I-beam waist plate cutting method, device and terminal equipment

Abstract

The present invention discloses a method, apparatus, and terminal device for cutting an I-beam waist plate. The method comprises: determining a final cutting position based on a preset cutting span, generating a discrete cutting point between the first end of the I-beam R-angle arc and the final cutting position; drawing a second straight line through the discrete cutting point along the cutting head axis, and drawing a first straight line perpendicular to the second straight line through the highest point on the inner side of the I-beam flange; determining a first capacitive sensing area and a second capacitive sensing area based on the I-beam cross-section, the first straight line, and the second straight line; obtaining a cutting angle when the areas of the first capacitive sensing area and the second capacitive sensing area are equal based on the I-beam cross-section data to obtain the cutting angle of the discrete cutting point; generating an I-beam waist plate cutting plan based on the final cutting position and cutting angle; and cutting the I-beam waist plate according to the I-beam waist plate cutting plan. The present invention can ensure consistent cutting height when cutting the I-beam waist plate, thereby ensuring the stability and consistency of cutting quality.

Description

Technical Field

[0001] The present invention relates to the field of I-beam cutting control, in particular to a method, a device and a terminal device for cutting an I-beam waist plate. Background Art

[0002] I-beam is the main material for large steel structure buildings. Many structural components are completed by laser cutting. However, the cutting of I-beam is different from the cutting of closed pipes such as round tubes and square tubes. The cutting of I-beam requires split cutting, such as Figure 1 The solid line shown is generally cut with four knives. The two wing plates need to be cut from the outside of the plate. The waist plate is generally pierced from the middle and cut to the left and right respectively to cut the steel. For four-axis laser cutting, the difficulty of I-beam cutting lies in the cutting of the waist plate. It is necessary to consider the interference between the left and right wing plates and the cutting head, as well as the laser power and the problem of adjusting the capacitance induction. It is not possible to use a method similar to cutting round tubes and square tubes by directly cutting with the laser head perpendicular to the cutting surface. These problems can be solved by adjusting the laser head angle of the cutting head.

[0003] There are currently two methods for adjusting the angle of the laser head of the cutting head: Method 1 is to manually adjust the cutting vector of the waist plate; Method 2 is specifically that the software provides a human-computer interaction section, such as Figure 2 As shown in the figure, the cutting posture of the current position of the I-beam is manually modified by dragging the cutting vector (the dot in the figure), and the setting is completed and then verified on the machine; however, the disadvantage of this method is that the angle processing may not be smooth, there may be a possibility of cross mutation, the angles of the left and right wing plates cannot be consistent, the cutting effect is not uniform and the workload is large; the second method is to use a consistent cutting angle for the R-angle arc of the I-beam; the specific method of the second method is to set a value, and the software automatically processes the cutting posture of the R-angle arc of the I-beam to be consistent. The premise is that the cutting angle of the R-angle arc of the I-beam set is an angle that requires manual judgment and does not interfere with the wing plate, such as Figure 3 As shown in the figure, the cutting head keeps the cutting angle unchanged after the cutting angle gradually changes and enters the R-angle arc of the I-beam. However, the disadvantage of this method is that the set angle needs to be set to different values ​​according to different pipes. The fixed cutting angle of the R-angle arc of the I-beam will cause uneven capacitance sensing of the cutting head. Uneven capacitance sensing will cause errors in the cutting head's perception of the I-beam position, which will lead to large changes in cutting height, such as Figure 4 As shown, the cutting height H1 and the cutting height H2 vary greatly, which greatly affects the stability and consistency of the cutting quality, resulting in increased production costs and material waste. Summary of the Invention

[0004] The present invention provides a method, device and terminal equipment for cutting the waist plate of an I-beam to solve the above technical problems. The method can ensure that the cutting height remains consistent when cutting the waist plate of the I-beam, thereby ensuring the stability and consistency of the cutting quality.

[0005] In order to solve the above technical problems, the present invention provides a method for cutting an I-beam waist plate, comprising:

[0006] Get I-beam cross-section data;

[0007] Determine the final cutting position of the I-beam waist plate according to the preset cutting span, and generate a cutting discrete point between the first end of the I-beam R-angle arc and the final cutting position;

[0008] Draw a second straight line along the cutting head axis through the discrete cutting points, and draw a first straight line perpendicular to the second straight line through the highest point on the inner side of the I-beam flange;

[0009] Determine a first capacitive sensing area and a second capacitive sensing area according to the I-beam cross section, the first straight line, and the second straight line;

[0010] Obtaining the cutting angle when the area of ​​the first capacitance sensing region and the area of ​​the second capacitance sensing region are equal based on the cross-section data of the I-beam, so as to obtain the cutting angle of the discrete cutting points;

[0011] Generate I-beam waist plate cutting plan based on final cutting position and cutting angle of discrete cutting points;

[0012] Cut the I-beam waist plate according to the I-beam waist plate cutting plan.

[0013] The beneficial effects of the present invention are:

[0014] Compared with the existing I-beam cutting method, when a consistent cutting angle is used for the R-angle arc of the I-beam, the uneven capacitance sensing of the cutting head leads to large changes in the cutting height, which greatly affects the stability and consistency of the cutting quality; the present invention obtains the cutting angle when the area of ​​the first capacitance sensing area and the area of ​​the second capacitance sensing area are equal based on the I-beam cross-sectional data to obtain the cutting angle of the cutting discrete point, and then generates the I-beam waist cutting plan based on the final cutting position and the cutting angle of the cutting discrete point, and then performs the I-beam waist cutting according to the I-beam waist cutting plan. When the area of ​​the first capacitance sensing area and the area of ​​the second capacitance sensing area are equal, the capacitance sensing on the left and right sides of the cutting head will remain consistent, so that the capacitance sensing on the left and right sides of the cutting head is balanced. Subsequently, the I-beam is cut based on the cutting angle obtained when the areas of the two sensing areas are equal, which can ensure that the cutting head accurately senses the distance between the cutting head and the I-beam based on the balanced capacitance sensing, thereby ensuring that the cutting height remains consistent when cutting the I-beam waist, thereby ensuring the stability and consistency of the cutting quality.

[0015] In addition, ensuring consistent cutting height when cutting the waist plate of the I-beam can avoid the waste of part of the I-beam material caused by inconsistent cutting height, and eliminate the need for multiple additional cutting height adjustments, thereby improving production efficiency.

[0016] It should be noted that the preset cutting span needs to be set to an angle that can cut through the entire R-angle arc of the I-beam to avoid problems such as floating light or burning caused by the R-angle arc of the I-beam not being cut through.

[0017] As a preferred solution, the first straight line intersects with the I-beam waist plate at a first intersection point; the first straight line and the second straight line intersect at a second intersection point;

[0018] The method of obtaining the cutting angle when the area of ​​the first capacitance sensing region and the area of ​​the second capacitance sensing region are equal based on the cross-section data of the I-beam to obtain the cutting angle of the discrete points includes:

[0019] Get the coordinates of the discrete cutting points;

[0020] Dividing the first capacitive sensing area into a plurality of first sub-areas based on the highest point on the inner side of the I-beam flange, the second end of the I-beam R-angle arc, the second intersection point, and the cutting discrete point;

[0021] Dividing the second capacitive sensing area into a plurality of second sub-areas based on the first end, the first intersection point, the second intersection point and the cutting discrete point of the I-beam R-angle arc;

[0022] Obtain a first area representation of each first sub-region and a second area representation of each second sub-region according to the I-beam cross-section data and the point coordinates;

[0023] establishing an area equation based on the first area representation of each first sub-region and the second area representation of each second sub-region;

[0024] Obtaining the first intersection coordinates of the first intersection based on the area equation;

[0025] The cutting angle of the discrete points is obtained based on the coordinates of the first intersection point.

[0026] This preferred solution divides the first capacitive sensing area and the second capacitive sensing area into a plurality of first sub-areas and a plurality of second sub-areas to obtain a first area representation of each first sub-area and a second area representation of each second sub-area, establishes an area equation based on the first area representation and the second area representation, and then obtains the cutting angle of the discrete cutting point based on the area equation, so as to obtain the cutting angle when the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area are equal. When the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area are equal, the capacitive sensing on the left and right sides of the cutting head will remain consistent, so that the capacitive sensing on the left and right sides of the cutting head is balanced. Subsequently, the I-beam is cut based on the cutting angle obtained when the areas of the two sensing areas are equal, which can ensure that the cutting head accurately senses the distance between the cutting head and the I-beam based on the balanced capacitive sensing, thereby ensuring that the cutting height remains consistent when cutting the waist plate of the I-beam, and ensuring the stability and consistency of the cutting quality.

[0027] This preferred solution divides the irregular first and second capacitive sensing regions into a plurality of first sub-regions and a plurality of second sub-regions, decomposing the irregular first and second capacitive sensing regions into smaller sub-regions. The area of ​​each sub-region is then calculated separately to achieve area calculation for the two capacitive sensing regions. This simplifies the calculation process, more accurately captures regional details and boundary features, and improves the accuracy of area calculation. Furthermore, the region decomposition method of this preferred solution facilitates parallel computing, adapting to the development trend of parallel computing on modern computers and significantly improving computational efficiency.

[0028] As a preferred solution, the I-beam cross-section data includes the first end coordinates, the second end coordinates, and the coordinates of the highest point on the inner side of the I-beam flange; in establishing the area equation based on the first area representation of each first sub-region and the second area representation of each second sub-region, the area equation is expressed by the following formula:

[0029] S △CAQ +S △CAB +S 圆弧AB =S △FAQ +S △AEF +S 圆弧AE ;

[0030] In the above formula, the vertex C of △CAQ is the highest point on the inner side of the I-beam flange, the vertex A of △CAQ is the cutting discrete point, the vertex Q of △CAQ is the second intersection point, S △CAQ is the area of ​​△CAQ; the vertex C of △CAB is the highest point on the inner side of the I-beam flange, the vertex A of △CAB is the cutting discrete point, the vertex B of △CAB is the second end of the I-beam R angle arc, S △CAB is the area of ​​△CAB; S 圆弧AB Point A is the cutting discrete point, point B is the second end of the R angle arc of the I-beam, S 圆弧AB is the area of ​​the area enclosed by the straight line formed by points A and B and the I-beam; the vertex F of △FAQ is the first intersection point, the vertex A of △FAQ is the cutting discrete point, the vertex Q of △FAQ is the second intersection point, S △FAQ is the area of ​​△FAQ; the vertex A of △AEF is the cutting discrete point, the vertex E of △AEF is the first end of the R angle arc of the I-beam, the vertex F of △AEF is the first intersection point, S △AEF is the area of ​​△AEF; S 圆弧AE Point A is the cutting discrete point, point E is the first end of the R angle arc of the I-beam, and S 圆弧AE It is the area enclosed by the straight line formed by points A and E and the I-beam.

[0031] It should be noted that this preferred solution requires obtaining the first intersection coordinates of the first intersection based on the area equation, so the first intersection coordinates are the unknowns in the area formula; when the first end coordinates, the second end coordinates and the coordinates of the highest point on the inner side of the I-beam flange are known, based on the perpendicular relationship between the first straight line and the second straight line, the coordinates of the second intersection can be expressed by a related formula containing the first intersection coordinates, and then an area equation is established based on the coordinates of each point or the related formulas of the coordinates of each point. The established area equation only contains the first intersection coordinates as the unknown, and the first intersection coordinates can be obtained by solving the area equation; multiple solutions for the first intersection coordinates may be obtained based on the area equation, and the unique first intersection coordinates can be determined by the positional relationship between the first intersection and other points.

[0032] For irregular areas, it is difficult to directly calculate their area. This preferred solution divides the two capacitive sensing areas into multiple regular or relatively regular sub-areas, and the area of ​​each sub-area can be calculated separately, thereby simplifying the calculation process and improving the accuracy of the area calculation. In addition, after this preferred solution divides the two capacitive sensing areas into multiple sub-areas, the most appropriate calculation method can be selected based on the characteristics of each sub-area. For example, for some sub-areas with regular shapes, such as triangles, the area can be directly calculated using geometric principles; for other sub-areas, other numerical methods or approximation techniques may need to be used, making the calculation process more adaptable to the needs of different situations and highly flexible.

[0033] This preferred solution divides the first capacitive sensing area and the second capacitive sensing area into several sub-areas with regular shapes, obtains an area representation of each sub-area, and establishes an area equation based on the area representation. Then, based on the area equation, the cutting angle of the discrete cutting points is obtained, so as to achieve the calculation of the cutting angle when the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area are equal. When the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area are equal, the capacitive sensing on the left and right sides of the cutting head is balanced. Subsequently, the I-beam is cut based on the cutting angle obtained when the areas of the two sensing areas are equal. This can ensure that the cutting head accurately senses the distance between the cutting head and the I-beam based on the balanced capacitive sensing, thereby ensuring that the cutting height remains consistent when cutting the waist of the I-beam, thereby ensuring the stability and consistency of the cutting quality.

[0034] As a preferred embodiment, in the method for cutting an I-beam waist plate, in the step of obtaining the cutting angle when the area of ​​the first capacitive sensing region and the area of ​​the second capacitive sensing region are equal based on the I-beam cross-section data to obtain the cutting angle of the discrete point, the cutting angle of the discrete point is expressed by the following formula:

[0035]

[0036] dot=VAQ·VEF;

[0037] In the above formula, θ is the cutting angle of the cutting discrete point; point A is the cutting discrete point; point Q is the second intersection point; point E is the first end of the R-angle arc of the I-beam; point F is the first intersection point; VAQ is the unit vector starting from point A and ending at point Q; VEF is the unit vector starting from point E and ending at point F.

[0038] It should be noted that the coordinates of the second intersection can be expressed by a related formula containing the coordinates of the first intersection. After the coordinates of the first intersection are solved, the coordinates of the second intersection can be obtained; the second intersection and the cutting discrete point are points on the second straight line, and the direction of the second straight line is the direction of the cutting head axis. The first end and the first intersection are on the I-beam waist plate, and the angle between the second straight line and the I-beam waist plate is the cutting angle. Since the vector VAQ is on the second straight line and the vector VEF is on the I-beam waist plate, the cutting angle can be solved by the vector VAQ and the vector VEF.

[0039] As a preferred solution, the area of ​​ΔCAQ, the area of ​​ΔCAB, the area of ​​ΔFAQ and the area of ​​ΔAEF in the area equation are calculated by the following formula:

[0040]

[0041] In the above formula, m is the semi-perimeter of the triangle; a, b and c are the lengths of the three sides of the triangle; S △ is the area of ​​the triangle.

[0042] This preferred solution uses the above formula to calculate the area of ​​each triangle. Only the lengths of the three sides of the triangle are required, and no other angle or height information is required. This formula is applicable to any type of triangle, improving the convenience and applicability of this solution for area calculation. It can accurately and quickly determine the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area, obtain the coordinates of the first intersection point, and then accurately and quickly obtain the cutting angle of the discrete cutting point based on the coordinates of the first intersection point, thereby improving the efficiency of I-beam cutting.

[0043] As a preferred solution, the method of generating an I-beam waist plate cutting plan based on the final cutting position and the cutting angles of the discrete cutting points includes:

[0044] Set the preset cutting head protection position;

[0045] Generate an I-beam waist plate cutting plan based on the preset cutting head protection position, final cutting position and cutting angles of discrete cutting points.

[0046] As a preferred solution, the I-beam waist plate cutting according to the I-beam waist plate cutting plan includes:

[0047] When the cutting head reaches the preset cutting head protection position, the I-beam or the cutting head is rotated to move the cutting head away from the I-beam wing plate.

[0048] It should be noted that the cutting head may collide and interfere with the wing plate or waist plate of the I-beam due to its swing, and due to the protection of capacitive sensing height, interference with the waist plate generally does not occur. Therefore, when cutting the I-beam, the main focus is on the interference of the wing plate; since the interference during vertical cutting by the cutting head is the interference between the cutting head and the wing plate, it is necessary to set a preset cutting head protection position to ensure that the cutting head will not exceed the preset cutting head protection position during vertical cutting, and when the cutting head reaches the preset cutting head protection position, the I-beam or the cutting head is rotated, and a certain cutting angle is formed between the I-beam and the cutting head to avoid hitting the wing plate of the I-beam, so that the cutting head is away from the wing plate of the I-beam, thereby avoiding interference between the cutting head and the wing plate.

[0049] Through the above-mentioned preferred scheme, the present invention can ensure that there is no interference between the cutting head and the left and right wing plates, and can ensure that the cutting height remains consistent when cutting the I-beam waist plate, avoiding the sudden change in cutting height caused by the capacitive induction mutation when the cutting head enters the R-angle arc, and ensuring the stability and consistency of the cutting quality.

[0050] Accordingly, in order to solve the above technical problems, the present invention also provides an I-beam waist plate cutting device, comprising: a data acquisition module, an angle acquisition module and a waist plate cutting module;

[0051] The data acquisition module is used to acquire the cross-sectional data of the I-beam; determine the final cutting position of the I-beam waist plate according to the preset cutting span, and generate a cutting discrete point between the first end of the R-angle arc of the I-beam and the final cutting position;

[0052] The angle acquisition module is used to draw a second straight line passing through the cutting discrete point along the cutting head axis direction, and draw a first straight line perpendicular to the second straight line passing through the highest point on the inner side of the I-beam wing plate; determine the first capacitive sensing area and the second capacitive sensing area based on the I-beam cross section, the first straight line, and the second straight line; and obtain the cutting angle when the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area are equal based on the I-beam cross section data, so as to obtain the cutting angle of the cutting discrete point;

[0053] The waist plate cutting module is used to generate an I-beam waist plate cutting plan according to the final cutting position and the cutting angles of the discrete cutting points; and to cut the I-beam waist plate according to the I-beam waist plate cutting plan.

[0054] As a preferred solution, the first straight line intersects with the I-beam waist plate at a first intersection point; the first straight line and the second straight line intersect at a second intersection point;

[0055] The angle acquisition module includes: a data acquisition unit, a region division unit and an angle acquisition unit;

[0056] Wherein, the data acquisition unit is used to obtain the point coordinates of the cutting discrete points;

[0057] The region division unit is configured to divide the first capacitive sensing region into a plurality of first sub-regions based on the highest point on the inner side of the I-beam flange, the second end of the I-beam R-angle arc, the second intersection point, and the cutting discrete point; and to divide the second capacitive sensing region into a plurality of second sub-regions based on the first end of the I-beam R-angle arc, the first intersection point, the second intersection point, and the cutting discrete point;

[0058] The angle acquisition unit is used to obtain the first area representation of each first sub-area and the second area representation of each second sub-area based on the I-beam cross-section data and the point coordinates; establish an area equation based on the first area representation of each first sub-area and the second area representation of each second sub-area; obtain the first intersection coordinates of the first intersection based on the area equation; and obtain the cutting angle of the discrete point based on the first intersection coordinates.

[0059] The present invention also provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the program, the steps of the method for cutting the I-beam waist plate as described in any one of the above items are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of I-beam cutting provided as background technology of the present invention;

[0061] Figure 2 A schematic diagram of cutting I-beams using the existing method 1 provided as background technology of the present invention;

[0062] Figure 3 The schematic diagram of the I-beam cutting using the existing method 2 is provided as the background technology of the present invention. Figure 1 ;

[0063] Figure 4 The schematic diagram of the I-beam cutting using the existing method 2 is provided as the background technology of the present invention. Figure 2 ;

[0064] Figure 5 A schematic flow chart of a method for cutting an I-beam waist plate provided in an embodiment of the present invention;

[0065] Figure 6 A schematic diagram of the capacitive sensing area of ​​a cutting head provided in an embodiment of the present invention;

[0066] Figure 7 A schematic diagram comparing the cutting spans of the R-angle arc of an I-beam provided in an embodiment of the present invention;

[0067] Figure 8 A schematic diagram of each first sub-region and each second sub-region provided in an embodiment of the present invention;

[0068] Figure 9 A schematic diagram of calculating the area of ​​a sub-region provided by an embodiment of the present invention;

[0069] Figure 10 A schematic diagram of interference between the cutting head and the left and right wing plates provided in an embodiment of the present invention;

[0070] Figure 11 A schematic diagram of a cutting path of an I-beam waist plate obtained by applying the I-beam waist plate cutting method provided in an embodiment of the present invention;

[0071] Figure 12 A schematic diagram of a cutting normal line after applying the I-beam waist plate cutting method provided in an embodiment of the present invention;

[0072] Figure 13 A schematic structural diagram of a cutting device for an I-beam waist plate provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0073] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0074] Example 1

[0075] In order to solve the above technical problems, the present invention provides a method, device and terminal equipment for cutting the waist plate of the I-beam, which can ensure that the cutting height remains consistent when cutting the waist plate of the I-beam, thereby ensuring the stability and consistency of the cutting quality.

[0076] Please refer to Figure 5 , is a flow chart of an embodiment of a method for cutting an I-beam waist plate provided by an embodiment of the present invention. Figure 5 As shown, the method for cutting the I-beam waist plate includes steps 101 to 107, specifically:

[0077] Step 101: Obtain I-beam cross-section data;

[0078] Step 102: determining the final cutting position of the I-beam waist plate according to the preset cutting span, and generating a discrete cutting point between the first end of the I-beam R-angle arc and the final cutting position;

[0079] Step 103: Draw a second straight line along the cutting head axis through the discrete cutting points, and draw a first straight line perpendicular to the second straight line through the highest point on the inner side of the I-beam flange.

[0080] Step 104: determining a first capacitance sensing area and a second capacitance sensing area according to the I-beam cross section, the first straight line, and the second straight line;

[0081] Step 105: Obtaining a cutting angle when the area of ​​the first capacitance sensing region and the area of ​​the second capacitance sensing region are equal based on the I-beam cross-section data, so as to obtain a cutting angle for cutting discrete points;

[0082] Step 106: Generate an I-beam waist plate cutting plan based on the final cutting position and the cutting angles of the discrete cutting points;

[0083] Step 107: Cut the I-beam waist plate according to the I-beam waist plate cutting plan.

[0084] like Figure 6 As shown, since the capacitive sensing range of the cutting head is very large, it is not easy to distinguish the strong and weak sensing positions, resulting in uneven capacitive sensing of the cutting head when cutting the R-angle arc of the I-beam. In this embodiment, the entire wing plate is used as the sensing area to achieve balance. Figure 6 The capacitive sensing on the left and right sides of the cutting head, in this embodiment, a second straight line L2 is made along the cutting head axis direction passing through the cutting discrete point A, and then a first straight line L1 perpendicular to the second straight line is made at the highest point on the inner side of the I-beam wing plate. L1 and L2 divide the capacitive sensing range of the cutting head into a first capacitive sensing area and a second capacitive sensing area. The position of the cutting discrete point A remains unchanged, and the posture of the cutting head is changed so that the area S1 of the first capacitive sensing area and the area S2 of the second capacitive sensing area are equal. The capacitive sensing on the left and right sides of the cutting head will remain consistent. The angle of the laser head at this time is the cutting angle. The I-beam is subsequently cut based on the cutting angle obtained when the areas of the two sensing areas are equal. This can ensure that the cutting head accurately senses the distance between the cutting head and the I-beam based on balanced capacitive sensing, thereby ensuring that the cutting height remains consistent when cutting the I-beam waist plate, thereby ensuring the stability and consistency of the cutting quality.

[0085] It should be noted that the entire R-angle arc of the I-beam has a span of 90°. It is difficult to completely cut through the entire R-angle arc. Therefore, the cutting range of the waist plate R-angle arc needs to be limited to cut through. Due to interference and the thickness of the wing plate corners, the cutting span of the I-beam waist plate is generally limited to no more than 45°. Figure 7As shown, as the set angle becomes larger, the thickness of the plate passed by the laser will gradually increase. For example, the thickness of the plate passed by the laser when the cutting span is 30° is much thicker than the thickness of the plate passed by the laser when the cutting span is 20°. The larger the angle, the greater the chance of not cutting through. Based on this, the preset cutting span in the present invention needs to be set to an angle that can cut through the entire R-angle arc of the I-beam to avoid problems such as floating light or burning caused by the R-angle arc of the I-beam not being cut through. In this embodiment, the preset cutting span is set to about 20°.

[0086] It should be noted that the present invention is applicable to the application of four-axis laser cutting of I-beams.

[0087] Furthermore, the first straight line intersects with the I-beam waist plate at a first intersection; the first straight line and the second straight line intersect with each other at a second intersection;

[0088] The method of obtaining the cutting angle when the area of ​​the first capacitance sensing region and the area of ​​the second capacitance sensing region are equal based on the cross-section data of the I-beam to obtain the cutting angle of the discrete points includes:

[0089] Get the coordinates of the discrete cutting points;

[0090] Dividing the first capacitive sensing area into a plurality of first sub-areas based on the highest point on the inner side of the I-beam flange, the second end of the I-beam R-angle arc, the second intersection point, and the cutting discrete point;

[0091] Dividing the second capacitive sensing area into a plurality of second sub-areas based on the first end, the first intersection point, the second intersection point and the cutting discrete point of the I-beam R-angle arc;

[0092] Obtain a first area representation of each first sub-region and a second area representation of each second sub-region according to the I-beam cross-section data and the point coordinates;

[0093] establishing an area equation based on the first area representation of each first sub-region and the second area representation of each second sub-region;

[0094] Obtaining the first intersection coordinates of the first intersection based on the area equation;

[0095] The cutting angle of the discrete points is obtained based on the coordinates of the first intersection point.

[0096] The above scheme divides the first capacitive sensing area and the second capacitive sensing area into several first sub-areas and several second sub-areas to obtain a first area representation of each first sub-area and a second area representation of each second sub-area, establishes an area equation based on the first area representation and the second area representation, and then obtains the cutting angle of the discrete cutting point based on the area equation, so as to achieve the calculation of the cutting angle when the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area are equal. When the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area are equal, the capacitive sensing on the left and right sides of the cutting head will be consistent, so that the capacitive sensing on the left and right sides of the cutting head is balanced. Subsequently, the I-beam is cut based on the cutting angle obtained when the areas of the two sensing areas are equal, which can ensure that the cutting head accurately senses the distance between the cutting head and the I-beam based on the balanced capacitive sensing, thereby ensuring that the cutting height remains consistent when cutting the waist of the I-beam, and ensuring the stability and consistency of the cutting quality.

[0097] The above solution divides the irregular first and second capacitive sensing areas into a number of first sub-areas and a number of second sub-areas, decomposing them into smaller sub-areas. The area of ​​each sub-area is then calculated separately to achieve the calculation of the areas of the two capacitive sensing areas. This simplifies the calculation process, more accurately captures regional details and boundary features, and improves the accuracy of area calculation. Furthermore, the above solution's regional decomposition method facilitates parallel computing, adapting to the development trend of parallel computing on modern computers and significantly improving computational efficiency.

[0098] In this embodiment, if Figure 8 As shown, the first capacitive sensing area is divided into several first sub-areas based on the highest point C on the inner side of the I-beam flange, the second end B on the R-angle arc of the I-beam, the second intersection Q, and the discrete cutting point A; the second capacitive sensing area is divided into several second sub-areas based on the first end E on the R-angle arc of the I-beam, the first intersection F, the second intersection Q, and the discrete cutting point A. The initial area equation can be expressed by the following formula:

[0099] S1=S2;

[0100] S 11 +S 12 +S 13 =S 21 +S 22 +S 23 ;

[0101] In the above formula, S1 is the area of ​​the first capacitance sensing area; S2 is the area of ​​the second capacitance sensing area; S 11 、S 12 and S 13 is the first area representation of each first sub-region; S 21 、S22 and S 23 is a second area representation of each second sub-region;

[0102] In this embodiment, if Figure 8 As shown, S 11 、S 12 and S 13 are the area of ​​△CAQ, the area of ​​△CAB, the area of ​​the straight line formed by points AB and the area enclosed by the I-beam; S 21 、S 22 and S 23 They are respectively the area of ​​△FAQ, the area of ​​△AEF, the area of ​​the straight line formed by points AE, and the area enclosed by the I-beam.

[0103] Furthermore, the I-beam cross-section data includes the first end coordinates, the second end coordinates, and the coordinates of the highest point on the inner side of the I-beam flange; in establishing the area equation based on the first area representation of each first sub-region and the second area representation of each second sub-region, the area equation is expressed by the following formula:

[0104] S △CAQ +S △CAB +S 圆弧AB =S △FAQ +S △AEF +S 圆弧AE ;

[0105] In the above formula, the vertex C of △CAQ is the highest point on the inner side of the I-beam flange, the vertex A of △CAQ is the cutting discrete point, the vertex Q of △CAQ is the second intersection point, S △CAQ is the area of ​​△CAQ; the vertex C of △CAB is the highest point on the inner side of the I-beam flange, the vertex A of △CAB is the cutting discrete point, the vertex B of △CAB is the second end of the I-beam R angle arc, S △CAB is the area of ​​△CAB; S 圆弧AB Point A is the cutting discrete point, point B is the second end of the R angle arc of the I-beam, S 圆弧AB is the area of ​​the area enclosed by the straight line formed by points A and B and the I-beam; the vertex F of △FAQ is the first intersection point, the vertex A of △FAQ is the cutting discrete point, the vertex Q of △FAQ is the second intersection point, S △FAQ is the area of ​​△FAQ; the vertex A of △AEF is the cutting discrete point, the vertex E of △AEF is the first end of the R angle arc of the I-beam, the vertex F of △AEF is the first intersection point, S △AEF is the area of ​​△AEF; S 圆弧AE Point A is the cutting discrete point, point E is the first end of the R angle arc of the I-beam, and S 圆弧AE It is the area enclosed by the straight line formed by points A and E and the I-beam.

[0106] In this embodiment, the I-beam cross-section data also includes the wing plate height and the R-angle arc radius.

[0107] It should be noted that the above scheme requires obtaining the first intersection coordinates of the first intersection based on the area equation, so the first intersection coordinates are the unknowns in the area formula; when the first end coordinates, the second end coordinates and the coordinates of the highest point on the inner side of the I-beam flange are known, based on the perpendicular relationship between the first straight line and the second straight line, the coordinates of the second intersection can be expressed by a related formula containing the first intersection coordinates, and then an area equation is established based on the coordinates of each point or the related formulas of the coordinates of each point. The established area equation only contains the first intersection coordinates as the unknown, and the first intersection coordinates can be obtained by solving the area equation; multiple solutions for the first intersection coordinates may be obtained based on the area equation, and the unique first intersection coordinates can be determined by the positional relationship between the first intersection and other points.

[0108] Specifically, such as Figure 8 As shown, points C, Q, and F are on the first straight line, which is represented by the following first formula:

[0109] A1x+B1y+C1=0;

[0110] Points Q and A are on the second straight line, which is represented by the following perpendicular line equation:

[0111]

[0112] In the above formula, (x1, y1) is the coordinate of the cutting discrete point A;

[0113] By combining the first formula and the perpendicular line equation, the coordinates of the second intersection point can be expressed by a related formula containing the coordinates of the first intersection point, thereby obtaining a coordinate expression formula for the second intersection point containing the coordinates of the first intersection point.

[0114] For irregular areas, it is difficult to directly calculate their area. The above scheme divides the two capacitive sensing areas into multiple regular or relatively regular sub-areas, and the area of ​​each sub-area can be calculated separately, thereby simplifying the calculation process and improving the accuracy of the area calculation. In addition, after the above scheme divides the two capacitive sensing areas into multiple sub-areas, the most appropriate calculation method can be selected based on the characteristics of each sub-area. For example, for some sub-areas with regular shapes, such as triangles, the area can be directly calculated using geometric principles; for other sub-areas, other numerical methods or approximation techniques may need to be used, making the calculation process more adaptable to the needs of different situations and highly flexible.

[0115] The above scheme divides the first capacitive sensing area and the second capacitive sensing area into several sub-areas with regular shapes, obtains the area representation of each sub-area, and establishes an area equation based on the area representation. Then, based on the area equation, the cutting angle of the discrete cutting points is obtained, so as to obtain the cutting angle when the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area are equal. When the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area are equal, the capacitive sensing on the left and right sides of the cutting head is balanced. Subsequently, the I-beam is cut based on the cutting angle obtained when the areas of the two sensing areas are equal. This can ensure that the cutting head accurately senses the distance between the cutting head and the I-beam based on the balanced capacitive sensing, thereby ensuring that the cutting height remains consistent when cutting the waist of the I-beam, thereby ensuring the stability and consistency of the cutting quality.

[0116] In this embodiment, if Figure 9 As shown, arc AB can uniquely determine a circle with the center at point O, S 圆弧AB That is Figure 9 The area of ​​the shaded part, S 圆弧AE Similarly, the area of ​​the shaded portion is equal to the area of ​​sector OBA minus the area of ​​isosceles triangle OBA; the angle corresponding to arc AB in the circle is ag, so the area of ​​sector OBA can be calculated according to the following formula:

[0117]

[0118] Furthermore, the area of ​​ΔCAQ, the area of ​​ΔCAB, the area of ​​ΔFAQ, and the area of ​​ΔAEF in the area equation are calculated by the following formula:

[0119]

[0120] In the above formula, m is the semi-perimeter of the triangle; a, b and c are the lengths of the three sides of the triangle; S △ is the area of ​​the triangle.

[0121] The above scheme uses the above formula to calculate the area of ​​each triangle. It only needs to know the lengths of the three sides of the triangle, without knowing other angles or height information. It is applicable to any type of triangle, improving the convenience and applicability of the scheme for area calculation. It can accurately and quickly determine the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area, obtain the coordinates of the first intersection point, and then accurately and quickly obtain the cutting angle of the discrete cutting point based on the coordinates of the first intersection point, thereby improving the efficiency of I-beam cutting.

[0122] Furthermore, in the method for cutting an I-beam waist plate, in obtaining the cutting angle when the area of ​​the first capacitive sensing region and the area of ​​the second capacitive sensing region are equal based on the I-beam cross-section data to obtain the cutting angle of the discrete point, the cutting angle of the discrete point is expressed by the following formula:

[0123]

[0124] dot=VAQ·VEF;

[0125] In the above formula, θ is the cutting angle of the cutting discrete point; point A is the cutting discrete point; point Q is the second intersection point; point E is the first end of the R-angle arc of the I-beam; point F is the first intersection point; VAQ is the unit vector starting from point A and ending at point Q; VEF is the unit vector starting from point E and ending at point F.

[0126] It should be noted that the coordinates of the second intersection can be expressed by a related formula containing the coordinates of the first intersection. After the coordinates of the first intersection are solved, the coordinates of the second intersection can be obtained; the second intersection and the cutting discrete point are points on the second straight line, and the direction of the second straight line is the direction of the cutting head axis. The first end and the first intersection are on the I-beam waist plate, and the angle between the second straight line and the I-beam waist plate is the cutting angle. Since the vector VAQ is on the second straight line and the vector VEF is on the I-beam waist plate, the cutting angle can be solved by the vector VAQ and the vector VEF.

[0127] In this embodiment, assuming that the coordinates of vector VAQ are (X1, Y1, Z1) and the coordinates of vector VEF are (X2, Y2, Z2), the dot product of the vectors is:

[0128] dot=VAQ·VEF=X1*X2+Y1*Y2+Z1*Z2;

[0129] The cosine of the angle between two vectors can then be calculated based on the dot product and the vector modulus:

[0130]

[0131] Furthermore, the generating of the I-beam waist plate cutting plan according to the final cutting position and the cutting angles of the discrete cutting points includes:

[0132] Set the preset cutting head protection position;

[0133] Generate an I-beam waist plate cutting plan based on the preset cutting head protection position, final cutting position and cutting angles of discrete cutting points.

[0134] Furthermore, the cutting of the I-beam waist plate according to the I-beam waist plate cutting plan includes:

[0135] When the cutting head reaches the preset cutting head protection position, the I-beam or the cutting head is rotated to move the cutting head away from the I-beam wing plate.

[0136] It should be noted that the cutting head may collide and interfere with the flange or waist of the I-beam due to its swing, but due to the protection of capacitive induction height setting, there will generally be no interference with the waist. Therefore, when cutting the I-beam, the main concern is the interference with the flange. When the cutting head cuts the I-beam waist to the left, the interference during vertical cutting is the interference between the cutting head and the left flange. Therefore, it is necessary to set a preset cutting head protection position to ensure that the cutting head will not exceed the preset cutting head protection position during vertical cutting, such as Figure 10 As shown in (a), a preset cutting head protection position P is set to control the cutting head not to exceed the P point during vertical cutting; when the cutting head reaches the preset cutting head protection position P, the I-beam or the cutting head is rotated, and a certain cutting angle is formed between the I-beam and the cutting head, so that the cutting head is away from and avoids hitting the I-beam wing plate, thereby avoiding interference between the cutting head and the wing plate; when the angle between the I-beam and the cutting surface of the cutting head is not 90°, the interference between the cutting head and the right wing plate is mainly considered, as shown in FIG. Figure 10 As shown in (b), since the cutting span of the R-angle arc is limited, this kind of interference will basically not occur. If this kind of interference occurs, it proves that the current steel is not suitable for cutting on the current machine tool.

[0137] Through the above-mentioned preferred scheme, the present invention can ensure that there is no interference between the cutting head and the left and right wing plates, and can ensure that the cutting height remains consistent when cutting the I-beam waist plate, avoiding the sudden change in cutting height caused by the capacitive induction mutation when the cutting head enters the R-angle arc, and ensuring the stability and consistency of the cutting quality.

[0138] In this embodiment, the generating of the I-beam waist plate cutting plan according to the final cutting position and the cutting angles of the discrete cutting points further includes:

[0139] Set preset perforation positions;

[0140] Generate an I-beam waist plate cutting plan based on the preset perforation position, the preset cutting head protection position, the final cutting position and the cutting angle of the discrete cutting points.

[0141] In this embodiment, the preset perforation position is generally set in the middle of the I-beam waist plate.

[0142] In this embodiment, the final cutting position of the I-beam waist plate is determined according to a preset cutting span, and a cutting discrete point is generated between the first end of the R-angle arc of the I-beam and the final cutting position, including: determining the final cutting position of the I-beam waist plate according to the preset cutting span, and generating a plurality of cutting discrete points between the first end of the R-angle arc of the I-beam and the final cutting position;

[0143] By generating a number of discrete cutting points between the first end of the R-angle arc of the I-beam and the final cutting position, based on the scheme of calculating the cutting angles of the discrete cutting points in the cutting method of the I-beam waist plate proposed by the present invention, the cutting angles of the discrete cutting points can be obtained respectively, and then the I-beam waist plate cutting plan is generated according to the preset perforation position, the preset cutting head protection position, the final cutting position and the cutting angles of the discrete cutting points, and the I-beam waist plate is cut according to the I-beam waist plate cutting plan.

[0144] Please refer to the following Figure 11 , Figure 11 The cutting path of the I-beam waist plate obtained by applying the cutting method of the I-beam waist plate is: Figure 11 In the figure, point M is the preset perforation position, point P is the preset cutting head protection position, point N is the first end of the I-beam R angle arc, and point K is the final cutting position determined by the preset cutting span.

[0145] like Figure 11 As shown, the I-beam waist plate cutting path obtained after applying the I-beam waist plate cutting method is: the I-beam waist plate is perforated based on point M to divide the entire I-beam waist plate into two cuts, the lower cutting position is point M, and then cutting is carried out on both sides; vertical cutting is maintained from point M to point P, and when reaching point P, the angle between the cutting head and the I-beam waist plate begins to change gradually, and point N is the position where the I-beam R angle arc begins to be entered. From point P to point N, the angle between the cutting head and the I-beam waist plate changes gradually and finally reaches point N; the cutting angles of several discrete cutting points between point N and point K are obtained by the scheme of calculating the cutting angles of discrete cutting points in the I-beam waist plate cutting method proposed by the present invention.

[0146] like Figure 12 As shown, after applying the cutting method of the I-beam waist plate of the present invention, the cutting height remains basically consistent when cutting the I-beam waist plate.

[0147] Accordingly, in order to solve the above technical problems, the present invention also provides a cutting device for an I-beam waist plate, such as Figure 13 As shown, the I-beam waist plate cutting device includes: a data acquisition module, an angle acquisition module and a waist plate cutting module;

[0148] The data acquisition module is used to acquire the cross-sectional data of the I-beam; determine the final cutting position of the I-beam waist plate according to the preset cutting span, and generate a cutting discrete point between the first end of the R-angle arc of the I-beam and the final cutting position;

[0149] The angle acquisition module is used to draw a second straight line passing through the cutting discrete point along the cutting head axis direction, and draw a first straight line perpendicular to the second straight line passing through the highest point on the inner side of the I-beam wing plate; determine the first capacitive sensing area and the second capacitive sensing area based on the I-beam cross section, the first straight line, and the second straight line; and obtain the cutting angle when the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area are equal based on the I-beam cross section data, so as to obtain the cutting angle of the cutting discrete point;

[0150] The waist plate cutting module is used to generate an I-beam waist plate cutting plan according to the final cutting position and the cutting angles of the discrete cutting points; and to cut the I-beam waist plate according to the I-beam waist plate cutting plan.

[0151] Furthermore, the first straight line intersects with the I-beam waist plate at a first intersection; the first straight line and the second straight line intersect with each other at a second intersection;

[0152] The angle acquisition module includes: a data acquisition unit, a region division unit and an angle acquisition unit;

[0153] Wherein, the data acquisition unit is used to obtain the point coordinates of the cutting discrete points;

[0154] The region division unit is configured to divide the first capacitive sensing region into a plurality of first sub-regions based on the highest point on the inner side of the I-beam flange, the second end of the I-beam R-angle arc, the second intersection point, and the cutting discrete point; and to divide the second capacitive sensing region into a plurality of second sub-regions based on the first end of the I-beam R-angle arc, the first intersection point, the second intersection point, and the cutting discrete point;

[0155] The angle acquisition unit is used to obtain the first area representation of each first sub-area and the second area representation of each second sub-area based on the I-beam cross-section data and the point coordinates; establish an area equation based on the first area representation of each first sub-area and the second area representation of each second sub-area; obtain the first intersection coordinates of the first intersection based on the area equation; and obtain the cutting angle of the discrete point based on the first intersection coordinates.

[0156] The present invention also provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the program, the steps of the method for cutting the I-beam waist plate as described in any one of the above items are implemented.

[0157] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0158] Compared with the existing I-beam cutting method, when a consistent cutting angle is used for the R-angle arc of the I-beam, the uneven capacitance sensing of the cutting head leads to large changes in the cutting height, which greatly affects the stability and consistency of the cutting quality; the present invention obtains the cutting angle when the area of ​​the first capacitance sensing area and the area of ​​the second capacitance sensing area are equal based on the I-beam cross-sectional data to obtain the cutting angle of the cutting discrete point, and then generates the I-beam waist cutting plan based on the final cutting position and the cutting angle of the cutting discrete point, and then performs the I-beam waist cutting according to the I-beam waist cutting plan. When the area of ​​the first capacitance sensing area and the area of ​​the second capacitance sensing area are equal, the capacitance sensing on the left and right sides of the cutting head will remain consistent, so that the capacitance sensing on the left and right sides of the cutting head is balanced. Subsequently, the I-beam is cut based on the cutting angle obtained when the areas of the two sensing areas are equal, which can ensure that the cutting head accurately senses the distance between the cutting head and the I-beam based on the balanced capacitance sensing, thereby ensuring that the cutting height remains consistent when cutting the I-beam waist, thereby ensuring the stability and consistency of the cutting quality.

[0159] Maintaining consistent cutting height when cutting the I-beam waist can avoid wasting part of the I-beam material due to inconsistent cutting heights, and eliminate the need for multiple additional cutting height adjustments, thereby improving production efficiency.

[0160] In addition, compared with the prior art of manually modifying the cutting posture of the I-beam at the current position by dragging the cutting vector, the angle processing may not be smooth, there may be a possibility of cross-mutation, the angles of the left and right wing plates cannot be kept consistent, the cutting effect is not uniform and the workload is large. The present invention can solve the time-consuming and error-prone problems of manually modifying the cutting posture of the I-beam at the current position by establishing an area equation and automatically obtaining the cutting angle based on the area equation, thereby achieving a uniform cutting effect.

[0161] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A method for cutting an I-beam waist plate, characterized in that: include: Get I-beam cross-section data; Determine the final cutting position of the I-beam waist plate according to the preset cutting span, and generate a cutting discrete point between the first end of the I-beam R-angle arc and the final cutting position; Draw a second straight line along the cutting head axis through the discrete cutting points, and draw a first straight line perpendicular to the second straight line through the highest point on the inner side of the I-beam flange; Determine a first capacitance sensing area and a second capacitance sensing area according to the I-beam cross section, the first straight line, and the second straight line; Obtaining the cutting angle when the area of ​​the first capacitance sensing region and the area of ​​the second capacitance sensing region are equal based on the cross-section data of the I-beam, so as to obtain the cutting angle of the discrete cutting points; Generate I-beam waist plate cutting plan based on final cutting position and cutting angle of discrete cutting points; Cut the I-beam waist plate according to the I-beam waist plate cutting plan.

2. The method for cutting an I-beam waist plate according to claim 1, wherein: The first straight line intersects with the I-beam waist plate at a first intersection point; the first straight line intersects with the second straight line at a second intersection point; The method of obtaining the cutting angle when the area of ​​the first capacitance sensing region and the area of ​​the second capacitance sensing region are equal based on the cross-section data of the I-beam to obtain the cutting angle of the discrete points includes: Get the coordinates of the discrete cutting points; Dividing the first capacitive sensing area into a plurality of first sub-areas based on the highest point on the inner side of the I-beam flange, the second end of the I-beam R-angle arc, the second intersection point, and the cutting discrete point; Dividing the second capacitive sensing area into a plurality of second sub-areas based on the first end, the first intersection point, the second intersection point and the cutting discrete point of the I-beam R-angle arc; Obtain a first area representation of each first sub-region and a second area representation of each second sub-region according to the I-beam cross-section data and the point coordinates; establishing an area equation based on the first area representation of each first sub-region and the second area representation of each second sub-region; Obtaining the first intersection coordinates of the first intersection based on the area equation; The cutting angle of the discrete points is obtained based on the coordinates of the first intersection point.

3. The method for cutting an I-beam waist plate according to claim 2, wherein: The I-beam cross-section data includes the first end coordinates, the second end coordinates, and the coordinates of the highest point on the inner side of the I-beam flange. In establishing the area equation based on the first area representation of each first sub-region and the second area representation of each second sub-region, the area equation is expressed by the following formula: S △CAQ +S △CAB +S 圆弧AB =S △FAQ +S △AEF +S 圆弧AE ; In the above formula, the vertex C of △CAQ is the highest point on the inner side of the I-beam flange, the vertex A of △CAQ is the cutting discrete point, the vertex Q of △CAQ is the second intersection point, S △CAQ is the area of ​​△CAQ; the vertex C of △CAB is the highest point on the inner side of the I-beam flange, the vertex A of △CAB is the cutting discrete point, the vertex B of △CAB is the second end of the I-beam R angle arc, S △CAB is the area of ​​△CAB; S 圆弧AB Point A is the cutting discrete point, point B is the second end of the R angle arc of the I-beam, S 圆弧AB is the area of ​​the area enclosed by the straight line formed by points A and B and the I-beam; the vertex F of △FAQ is the first intersection point, the vertex A of △FAQ is the cutting discrete point, the vertex Q of △FAQ is the second intersection point, S △FAQ is the area of ​​△FAQ; the vertex A of △AEF is the cutting discrete point, the vertex E of △AEF is the first end of the R angle arc of the I-beam, the vertex F of △AEF is the first intersection point, S △AEF is the area of ​​△AEF; S 圆弧AE Point A is the cutting discrete point, point E is the first end of the R angle arc of the I-beam, and S 圆弧AE It is the area enclosed by the straight line formed by points A and E and the I-beam.

4. The method for cutting an I-beam waist plate according to claim 2, wherein: In obtaining the cutting angle when the area of ​​the first capacitive sensing region and the area of ​​the second capacitive sensing region are equal based on the cross-section data of the I-beam to obtain the cutting angle of the discrete point, the cutting angle of the discrete point is expressed by the following formula: dot=VAQ·VEF; In the above formula, θ is the cutting angle of the cutting discrete point; point A is the cutting discrete point; point Q is the second intersection point; point E is the first end of the R-angle arc of the I-beam; point F is the first intersection point; VAQ is the unit vector starting from point A and ending at point Q; VEF is the unit vector starting from point E and ending at point F.

5. The method for cutting an I-beam waist plate according to claim 3, wherein: In the area equation, the area of ​​ΔCAQ, the area of ​​ΔCAB, the area of ​​ΔFAQ, and the area of ​​ΔAEF are calculated by the following formula: In the above formula, m is the semi-perimeter of the triangle; a, b and c are the lengths of the three sides of the triangle; S △ is the area of ​​the triangle.

6. The method for cutting an I-beam waist plate according to claim 1, wherein: The method of generating an I-beam waist plate cutting plan based on the final cutting position and the cutting angles of the discrete cutting points includes: Set the preset cutting head protection position; Generate an I-beam waist plate cutting plan based on the preset cutting head protection position, final cutting position and cutting angles of discrete cutting points.

7. The method for cutting an I-beam waist plate according to claim 6, wherein: The I-beam waist plate cutting according to the I-beam waist plate cutting plan includes: When the cutting head reaches the preset cutting head protection position, the I-beam or the cutting head is rotated to move the cutting head away from the I-beam wing plate.

8. A cutting device for I-beam waist plate, characterized in that: include: Data acquisition module, angle acquisition module and waist cutting module; The data acquisition module is used to acquire the cross-sectional data of the I-beam; determine the final cutting position of the I-beam waist plate according to the preset cutting span, and generate a cutting discrete point between the first end of the R-angle arc of the I-beam and the final cutting position; The angle acquisition module is used to draw a second straight line passing through the cutting discrete point along the cutting head axis direction, and draw a first straight line perpendicular to the second straight line passing through the highest point on the inner side of the I-beam wing plate; determine the first capacitive sensing area and the second capacitive sensing area based on the I-beam cross section, the first straight line, and the second straight line; and obtain the cutting angle when the area of ​​the first capacitive sensing area and the area of ​​the second capacitive sensing area are equal based on the I-beam cross section data, so as to obtain the cutting angle of the cutting discrete point; The waist plate cutting module is used to generate an I-beam waist plate cutting plan according to the final cutting position and the cutting angles of the discrete cutting points; and to cut the I-beam waist plate according to the I-beam waist plate cutting plan.

9. The I-beam waist plate cutting device according to claim 8, characterized in that: The first straight line intersects the I-beam waist plate at the first intersection point; The first straight line and the second straight line intersect at a second intersection point; The angle acquisition module includes: a data acquisition unit, a region division unit and an angle acquisition unit; Wherein, the data acquisition unit is used to obtain the point coordinates of the cutting discrete points; The region division unit is configured to divide the first capacitive sensing region into a plurality of first sub-regions based on the highest point on the inner side of the I-beam flange, the second end of the I-beam R-angle arc, the second intersection point, and the cutting discrete point; and to divide the second capacitive sensing region into a plurality of second sub-regions based on the first end of the I-beam R-angle arc, the first intersection point, the second intersection point, and the cutting discrete point; The angle acquisition unit is used to obtain the first area representation of each first sub-area and the second area representation of each second sub-area based on the I-beam cross-section data and the point coordinates; establish an area equation based on the first area representation of each first sub-area and the second area representation of each second sub-area; obtain the first intersection coordinates of the first intersection based on the area equation; and obtain the cutting angle of the discrete point based on the first intersection coordinates.

10. A terminal device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method for cutting the I-beam waist plate according to any one of claims 1 to 7 are implemented.

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