material density and material thickness at each position on the cutting path are included, but also the length of the cutting path and the setting of the cutting process duration are introduced. These two new factors are crucial for evaluating the energy demand in the cutting process and adjusting the plasma beam current. The length of the cutting path is directly related to the total energy required for cutting, while the setting of the cutting process duration affects the cutting speed and efficiency. By comprehensively considering these factors, the plasma beam current suitable for different cutting conditions and requirements can be calculated more accurately. The technical effect of this improvement is that it significantly improves the energy utilization and cutting efficiency of the cutting process, ensures the stability and consistency of the cutting quality, and reduces energy consumption and cost. When determining the plasma beam voltage, this comprehensive strategy is also adopted, taking into account factors such as the initial working voltage, material cutting temperature, material melting point, material conductivity, material thickness at each position on the cutting path, the length of the cutting path and the setting of the cutting process duration. The combined effect of these factors affects the voltage stability and energy transfer efficiency during the cutting process. By determining the impact of these factors on the plasma beam voltage and making adaptive adjustments based on actual conditions, accurate control of the voltage during the cutting process can be ensured, thereby optimizing energy transfer, reducing energy loss, and improving cutting speed and quality. When determining the working gas flow rate, the combined impact of all the above factors is also fully considered. Accurate control of the working gas flow rate is crucial to the gas protection effect, cutting speed and cutting quality during the cutting process. By comprehensively considering the impact of factors such as the cutting path length, the set cutting process time, and material properties on the working gas flow rate, more accurate and flexible control of the gas flow rate can be achieved. The technical effect of this improvement is that it further improves the safety and stability of the cutting process, reduces the risk of cutting defects or equipment damage caused by improper gas flow, and optimizes cutting efficiency and quality.

[0013] Optionally, after determining the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information, the method further includes: According to the curvature of each position point on the cutting path, position points on the cutting path whose curvature is greater than a preset curvature threshold are determined as feature position points to form a feature position point set; On the basis of the plasma cutting control parameters corresponding to each characteristic position point in the characteristic position point set, the corresponding plasma beam current, the plasma beam voltage and the working gas flow rate are increased.

[0014] In the above scheme, by determining the curvature of each position point on the cutting path and setting a preset curvature threshold, those position points whose curvature is greater than the threshold are identified, defined as characteristic position points, and a characteristic position point set is formed. The technical effect of this step is that it can accurately identify those parts of the cutting path that are more curved and more difficult to cut. These characteristic position points are usually areas where problems are prone to occur or require special attention during the cutting process, such as sharp turns, corners or edges of complex shapes. Then, based on the plasma cutting control parameters corresponding to each characteristic position point in the characteristic position point set, targeted adjustments are made. Specifically, the corresponding plasma beam current, plasma beam voltage and working gas flow rate are increased. Increasing the plasma beam current and voltage can enhance the energy and cutting ability of the plasma beam, so that it can penetrate the material more easily at the characteristic position point, reduce the generation of cutting defects and burrs, and thus improve the cutting quality. In addition, at the position point with a larger curvature, the dynamic changes in the cutting process are more complicated. Increasing the working gas flow rate can better protect the cutting area and prevent cutting instability or arc extinction caused by insufficient gas flow. Through targeted adjustments, the cutting speed at the characteristic position points can be increased, thereby improving the overall cutting efficiency.

[0015] In summary, the strategy of determining the characteristic position points according to the curvature of each position point on the cutting path and adjusting the plasma cutting control parameters on this basis significantly improves the cutting quality, stability and efficiency of the characteristic position points during the cutting process. This improvement not only optimizes the cutting effect, but also reduces the risk of equipment damage or material waste caused by high cutting difficulty, providing more reliable and efficient technical support for plasma cutting robots when processing complex-shaped workpieces.

[0016] Optionally, based on the plasma cutting control parameters corresponding to each characteristic position point in the characteristic position point set, increasing the corresponding plasma beam current, the plasma beam voltage and the working gas flow rate includes: Generate an updated plasma beam current according to the plasma beam current and the curvature of the characteristic position point; Generate an updated plasma beam voltage according to the plasma beam voltage and the curvature of the characteristic position point; Generate an updated working gas flow rate according to the working gas flow rate and the curvature of the characteristic position point; The updated plasma cutting control parameters are generated using the updated plasma beam current, the updated plasma beam voltage and the updated working gas flow rate. The updated plasma cutting control parameters are used to replace the plasma cutting control parameters to control the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut at the corresponding characteristic position point on the cutting path.

[0017] In the above scheme, first, the plasma beam current is updated according to the plasma beam current and the curvature of the characteristic position point. The technical effect of this step is that it can take into account the additional energy requirements required for the characteristic position points with large curvature on the cutting path. By increasing the plasma beam current, it can be ensured that the plasma beam has sufficient energy to penetrate the material at these difficult-to-cut positions, thereby reducing cutting defects and improving cutting quality. Secondly, the plasma beam voltage is updated according to the plasma beam voltage and the curvature of the characteristic position point. The adjustment of the voltage is crucial to maintaining the stability and cutting efficiency of the plasma beam. At the characteristic position point, due to the change in curvature, the plasma beam may face a more complex cutting environment, such as a sudden change in material thickness or a sharp change in cutting direction. By increasing the plasma beam voltage, the stability and cutting ability of the plasma beam can be enhanced to ensure that efficient cutting can still be maintained under these complex environments. Furthermore, the working gas flow rate is updated according to the working gas flow rate and the curvature of the characteristic position point. The working gas plays a vital role in the plasma cutting process. It not only provides the plasma required for cutting, but also helps blow away the slag and smoke generated during the cutting process. At characteristic position points, due to the increase in cutting difficulty, the demand for working gas also increases accordingly. By increasing the working gas flow rate, it is possible to ensure that the cutting area is adequately protected by gas and prevent cutting problems caused by insufficient gas flow. Finally, the updated plasma cutting control parameters are generated using the updated plasma beam current, plasma beam voltage, and working gas flow rate, and are used to replace the original plasma cutting control parameters to control the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut at the corresponding characteristic position points on the cutting path. The technical effect of this step is that it realizes refined control of the cutting process, allowing the plasma cutting robot to dynamically adjust the cutting control parameters according to the characteristics of different position points on the cutting path, thereby optimizing the cutting quality and efficiency.

[0018] Optionally, after controlling the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut on the cutting path according to the plasma cutting control parameters, the method further includes: Obtaining the actual outer contour of the workpiece after cutting corresponding to the workpiece to be cut; Determine a contour deviation characteristic value according to the actual outer contour and a preset outer contour corresponding to the workpiece after cutting; If the contour deviation characteristic value is greater than a preset contour deviation threshold, the plasma cutting torch on the plasma cutting robot is turned off and a prompt signal is issued.

[0019] In the above scheme, first, after the plasma cutting robot completes the cutting of the workpiece to be cut according to the set plasma cutting control parameters, the actual outer contour data of the workpiece after cutting is obtained, which provides a basis for the subsequent contour deviation analysis. The technical effect of this step is that it realizes the direct quantitative evaluation of the cutting results, so that we can accurately understand the actual changes in the shape of the workpiece during the cutting process. Then, the contour deviation characteristic value is determined based on the comparison between the actual outer contour data obtained and the preset outer contour data. The technical effect of this step is multifaceted: on the one hand, it provides an objective and quantitative method to evaluate the difference between the cutting quality and the expected target; on the other hand, by calculating the contour deviation characteristic value, we can quickly identify possible problems or abnormalities in the cutting process, such as cutting path deviation, unstable plasma beam energy, etc. Further, a preset contour deviation threshold is set to determine whether the cutting quality meets the requirements. If the contour deviation characteristic value is greater than the threshold, it means that the cutting quality is greatly deviated from the expectation. At this time, the plasma cutting torch on the plasma cutting robot will be turned off and a prompt signal will be issued. The technical effect of this step is that it effectively prevents material waste or subsequent processing difficulties caused by substandard cutting quality, while promptly reminding operators to check and adjust the cutting process to ensure the smooth progress of the production process.

[0020] In a second aspect, the present application provides a robot control system, comprising: An acquisition module, used for acquiring workpiece parameters of the workpiece to be cut, wherein the workpiece parameters include material characteristic parameters and size parameters; A starting module, used to start the plasma cutting torch on the plasma cutting robot with initial cutting parameters, and obtain relative position information between the plasma cutting torch and the workpiece to be cut; A processing module, configured to determine the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information, wherein the plasma cutting control parameters include a plasma beam current, a plasma beam voltage and a working gas flow rate; A cutting module is used to control the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut on the cutting path according to the plasma cutting control parameters.

[0021] In a third aspect, the present application provides an electronic device, including: processor; and, A memory, configured to store executable instructions of the processor; The processor is configured to perform any possible method described in the first aspect by executing the executable instructions.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement any possible method described in the first aspect.

[0023] The robot control method, system, device and medium provided in the present application obtain the workpiece parameters of the workpiece to be cut, then start the plasma cutting torch on the plasma cutting robot with the initial cutting parameters, and obtain the relative position information between the plasma cutting torch and the workpiece to be cut, and then determine the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information, and then control the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut on the cutting path according to the plasma cutting control parameters, so as to determine the cutting parameters according to the workpiece characteristics and cutting requirements, and realize precise control of the cutting process, which not only improves the cutting quality and efficiency, but also reduces the energy consumption and cost in the cutting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0025] Figure 1 This is a schematic diagram of a flow chart of a robot control method according to an exemplary embodiment of the present application; Figure 2 This application is shown according to an exemplary embodiment Figure 1 A flowchart of a specific implementation method of S103 in the illustrated embodiment; Figure 3 This application is shown according to another exemplary embodiment Figure 1 A flowchart of a specific implementation method of S103 in the illustrated embodiment; Figure 4 This application is shown according to another exemplary embodiment Figure 1 A flowchart of a specific implementation method of S103 in the illustrated embodiment; Figure 5 This is a schematic diagram of a flow chart of a robot control method according to another exemplary embodiment of the present application; Figure 6 is a schematic diagram of a robot control system according to an exemplary embodiment of the present application; Figure 7 It is a schematic diagram of the structure of an electronic device according to an exemplary embodiment of the present application.

[0026] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0027] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0028] In order to solve the above problems, the embodiment provided by the present application obtains the workpiece parameters (including material characteristic parameters and size parameters) of the workpiece to be cut, starts the plasma cutting torch on the plasma cutting robot with the initial cutting parameters, and obtains the relative position information between the plasma cutting torch and the workpiece to be cut. On this basis, according to the initial cutting parameters, workpiece parameters and relative position information, the plasma cutting control parameters (including plasma beam current, plasma beam voltage and working gas flow) of the plasma cutting torch at each position point on the cutting path are dynamically determined.

[0029] In order to realize the above core concept, the embodiments provided in this application adopt the following specific technical means: Obtain workpiece parameters and relative position information: Obtain workpiece parameters of the workpiece to be cut through sensors or measuring equipment, including material type, thickness, hardness, melting point, thermal conductivity and other characteristic parameters, as well as workpiece size parameters (such as length, width, height, etc.). Use the positioning system or sensor on the robot to obtain the relative position information between the plasma cutting torch and the workpiece to be cut, including the starting position of the cutting torch, the cutting direction, and the distance from the workpiece surface.

[0030] Dynamic determination of cutting control parameters: Based on the acquired workpiece parameters, relative position information and initial cutting parameters, the plasma cutting control parameters of the plasma cutting torch at each position on the cutting path are determined by algorithm calculation. These parameters can be dynamically adjusted as the cutting path changes to adapt to different materials and cutting requirements. When determining the cutting control parameters, the present invention takes into account the comprehensive influence of multiple factors, such as the characteristic parameters of the material such as cutting temperature, density, conductivity, and geometric characteristics such as material thickness and curvature at each position on the cutting path.

[0031] Optimizing cutting parameters: In order to adjust the cutting parameters more accurately, the present invention introduces formulas to generate updated plasma beam current, voltage and working gas flow. These formulas take into account factors such as the curvature of the characteristic position point, the current / voltage / gas flow difference of the extended position point, and the position distance weight coefficient, so as to achieve fine adjustment of the cutting parameters. Before using the formula to generate updated cutting parameters, the present invention also determines the position distance weight coefficient to more accurately reflect the degree of influence of different extended position points on the characteristic position point.

[0032] Control the plasma cutting torch to cut: According to the determined plasma cutting control parameters, control the plasma cutting torch on the plasma cutting robot to cut the workpiece on the cutting path. By adjusting the cutting parameters in real time, the stability of the cutting process and the consistency of the cutting quality are ensured.

[0033] Figure 1 FIG. 1 is a flow chart of a robot control method according to an exemplary embodiment of the present application. Figure 1 As shown, the method provided in this embodiment includes: S101, obtaining workpiece parameters of a workpiece to be cut.

[0034] In this step, workpiece parameters of the workpiece to be cut are obtained, and the workpiece parameters include material characteristic parameters and size parameters.

[0035] Specifically, the material characteristic parameters include but are not limited to the type of material (such as steel, aluminum, etc.), thickness, hardness, melting point, thermal conductivity, etc. These parameters are crucial to determine the energy input, cutting speed, and cutting quality during plasma cutting. These parameters can be obtained through material testing, consulting material manuals, or asking material suppliers.

[0036] The above-mentioned dimensional parameters include, but are not limited to, the length, width, height, and any special shape or contour information of the workpiece. These parameters are used to determine the cutting path, cutting sequence, and possible adjustments to the cutting strategy. These parameters can be obtained by measuring the workpiece or using CAD drawings.

[0037] S102: starting the plasma cutting torch on the plasma cutting robot with initial cutting parameters, and obtaining relative position information between the plasma cutting torch and the workpiece to be cut.

[0038] Specifically, before starting the plasma cutting torch, a set of initial cutting parameters need to be set, including plasma beam current, plasma beam voltage, working gas flow rate, etc. These parameters are usually initially set based on material characteristic parameters and cutting experience, and are adjusted according to actual conditions during the subsequent cutting process.

[0039] Then, start the plasma cutting torch on the plasma cutting robot according to the set initial cutting parameters. Make sure the cutting torch works normally without abnormal sound or vibration.

[0040] Next, the robot uses sensors or positioning systems to obtain the relative position information between the plasma cutting torch and the workpiece to be cut. This includes the starting position of the cutting torch, the cutting direction, and the distance from the workpiece surface. This information is used to ensure the accuracy of the cutting path and the stability of the cutting quality.

[0041] S103, determining the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information.

[0042] In this step, the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path are determined according to the initial cutting parameters, workpiece parameters and relative position information. The plasma cutting control parameters include plasma beam current, plasma beam voltage and working gas flow rate.

[0043] Specifically, the acquired initial cutting parameters, workpiece parameters and relative position information are input into the control system for data analysis and processing. This may include calculating the energy input, cutting speed and working gas flow required for each position point on the cutting path. Based on the results of data analysis and processing, the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path are determined. These parameters may be dynamically adjusted as the cutting path changes to ensure the stability and consistency of the cutting quality.

[0044] S104, controlling the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut on the cutting path according to the plasma cutting control parameters.

[0045] Specifically, the determined plasma cutting control parameters are converted into control signals and transmitted to the control system of the plasma cutting robot. The robot control system controls the plasma cutting torch to cut the workpiece to be cut on the cutting path according to the received control signals. Ensure that the parameters such as the moving speed, energy input and working gas flow of the cutting torch meet the preset requirements during the cutting process. During the cutting process, the cutting quality, the working status of the cutting torch and the operation status of the robot are continuously monitored. If any abnormal situation is found or the cutting quality does not meet the standard, the cutting parameters are adjusted in time or the cutting operation is stopped, and necessary inspections and repairs are carried out.

[0046] In this embodiment, by obtaining the workpiece parameters of the workpiece to be cut, then starting the plasma cutting torch on the plasma cutting robot with the initial cutting parameters, and obtaining the relative position information between the plasma cutting torch and the workpiece to be cut, the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path are determined according to the initial cutting parameters, the workpiece parameters and the relative position information, and then the plasma cutting torch on the plasma cutting robot is controlled to cut the workpiece to be cut on the cutting path according to the plasma cutting control parameters, thereby determining the cutting parameters according to the workpiece characteristics and cutting requirements, and realizing precise control of the cutting process, which not only improves the cutting quality and efficiency, but also reduces the energy consumption and cost in the cutting process.

[0047] Figure 2 This application is shown according to an exemplary embodiment Figure 1 The flowchart of the specific implementation method of S103 in the embodiment shown is as follows. Figure 2 As shown, in Figure 1 Based on the illustrated embodiment, the above S103 specifically includes: S10311. Determine the plasma beam current in the plasma cutting control parameters according to the initial working current in the initial cutting parameters, the material cutting temperature in the material characteristic parameters, and the material density.

[0048] Specifically, formula 1 can be used, and according to the initial working current in the initial cutting parameters , Material cutting temperature in material characteristic parameters And material density Determining the plasma beam current in plasma cutting control parameters , where Formula 1 is:

[0049] in, is the preset reference temperature, Preset reference density, It is the preset current temperature adjustment coefficient, which is used to adjust the sensitivity of current to temperature changes. is the temperature index, which is used to adjust the nonlinearity of the current with temperature. It is a preset current density adjustment coefficient used to adjust the sensitivity of current to material density.

[0050] S10312. Determine the plasma beam voltage in the plasma cutting control parameters according to the initial working voltage in the initial cutting parameters, the material cutting temperature in the material characteristic parameters, the material melting point, and the material conductivity.

[0051] Specifically, formula 2 can be used, and the initial working voltage in the initial cutting parameters is , Material cutting temperature in material characteristic parameters , Material melting point And the material conductivity Determine the plasma beam voltage in plasma cutting control parameters , where Formula 2 is:

[0052] in, To preset the reference conductivity, is the voltage conductivity adjustment coefficient, which is used to adjust the sensitivity of voltage to conductivity changes. It is a preset voltage temperature adjustment coefficient, which is used to adjust the sensitivity of voltage to temperature changes near the melting point of the material.

[0053] S10313. Determine the working gas flow rate in the plasma cutting control parameters according to the initial working gas flow rate in the initial cutting parameters, the material cutting temperature in the material characteristic parameters, the material conductivity, and the material density.

[0054] Specifically, formula 3 can be used, and the initial working gas flow rate in the initial cutting parameters is , Material cutting temperature in material characteristic parameters , Material conductivity And material density Determine the working gas flow rate in plasma cutting control parameters , Formula 3 is:

[0055] in, It is the preset flow temperature adjustment coefficient, which is used to adjust the sensitivity of the working gas flow to temperature changes. It is a preset flow density adjustment coefficient, which is used to adjust the sensitivity of the working gas flow to the material density. It is the working gas flow conductivity adjustment coefficient, which is used to adjust the sensitivity of the working gas flow to changes in conductivity.

[0056] In the above scheme, the plasma beam current is dynamically adjusted according to the initial working current, the material cutting temperature and the material density using Formula 1. This formula can reflect the relationship between the current and the material temperature and density by introducing a preset reference temperature, a preset reference density, a preset current temperature adjustment coefficient, a temperature index and a preset current density adjustment coefficient. As the material cutting temperature increases, the current increases appropriately to improve the cutting efficiency and cutting capacity; and when the material density increases, the current decreases appropriately to avoid overheating and nozzle damage. This dynamic adjustment mechanism ensures precise control of the current during the cutting process and improves the cutting quality and stability.

[0057] Formula 2 is used to dynamically adjust the plasma beam voltage according to the initial operating voltage, material cutting temperature, material melting point, and material conductivity. This formula can reflect the relationship between voltage and material conductivity and temperature by introducing a preset reference conductivity, a voltage conductivity adjustment coefficient, and a preset voltage temperature adjustment coefficient. As the material conductivity increases, the voltage is appropriately increased to enhance the stability and cutting ability of the arc; and when the material temperature approaches the melting point, the voltage is appropriately reduced to avoid overheating and cutting deformation. This optimization mechanism ensures precise control of voltage during the cutting process, further improving cutting quality and efficiency.

[0058] Formula 3 is used to dynamically adjust the working gas flow rate according to the initial working gas flow rate, material cutting temperature, material conductivity, and material density. This formula can reflect the relationship between the working gas flow rate and the material temperature, density, and conductivity by introducing the preset flow temperature adjustment coefficient, the preset flow density adjustment coefficient, and the working gas flow conductivity adjustment coefficient. As the material temperature increases, the gas flow rate increases appropriately to enhance the cutting effect during the cutting process; and when the material density and conductivity increase, the gas flow rate is adjusted appropriately according to the specific situation to ensure the stability and efficiency of the cutting process. This reasonable working gas flow control mechanism helps to reduce dross and deformation during the cutting process and improve the cutting quality.

[0059] In summary, by introducing the above model and dynamically adjusting the plasma cutting control parameters according to the initial cutting parameters, workpiece parameters and relative position information, dynamic optimization and precise control of the cutting process are achieved. This not only improves the cutting quality and efficiency, but also reduces the energy consumption and cost in the cutting process, providing an efficient and precise plasma cutting solution for the industrial automation and manufacturing fields.

[0060] Figure 3 This application is shown according to another exemplary embodiment Figure 1 The flowchart of the specific implementation method of S103 in the embodiment shown is as follows. Figure 3 As shown, in Figure 1 Based on the illustrated embodiment, the above S103 specifically includes: S10321. Determine the plasma beam current in the plasma cutting control parameters according to the initial working current in the initial cutting parameters, the material cutting temperature and material density in the material characteristic parameters, and the material thickness at each position on the cutting path.

[0061] Specifically, using formula 4, and according to the initial working current in the initial cutting parameters , Material cutting temperature in material characteristic parameters , Material density and the material thickness at various locations along the cutting path Determining the plasma beam current in plasma cutting control parameters , where Formula 4 is:

[0062] in, is the preset reference temperature, Preset reference density, It is the preset current temperature adjustment coefficient, which is used to adjust the sensitivity of current to temperature changes. is the temperature index, which is used to adjust the nonlinearity of the current with temperature. is the current density adjustment coefficient, which is used to adjust the sensitivity of current to material density. For the The order fitting coefficient, is the preset fitting order, is the initial operating current The corresponding calibrated cutting thickness; S10322. Determine the plasma beam voltage in the plasma cutting control parameters according to the initial working voltage in the initial cutting parameters, the material cutting temperature, material melting point, material conductivity in the material characteristic parameters, and the material thickness at each position on the cutting path.

[0063] Specifically, using formula 5, and according to the initial working voltage in the initial cutting parameters , Material cutting temperature in material characteristic parameters , Material melting point , Material conductivity and the material thickness at various locations along the cutting path Determine the plasma beam voltage in plasma cutting control parameters , where Formula 5 is:

[0064] in, To preset the reference conductivity, is the voltage conductivity adjustment coefficient, which is used to adjust the sensitivity of voltage to conductivity changes. It is the preset voltage temperature adjustment coefficient, which is used to adjust the sensitivity of voltage to temperature changes near the melting point of the material. For the The order fitting coefficient.

[0065] S10323. Determine the working gas flow rate in the plasma cutting control parameters according to the initial working gas flow rate in the initial cutting parameters, the material cutting temperature, material conductivity, material density in the material characteristic parameters, and the material thickness at each position on the cutting path.

[0066] Specifically, using formula 6, and according to the initial working gas flow in the initial cutting parameters , Material cutting temperature in material characteristic parameters , Material conductivity , Material density and the material thickness at various locations along the cutting path Determine the working gas flow rate in plasma cutting control parameters , Formula 6 is:

[0067] in, It is the preset flow temperature adjustment coefficient, which is used to adjust the sensitivity of the working gas flow to temperature changes. It is a preset flow density adjustment coefficient, which is used to adjust the sensitivity of the working gas flow to the material density. is the working gas flow conductivity adjustment coefficient, which is used to adjust the sensitivity of the working gas flow to the change of conductivity. For the The order fitting coefficient.

[0068] In the above scheme, Formula 4 adds a material thickness term on the original basis, and by introducing the i-th order fitting coefficient and the preset fitting order, the accurate fitting of the plasma beam current with the material thickness is achieved. As the material thickness on the cutting path changes, the current can be dynamically adjusted to adapt to different cutting requirements. For example, when cutting thicker materials, the current is appropriately increased to provide sufficient cutting energy; when cutting thinner materials, the current is reduced accordingly to avoid overheating and damage. This dynamic adjustment mechanism not only improves the accuracy of cutting, but also effectively reduces energy consumption and cutting costs. The introduction of preset reference temperature, preset reference density, preset current temperature adjustment coefficient, temperature index and preset current density adjustment coefficient makes the current more sensitive and accurate to changes in material temperature and density, further improving the cutting quality and stability.

[0069] Formula 5 also takes into account the influence of material thickness on the plasma beam voltage. By introducing the i-th order fitting coefficient b_i, accurate control of the voltage change with material thickness is achieved. The adjustment of voltage is not only related to the conductivity and temperature of the material, but also closely related to the material thickness on the cutting path. This control method ensures that the voltage is always kept in the optimal state during the cutting process on materials of different thicknesses, thereby improving the stability and efficiency of cutting. The introduction of preset reference conductivity, voltage conductivity adjustment coefficient and preset voltage temperature adjustment coefficient makes the voltage change with material conductivity and temperature more accurate and flexible, further enhancing the adaptability and stability of the cutting process.

[0070] Formula 6 fully considers the influence of material temperature, density, conductivity and material thickness on the working gas flow rate. By introducing the i-th order fitting coefficient c_i, it realizes the precise control of the working gas flow rate as the cutting conditions change. As the material thickness on the cutting path changes, the gas flow rate can be dynamically adjusted to adapt to different cutting requirements, ensuring that the cutting effect during the cutting process is always maintained at the best state. The introduction of the preset flow temperature adjustment coefficient, the preset flow density adjustment coefficient and the working gas flow conductivity adjustment coefficient makes the gas flow rate more sensitive and accurate to the changes in material temperature, density and conductivity, further improving the efficiency and stability of the cutting process.

[0071] Figure 4 This application is shown according to another exemplary embodiment Figure 1 The flowchart of the specific implementation method of S103 in the embodiment shown is as follows. Figure 4 As shown, in Figure 1 Based on the illustrated embodiment, the above S103 specifically includes: S10331. Determine the plasma beam current in the plasma cutting control parameters according to the initial working current in the initial cutting parameters, the material cutting temperature in the material characteristic parameters, the material density, the material thickness at each position on the cutting path, the length of the cutting path, and the set cutting process duration.

[0072] Specifically, using formula 7, and according to the initial working current in the initial cutting parameters , Material cutting temperature in material characteristic parameters , Material density , Material thickness at each location on the cutting path , length of cutting path And set the cutting process time Determining the plasma beam current in plasma cutting control parameters , where Formula 7 is:

[0073] in, is the preset reference temperature, Preset reference density, It is the preset current temperature adjustment coefficient, which is used to adjust the sensitivity of current to temperature changes. is the temperature index, which is used to adjust the nonlinearity of the current with temperature. is the current density adjustment coefficient, which is used to adjust the sensitivity of current to material density. For the The order fitting coefficient, is the preset fitting order, is the initial operating current The corresponding calibrated cutting thickness, is the initial operating current The corresponding moving speed of plasma cutting torch, is the current speed adjustment coefficient. S10332. Set the cutting process duration according to the initial working voltage in the initial cutting parameters, the material cutting temperature, the material melting point, the material conductivity, the material thickness at each position on the cutting path, the length of the cutting path, and the material characteristic parameters.

[0074] Specifically, using formula 8, and according to the initial working voltage in the initial cutting parameters , Material cutting temperature in material characteristic parameters , Material melting point , Material conductivity , Material thickness at each location on the cutting path , length of cutting path And set the cutting process time Determine the plasma beam voltage in plasma cutting control parameters , where Formula 8 is:

[0075] in, To preset the reference conductivity, is the voltage conductivity adjustment coefficient, which is used to adjust the sensitivity of voltage to conductivity changes. It is the preset voltage temperature adjustment coefficient, which is used to adjust the sensitivity of voltage to temperature changes near the melting point of the material. For the The order fitting coefficient, is the voltage speed regulation coefficient.

[0076] S10333. Determine the working gas flow rate in the plasma cutting control parameters according to the initial working gas flow rate in the initial cutting parameters, the material cutting temperature, material conductivity, material density, material thickness at each position on the cutting path, the length of the cutting path, and the set cutting process duration in the material characteristic parameters.

[0077] Specifically, using formula 9, and according to the initial working gas flow in the initial cutting parameters , Material cutting temperature in material characteristic parameters , Material conductivity , Material density , Material thickness at each location on the cutting path , length of cutting path And set the cutting process time Determine the working gas flow rate in plasma cutting control parameters , Formula 9 is:

[0078] in, It is the preset flow temperature adjustment coefficient, which is used to adjust the sensitivity of the working gas flow to temperature changes. It is a preset flow density adjustment coefficient, which is used to adjust the sensitivity of the working gas flow to the material density. is the working gas flow conductivity adjustment coefficient, which is used to adjust the sensitivity of the working gas flow to the change of conductivity. For the The order fitting coefficient, is the working gas flow rate adjustment coefficient.

[0079] In the above scheme, Formula 7 adds the cutting path length term and the setting cutting process duration term on the original basis, and realizes the dynamic optimization of the plasma beam current with the cutting speed and the cutting path length by introducing the current speed adjustment coefficient. As the cutting path length increases or the setting cutting process duration shortens, the current can automatically adjust to adapt to the faster cutting speed to ensure the stability and efficiency of the cutting process. At the same time, the formula also takes into account the impact of changes in material temperature, density and thickness on the current, and ensures the consistency of cutting quality through precise calculation and adjustment. The introduction of preset reference temperature, preset reference density, preset current temperature adjustment coefficient, temperature index and preset current density adjustment coefficient makes the current more sensitive and accurate with the changes in material temperature and density, further improving the adaptability and stability of the cutting process.

[0080] Formula 8 also takes into account the effects of the cutting path length and the set cutting process duration on the plasma beam voltage. By introducing the voltage speed adjustment coefficient, fine control of the voltage with the cutting speed and cutting path length is achieved. As the cutting speed changes, the voltage can be automatically adjusted to maintain the stability of the arc and ensure the smooth progress of the cutting process. At the same time, the formula also comprehensively considers the effects of changes in the melting point, conductivity and thickness of the material on the voltage. Through precise calculation and adjustment, it ensures that the energy input during the cutting process is always maintained at the optimal state. The introduction of preset reference conductivity, voltage conductivity adjustment coefficient and preset voltage temperature adjustment coefficient makes the voltage change with material conductivity and temperature more accurate and flexible, further enhancing the adaptability and stability of the cutting process.

[0081] Formula 9 comprehensively considers the effects of cutting path length, set cutting process duration, material temperature, density, conductivity and thickness on working gas flow. By introducing the working gas flow rate adjustment coefficient, intelligent adjustment of working gas flow with changes in cutting speed and cutting conditions is achieved. As cutting speed and cutting conditions change, the gas flow rate can be automatically adjusted to ensure that the cutting effect during the cutting process is always maintained at the best state, thereby improving cutting quality and efficiency. The introduction of preset flow temperature adjustment coefficient, preset flow density adjustment coefficient and working gas flow conductivity adjustment coefficient makes the gas flow rate more sensitive and accurate with changes in material temperature, density and conductivity, further improving the adaptability and stability of the cutting process.

[0082] Figure 5 FIG. 1 is a flow chart of a robot control method according to another exemplary embodiment of the present application. Figure 5 As shown, the robot control method provided in this embodiment includes: S201, obtaining workpiece parameters of a workpiece to be cut.

[0083] In this step, workpiece parameters of the workpiece to be cut are obtained, and the workpiece parameters include material characteristic parameters and size parameters.

[0084] Specifically, the material characteristic parameters include but are not limited to the type of material (such as steel, aluminum, etc.), thickness, hardness, melting point, thermal conductivity, etc. These parameters are crucial to determine the energy input, cutting speed, and cutting quality during plasma cutting. These parameters can be obtained through material testing, consulting material manuals, or asking material suppliers.

[0085] The above-mentioned dimensional parameters include, but are not limited to, the length, width, height, and any special shape or contour information of the workpiece. These parameters are used to determine the cutting path, cutting sequence, and possible adjustments to the cutting strategy. These parameters can be obtained by measuring the workpiece or using CAD drawings.

[0086] S202: Start the plasma cutting torch on the plasma cutting robot with initial cutting parameters, and obtain relative position information between the plasma cutting torch and the workpiece to be cut.

[0087] Specifically, before starting the plasma cutting torch, a set of initial cutting parameters need to be set, including plasma beam current, plasma beam voltage, working gas flow rate, etc. These parameters are usually initially set based on material characteristic parameters and cutting experience, and are adjusted according to actual conditions during the subsequent cutting process.

[0088] Then, start the plasma cutting torch on the plasma cutting robot according to the set initial cutting parameters. Make sure the cutting torch works normally without abnormal sound or vibration.

[0089] Next, the robot uses sensors or positioning systems to obtain the relative position information between the plasma cutting torch and the workpiece to be cut. This includes the starting position of the cutting torch, the cutting direction, and the distance from the workpiece surface. This information is used to ensure the accuracy of the cutting path and the stability of the cutting quality.

[0090] S203, determining the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information.

[0091] In this step, the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path are determined according to the initial cutting parameters, workpiece parameters and relative position information. The plasma cutting control parameters include plasma beam current, plasma beam voltage and working gas flow rate.

[0092] Specifically, the acquired initial cutting parameters, workpiece parameters and relative position information are input into the control system for data analysis and processing. This may include calculating the energy input, cutting speed and working gas flow required for each position point on the cutting path. Based on the results of data analysis and processing, the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path are determined. These parameters may be dynamically adjusted as the cutting path changes to ensure the stability and consistency of the cutting quality.

[0093] S204 , according to the curvature of each position point on the cutting path, determine the position points on the cutting path whose curvature is greater than a preset curvature threshold as feature position points to form a feature position point set.

[0094] Specifically, according to the coordinate information of each position point on the cutting path, the tangent slope between adjacent position points is calculated. Then, the curvature of the cutting path at each position point is calculated using the rate of change of the tangent slope. The greater the curvature, the higher the degree of curvature of the position point.

[0095] Optionally, a reasonable preset curvature threshold can be set according to the characteristics of the cutting material, the cutting thickness, and the process requirements of plasma cutting. This threshold is used to determine which position points belong to characteristic position points, that is, position points that require special attention and processing. The curvature of each position point on the cutting path is compared with the preset curvature threshold. If the curvature of a position point is greater than the preset curvature threshold, it is determined to be a characteristic position point. All characteristic position points are gathered together to form a characteristic position point set.

[0096] S205. Based on the plasma cutting control parameters corresponding to each characteristic position point in the characteristic position point set, increase the corresponding plasma beam current, plasma beam voltage and working gas flow rate.

[0097] Specifically, in the characteristic position point set, for the plasma cutting control parameters corresponding to each characteristic position point, the plasma beam current is first increased. The magnitude of the increase can be determined according to the size of the curvature and the characteristics of the cutting material. The purpose of increasing the current is to improve the cutting ability and ensure that sufficient cutting heat can be obtained even at positions with a higher degree of curvature, thereby avoiding problems such as incomplete cutting or reduced cutting quality. Similarly, for each characteristic position point, it is also necessary to increase the plasma beam voltage. The magnitude of the increase can also be determined according to the size of the curvature and the characteristics of the cutting material. The purpose of increasing the voltage is to improve the stability of the arc and ensure that the arc can maintain stable burning during the cutting process, thereby avoiding problems such as arc extinction or interruption of the cutting process. Finally, for each characteristic position point, it is also necessary to increase the working gas flow rate. The magnitude of the increase can be determined according to the size of the curvature, the characteristics of the cutting material, and the cutting speed.

[0098] In a possible implementation, equation 10 may be used, and according to the plasma beam current Generates and updates plasma beam current , where Formula 10 is:

[0099] in, is the curvature of the feature position point, is the preset curvature threshold, is the preset number of extended position points before the feature position point, and the set of extended position points corresponding to the preset number of extended position points is the extended position point set. The first The extension point and The difference in plasma beam current between the expansion positions, is the position distance weight coefficient; Using Equation 11 and based on the plasma beam voltage Generates and updates plasma beam voltage , where Formula 11 is:

[0100] in, The first The extension point and The difference in plasma beam voltage between the expansion positions; Using formula 12 and according to the working gas flow rate Generate updated working gas flow , where Formula 12 is:

[0101] in, The first The extension point and The difference in working gas flow between the expansion position points; Using updated plasma beam current , Update plasma beam voltage And update the working gas flow Generate and update plasma cutting control parameters, and the updated plasma cutting control parameters are used to replace the plasma cutting control parameters to control the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut at the corresponding characteristic position point on the cutting path.

[0102] In the above steps, Formula 10 achieves refined consideration of the influence of curvature by introducing the ratio of the curvature of the characteristic position point to the preset curvature threshold, as well as the position distance weight coefficient. The greater the curvature of the characteristic position point, the greater its influence on the surrounding extended position points, thereby ensuring that the plasma beam current can be appropriately enhanced in areas with a higher degree of curvature. The product term in Formula 10 takes into account the difference in plasma beam current between adjacent position points in the extended position point set, ensuring a smooth transition of the current between the characteristic position point and its extended position point. This smooth transition effectively avoids the problem of reduced cutting quality or unstable cutting process that may be caused by sudden changes in current. Through the above adjustments, the plasma beam current of the characteristic position point and its surrounding areas has been optimized, making the cutting heat distribution more uniform, the cutting speed has been improved, and the cutting quality has been guaranteed.

[0103] Similarly, Formula 11 achieves fine adjustment of the plasma beam voltage by introducing the co-optimization term of curvature and voltage. This helps to maintain the stability of the arc at characteristic positions with large curvature and avoid the reduction of cutting quality due to arc fluctuations. The product term in Formula 11 takes into account the smooth change of voltage between the extended positions, ensuring the continuity and stability of voltage adjustment. This helps to maintain arc stability during the cutting process and improve cutting quality. By optimizing and adjusting the voltage, the adaptability of the plasma arc to the cutting material is enhanced, making the cutting process more stable and reliable.

[0104] Formula 12 achieves refined control of the working gas flow rate by introducing the coordinated optimization term of curvature and gas flow rate. This helps to provide sufficient cutting gas at the characteristic position points and their surrounding areas to avoid the problem of reduced surface quality of the cut. The product term in Formula 12 takes into account the smooth transition of the gas flow rate between the extended position points, ensuring the continuity and stability of the gas flow rate adjustment. This helps to maintain the cutting effect during the cutting process and improve the cutting quality. By optimizing and adjusting the gas flow rate, the cutting effect during the cutting process is improved, the cutting efficiency is improved, and the stability of the cutting process is also enhanced.

[0105] It can be seen that through the optimization and adjustment of the above three formulas, the plasma cutting control parameters of the characteristic position point and its surrounding area have been optimized, so that the cutting quality has been improved. The incision surface is smoother, without dross, and the dimensional accuracy is higher. The optimized plasma cutting control parameters increase the cutting speed, and at the same time, the stability of the cutting process is also guaranteed, thereby improving the overall cutting efficiency.

[0106] In summary, using Formula 10, Formula 11 and Formula 12 to generate and update plasma cutting control parameters can significantly improve cutting quality and efficiency, enhance the flexibility of the cutting process, and reduce production costs.

[0107] Furthermore, using Formula 10, and according to the plasma beam current Generates and updates plasma beam current Previously, it also included: Using formula 12, determine the location distance weight coefficient based on the expanded location point set , where Formula 12 is:

[0108] in, The first The distance between a position point and the corresponding feature position point, is the average distance between each location point in the extended location point set and the corresponding feature location point, is the standard deviation of the distance between each location point in the extended location point set and the corresponding feature location point.

[0109] In the above steps, Formula 12 realizes the refined determination of the position distance weight coefficient by introducing the distance between the jth position point in the extended position point set and the corresponding feature position point, as well as the average distance and the standard deviation of the distance. This refined consideration makes the distribution of weight coefficients more reasonable and can more accurately reflect the degree of influence of different extended position points on the feature position points. Formula 12 adopts the form of Gaussian distribution and calculates the initial weight value of each extended position point through an exponential function. The characteristics of Gaussian distribution make the position points closer to the feature position point obtain a larger weight value, while the position points farther away obtain a smaller weight value. This weight distribution method helps to pay more attention to the area that has a greater impact on the cutting quality when adjusting the plasma cutting control parameters. The denominator part in Formula 12 realizes the normalization of the weight coefficient. The normalization process ensures that the sum of all weight coefficients is 1, thereby avoiding the adverse effects of excessive or too small weight coefficients on subsequent calculations.

[0110] The accurate determination of the position distance weight coefficient provides a more accurate basis for adjusting the plasma beam current, plasma beam voltage and working gas flow rate using Formula 10, Formula 11 and Formula 12. By considering the influence of different extended position points on the characteristic position points, these control parameters can be adjusted more accurately, thereby improving cutting quality and efficiency.

[0111] Due to the more reasonable distribution of weight coefficients, the adjusted plasma cutting control parameters can better adapt to the changes in the cutting path, making the cutting process more stable and reliable. This helps to reduce fluctuations and errors in the cutting process and improve cutting accuracy and consistency. By fine-tuning the plasma cutting control parameters, it can better adapt to cutting materials of different types and thicknesses. Whether it is for thin plates or thick plates, whether it is for special materials such as carbon steel or stainless steel, high-quality cutting effects can be achieved.

[0112] S206: Control the plasma cutting torch on the plasma cutting robot to cut the workpiece on the cutting path according to the plasma cutting control parameters.

[0113] Specifically, the determined plasma cutting control parameters are converted into control signals and transmitted to the control system of the plasma cutting robot. The robot control system controls the plasma cutting torch to cut the workpiece to be cut on the cutting path according to the received control signals. Ensure that the parameters such as the moving speed, energy input and working gas flow of the cutting torch meet the preset requirements during the cutting process. During the cutting process, the cutting quality, the working status of the cutting torch and the operation status of the robot are continuously monitored. If any abnormal situation is found or the cutting quality does not meet the standard, the cutting parameters are adjusted in time or the cutting operation is stopped, and necessary inspections and repairs are carried out.

[0114] On the basis of the above embodiment, after the plasma cutting torch on the plasma cutting robot is controlled to cut the workpiece to be cut on the cutting path according to the plasma cutting control parameters, the actual outer contour of the workpiece after cutting corresponding to the workpiece to be cut can also be obtained. Then, the contour deviation characteristic value is determined according to the actual outer contour and the preset outer contour corresponding to the workpiece after cutting. If the contour deviation characteristic value is greater than the preset contour deviation threshold, the plasma cutting torch on the plasma cutting robot is turned off and a prompt signal is issued.

[0115] In the above scheme, first, after the plasma cutting robot completes the cutting of the workpiece to be cut according to the set plasma cutting control parameters, the actual outer contour data of the workpiece after cutting is obtained, which provides a basis for the subsequent contour deviation analysis. The technical effect of this step is that it realizes the direct quantitative evaluation of the cutting results, so that we can accurately understand the actual changes in the shape of the workpiece during the cutting process. Then, the contour deviation characteristic value is determined based on the comparison between the actual outer contour data obtained and the preset outer contour data. The technical effect of this step is multifaceted: on the one hand, it provides an objective and quantitative method to evaluate the difference between the cutting quality and the expected target; on the other hand, by calculating the contour deviation characteristic value, we can quickly identify possible problems or abnormalities in the cutting process, such as cutting path deviation, unstable plasma beam energy, etc. Further, a preset contour deviation threshold is set to determine whether the cutting quality meets the requirements. If the contour deviation characteristic value is greater than the threshold, it means that the cutting quality is greatly deviated from the expectation. At this time, the plasma cutting torch on the plasma cutting robot will be turned off and a prompt signal will be issued. The technical effect of this step is that it effectively prevents material waste or subsequent processing difficulties caused by substandard cutting quality, while promptly reminding operators to check and adjust the cutting process to ensure the smooth progress of the production process.

[0116] Figure 6 FIG. 1 is a schematic diagram of a robot control system according to an exemplary embodiment of the present application. Figure 6 As shown, the robot control system 300 provided in this embodiment includes: An acquisition module 310 is used to acquire workpiece parameters of the workpiece to be cut, wherein the workpiece parameters include material characteristic parameters and size parameters; A starting module 320 is used to start the plasma cutting torch on the plasma cutting robot with initial cutting parameters and obtain relative position information between the plasma cutting torch and the workpiece to be cut; A processing module 330, for determining the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information, wherein the plasma cutting control parameters include plasma beam current, plasma beam voltage and working gas flow rate; The cutting module 340 is used to control the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut on the cutting path according to the plasma cutting control parameters.

[0117] Optionally, the processing module 330 is specifically configured to: Determining the plasma beam current in the plasma cutting control parameters according to the initial working current in the initial cutting parameters, the material cutting temperature in the material characteristic parameters, and the material density; Determining the plasma beam voltage in the plasma cutting control parameters according to the initial working voltage in the initial cutting parameters, the material cutting temperature, the material melting point and the material conductivity in the material characteristic parameters; The working gas flow rate in the plasma cutting control parameter is determined according to the initial working gas flow rate in the initial cutting parameter, and the material cutting temperature, material conductivity and material density in the material characteristic parameters.

[0118] Optionally, the processing module 330 is specifically configured to: Determining the plasma beam current in the plasma cutting control parameter according to the initial working current in the initial cutting parameter, the material cutting temperature and material density in the material characteristic parameters, and the material thickness at each position on the cutting path; Determining the plasma beam voltage in the plasma cutting control parameters according to the initial working voltage in the initial cutting parameters, the material cutting temperature, the material melting point, the material conductivity in the material characteristic parameters, and the material thickness at each position on the cutting path; The working gas flow rate in the plasma cutting control parameter is determined according to the initial working gas flow rate in the initial cutting parameter, the material cutting temperature, material conductivity, material density in the material characteristic parameters, and the material thickness at each position on the cutting path.

[0119] Optionally, the processing module 330 is specifically configured to: Determining the plasma beam current in the plasma cutting control parameters according to the initial working current in the initial cutting parameters, the material cutting temperature, the material density, the material thickness at each position on the cutting path, the length of the cutting path, and the set cutting process duration in the material characteristic parameters; According to the initial working voltage in the initial cutting parameters, the material cutting temperature, the material melting point, the material conductivity, the material thickness at each position on the cutting path, the length of the cutting path and the setting of the cutting process duration in the material characteristic parameters; The working gas flow rate in the plasma cutting control parameters is determined according to the initial working gas flow rate in the initial cutting parameters, the material cutting temperature, material conductivity, material density, the material thickness at each position on the cutting path, the length of the cutting path and the set cutting process time in the material characteristic parameters.

[0120] Optionally, the processing module 330 is specifically configured to: According to the curvature of each position point on the cutting path, position points on the cutting path whose curvature is greater than a preset curvature threshold are determined as feature position points to form a feature position point set; On the basis of the plasma cutting control parameters corresponding to each characteristic position point in the characteristic position point set, the corresponding plasma beam current, the plasma beam voltage and the working gas flow rate are increased.

[0121] Optionally, the processing module 330 is specifically configured to: Generate an updated plasma beam current according to the plasma beam current and the curvature of the characteristic position point; Generate an updated plasma beam voltage according to the plasma beam voltage and the curvature of the characteristic position point; Generate an updated working gas flow rate according to the working gas flow rate and the curvature of the characteristic position point; The updated plasma cutting control parameters are generated using the updated plasma beam current, the updated plasma beam voltage and the updated working gas flow rate. The updated plasma cutting control parameters are used to replace the plasma cutting control parameters to control the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut at the corresponding characteristic position point on the cutting path.

[0122] Optionally, the acquisition module 310 is further used to acquire the actual outer contour of the workpiece after cutting corresponding to the workpiece to be cut; The processing module 330 is further used to determine a contour deviation characteristic value according to the actual outer contour and a preset outer contour corresponding to the workpiece after cutting; The start module 320 is further configured to turn off the plasma cutting torch on the plasma cutting robot and send out a prompt signal if the contour deviation characteristic value is greater than a preset contour deviation threshold.

[0123] Figure 7is a schematic diagram of the structure of an electronic device according to an exemplary embodiment of the present application. Figure 7 As shown, an electronic device 400 provided in this embodiment includes: a processor 401 and a memory 402; wherein: The memory 402 is used to store computer programs, and the memory may also be a flash memory.

[0124] The processor 401 is used to execute the execution instructions stored in the memory to implement each step in the above method. For details, please refer to the relevant description in the above method embodiment.

[0125] Optionally, the memory 402 may be independent or integrated with the processor 401 .

[0126] When the memory 402 is a device independent of the processor 401, the electronic device 400 may further include: The bus 403 is used to connect the memory 402 and the processor 401 .

[0127] This embodiment further provides a readable storage medium, in which a computer program is stored. When at least one processor of an electronic device executes the computer program, the electronic device executes the methods provided in the above-mentioned various implementation modes.

[0128] This embodiment also provides a program product, which includes a computer program stored in a readable storage medium. At least one processor of the electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device implements the methods provided in the above various embodiments.

[0129] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0130] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A robot control method, characterized in that: include: Acquiring workpiece parameters of the workpiece to be cut, wherein the workpiece parameters include material characteristic parameters and size parameters; Starting a plasma cutting torch on a plasma cutting robot with initial cutting parameters, and acquiring relative position information between the plasma cutting torch and the workpiece to be cut; Determining plasma cutting control parameters of the plasma cutting torch at each position point on a cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information, wherein the plasma cutting control parameters include plasma beam current, plasma beam voltage and working gas flow rate; The plasma cutting torch on the plasma cutting robot is controlled according to the plasma cutting control parameters to cut the workpiece to be cut on the cutting path.

2. The robot control method according to claim 1, characterized in that: The step of determining the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information includes: Determining the plasma beam current in the plasma cutting control parameters according to the initial working current in the initial cutting parameters, the material cutting temperature in the material characteristic parameters, and the material density; Determining the plasma beam voltage in the plasma cutting control parameters according to the initial working voltage in the initial cutting parameters, the material cutting temperature, the material melting point and the material conductivity in the material characteristic parameters; The working gas flow rate in the plasma cutting control parameter is determined according to the initial working gas flow rate in the initial cutting parameter, and the material cutting temperature, material conductivity and material density in the material characteristic parameters.

3. The robot control method according to claim 1, characterized in that: The step of determining the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information includes: Determining the plasma beam current in the plasma cutting control parameter according to the initial working current in the initial cutting parameter, the material cutting temperature and material density in the material characteristic parameters, and the material thickness at each position on the cutting path; Determining the plasma beam voltage in the plasma cutting control parameters according to the initial working voltage in the initial cutting parameters, the material cutting temperature, the material melting point, the material conductivity in the material characteristic parameters, and the material thickness at each position on the cutting path; The working gas flow rate in the plasma cutting control parameter is determined according to the initial working gas flow rate in the initial cutting parameter, the material cutting temperature, material conductivity, material density in the material characteristic parameters, and the material thickness at each position on the cutting path.

4. The robot control method according to claim 1, characterized in that: The step of determining the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information includes: Determining the plasma beam current in the plasma cutting control parameters according to the initial working current in the initial cutting parameters, the material cutting temperature, the material density, the material thickness at each position on the cutting path, the length of the cutting path, and the set cutting process duration in the material characteristic parameters; According to the initial working voltage in the initial cutting parameters, the material cutting temperature, the material melting point, the material conductivity, the material thickness at each position on the cutting path, the length of the cutting path and the setting of the cutting process duration in the material characteristic parameters; The working gas flow rate in the plasma cutting control parameters is determined according to the initial working gas flow rate in the initial cutting parameters, the material cutting temperature, material conductivity, material density, the material thickness at each position on the cutting path, the length of the cutting path and the set cutting process time in the material characteristic parameters.

5. The robot control method according to any one of claims 2 to 4, characterized in that: After determining the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information, the method further includes: According to the curvature of each position point on the cutting path, position points on the cutting path whose curvature is greater than a preset curvature threshold are determined as feature position points to form a feature position point set; On the basis of the plasma cutting control parameters corresponding to each characteristic position point in the characteristic position point set, the corresponding plasma beam current, the plasma beam voltage and the working gas flow rate are increased.

6. The robot control method according to claim 5, characterized in that: The method of increasing the corresponding plasma beam current, the plasma beam voltage and the working gas flow rate based on the plasma cutting control parameters corresponding to each characteristic position point in the characteristic position point set includes: Generate an updated plasma beam current according to the plasma beam current and the curvature of the characteristic position point; Generate an updated plasma beam voltage according to the plasma beam voltage and the curvature of the characteristic position point; Generate an updated working gas flow rate according to the working gas flow rate and the curvature of the characteristic position point; The updated plasma cutting control parameters are generated using the updated plasma beam current, the updated plasma beam voltage and the updated working gas flow rate. The updated plasma cutting control parameters are used to replace the plasma cutting control parameters to control the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut at the corresponding characteristic position point on the cutting path.

7. The robot control method according to any one of claims 1 to 4, characterized in that: After controlling the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut on the cutting path according to the plasma cutting control parameters, the method further includes: Obtaining the actual outer contour of the workpiece after cutting corresponding to the workpiece to be cut; Determine a contour deviation characteristic value according to the actual outer contour and a preset outer contour corresponding to the workpiece after cutting; If the contour deviation characteristic value is greater than a preset contour deviation threshold, the plasma cutting torch on the plasma cutting robot is turned off and a prompt signal is issued.

8. A robot control system, characterized in that: include: An acquisition module, used for acquiring workpiece parameters of the workpiece to be cut, wherein the workpiece parameters include material characteristic parameters and size parameters; A starting module, used to start the plasma cutting torch on the plasma cutting robot with initial cutting parameters, and obtain relative position information between the plasma cutting torch and the workpiece to be cut; A processing module, configured to determine the plasma cutting control parameters of the plasma cutting torch at each position point on the cutting path according to the initial cutting parameters, the workpiece parameters and the relative position information, wherein the plasma cutting control parameters include a plasma beam current, a plasma beam voltage and a working gas flow rate; A cutting module is used to control the plasma cutting torch on the plasma cutting robot to cut the workpiece to be cut on the cutting path according to the plasma cutting control parameters.

9. An electronic device, characterized in that: include: processor; as well as, A memory, configured to store executable instructions of the processor; The processor is configured to perform the method of any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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