Multi-axis laser head custom return to zero detection method, device, equipment and storage medium

Abstract

The present invention provides a multi-axis laser head custom return to zero detection method, device, equipment and storage medium, belonging to the field of laser processing control technology. The multi-axis laser head custom return to zero detection method of the present invention realizes a flexible, multi-axis laser head return to zero detection through user input of return to zero level, sorting, simulated return to zero trajectory, collision detection and interactive adjustment. Each step ensures that the sequence and path of the return to zero operation can avoid collision. The user can adjust the return to zero sequence according to feedback until an optimal return to zero sequence with no collision risk is determined, thereby avoiding accidental collisions caused by manual startup for debugging.

Description

Technical Field

[0001] The present invention relates to the field of laser processing control technology, and in particular to a method, device, equipment and storage medium for customizing zero return detection of a multi-axis laser head. Background Art

[0002] After a multi-axis laser head completes processing, it must trigger a home return function to return to its pre-processing position or to the pre-set zero point to ensure accuracy during subsequent processing. This home return function is a key technology for ensuring processing accuracy and equipment safety. Its core goal is to ensure that each axis of the laser head (such as the X / Y / Z axes, or even more complex multi-axis systems) accurately returns to its initial position or pre-set zero point after processing. Currently, three home return options are available for multi-axis laser heads: one-touch simultaneous home return, fixed sequence home return, and user-defined sequence home return.

[0003] When returning to zero simultaneously with one button, all axes move at the same time, lacking the dynamic perception and avoidance capabilities of path obstructions. If an axis is blocked and other axes are still moving, uneven force may be applied to the overall structure or a direct collision may occur. The order of returning to zero in a fixed sequence is fixed, and the path cannot be dynamically adjusted according to the actual working conditions. If an axis encounters an obstruction during the return to zero process, subsequent axes will still move in the preset order, which may cause a chain collision. Customized return to zero sequence can flexibly adjust the order and solve the above problems to a certain extent. However, especially when there are too many axes, the setting of the specific return to zero sequence requires continuous trial and error. During this test process, the axis speed may be too fast and there is no time to control the emergency stop, causing the laser head to collide with the material and mechanism. Summary of the Invention

[0004] The present invention provides a custom return-to-zero detection method and device for a multi-axis laser head, which is used to solve the defect in the prior art that the return-to-zero sequence is difficult to set when the number of axes is large, and achieves the effect of obtaining an accurate multi-axis return-to-zero sequence.

[0005] The present invention provides a custom return-to-zero detection method for a multi-axis laser head, which receives the user's initial input for each axis and determines the initial return-to-zero level of each axis;

[0006] The comparison function is used to determine the zero return order of each axis based on the initial zero return level of each axis and generate a zero return list;

[0007] Based on the zero return list, the state machine loop executes the zero return operation of each axis in sequence, and generates the zero return projections of each axis during the simulated zero return on the three planes in the spatial coordinate system;

[0008] Based on each zero return projection, determine whether the motion path of the laser head has a risk of collision with the material or the edge of the mechanism;

[0009] Prompt the user when there is a risk of collision;

[0010] Receive user input for modification of each axis, re-determine the corrected return to zero level and / or return to zero parameters for each axis, and update the return to zero list to re-execute the return to zero operation for each axis until all axes are returned to zero without collision risk, and obtain the final target return to zero level for each axis.

[0011] According to a method for detecting a multi-axis laser head returning to zero based on the return-to-zero projections, determining whether the motion path of the laser head has a risk of collision with the edge of a material or a mechanism includes:

[0012] Simulate the motion trajectory and rotation angle of each axis to obtain the zero-return projections of each axis in three planes during the zero-return motion;

[0013] Identify the projection range of the edge of the material or mechanism on three planes;

[0014] Based on the zero return projections of each axis in the three planes and the corresponding projection ranges of the material or mechanism edge in the three planes, it is determined whether the movement path of the laser head has a collision risk with the material or mechanism edge.

[0015] According to a multi-axis laser head custom return to zero detection method provided by the present invention, the traversal of all axes to return to zero is completed, including:

[0016] During the state machine loop, the return to zero list is traversed, and the return to zero level of each axis is confirmed to be the same as the current return to zero level, starting from the axis that starts the return to zero, and the return to zero command is sent.

[0017] After each return to zero operation, check whether the number of axes that have returned to zero is equal to the number of all axes in the return to zero list;

[0018] If they are not equal, update to the homing level of the next axis that needs homing and continue homing until the number of axes that have been checked is equal to the number of all axes in the homing list.

[0019] According to a multi-axis laser head custom return to zero detection method provided by the present invention, the return to zero operation of each axis is performed in sequence through a state machine cycle, including:

[0020] The state machine traverses each axis in the return to zero list in turn, and controls each axis to return to zero in turn.

[0021] According to a multi-axis laser head self-defined zero return detection method provided by the present invention, the range of the axis zero return projection on a plane is expressed as:

[0022] The left boundary value of the distance interval in the first direction is (sb) / a, and the right boundary value is [(sb) / a]+l·sin(n); the left boundary value of the distance interval in the second direction is bs, and the right boundary value is b-s+l·cos(n);

[0023] Wherein, the first direction is perpendicular to the second direction, s is the distance the axis moves on the plane, l is the overall length of the laser head, and n is the rotation angle of the axis; a is the slope, and b is the intercept, which are used to represent the offset of the laser head position.

[0024] According to a custom return-to-zero detection method for a multi-axis laser head provided by the present invention, the return-to-zero level is int type data, and the numerical value of the return-to-zero level is used to indicate that the return-to-zero order is to return to zero in ascending order of the return-to-zero level, and axes with the same return-to-zero level return to zero at the same time.

[0025] The present invention also provides a multi-axis laser head self-defined zero return detection device, comprising:

[0026] The receiving module is used to receive the user's initial input for each axis and determine the initial return to zero level of each axis;

[0027] Create a module for determining the order of returning to zero for each axis and generating a return to zero list based on the initial return to zero level of each axis using the created comparison function;

[0028] The first processing module is used to execute the zero return operation of each axis in sequence through a state machine loop based on the zero return list, and generate the zero return projections of each axis during the simulated zero return on three planes in the spatial coordinate system;

[0029] The second processing module is used to determine whether the motion path of the laser head has a risk of collision with the material or the edge of the mechanism based on each return-to-zero projection;

[0030] A prompt module is used to prompt the user when there is a risk of collision;

[0031] The third processing module is used to receive the user's modification input for each axis, re-determine the corrected return to zero level and / or return to zero parameters of each axis, and update the return to zero list to re-execute the return to zero operation of each axis until all axes are traversed and the return to zero is completed without collision risk, thereby obtaining the final target return to zero level of each axis.

[0032] The present invention also provides a multi-axis laser head custom zero return method, which controls each axis to return to zero based on the target zero return level determined by any of the multi-axis laser head custom zero return detection methods described above.

[0033] The present invention also provides an electronic device, comprising 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 method for detecting a multi-axis laser head by self-defined zero return is implemented as described in any one of the above.

[0034] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for detecting a multi-axis laser head using a self-defined zero return function is implemented.

[0035] The present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described methods for customizing zero return detection of a multi-axis laser head.

[0036] The multi-axis laser head custom return to zero detection method, device, equipment and storage medium provided by the present invention realize a flexible, multi-axis laser head return to zero detection through user input of return to zero level, sorting, simulated return to zero trajectory, collision detection and interactive adjustment. Each step ensures that the sequence and path of the return to zero operation can avoid collision. The user can adjust the return to zero sequence based on feedback until an optimal return to zero sequence with no collision risk is determined, thereby avoiding accidental collisions caused by manual startup and debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 This is one of the flow charts of the self-defined zero return detection method for a multi-axis laser head provided by the present invention;

[0039] Figure 2 This is the second flow chart of the self-defined zero return detection method for a multi-axis laser head provided by the present invention;

[0040] Figure 3 It is a schematic diagram of the process of the self-defined zero return method of the multi-axis laser head provided by the present invention;

[0041] Figure 4 It is a structural schematic diagram of the custom return-to-zero detection device for a multi-axis laser head provided by the present invention;

[0042] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0044] The following combination Figure 1-Figure 5 The present invention describes a method and device for detecting a custom zero return of a multi-axis laser head. The method can be applied to a laser processing system, which can include a processor or a control unit to specifically execute the method.

[0045] like Figure 1 As shown, the multi-axis laser head customized return-to-zero detection method according to an embodiment of the present invention mainly includes step 110 , step 120 , step 130 , step 140 , step 150 and step 160 .

[0046] Step 110 : receiving the user's initial input for each axis and determining the initial zero return level of each axis.

[0047] The user sets the homing level for each axis through user input. The homing level can be an integer, which can be positive, negative or zero, and determines the order of homing.

[0048] The initial homing level is stored as the initial homing sequence for the axis. By receiving and storing the user-entered data, the homing sequence can be correctly processed in subsequent steps.

[0049] For example, the user enters the zero return level of each axis, such as the zero return level of axis 1 is 1, the zero return level of axis 2 is -1, and the zero return level of axis 3 is 0.

[0050] In some implementations, the return-to-zero level is int type data, and the value of the return-to-zero level is used to indicate that the return-to-zero order is to return to zero in ascending order of the return-to-zero level, and axes with the same return-to-zero level return to zero at the same time.

[0051] The value of the zero return level determines the execution order of the axes. The smaller the value, the higher the priority and the earlier the axis returns to zero. The larger the value, the lower the priority and the later the axis returns to zero. Axes with the same zero return level will return to zero at the same time.

[0052] The system will perform the homing operation in the order of the homing level from smallest to largest. For example, the axis with homing level 1 will be homed first, followed by the axis with level 2, and so on.

[0053] If the homing level of multiple axes is the same, they will be homed at the same time. For example, if the homing level of two axes is 2, they will start homing at the same time.

[0054] Assume there are three axes and their home levels as follows:

[0055] Axis A: Zero return level is 1; Axis B: Zero return level is 2; Axis C: Zero return level is 2. The zero return order can be set as follows.

[0056] In the first step, axis A returns to zero (because its zero return level is the smallest). In the second step, axes B and C return to zero simultaneously (because their zero return levels are the same).

[0057] The homing level is an int value that indicates the homing sequence and synchronization of a multi-axis laser head. By assigning each axis a homing level, the system can return to zero sequentially from smallest to largest, while also supporting synchronized homing of axes of the same level. This provides both flexibility and efficiency, making it suitable for complex multi-axis systems.

[0058] In step 120 , the created comparison function is used to determine the zero return order of each axis based on the initial zero return level of each axis and generate a zero return list.

[0059] Compare the home level of each axis using a created comparison function, such as CompareTo. This function sorts the axes by their home level and determines the home order. Based on the sorting results, the system generates a home list. Each element in the list represents an axis, and the elements are sorted from smallest to largest home level (axes with the same home level are returned to home together).

[0060] Each axis has a home level, which is an integer value set by the user for each axis.

[0061] To sort the axis homing order by homing level, a comparison function is required. This comparison function determines which axis should be homed first based on the homing level of each axis. Specifically, the comparison function compares the homing levels of two axes.

[0062] For example, if the homing level of one axis is less than that of another axis, a negative number is returned, indicating that the axis should be ranked first. If the homing levels of two axes are the same, their order is the same and homing operations can be performed in parallel.

[0063] The comparison function can be defined as an implementation of the IComparable interface. For example, a ToZeroAxis class is set up to represent each axis and implement the IComparable interface. After the user sets the zero return level for each axis, a zero return list (List <tozeroaxis>), storing the home information (axis name and home level) for all axes in this list. Each element in this list is a ToZeroAxis object. Using the previously defined comparison function (CompareTo), the axes in the home list can be sorted. The sorting is based on each axis's home level, with axes with lower home levels placed first. The list can be sorted by calling the List.Sort method. After sorting, the axes in the home list are sorted in ascending order by home level. The order of the list determines the order of the home operations: axes with lower home levels will be returned to home first, and axes with higher home levels will be returned to home last.

[0064] Step 130 : Based on the zero return list, the zero return operation of each axis is executed in sequence through a state machine loop, and zero return projections of each axis during simulated zero return are generated on three planes in the spatial coordinate system.

[0065] In some embodiments, the execution of the return to zero operation can be controlled by a state machine, which sequentially traverses each axis in the return to zero list and controls each axis to return to zero in sequence.

[0066] Based on the zero return process of each axis, the zero return projection of each axis is generated on the three planes of the spatial coordinate system (XY, XZ, ZY). These projections represent the trajectory of the laser head when it moves and reflect the position changes of different axes during the zero return process.

[0067] For example, on the XY plane, the zero return projection of the X axis is a straight line along the X axis direction, the zero return projection of the Y axis is a straight line along the Y axis direction, and the Z axis is a straight line along the Z axis direction.

[0068] Step 140 : Based on each zero return projection, determine whether the motion path of the laser head has a risk of collision with the material or the edge of the mechanism.

[0069] The system uses the generated projection path to check whether the laser head's motion will collide with the material or the edge of the structure. This can be determined by combining the motion trajectory of each axis with the position of surrounding objects.

[0070] In some embodiments, collision detection can be performed by simulating the laser head's motion path during the zero return process and detecting collisions with the edge of the material or structure to determine if there is a collision risk. If the laser head moves along the X-axis during the zero return process and the X-axis zero return trajectory coincides with or approaches the edge of the material, a collision may have occurred.

[0071] In other embodiments, Figure 2 As shown, based on each return-to-zero projection, it is determined whether the motion path of the laser head has a risk of collision with the material or the edge of the mechanism, including step 141, step 142 and step 143.

[0072] Step 141 , simulating the motion trajectory and rotation angle of each axis to obtain the zero-return projections of each axis in three planes during the zero-return motion;

[0073] Step 142, identifying the projection ranges of the material or structure edge corresponding to the three planes;

[0074] Step 143 : Based on the zero return projections of each axis in the three planes and the corresponding projection ranges of the material or mechanism edge in the three planes, determine whether the movement path of the laser head has a collision risk with the material or mechanism edge.

[0075] During the laser head's zero return process, each axis moves along a certain direction or path. Based on the axis's zero return path (which may be a straight line or curve along the X, Y, or Z axis) and the rotation angle (which may be the rotation or rotation of the laser head), the system simulates how the laser head moves in space during the zero return process for each axis.

[0076] To simplify calculations, the system maps these motion trajectories onto three plane coordinate systems (usually the XY, XZ, and ZY planes). Each axis's home path forms a projection on these three planes: the XY plane projection represents the laser head's motion trajectory on the XY plane; the XZ plane projection represents the laser head's motion trajectory on the XZ plane; and the ZY plane projection represents the laser head's motion trajectory on the ZY plane.

[0077] For example, assuming that the laser head returns to zero along the X axis and rotates by an angle of n, then its motion trajectory on the XY plane is a straight line along the X axis, and the movement of the Z axis will affect the projection on the XZ plane and the ZY plane.

[0078] During zero return, materials or structures (such as machinery, equipment, and workbenches) also have corresponding edges, and the positions of these edges in space must be identified. To compare with the laser head's motion trajectory, the system projects these edges onto three plane coordinate systems. Each plane has a projection range for the edge, indicating the potential collision risk of the material or structure edge on that plane during the zero return path.

[0079] The edge projection on the XY plane describes the edge position of the material or mechanism in the XY plane; the edge projection on the XZ plane describes the edge position of the material or mechanism in the XZ plane; the edge projection on the ZY plane describes the edge position of the material or mechanism in the ZY plane.

[0080] For example, assume that the projection of the edge of a material on the XZ plane is a line segment representing the position of the edge of the material in the XZ plane.

[0081] Finally, the system can determine whether there is a collision risk by comparing the laser head's zero return path projection with the edge projection of the material or mechanism. Specifically, the system compares the zero return projection of each axis with the edge projection of the material or mechanism in each plane.

[0082] If the projection of the laser head's return path overlaps or is close to the edge projection of the material or mechanism, a collision may occur. If the projection does not overlap or is far enough away, it means that the laser head's path is safe and will not collide with the edge.

[0083] By comparing the zero return projection with the edge projection one by one in three planes (XY, XZ, ZY), the system can comprehensively determine whether the laser head will collide during the zero return process.

[0084] For example, suppose the laser head's zero return path moves along the X-axis on the XY plane, and the edge of the material is a vertical line segment on the XY plane. If the laser head moves along the X-axis during zero return, its projection on the XY plane will overlap with the projection of the material edge, resulting in a collision. If the laser head's movement path stays away from the material edge, a collision will not occur.

[0085] The same logic is applied to the XZ and ZY planes, ensuring that the laser head's homing motion in all planes will not collide with the edge of the material or the mechanism.

[0086] In some embodiments, the range of the back-to-zero projection of an axis on a plane is expressed as:

[0087] The left boundary value of the distance interval in the first direction is (sb) / a, and the right boundary value is [(sb) / a]+l·sin(n); the left boundary value of the distance interval in the second direction is bs, and the right boundary value is b-s+l·cos(n);

[0088] Wherein, the first direction is perpendicular to the second direction, s is the distance the axis moves on the plane, l is the overall length of the laser head, and n is the rotation angle of the axis; a is the slope, and b is the intercept, which are used to represent the offset of the laser head position.

[0089] Based on the data of the material and mechanism, the system generates the edge projection of the material or mechanism on each plane.

[0090] The trajectory of the laser head is described by its axis and rotation angle. The trajectory of the laser head is a straight line on a plane, in the form of: y = ax + b, where a is the slope and b is the intercept, representing the offset of the laser head position.

[0091] The laser head rotates by an angle of n, which affects its position on the plane. When the laser head moves along the XY plane, the actual distance traveled is s, so the formula becomes: y = ax + bs. Here, s is the distance the laser head moves along the XY plane. Next, the system determines whether the laser head's trajectory intersects the projected edge of the material. If so, this means the laser head will collide with the material during zero return, resulting in processing errors. Therefore, the system prompts the user to make adjustments to ensure that the zero return sequence does not cause a collision.

[0092] In this example, the correctness of the zero return sequence is verified by generating three plane coordinate systems, calculating the zero return trajectory for each axis, and determining whether the trajectory intersects the projected edge of the material. This simulation method can detect potential errors before the actual zero return, avoiding accidents caused by manual debugging.

[0093] Specifically, after the user sets the zero return level for each axis, they can first click the Simulate button. The program will generate the XY plane, XZ plane, and ZY plane and establish three plane coordinate systems. The edge of the mechanism can be used as the zero point, and the edge projections of the corresponding three surfaces can be generated based on the material data. The line y = ax + b is generated based on the central axis and rotation angle of the laser head. The overall length of the laser head is l, and the rotation angle is n. When the distance s is moved on the XY plane, the function will become y = ax + bs based on the distance moved. At this time, it is determined whether the line intersects with the projected edge generated by the material data in the range from (sb) / a to [(sb) / a] + l·sin (n) in the x direction and from bs to b-s + l·cos (n) in the y direction. If an intersection occurs, it means that the order is incorrect and needs to be adjusted, and a prompt will be given.

[0094] Step 150: Prompt the user if there is a collision risk.

[0095] If a collision risk is detected during these steps, the system will immediately warn the user that the return path may collide with surrounding objects. After receiving the warning, the user can choose to modify the return parameters, adjust the return sequence of the axes, or make other adjustments to avoid the collision.

[0096] For example, the system may prompt "The X-axis zero return path collides with the edge of the material. Please adjust the zero return sequence or path."

[0097] Step 160 receives the user's modification input for each axis, re-determines the corrected return to zero level and / or return to zero parameters for each axis, and updates the return to zero list to re-execute the return to zero operation for each axis until all axes are traversed and the return to zero is completed without collision risk, thereby obtaining the final target return to zero level for each axis.

[0098] If there's a collision risk, the user can modify the return-to-home level or adjust other parameters. These changes affect the return-to-home sequence and trajectory. User modifications update the return-to-home list, recalculating the sort order based on the new return-to-home level. The system will retry the return-to-home operation on the updated return-to-home list until the return-to-home operation is complete without any collision risk.

[0099] After multiple modifications and adjustments, the zero return levels finally determined by the user are the target zero return levels for each axis. These target zero return levels are the final zero return sequence to ensure collision-free operation.

[0100] For example, if the original X-axis and Y-axis zero return paths collide, the user can adjust their zero return levels, making the X-axis zero return level smaller than the Y-axis, thereby changing the zero return order until the collision is eliminated.

[0101] According to the custom return-to-zero detection method for a multi-axis laser head provided by an embodiment of the present invention, a flexible, multi-axis laser head return-to-zero detection is achieved through user input of return-to-zero level, sorting, simulated return-to-zero trajectory, collision detection and interactive adjustment. Each step ensures that the sequence and path of the return-to-zero operation can avoid collisions. The user can adjust the return-to-zero sequence based on feedback until an optimal return-to-zero sequence with no collision risk is determined, thereby avoiding accidental collisions caused by manual startup for debugging.

[0102] In some embodiments, traversing all axes and returning to zero is completed, including the following process.

[0103] The return to zero list can be traversed during the state machine loop process. Starting from the axis that starts to return to zero, it is determined that the return to zero level set for each axis is the same as the current return to zero level. The return to zero operation of the current axis is determined to start, and a return to zero command is sent. After each return to zero operation, it is checked whether the number of axes that have returned to zero is equal to the number of all axes in the return to zero list. If they are not equal, the return to zero level is updated to the next axis that needs to return to zero, and the return to zero is continued until it is checked that the number of axes that have returned to zero is equal to the number of all axes in the return to zero list.

[0104] In one example, user input can be received and sorted for the homing order. Based on the homing level, the system uses a comparison function (CompareTo) to sort all axes. This sorted homing list determines the order in which each axis is homed. This sorted list ensures that homing is performed in ascending homing level order, allowing axes with the same homing level to be homed simultaneously.

[0105] The homing process is controlled by a state machine, with the initial state being 100, indicating preparation for homing. In state 100, the system iterates through the homing list, starting with the axis currently homing, and checks whether the homing level of each axis is the same as the current homing level (NowToZeroLevel). If they are, the homing process for that axis begins, and the number of axes requiring homing increases, indicating that multiple axes can be homed simultaneously.

[0106] If the homing level does not match, the state machine jumps to another state, indicating that the homing command begins. In the other state, the system will traverse the axes that need to be homed (HomeNum axes) in turn and determine whether the Excec flag of each axis is true, that is, whether it is ready to return to home.

[0107] If the axis is ready to return to home, the system sends a return to home command and sets the Excec flag of the axis to false, indicating that the return to home command has been sent for the axis. After the return to home command is sent, the HomedNum number of axes that have returned to home increases, indicating the number of axes that have completed home return, and HomeNum is reset to 0.

[0108] After each homing operation, the system checks whether HomedNum is equal to the number of axes in the homing list. If so, homing has been completed for all axes, and the homing process is complete. If homing is not yet complete, NowToZeroLevel is updated to the homing level of the next axis to be homed, and the state machine reenters state 100 to continue homing.

[0109] During the zero return process, the system checks the zero return trajectory of each axis for collisions with the material or the edge of the mechanism. If there is a risk of collision, the system prompts the user to make adjustments, modify the zero return level or zero return sequence, and re-execute the zero return operation until all axes have returned to zero without collision risk.

[0110] When all axes have completed homing and there is no risk of collision, the system obtains the target homing level for each axis, which represents the final homing sequence for each axis.

[0111] like Figure 3 As shown, the following describes a method for customizing zero return for a multi-axis laser head according to an embodiment of the present invention. This method can control the zero return of each axis based on the target zero return level determined by any of the above-mentioned methods for customizing zero return detection for a multi-axis laser head. The specific steps are as follows.

[0112] Enter the zero return level for each axis: Open an input box corresponding to each axis and allow the user to enter the zero return level for each axis. The zero return level is an int type data with an initial value of 0. It can be non-contiguous and can be negative. The user is prompted to return to zero in ascending order of zero return level. Axis units with the same zero return level will return to zero at the same time. You can enter the target zero return level determined by any of the above multi-axis laser head custom zero return detection methods.

[0113] Create a comparison function: Create an IComparable inherited class named ToZeroAxis, which contains the axis name AxisName of each axis, the axis return to zero level ToZeroLevel, whether the axis Excec is during the return to zero process (initially false), and a custom comparison scheme CompareTo function.

[0114] Sort by axis return-to-zero level: When the user clicks the return-to-zero button, create a List, add the ToZeroAxis class variables corresponding to the axes enabled by the user, and pass the axis name and return-to-zero level to each variable. Then call the sort function to sort the variables in ascending order using the custom comparison scheme, the CompareTo function.

[0115] Create a state machine loop: Create the current state nStateID with an initial value of 100, the current return to zero level NowToZeroLevel (the initial value is the return to zero level of the first ToZeroAxis class variable in the List list), the number of axes that need to return to zero HomeNum (the initial value is 0) and the number of axes that have returned to zero HomedNum (the initial value is 0), and enter the return to zero process state machine loop.

[0116] Determine the number of returns to zero: When the state is 100, start traversing the List list from HomedNum to determine whether the return to zero level of each ToZeroAxis class is equal to the current return to zero level. If they are equal, the number of returns to zero required, HomeNum, is increased by one, and the return to zero process of the current ToZeroAxis class is set to true. If they are not equal, the traversal is exited and the state machine becomes 150.

[0117] Determine whether the return to zero is complete: When the status is 150, start at HomedNum and traverse the HomeNum items in the List list. If the Excec of each ToZeroAxis class is true, send a return to zero command to the axis corresponding to AxisName to the PLC and set the Excec of this axis to false. After the traversal is complete, increase HomedNum by HomeNum and then set HomeNum to 0. Determine whether the number of axes that have returned to zero, HomedNum, is equal to the number of elements in the List list. If so, it means that all axes have returned to zero, and the return to zero process ends. Otherwise, set the current return to zero level, NowToZeroLevel, to equal the return to zero level, ToZeroLevel, of the HomedNum+1th element in the List list, and then set the state machine to 100.

[0118] The following describes the multi-axis laser head custom return to zero detection device provided by the present invention. The multi-axis laser head custom return to zero detection device described below and the multi-axis laser head custom return to zero detection method described above can be referenced to each other.

[0119] like Figure 4 As shown, the multi-axis laser head custom return to zero detection device according to the embodiment of the present invention mainly includes a receiving module 410, a creation module 420, a first processing module 430, a second processing module 440, a prompt module 450 and a third processing module 460.

[0120] The receiving module 410 is used to receive the user's initial input for each axis and determine the initial return to zero level of each axis;

[0121] The creation module 420 is used to determine the order of returning to zero of each axis and generate a return to zero list based on the initial return to zero level of each axis using the created comparison function;

[0122] The first processing module 430 is used to execute the zero return operation of each axis in sequence through a state machine loop based on the zero return list, and generate the zero return projections of each axis during the simulated zero return on three planes in the spatial coordinate system;

[0123] The second processing module 440 is used to determine whether the motion path of the laser head has a risk of collision with the material or the edge of the mechanism based on each return-to-zero projection;

[0124] The prompt module 450 is used to prompt the user when there is a collision risk;

[0125] The third processing module 460 is used to receive the user's modification input for each axis, re-determine the corrected return to zero level and / or return to zero parameters of each axis, and update the return to zero list to re-execute the return to zero operation of each axis until all axes are traversed and the return to zero is completed without collision risk, thereby obtaining the final target return to zero level of each axis.

[0126] The multi-axis laser head custom return-to-zero detection device provided by an embodiment of the present invention realizes a flexible, multi-axis laser head return-to-zero detection through user input of return-to-zero level, sorting, simulated return-to-zero trajectory, collision detection and interactive adjustment. Each step ensures that the sequence and path of the return-to-zero operation can avoid collisions. The user can adjust the return-to-zero sequence based on feedback until an optimal return-to-zero sequence with no collision risk is determined, thereby avoiding accidental collisions caused by manual startup for debugging.

[0127] Figure 5 An example of a physical structure diagram of an electronic device is shown below. Figure 5 As shown, the electronic device may include: a processor (processor) 510, a communication interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call the logic instructions in the memory 530 to execute a custom return-to-zero detection method for a multi-axis laser head, the method including: receiving the user's initial input for each axis, and determining the initial return-to-zero level of each axis; using the created comparison function to determine the order of returning to zero for each axis based on the initial return-to-zero level of each axis and generate a return-to-zero list; based on the return-to-zero list, executing the return-to-zero operation of each axis in sequence through a state machine loop, and generating each return-to-zero projection of each axis during simulated return-to-zero on three planes in the spatial coordinate system; based on each return-to-zero projection, judging whether there is a risk of collision between the motion path of the laser head and the edge of the material or mechanism; prompting the user if there is a risk of collision; receiving the user's modification input for each axis, re-determining the corrected return-to-zero level and / or return-to-zero parameters of each axis, and updating the return-to-zero list to re-execute the return-to-zero operation of each axis until all axes are traversed and the return to zero is completed and there is no collision risk, thereby obtaining the final target return-to-zero level of each axis.

[0128] Furthermore, the logic instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0129] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the multi-axis laser head custom return to zero detection method provided by the above methods, the method including: receiving the user's initial input for each axis, determining the initial return to zero level of each axis; using the created comparison function to determine the order of returning to zero for each axis based on the initial return to zero level of each axis and generating a return to zero list; based on the return to zero list, executing the return to zero operation of each axis in sequence through a state machine loop, generating each return to zero projection of each axis during simulated return to zero on three planes in the spatial coordinate system; based on each return to zero projection, judging whether there is a risk of collision between the motion path of the laser head and the edge of the material or mechanism; prompting the user if there is a risk of collision; receiving the user's modification input for each axis, re-determining the corrected return to zero level and / or return to zero parameters of each axis, and updating the return to zero list to re-execute the return to zero operation of each axis until there is no collision risk after traversing all axes and completing the return to zero, thereby obtaining the final target return to zero level of each axis.

[0130] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the multi-axis laser head custom return to zero detection method provided by the above-mentioned methods, the method comprising: receiving the user's initial input for each axis, and determining the initial return to zero level of each axis; using the created comparison function to determine the order of returning to zero of each axis based on the initial return to zero level of each axis and generate a return to zero list; based on the return to zero list, executing the return to zero operation of each axis in sequence through a state machine loop, and generating each return to zero projection of each axis during simulated return to zero on three planes in the spatial coordinate system; based on each return to zero projection, judging whether there is a risk of collision between the motion path of the laser head and the edge of the material or mechanism; prompting the user if there is a risk of collision; receiving the user's modification input for each axis, re-determining the corrected return to zero level and / or return to zero parameters of each axis, and updating the return to zero list to re-execute the return to zero operation of each axis until there is no collision risk after traversing all axes and completing the return to zero, thereby obtaining the final target return to zero level of each axis.

[0131] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0132] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0133] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.< / tozeroaxis>

Claims

1. A multi-axis laser head self-defined zero return detection method, characterized in that: include: Receive the user's initial input for each axis and determine the initial return-to-zero level for each axis. The return-to-zero level is an int type data. The value of the return-to-zero level is used to indicate the return-to-zero order. Axes with the same return-to-zero level return to zero at the same time. Using the created comparison function, based on the initial return-to-zero level of each axis, the order of returning to zero of each axis is determined and a return-to-zero list is generated, wherein each element in the return-to-zero list represents an axis and each element is sorted in ascending order according to the initial return-to-zero level; Based on the zero return list, the state machine loop executes the zero return operation of each axis in sequence, and generates the zero return projections of each axis during the simulated zero return on the three planes in the spatial coordinate system; Based on each zero return projection, determine whether the motion path of the laser head has a risk of collision with the material or the edge of the mechanism; Prompt the user when there is a risk of collision; Receive user input for modification of each axis, re-determine the corrected zero return level and / or zero return parameters for each axis, and update the zero return list to re-execute the zero return operation for each axis until all axes have been zeroed without collision risk, and obtain the final target zero return level for each axis; The process of judging whether the motion path of the laser head has a risk of collision with the edge of the material or the mechanism based on each zero return projection includes: Simulate the motion trajectory and rotation angle of each axis to obtain the zero-return projections of each axis in three planes during the zero-return motion; Identify the projection range of the edge of the material or mechanism on three planes; Based on the zero return projections of each axis in the three planes and the corresponding projection ranges of the material or mechanism edge in the three planes, it is determined whether the trajectory of the laser head intersects with the projected edge of the material and whether there is a risk of collision between the movement path of the laser head and the material or mechanism edge; On a plane, the range of the axis's zero projection is expressed as: The left boundary value of the distance interval in the first direction is (sb) / a, and the right boundary value is [(sb) / a]+l·sin(n); the left boundary value of the distance interval in the second direction is bs, and the right boundary value is b-s+l·cos(n); Among them, the first direction is perpendicular to the second direction, s is the moving distance of the axis on the plane, l is the overall length of the laser head, and n is the rotation angle of the axis; a is the slope of the straight line y=ax+b generated by the central axis of the laser head and the rotation angle, and b is the intercept of the straight line y=ax+b generated by the central axis of the laser head and the rotation angle, which is used to represent the offset of the laser head position.

2. The multi-axis laser head self-defined zero return detection method according to claim 1, characterized in that: The traversal of all axes to zero is completed, including: During the state machine loop, the return to zero list is traversed, and the return to zero level of each axis is confirmed to be the same as the current return to zero level, starting from the axis that starts the return to zero, and the return to zero command is sent. After each return to zero operation, check whether the number of axes that have returned to zero is equal to the number of all axes in the return to zero list; If they are not equal, update to the homing level of the next axis that needs homing and continue homing until the number of axes that have been checked is equal to the number of all axes in the homing list.

3. The multi-axis laser head self-defined zero return detection method according to claim 1, characterized in that: The state machine loop sequentially executes the zero return operation of each axis, including: The state machine traverses each axis in the return to zero list in turn, and controls each axis to return to zero in turn.

4. A multi-axis laser head self-defined zero return detection device, characterized in that: include The receiving module is used to receive the user's initial input for each axis and determine the initial return-to-zero level of each axis. The return-to-zero level is an int type data. The value of the return-to-zero level is used to indicate the return-to-zero order. Axes with the same return-to-zero level return to zero at the same time. Create a module for determining the order of returning to zero for each axis based on the initial return to zero level of each axis using the created comparison function and generating a return to zero list, wherein each element in the return to zero list represents an axis and each element is sorted from small to large according to the initial return to zero level; The first processing module is used to execute the zero return operation of each axis in sequence through a state machine loop based on the zero return list, and generate the zero return projections of each axis during the simulated zero return on three planes in the spatial coordinate system; The second processing module is used to determine whether the motion path of the laser head has a risk of collision with the material or the edge of the mechanism based on each return-to-zero projection; A prompt module is used to prompt the user when there is a risk of collision; The third processing module is configured to receive user input for modifying each axis, re-determine the corrected return-to-home level and / or return-to-home parameters for each axis, and update the return-to-home list to re-execute the return-to-home operation for each axis until all axes have been returned to home without collision risk, thereby obtaining the final target return-to-home level for each axis. The process of judging whether the motion path of the laser head has a risk of collision with the edge of the material or the mechanism based on each zero return projection includes: Simulate the motion trajectory and rotation angle of each axis to obtain the zero-return projections of each axis in three planes during the zero-return motion; Identify the projection range of the edge of the material or mechanism on three planes; Based on the zero return projections of each axis in the three planes and the corresponding projection ranges of the material or mechanism edge in the three planes, it is determined whether the trajectory of the laser head intersects with the projected edge of the material and whether there is a risk of collision between the movement path of the laser head and the material or mechanism edge; On a plane, the range of the axis's zero projection is expressed as: The left boundary value of the distance interval in the first direction is (sb) / a, and the right boundary value is [(sb) / a]+l·sin(n); the left boundary value of the distance interval in the second direction is bs, and the right boundary value is b-s+l·cos(n); Among them, the first direction is perpendicular to the second direction, s is the moving distance of the axis on the plane, l is the overall length of the laser head, and n is the rotation angle of the axis; a is the slope of the straight line y=ax+b generated by the central axis of the laser head and the rotation angle, and b is the intercept of the straight line y=ax+b generated by the central axis of the laser head and the rotation angle, which is used to represent the offset of the laser head position.

5. A custom zero return method for a multi-axis laser head, characterized in that: The method controls each axis to return to zero based on the target return to zero level determined by the multi-axis laser head customized return to zero detection method according to any one of claims 1 to 3.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the program, the multi-axis laser head customized return to zero detection method as described in any one of claims 1 to 3 is implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for self-defined zero return detection of a multi-axis laser head as claimed in any one of claims 1 to 3 is implemented.

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