Water-guided laser water-light-gas synergistic heterogeneous control board card and control method

Abstract

The invention discloses a water-guided laser water-light-gas synergistic heterogeneous control board card and a control method, relates to the technical field of water-guided laser control, and solves the problems that a plurality of independent controllers are needed to realize water-light-gas control because a high-pressure water path, laser and a protective gas control system are mutually independent, and the control cost is low. The high-pressure water-light-gas control system is high in independence and low in cooperative control efficiency; the control board card comprises a master controller, a DDR memory, an ADC / DAC conversion module, a water path control module, a protective gas path control module, a light path control module, a laser control module, a debugging interface, a communication interface, a fault detection interface and a power management and protection integrated chip; through a heterogeneous control board card (FPGA + ARM), signal delay and interference between independent control units are eliminated, accurate cooperation of water jet, laser and protective gas in time sequence and dynamic response is achieved, and meanwhile selection of various protective gas types and accurate pressure adjustment and real-time monitoring are supported; software and hardware data communication is planned, the power consumption and complexity of a control board card are reduced, and the data processing and response speed of the control board card is also improved.

Description

Technical Field

[0001] The present invention relates to the technical field of water-guided laser control, and in particular to a water-guided laser water-light-gas coordinated heterogeneous control board and a control method. Background Art

[0002] At present, water-guided laser processing technology uses laser coupling in micro-porous water jets and acts on the surface of workpieces to achieve processing. Water jets can provide cooling and have a series of advantages such as small heat-affected zone, high cutting efficiency, narrow incision width, good parallelism, high precision, and small surface profile size error. Water-guided laser technology is increasingly gaining attention in the field of superhard material processing. The water-guided laser processing process involves laser beam control, high-pressure water jet control, and shielding gas control (water-light-gas control). The ultimate goal of the above control is to accurately adjust the size of the water jet and ensure the stability of the water beam, change the type and pressure of the shielding gas according to different processing parameter requirements, and finally, accurately achieve coaxial coupling of water and laser, and improve the accuracy and efficiency of water-guided laser processing.

[0003] Patent No. 2023115498199 discloses a water-conducting laser device and a water-conducting laser processing method, the device includes: a control module, a water-conducting laser emitting module and a workpiece placement processing platform; the water-conducting laser emitting module is provided with a visual module on the side facing the workpiece placement processing platform, the visual module is used to collect a two-dimensional image of the workpiece on the workpiece placement processing platform during the water-conducting laser processing process, and transmit the two-dimensional image to the control module; the workpiece placement processing platform is provided with an inertial sensing device, the inertial sensing device is used to collect the rotational space information of the workpiece during the water-conducting laser processing process, and transmit the rotational space information to the control module; the control module is used to construct a three-dimensional real-time model based on the two-dimensional image and the rotational space information, and adjust the position of the water-conducting laser emitting module and the workpiece placement processing platform based on the three-dimensional real-time model and the preset standard model. The above device can effectively improve the accuracy of water-conducting laser processing.

[0004] Patent No. CN2023118004627 discloses a multi-wavelength fiber-output direct semiconductor laser, which belongs to the field of laser technology. The semiconductor laser includes a water-cooled plate, a laser unit, a drive circuit board card, a control circuit board card and an output optical fiber, wherein a laser unit is arranged on one side of the water-cooled plate, and the laser unit includes several lasers of different wavelengths and correspondingly connected optical fiber combiners, a photodetector is fixed on the optical fiber combiner, the laser is connected to a drive circuit board card, the photodetector is connected to a control circuit board card, the drive circuit board card and the control circuit board card are arranged on the other side of the water-cooled plate, and the output end of the optical fiber combiner is connected to an output optical fiber. The above invention realizes system integration of one machine with multiple functions, free and flexible switching of multi-wavelength laser output, unconditional plug-and-play, easy operation, and meets the needs of various application scenarios under different working conditions.

[0005] However, the high-pressure water circuit, laser, and protective gas control systems used by the water-guided laser in the above patents are independent of each other. In particular, the high-pressure water circuit control often adopts a PLC solution, which requires multiple independent controllers to achieve water-light-gas control, resulting in high independence of the high-pressure water-light-gas control system and low collaborative control efficiency. The controllers of each part are too scattered and cannot mix, switch, and accurately adjust the proportions of several protective gases. Summary of the invention

[0006] The purpose of the present invention is to provide a water-guided laser water-light-gas coordinated heterogeneous control board and control method, which can eliminate signal delay and interference between independent control units through integrated design and unified control board architecture, and realize accurate coordination of water jet, laser and protective gas in timing and dynamic response; at the same time, it supports the selection of multiple types of protective gas and precise pressure adjustment and real-time monitoring; through heterogeneous control board (FPGA+ARM), the control modules of laser, waterway and protective gas are integrated to plan software and hardware data communication, reduce the power consumption and complexity of the control board, and improve the data processing and response speed of the control board.

[0007] The present invention utilizes the following technical solutions: A water-guided laser water-light-gas coordinated heterogeneous control board, including a main controller, a DDR memory, an ADC / DAC conversion module, a water path control module, a protective gas path control module, an optical path control module and a laser control module; wherein, The main controller is used to perform logic scheduling, communication transmission and signal decoding on the external devices connected to the water circuit control module, the protection gas circuit control module, the optical circuit control module and the laser control module in the control board according to the control sequence of the water circuit-optical circuit and the laser-protection gas circuit; the external devices include external sensors and a host computer; DDR memory is used to cache different types of data and control signals, providing stable storage support to improve the real-time response capability of the control board; different types of data include image processing data, laser parameters, laser temperature, real-time laser power, water jet pressure and water jet flow; The ADC / DAC conversion module is used to sample and convert the external sensor data collected by the water circuit control module, the protective gas circuit control module and the laser control module into digital signals, and convert the digital signals into control signals for output; the external sensors include water circuit sensors, gas circuit sensors and optical circuit sensors; A waterway control module is used to collect waterway sensor data, monitor the pressure and temperature of the water jet, and dynamically adjust the pressure of the water jet; The protective gas circuit control module is used to collect gas circuit sensor data, monitor and adjust the pressure and flow of the protective gas, and select, mix and switch different protective gases; The optical path control module is used to collect industrial camera data, adjust the industrial camera field of view and laser position, and adjust the laser spot and camera focal length; Laser control module, used to collect optical sensor data, monitor and control the power, pulse width and frequency of the laser; The main controller is connected to the DDR memory, ADC / DAC conversion module, water path control module, protective gas path control module, optical path control module and laser control module through signal lines; the DDR memory is connected to the ADC / DAC conversion module through signal lines; the ADC / DAC conversion module is connected to the water path control module, protective gas path control module, optical path control module and laser control module through signal lines.

[0008] Preferably, the main controller includes an FPGA unit and an ARM unit; the FPGA unit and the ARM unit perform data exchange, data processing, real-time control and multi-task management through the high-speed bus AXI; the ARM unit is used to coordinate the operation of various functional modules in the control board, process logical control tasks and realize external device communication; the functional modules include DDR memory, ADC / DAC conversion module, water path control module, protective gas path control module, optical path control module and laser control module; the FPGA unit is used for data flow and signal processing.

[0009] Preferably, the ADC / DAC conversion module includes an ADC unit and a DAC unit; the ADC unit is used to perform high-speed sampling on external sensor data collected by the water circuit control module, the protective gas circuit control module and the laser control module, and the DAC unit is used to achieve high-precision output of the control signal; the water circuit sensor includes a liquid pressure sensor, a liquid flow sensor and a temperature sensor; the gas circuit sensor includes a gas pressure sensor and a gas flow sensor; the optical circuit sensor includes an optical sensor and a laser power meter.

[0010] Preferably, the water circuit control module includes a water circuit sensor interface, an adjustment interface and a solenoid valve control interface; the water circuit sensor interface is connected to the water circuit sensor through a signal line; the adjustment interface and the solenoid valve control interface are connected to the boost module and the solenoid valve of the vane pump through a signal line.

[0011] Preferably, the protective gas circuit control module includes a gas circuit sensor interface, a pressure control interface and a gas control interface; the gas circuit sensor interface is connected to the gas circuit sensor through a signal line; the pressure control interface is connected to the pressure regulator through a signal line; the gas control interface is connected to several solenoid valves to control the switching, mixing and selection of several protective gases.

[0012] Preferably, the optical path control module includes a camera interface, a swing mirror control interface and a focus control interface; the camera interface is connected to the industrial camera via a data line; the swing mirror control interface is connected to the control motor of the two-dimensional swing mirror via a signal line; and the focus control interface is connected to the focus structure via a signal line.

[0013] Preferably, the laser control module includes a laser control interface and an optical path sensor interface; the laser control interface is connected to the laser through a signal line; and the optical path sensor interface is connected to the optical path sensor through a signal line.

[0014] Preferably, the collaborative heterogeneous control board also includes a debugging interface, a communication interface, a fault detection interface and a power management and protection integrated chip; wherein, Debug interface for developing, monitoring and troubleshooting the control board via JTAG or UART; Communication interface, used for high-speed data transmission with external devices via USB, CAN and Ethernet communication; the communication interface includes high-speed serial interface and multi-protocol compatible interface; Fault detection interface, used to monitor and control the operating status of each module of the board and store the fault code; The fault detection interface includes a monitoring module and a protection module; the monitoring module is used to monitor the operating status of each module of the control board and generate a fault code for storage; the protection module is used to protect each module of the control board and send the fault code to the main controller; The power management and protection integrated chip is used to provide multiple stable power outputs and power the control board and external sensors, realize overload protection, overcurrent protection and voltage abnormality response, and ensure the safe and stable operation of the control board; The main controller is respectively connected to the debugging interface, the communication interface, the fault detection interface and the power management and protection integrated chip through signal lines.

[0015] A water-light-gas synergistic heterogeneous control method for water-guided laser is applied to a control board, comprising the following steps: H1: After the control board is connected to the host computer and the external sensor, the water-guided laser processing equipment is turned on and the waterway control module is started; the external sensors include waterway sensors, gasway sensors and optical path sensors; H2: The water circuit control module opens the solenoid valve and the booster module of the vane pump to pump water according to the preset water jet pressure and water jet flow loaded by the host computer through the adjustment interface and the solenoid valve control interface, and stores the preset water jet pressure and water jet flow in the DDR memory; H3: The FPGA unit of the main controller receives the real-time water jet pressure and real-time water jet flow of the water channel through the water channel sensor interface; H4: The ADC unit of the ADC / DAC conversion module converts the real-time water jet pressure and the real-time water jet flow into corresponding digital signals, and the FPGA unit filters, corrects and quantizes the corresponding digital signals; H5: The ARM unit of the main controller reads the preset water jet pressure and water jet flow stored in the DDR memory, and compares and calculates them with the quantified real-time water jet pressure and real-time water jet flow to obtain the water pressure deviation value and flow deviation value; H6: The ARM unit generates a correction instruction using a derivative control algorithm according to the water pressure deviation value and the flow deviation value, and the FPGA unit uses the DAC unit of the ADC / DAC conversion module to output a corresponding control signal to the pressure regulating valve and / or flow valve of the vane pump according to the correction instruction until the water jet pressure and / or water jet flow reaches a preset value; H7: After the waterway control module controls the waterway to be stable, the laser control module starts, and the laser is connected and controlled through the laser control interface; H8: The ARM unit receives the control instructions and laser parameters of the host computer through the communication interface, and starts the laser and modifies the parameters according to the process requirements; the control instructions include start instructions and shutdown instructions; the laser parameters include laser power, pulse frequency and duty cycle; H9: The ARM unit uses the derivative control algorithm to build several laser process templates according to the laser parameters and saves them in the DDR memory; H10: The FPGA unit calls the laser process template to set the laser parameters, and feeds back the optical path sensor connected to the optical path sensor interface to the main controller for real-time adjustment; H11: The ADC unit collects the feedback signal of the laser in real time, and the FPGA unit filters and corrects the feedback signal, and adjusts the control signal in real time after comparing it with the laser parameters to achieve closed-loop control; H12: The FPGA unit calls the monitoring module of the fault detection interface to monitor the laser for faults: if the laser is abnormal, the monitoring module generates a corresponding fault code, and the protection module of the fault detection interface sends the fault code to the ARM unit to trigger an alarm; if the laser operates normally, the main controller runs the optical path control module; H13: The FPGA unit performs edge detection and feature extraction on the image data collected by the industrial camera connected to the camera interface of the optical path control module; H14: The ARM unit uses image processing algorithms to measure the field of view clarity and laser spot of the industrial camera, and calculates the deviation between the laser spot and the nozzle hole position, and generates correction instructions based on the deviation value; H15: The FPGA unit uses the DAC unit to output the swing mirror drive signal and the focus adjustment signal according to the correction instruction, and sends them to the swing mirror control interface and the focus control interface to control the clarity of the industrial camera; H16: The two-dimensional swing mirror connected to the swing mirror control interface adjusts the X and Y axis deflection angles of the swing mirror according to the swing mirror driving signal. At the same time, the focusing structure connected to the focus control interface adjusts the focus of the light spot according to the focal length adjustment signal, thereby realizing water-light coaxial coupling.

[0016] Preferably, the collaborative heterogeneous control method further comprises the following steps: H17: After the water-light coaxial coupling is completed, the protection gas path control module starts to run and initializes the ADC / DAC conversion module; H18: The ARM unit receives the gas path parameters set by the host computer and stores them in the DDR memory. The FPGA unit detects the gas path sensor connected to the gas path sensor interface and the pressure regulator connected to the pressure control interface to ensure that the pressure regulator and the solenoid valve are in standby state; the gas path parameters include the preset gas pressure and the preset gas flow; H19: The FPGA unit outputs the corresponding analog signal to drive the pressure regulator through the DAC unit according to the preset gas path parameters stored in the DDR memory. The ADC unit collects the gas pressure sensor data in real time and feeds it back to the FPGA unit for closed-loop regulation to maintain a stable pressure. H20: The ARM unit sends a switch signal to the solenoid valve according to the preset gas flow rate to control the switch of the protective gas. The FPGA monitors the feedback value of the gas flow sensor in real time and compares it with the preset gas flow rate to adjust the opening of the solenoid valve. H21: When inputting several protection gases, the ARM unit coordinates several solenoid valves to realize the switching or mixing of several protection gas paths, and the FPGA unit monitors the gas pressure and gas flow after linkage in real time; H22: The FPGA unit performs high-frequency acquisition and abnormality detection on the gas path sensor data: if the protective gas path is abnormal, the protection module immediately closes the protective gas path and sends an alarm signal to the ARM unit; if the protective gas path is normal, the protective gas is output to the coupling unit gas chamber for processing.

[0017] The present invention eliminates signal delays and interference between independent control units through integrated design and unified control board architecture, and realizes precise coordination of water jet, laser and protective gas in timing and dynamic response; supports the selection of multiple types of protective gas and precise pressure adjustment and real-time monitoring; integrates the control modules of laser, waterway and protective gas through heterogeneous control boards (FPGA+ARM), plans software and hardware data communications, reduces the power consumption and complexity of the control boards, and improves the data processing and response speed of the control boards. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the structure of the water-light-gas synergistic heterogeneous control board of the present invention; Figure 2 This is a physical picture of the water-light-gas synergistic heterogeneous control board of the present invention; Figure 3 It is the waterway control flow chart of the present invention; Figure 4 The laser control and light path control flow chart of the present invention; Figure 5 It is a protection gas circuit control flow chart of the present invention; Among them, 1-main controller, S11-FPGA unit, S12-ARM unit 2-DDR memory, 3-ADC / DAC conversion module, 4-water circuit control module, S41-water circuit sensor interface, S42-adjustment interface, S43-solenoid valve control interface, 5-protection gas circuit control module, S51-gas circuit sensor interface, S52-pressure control interface, S53-gas control interface, 6-optical path control module, S61-camera interface, S62-swinging mirror control interface, S63-focusing control interface, 7-laser control module, S71-laser control interface, S72-optical path sensor interface, 8-debugging interface, 9-communication interface, 10-fault detection interface, 11-power management and protection integrated chip. DETAILED DESCRIPTION

[0020] The present invention is described in detail below with reference to the accompanying drawings and embodiments: like Figure 1-Figure 2 As shown, the water-optical-gas coordinated heterogeneous control board of the water-guided laser of the present invention comprises a main controller 1, a DDR memory 2, an ADC / DAC conversion module 3, a water path control module 4, a protective gas path control module 5, an optical path control module 6 and a laser control module 7; wherein, The main controller 1 is used to perform logic scheduling, communication transmission and signal decoding on the external devices connected to the water circuit control module 4, the protection gas circuit control module 5, the optical circuit control module 6 and the laser control module 7 in the control board according to the control sequence of the water circuit-optical circuit and the laser-protection gas circuit; the external devices include external sensors and a host computer; In the present invention, the main controller 1 includes an FPGA unit S11 and an ARM unit S12; the FPGA unit S11 and the ARM unit S12 perform data interaction, data processing, real-time control and multi-task management through the high-speed bus AXI; the ARM unit S12 is used to coordinate the operation of each functional module in the control board, process logic control tasks and realize external device communication; the functional modules include a DDR memory 2, an ADC / DAC conversion module 3, a water path control module 4, a protective gas path control module 5, an optical path control module 6 and a laser control module 7; the FPGA unit S11 is used for data flow and signal processing; DDR memory 2, used to cache different types of data and control signals, providing stable storage support to improve the real-time response capability of the control board; different types of data include image processing data, laser parameters, laser temperature, real-time laser power, water jet pressure and water jet flow; The ADC / DAC conversion module 3 is used to sample and convert the external sensor data collected by the water path control module 4, the protection gas path control module 5 and the laser control module 7 into digital signals, and convert the digital signals into control signals for output; the external sensors include water path sensors, gas path sensors and optical path sensors; In the present invention, the ADC / DAC conversion module 3 includes an ADC unit and a DAC unit; the ADC unit is used to perform high-speed sampling on the external sensor data collected by the water circuit control module 4, the protection gas circuit control module 5 and the laser control module 7, and the DAC unit is used to achieve high-precision output of the control signal; the water circuit sensor includes a liquid pressure sensor, a liquid flow sensor and a temperature sensor; the gas circuit sensor includes a gas pressure sensor and a gas flow sensor; the optical circuit sensor includes an optical sensor and a laser power meter; The waterway control module 4 is used to collect waterway sensor data, monitor the pressure and temperature of the water jet, and dynamically adjust the pressure of the water jet; In the present invention, the water circuit control module 4 includes a water circuit sensor interface S41, an adjustment interface S42 and an electromagnetic valve control interface S43; the water circuit sensor interface S41 is connected to the water circuit sensor through a signal line; the adjustment interface S42 and the electromagnetic valve control interface S43 are connected to the boost module and the electromagnetic valve of the vane pump through a signal line; The protective gas circuit control module 5 is used to collect gas circuit sensor data, monitor and adjust the pressure and flow of the protective gas, and select, mix and switch different protective gases; In the present invention, the protective gas circuit control module 5 includes a gas circuit sensor interface S51, a pressure control interface S52 and a gas control interface S53; the gas circuit sensor interface S51 is connected to the gas circuit sensor through a signal line; the pressure control interface S52 is connected to the pressure regulator through a signal line; the gas control interface S53 is connected to a plurality of solenoid valves to control the switching, mixing and selection of a plurality of protective gases; The optical path control module 6 is used to collect industrial camera data, adjust the industrial camera field of view and laser position, and adjust the laser spot and camera focal length; In the present invention, the optical path control module 6 includes a camera interface S61, a swing mirror control interface S62 and a focus control interface S63; the camera interface S61 is connected to the industrial camera through a data line; the swing mirror control interface S62 is connected to the control motor of the two-dimensional swing mirror through a signal line; the focus control interface S63 is connected to the focus structure through a signal line; Laser control module 7, used to collect optical sensor data, monitor and control the power, pulse width and frequency of the laser; In the present invention, the laser control module 7 includes a laser control interface S71 and an optical path sensor interface S72; the laser control interface S71 is connected to the laser through a signal line; the optical path sensor interface S72 is connected to the optical path sensor through a signal line; The main controller 1 is connected to the DDR memory 2, the ADC / DAC conversion module 3, the water path control module 4, the protection gas path control module 5, the optical path control module 6 and the laser control module 7 through signal lines; the DDR memory 2 is connected to the ADC / DAC conversion module through signal lines; the ADC / DAC conversion module is connected to the water path control module 4, the protection gas path control module 5, the optical path control module 6 and the laser control module 7 through signal lines; In the present invention, the collaborative heterogeneous control board also includes a debugging interface 8, a communication interface 9, a fault detection interface 10 and a power management and protection integrated chip 11; wherein, Debug interface 8, used for developing, monitoring and troubleshooting the control board through JTAG or UART; Communication interface 9, used for high-speed data transmission with external devices via USB, CAN and Ethernet communications; communication interface 9 includes a high-speed serial interface and a multi-protocol compatible interface; Fault detection interface 10, used to monitor and control the operating status of each module of the board and store fault codes; The fault detection interface 10 includes a monitoring module and a protection module; the monitoring module is used to monitor the operating status of each module of the control board and generate a fault code for storage; the protection module is used to protect each module of the control board and send the fault code to the main controller 1; The power management and protection integrated chip 11 is used to provide multiple stable power outputs and power the control board and external sensors, realize overload protection, overcurrent protection and voltage abnormality response, and ensure the safe and stable operation of the control board; The main controller 1 is connected to the debugging interface 8, the communication interface 9, the fault detection interface 10 and the power management and protection integrated chip 11 through signal lines; Embodiment 1: The power management and protection integrated chip 11 supplies power to the control board and external sensors to achieve overload protection, overcurrent protection and voltage abnormality response. The FPGA unit S11 and the ARM unit S12 of the main controller 1 perform data exchange, data processing, real-time control and multi-task management through the high-speed bus AXI; the ARM unit S12 is used to coordinate the operation of the DDR memory 2, ADC / DAC conversion module 3, water path control module 4, protective gas path control module 5, optical path control module 6 and laser control module 7 in the control board, process logical control tasks and realize external device communication; the functional modules include; the FPGA unit S11 is used for data flow and signal processing; the DDR memory 2 caches image processing data, laser parameters, laser temperature, real-time laser power, water jet pressure, water jet flow and control signals to provide stable storage support for the control board to improve the real-time response capability of the control board; the ADC unit of the ADC / DAC conversion module is used to collect external sensor signals from the water path control module 4, the protective gas path control module 5 and the laser control module 7 The data of the device is sampled at high speed, and the DAC unit is used to achieve high-precision output of the control signal; the water circuit sensor interface S41 of the water circuit control module is connected to the liquid pressure sensor, liquid flow sensor and temperature sensor through the signal line; the adjustment interface S42 and the solenoid valve control interface S43 are connected to the boost module and the solenoid valve of the vane pump through the signal line; the gas circuit sensor interface S51 of the protection gas circuit control module 5 is connected to the gas pressure sensor and the gas flow sensor through the signal line; the pressure control interface S52 is connected to the pressure regulator through the signal line; the gas control interface S53 is connected to several solenoid valves to control the switching, mixing and selection of several protection gases; the camera interface S61 of the optical path control module 6 is connected to the industrial camera through the data line; the swing mirror control interface S62 is connected to the control motor of the two-dimensional swing mirror through the signal line; the focus control interface S63 is connected to the focus structure through the signal line; the laser control interface S71 of the laser control module 7 is connected to the laser through the signal line; the optical path sensor interface S72 is connected to the optical sensor and the laser power meter through the signal line; The control board is developed, monitored and troubleshooted through the debugging interface 8 using JTAG or UART; high-speed data transmission is performed with external devices through the communication interface 9 using USB, CAN and Ethernet communications; the communication interface 9 includes a high-speed serial interface and a multi-protocol compatible interface; the monitoring module of the fault detection interface 10 monitors the operating status of each module of the control board and generates a fault code for storage; the protection module is used to protect each module of the control board and send the fault code to the main controller 1.

[0021] In the present invention, Figure 3-Figure 5 As shown, a water-light-gas coordinated heterogeneous control method for water-guided laser is applied to a control board, comprising the following steps: H1: After the control board is connected to the external device, the water-guided laser processing equipment is turned on and the waterway control module 4 is started; the external device includes the host computer and the external sensor; the external sensor includes the waterway sensor, the gasway sensor and the optical path sensor; H2: The water circuit control module 4 opens the solenoid valve and the booster module of the vane pump to pump water according to the preset water jet pressure and water jet flow loaded by the host computer through the adjustment interface S42 and the solenoid valve control interface S43, and stores the preset water jet pressure and water jet flow in the DDR memory 2; H3: The FPGA unit S11 of the main controller 1 receives the real-time water jet pressure and real-time water jet flow of the water channel through the water channel sensor interface S41; H4: The ADC unit of the ADC / DAC conversion module 3 converts the real-time water jet pressure and the real-time water jet flow into corresponding digital signals, and the FPGA unit S11 filters, corrects and quantizes the corresponding digital signals; H5: The ARM unit S12 of the main controller 1 reads the preset water jet pressure and water jet flow stored in the DDR memory 2, and compares and calculates them with the quantified real-time water jet pressure and real-time water jet flow to obtain the water pressure deviation value and the flow deviation value; H6: The ARM unit S12 generates a correction instruction using a derivative control algorithm according to the water pressure deviation value and the flow deviation value, and the FPGA unit S11 uses the DAC unit of the ADC / DAC conversion module 3 according to the correction instruction to output a corresponding control signal to the pressure regulating valve and / or flow valve of the vane pump until the water jet pressure and / or water jet flow reaches a preset value; H7: After the waterway control module 4 controls the waterway to be stable, the laser control module 7 starts, and connects and controls the laser through the laser control interface S71; H8: ARM unit S12 receives control instructions and laser parameters from the host computer through communication interface 9, and starts the laser and modifies parameters according to process requirements; control instructions include start instructions and shutdown instructions; laser parameters include laser power, pulse frequency and duty cycle; H9: ARM unit S12 constructs several laser process templates according to laser parameters using a derivative control algorithm and saves them in DDR memory 2; H10: FPGA unit S11 calls the laser process template to set laser parameters, and feeds back to the main controller 1 through the optical path sensor connected to the optical path sensor interface S72 for real-time adjustment; H11: The ADC unit collects the feedback signal of the laser in real time, and the FPGA unit S11 filters and corrects the feedback signal, and adjusts the control signal in real time after comparing it with the laser parameters to achieve closed-loop control; H12: FPGA unit S11 calls the monitoring module of the fault detection interface 10 to monitor the laser for faults: if the laser is abnormal, the monitoring module generates a corresponding fault code, and the protection module of the fault detection interface 10 sends the fault code to the ARM unit S12 to trigger an alarm; if the laser operates normally, the main controller 1 runs the optical path control module 6; H13: FPGA unit S11 performs edge detection and feature extraction on the image data collected by the industrial camera connected to the camera interface S61 of the optical path control module 6; H14: ARM unit S12 uses image processing algorithms to measure the field of view clarity and laser spot of the industrial camera, and calculates the deviation value between the laser spot and the nozzle hole position, and generates correction instructions based on the deviation value; H15: FPGA unit S11 uses DAC unit to output swing mirror drive signal and focus adjustment signal according to the correction instruction, and sends it to swing mirror control interface S62 and focus control interface S63 to control the clarity of industrial camera; H16: The two-dimensional swing mirror connected to the swing mirror control interface S62 adjusts the X and Y axis deflection angles of the swing mirror according to the swing mirror driving signal, and the focusing structure connected to the focus control interface S63 adjusts the focus of the light spot according to the focal length adjustment signal, thereby realizing water-light coaxial coupling; H17: After the water-light coaxial coupling is completed, the protection gas circuit control module 5 starts to run and initializes the ADC / DAC conversion module 3; H18: ARM unit S12 receives the gas path parameters set by the host computer and stores them in DDR memory 2. FPGA unit S11 detects the gas path sensor connected to the gas path sensor interface S51 and the pressure regulator connected to the pressure control interface S52 to ensure that the pressure regulator and the solenoid valve are in standby state; the gas path parameters include the preset gas pressure and the preset gas flow; H19: FPGA unit S11 drives the pressure regulator by outputting the corresponding analog signal through the DAC unit according to the preset gas path parameters stored in DDR memory 2. The ADC unit collects the gas pressure sensor data in real time and feeds it back to the FPGA unit S11 for closed-loop regulation to maintain a stable pressure. H20: ARM unit S12 sends a switch signal to the solenoid valve according to the preset gas flow rate to control the switch of the protective gas. FPGA monitors the feedback value of the gas flow sensor in real time and compares it with the preset gas flow rate to adjust the opening of the solenoid valve. H21: When inputting several protection gases, the ARM unit S12 coordinates several solenoid valves to realize the switching or mixing of several protection gas paths, and the FPGA unit S11 monitors the gas pressure and gas flow after linkage in real time; H22: FPGA unit S11 performs high-frequency acquisition and abnormality detection on gas path sensor data: if the protection gas path is abnormal, the protection module immediately closes the protection gas path and sends an alarm signal to the ARM unit S12; if the protection gas path is normal, the protection gas is output to the coupling unit gas chamber for processing; In the present invention, the derivative control algorithm first uses an encoder to encode the preset water jet pressure, preset water jet flow, laser power, pulse frequency, duty cycle, field of view clarity, laser spot, preset gas pressure and preset gas flow, and then constructs a three-segment coding table; then the convolution block of the ResNET algorithm is used to iterate the three-segment coding table for several times to form a coding feature matrix; for the laser power, pulse frequency, duty cycle, field of view clarity and laser spot in the coding feature matrix, the darknet algorithm is used to extract features again, and the features in the coding feature matrix are covered. The corresponding position is obtained, and then the coding weight matrix is ​​obtained; then the coding weight matrix is ​​derived by using the GAN algorithm, and the derivation process is corrected in combination with the real-time water jet pressure, the real-time water jet flow, the preset gas pressure and the preset gas flow to form a derived weight matrix; finally, the generator is used to preview the laser power, pulse frequency, duty cycle, field of view clarity and laser spot according to the derived weight matrix, and at the same time, the optimal solution in the preview solution is set as the process template according to the corrected laser power, pulse frequency, duty cycle, field of view clarity and laser spot, and is saved in the DDR memory 2; Embodiment 2: After the control board is connected to the host computer and the external sensor, the water-guided laser processing equipment is turned on and the waterway control module 4 is started; the waterway control module 4 opens the solenoid valve and the boost module of the vane pump to pump water through the adjustment interface S42 and the solenoid valve control interface S43 according to the preset water jet pressure and water jet flow loaded by the host computer, and stores the preset water jet pressure and water jet flow in the DDR memory 2; the FPGA unit S11 of the main controller 1 receives the real-time water jet pressure and real-time water jet flow of the waterway through the waterway sensor interface S41; the ADC unit of the ADC / DAC conversion module 3 converts the real-time water jet pressure and real-time water jet flow into corresponding digital signals, and ... The GA unit S11 filters, corrects and quantizes the corresponding digital signal; the ARM unit S12 of the main controller 1 reads the preset water jet pressure and water jet flow stored in the DDR memory 2, and compares and calculates with the quantized real-time water jet pressure and real-time water jet flow to obtain the water pressure deviation value and the flow deviation value; the ARM unit S12 generates a correction instruction using a derivative control algorithm according to the water pressure deviation value and the flow deviation value, and the FPGA unit S11 uses the DAC unit of the ADC / DAC conversion module 3 according to the correction instruction to output the corresponding control signal to the pressure regulating valve and / or flow valve of the vane pump until the water jet pressure and / or water jet flow reaches the preset value; After the waterway control module 4 controls the waterway to be stable, the laser control module 7 is started, and the laser is connected and controlled through the laser control interface S71; the ARM unit S12 receives the control instructions and laser parameters of the host computer through the communication interface 9, and starts the laser and modifies the parameters according to the process requirements; the control instructions include start instructions and shutdown instructions; the laser parameters include laser power, pulse frequency and duty cycle; the ARM unit S12 uses the derivative control algorithm to construct several laser process templates according to the laser parameters, and saves them in the DDR memory 2; the FPGA unit S11 calls the laser process template to set the laser parameters, and feeds back to the main controller 1 through the optical path sensor connected to the optical path sensor interface S72 for real-time adjustment; the ADC unit collects the feedback signal of the laser in real time, the FPGA unit S11 filters and corrects the feedback signal, and adjusts the control signal in real time after comparing it with the laser parameters to realize closed-loop control; the FPGA unit S11 calls the monitoring module of the fault detection interface 10 to monitor the laser fault: if the laser is abnormal , the monitoring module generates a corresponding fault code, and the protection module of the fault detection interface 10 sends the fault code to the ARM unit S12 to trigger an alarm; if the laser operates normally, the main controller 1 runs the optical path control module 6; the FPGA unit S11 performs edge detection and feature extraction on the image data collected by the industrial camera connected to the camera interface S61 of the optical path control module 6; the ARM unit S12 uses the image processing algorithm to measure the field of view clarity and laser spot of the industrial camera, and calculates the deviation value between the laser spot and the nozzle hole position, and generates a correction instruction according to the deviation value; the FPGA unit S11 uses the DAC unit to output the swing mirror drive signal and the focal length adjustment signal according to the correction instruction, and sends it to the swing mirror control interface S62 and the focus control interface S63 to control the clarity of the industrial camera; the two-dimensional swing mirror connected to the swing mirror control interface S62 adjusts the X and Y axis deflection angles of the swing mirror according to the swing mirror drive signal, and the focusing structure connected to the focus control interface S63 adjusts the spot focus according to the focal length adjustment signal, thereby realizing water-light coaxial coupling; After the water-optical coaxial coupling is completed, the protective gas circuit control module 5 starts to run and initializes the ADC / DAC conversion module 3; the ARM unit S12 receives the gas circuit parameters set by the host computer and stores them in the DDR memory 2, and the FPGA unit S11 detects the gas circuit sensor connected to the gas circuit sensor interface S51 and the pressure regulator connected to the pressure control interface S52 to ensure that the pressure regulator and the solenoid valve are in standby state; the gas circuit parameters include a preset gas pressure and a preset gas flow; the FPGA unit S11 drives the pressure regulator by outputting the corresponding analog signal through the DAC unit according to the preset gas circuit parameters stored in the DDR memory 2, and the ADC unit collects the gas pressure sensor data in real time and feeds it back to the FPGA unit S11 for closed-loop regulation to maintain a stable pressure; the ARM unit S12 sends a switch signal to the solenoid valve according to the preset gas flow to control the switch of the protective gas, and the FPGA monitors the feedback value of the gas flow sensor in real time, and compares it with the preset gas flow, and then adjusts the opening of the solenoid valve; When inputting several protective gases, the ARM unit S12 coordinates the linkage of several solenoid valves to realize the switching or mixing of several protective gas circuits. At the same time, the FPGA unit S11 monitors the gas pressure and gas flow after linkage in real time; the FPGA unit S11 performs high-frequency acquisition and abnormality detection on the gas circuit sensor data: if the protective gas circuit is abnormal, the protection module immediately closes the protective gas circuit and sends an alarm signal to the ARM unit S12; if the protective gas circuit is normal, the protective gas is output to the coupling unit gas chamber for processing.

Claims

1. A water-guided laser water-light-gas synergistic heterogeneous control board, characterized by: It comprises a main controller (1), a DDR memory (2), an ADC / DAC conversion module (3), a water path control module (4), a protective gas path control module (5), an optical path control module (6) and a laser control module (7); wherein: The main controller (1) is used to perform logic scheduling, communication transmission and signal decoding on external devices respectively connected to the water path control module (4), the protection gas path control module (5), the optical path control module (6) and the laser control module (7) in the control board according to the control sequence of water path-optical path and laser-protection gas path; the external devices include external sensors and a host computer; DDR memory (2), used for caching different types of data and control signals; the different types of data include image processing data, laser parameters, laser temperature, real-time laser power, water jet pressure and water jet flow rate; The ADC / DAC conversion module (3) is used to sample and convert the external sensor data collected by the water path control module (4), the protective gas path control module (5) and the laser control module (7) into digital signals, and convert the digital signals into control signals for output; the external sensors include water path sensors, gas path sensors and optical path sensors; A water channel control module (4), used to collect water channel sensor data, monitor the pressure and temperature of the water jet, and dynamically adjust the pressure of the water jet; A protective gas circuit control module (5) is used to collect gas circuit sensor data, monitor and adjust the pressure and flow of the protective gas, and select, mix and switch different protective gases; An optical path control module (6) is used to collect industrial camera data, adjust the industrial camera field of view and laser position, and adjust the laser spot and camera focal length; A laser control module (7), used to collect optical sensor data, monitor and control the power, pulse width and frequency of the laser; The main controller (1) is respectively connected to the DDR memory (2), the ADC / DAC conversion module (3), the water path control module (4), the protective gas path control module (5), the optical path control module (6) and the laser control module (7) through signal lines; the DDR memory (2) is connected to the ADC / DAC conversion module through signal lines; and the ADC / DAC conversion module is respectively connected to the water path control module (4), the protective gas path control module (5), the optical path control module (6) and the laser control module (7) through signal lines.

2. The water-guided laser water-light-gas synergistic heterogeneous control board according to claim 1 is characterized by: The main controller (1) comprises an FPGA unit (S11) and an ARM unit (S12); the FPGA unit (S11) and the ARM unit (S12) perform data exchange, data processing, real-time control and multi-task management via a high-speed bus AXI; the ARM unit (S12) is used to coordinate the operation of each functional module in the control board, process logic control tasks and realize external device communication; the functional modules include a DDR memory (2), an ADC / DAC conversion module (3), a water path control module (4), a protective gas path control module (5), an optical path control module (6) and a laser control module (7); and the FPGA unit (S11) is used for data flow and signal processing.

3. The water-guided laser water-light-gas synergistic heterogeneous control board according to claim 1 is characterized by: The ADC / DAC conversion module (3) comprises an ADC unit and a DAC unit; the ADC unit is used to perform high-speed sampling on external sensor data collected by the water circuit control module (4), the protective gas circuit control module (5) and the laser control module (7); the DAC unit is used to achieve high-precision output of control signals; the water circuit sensor comprises a liquid pressure sensor, a liquid flow sensor and a temperature sensor; the gas circuit sensor comprises a gas pressure sensor and a gas flow sensor; and the optical circuit sensor comprises an optical sensor and a laser power meter.

4. The water-guided laser water-light-gas synergistic heterogeneous control board according to claim 1 is characterized by: The water circuit control module (4) comprises a water circuit sensor interface (S41), a regulating interface (S42) and a solenoid valve control interface (S43); the water circuit sensor interface (S41) is connected to the water circuit sensor via a signal line; the regulating interface (S42) and the solenoid valve control interface (S43) are connected to the boost module and the solenoid valve of the vane pump via a signal line; The protective gas circuit control module (5) comprises a gas circuit sensor interface (S51), a pressure control interface (S52) and a gas control interface (S53); the gas circuit sensor interface (S51) is connected to the gas circuit sensor via a signal line; the pressure control interface (S52) is connected to the pressure regulator via a signal line; and the gas control interface (S53) is connected to a plurality of solenoid valves to control the switching, mixing and selection of a plurality of protective gases.

5. The water-guided laser water-light-gas synergistic heterogeneous control board according to claim 1 is characterized by: The optical path control module (6) comprises a camera interface (S61), a swing mirror control interface (S62) and a focus control interface (S63); the camera interface (S61) is connected to an industrial camera via a data line; the swing mirror control interface (S62) is connected to a control motor of a two-dimensional swing mirror via a signal line; and the focus control interface (S63) is connected to a focus structure via a signal line.

6. The water-guided laser water-light-gas synergistic heterogeneous control board according to claim 1 is characterized by: The laser control module (7) comprises a laser control interface (S71) and an optical path sensor interface (S72); the laser control interface (S71) is connected to the laser via a signal line; and the optical path sensor interface (S72) is connected to the optical path sensor via a signal line.

7. The water-guided laser water-light-gas synergistic heterogeneous control board according to claim 1 is characterized by: The collaborative heterogeneous control board also includes a debugging interface (8), a communication interface (9), a fault detection interface (10) and a power management and protection integrated chip (11); wherein: Debug interface (8) for developing, monitoring and troubleshooting the control board via JTAG or UART; A communication interface (9) is used for high-speed data transmission with an external device via USB, CAN and Ethernet communications; the communication interface (9) includes a high-speed serial interface and a multi-protocol compatible interface; A fault detection interface (10) is used to monitor and control the operating status of each module of the board and store fault codes; The fault detection interface (10) comprises a monitoring module and a protection module; the monitoring module is used to monitor the operating status of each module of the control board and generate a fault code for storage; the protection module is used to protect each module of the control board and send the fault code to the main controller (1); The power management and protection integrated chip (11) is used to provide multiple stable power outputs and power the control board and external sensors, realize overload protection, overcurrent protection and voltage abnormality response, and ensure safe and stable operation of the control board; The main controller (1) is respectively connected to the debugging interface (8), the communication interface (9), the fault detection interface (10) and the power management and protection integrated chip (11) through signal lines.

8. A water-guided laser water-light-gas synergistic heterogeneous control method, applied to the control board card according to any one of claims 1 to 7, characterized in that: The following steps are involved: H1: After the control board is connected to the external device, the water-guided laser processing equipment is turned on and the waterway control module (4) is started; the external device includes a host computer and an external sensor; the external sensor includes a waterway sensor, a gasway sensor and an optical path sensor; H2: The water circuit control module (4) opens the solenoid valve and the booster module of the vane pump to pump water according to the preset water jet pressure and water jet flow rate loaded by the host computer through the adjustment interface (S42) and the solenoid valve control interface (S43), and stores the preset water jet pressure and water jet flow rate in the DDR memory (2); H3: The FPGA unit (S11) of the main controller (1) receives the real-time water jet pressure and real-time water jet flow of the water channel through the water channel sensor interface (S41); H4: The ADC unit of the ADC / DAC conversion module (3) converts the real-time water jet pressure and the real-time water jet flow into corresponding digital signals, and the FPGA unit (S11) filters, corrects and quantizes the corresponding digital signals; H5: The ARM unit (S12) of the main controller (1) reads the preset water jet pressure and water jet flow rate stored in the DDR memory (2), and compares and calculates the water jet pressure and water jet flow rate with the quantified real-time water jet pressure and real-time water jet flow rate to obtain a water pressure deviation value and a flow deviation value; H6: The ARM unit (S12) generates a correction instruction using a derivative control algorithm according to the water pressure deviation value and the flow deviation value. The FPGA unit (S11) uses the DAC unit of the ADC / DAC conversion module (3) according to the correction instruction to output a corresponding control signal to the pressure regulating valve and / or flow valve of the vane pump until the water jet pressure and / or water jet flow reaches a preset value, at which time the water path is stable.

9. The water-light-gas synergistic heterogeneous control method of water-guided laser according to claim 8, characterized in that: The collaborative heterogeneous control method also The following steps are involved: H7: After the waterway control module (4) controls the waterway to be stable, the laser control module (7) starts up and connects and controls the laser through the laser control interface (S71); H8: The ARM unit (S12) receives control instructions and laser parameters from the host computer through the communication interface (9), and starts the laser and modifies the parameters according to the process requirements; the control instructions include start instructions and shutdown instructions; the laser parameters include laser power, pulse frequency and duty cycle; H9: The ARM unit (S12) uses the derivative control algorithm to construct several laser process templates according to the laser parameters and saves them in the DDR memory (2); H10: The FPGA unit (S11) calls the laser process template to set the laser parameters, and feeds back the parameters to the main controller (1) through the optical path sensor connected to the optical path sensor interface (S72) for real-time adjustment; H11: The ADC unit collects the feedback signal of the laser in real time. The FPGA unit (S11) filters and corrects the feedback signal, and adjusts the control signal in real time after comparing it with the laser parameters to achieve closed-loop control. H12: The FPGA unit (S11) calls the monitoring module of the fault detection interface (10) to perform fault monitoring on the laser: if the laser is abnormal, the monitoring module generates a corresponding fault code, and the protection module of the fault detection interface (10) sends the fault code to the ARM unit (S12) to trigger an alarm; If the laser operates normally, the main controller (1) operates the optical path control module (6); H13: the FPGA unit (S11) performs edge detection and feature extraction on the image data collected by the industrial camera connected to the camera interface (S61) of the optical path control module (6); H14: The ARM unit (S12) uses image processing algorithms to measure the field of view clarity and laser spot of the industrial camera, and calculates the deviation value between the laser spot and the nozzle hole position, and generates correction instructions based on the deviation value; H15: The FPGA unit (S11) uses the DAC unit to output the swing mirror drive signal and the focus adjustment signal according to the correction instruction, and sends them to the swing mirror control interface (S62) and the focus control interface (S63) to control the clarity of the industrial camera; H16: The two-dimensional swing mirror connected to the swing mirror control interface (S62) adjusts the X and Y axis deflection angles of the swing mirror according to the swing mirror driving signal. At the same time, the focusing structure connected to the focus control interface (S63) adjusts the focus of the light spot according to the focal length adjustment signal, thereby realizing water-light coaxial coupling.

10. The water-light-gas synergistic heterogeneous control method of water-guided laser according to claim 9, characterized in that: The collaborative heterogeneous control method further comprises the following steps: H17: After the water-light coaxial coupling is completed, the protection gas path control module (5) starts to run and initializes the ADC / DAC conversion module (3); H18: The ARM unit (S12) receives the gas path parameters set by the host computer and stores them in the DDR memory (2). The FPGA unit (S11) detects the gas path sensor connected to the gas path sensor interface (S51) and the pressure regulator connected to the pressure control interface (S52) to ensure that the pressure regulator and the solenoid valve are in a standby state. The gas path parameters include a preset gas pressure and a preset gas flow rate. H19: The FPGA unit (S11) drives the pressure regulator by outputting the corresponding analog signal through the DAC unit according to the preset gas path parameters stored in the DDR memory (2). The ADC unit collects the gas pressure sensor data in real time and feeds it back to the FPGA unit (S11) for closed-loop regulation to maintain a stable pressure. H20: The ARM unit (S12) sends a switch signal to the solenoid valve according to the preset gas flow rate to control the switch of the protective gas. The FPGA monitors the feedback value of the gas flow sensor in real time and compares it with the preset gas flow rate to adjust the opening of the solenoid valve. H21: When several protective gases are input, the ARM unit (S12) coordinates several solenoid valves to realize the switching or mixing of several protective gas paths, and the FPGA unit (S11) monitors the gas pressure and gas flow after linkage in real time; H22: The FPGA unit (S11) performs high-frequency acquisition and abnormality detection on the gas path sensor data: if the protective gas path is abnormal, the protection module immediately closes the protective gas path and sends an alarm signal to the ARM unit (S12); if the protective gas path is normal, the protective gas is output to the coupling unit gas chamber for processing.

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