Lithium battery multi-axis linkage rotary laser processing control method and related equipment

Abstract

The present invention relates to a multi-axis linkage rotary laser processing control method and related equipment for lithium batteries, including the following steps: performing three-dimensional modeling based on the battery surface image to obtain a battery three-dimensional model; mapping the vectorized engraving pattern information to a predetermined area within the battery three-dimensional model to obtain engraving pattern information; performing laser processing path planning based on the engraving pattern information and the battery three-dimensional model to obtain a planned processing path; obtaining multi-axis linkage rotary laser device motion control instructions for each axis of the target lithium battery based on the planned processing path; and controlling the output power of the multi-axis linkage rotary laser device in real time based on the motion control instructions for each axis to obtain stable laser power control parameters, solving the technical problems that traditional processing methods have many limitations in terms of accuracy, efficiency, and adaptation to complex shapes and are difficult to meet the requirements of modern industry for high quality and high precision.

Description

Technical Field

[0001] The present invention relates to the technical field of laser multi-axis linkage processing, and in particular to a lithium battery multi-axis linkage rotary laser processing control method and related equipment. Background Art

[0002] With the popularity of electric vehicles and portable electronic devices, the importance of lithium batteries as high-efficiency energy storage devices has become increasingly prominent. In order to improve the safety and performance of lithium batteries, every link in the manufacturing process is crucial, especially the battery surface treatment technology. Traditional processing methods have many limitations in terms of accuracy, efficiency, and adaptability to complex shapes, and it is difficult to meet the high quality and high precision requirements of modern industry. In addition, traditional methods usually involve chemical etching or mechanical engraving, which may not only introduce impurities and affect the electrochemical properties of the battery, but also easily cause material waste and environmental pollution during the processing process. Therefore, exploring a surface processing technology that can achieve precise, non-destructive and environmentally friendly has become an urgent need for the development of the industry.

[0003] As a non-contact advanced manufacturing technology, laser processing has shown great potential in many fields with its high precision, high flexibility and wide applicability. However, when applying laser to the surface processing of lithium batteries, there are challenges such as how to ensure that the laser beam accurately tracks complex surfaces and how to avoid overheating and damage to the internal structure of the battery. Especially for multi-axis linkage rotation processing, precise control of the relative movement between the laser path and the battery surface is the key. Existing laser processing systems often lack effective three-dimensional modeling and pattern recognition functions, and cannot fully consider the actual geometric shape of the battery and the specific requirements of the required engraving pattern, which leads to unstable processing results and limits the widespread application of laser processing technology in the field of lithium battery manufacturing.

[0004] In order to solve the above problems, a multi-axis linkage rotary laser processing control method for lithium batteries based on an optical imaging system is proposed. This method realizes an integrated process from battery surface image acquisition to three-dimensional model construction and then to engraving pattern recognition by introducing advanced imaging technology and intelligent algorithms. On this basis, through in-depth analysis of the battery three-dimensional model and engraving pattern information, the optimal laser processing path can be planned, and the motion control instructions for each axis required by the multi-axis linkage rotary laser equipment can be generated accordingly. At the same time, the laser output power is adjusted in real time to maintain stability, ensuring that the processing process is both safe and efficient. This method not only improves processing accuracy and efficiency, but also provides the possibility of personalized customization, thereby promoting the development of lithium battery manufacturing towards intelligence. Summary of the invention

[0005] The main purpose of the present invention is to provide a lithium battery multi-axis linkage rotary laser processing control method and related equipment, which solves the technical problem that traditional processing methods have many limitations in accuracy, efficiency and adaptability to complex shapes, and are difficult to meet the requirements of modern industry for high quality and high precision.

[0006] To achieve the above object, the present invention provides a lithium battery multi-axis linkage rotary laser processing control method, comprising the following steps:

[0007] Performing surface imaging of a target lithium battery through an optical imaging system to obtain a battery surface image, and performing three-dimensional modeling based on the battery surface image to obtain a battery three-dimensional model;

[0008] Acquire the created vectorized engraving pattern information from a preset database, and map the vectorized engraving pattern information to a predetermined area in the battery three-dimensional model to obtain the engraving pattern information;

[0009] Perform laser processing path planning based on the engraving pattern information and the battery three-dimensional model to obtain a planned processing path;

[0010] Based on the planned processing path, a motion control instruction of each axis of the multi-axis linkage rotating laser device on the target lithium battery is obtained;

[0011] Based on the motion control instructions of each axis, the output power of the multi-axis linkage rotating laser device is controlled in real time to obtain a laser power stability control parameter.

[0012] Furthermore, the target lithium battery is imaged by an optical imaging system to obtain a battery surface image, and three-dimensional modeling is performed based on the battery surface image to obtain a battery three-dimensional model, including:

[0013] Scanning the target lithium battery through an optical imaging system to obtain three-dimensional point cloud data of the surface of the target lithium battery;

[0014] Performing Poisson surface reconstruction on the three-dimensional point cloud data to obtain three-dimensional model data of the target lithium battery surface; wherein the three-dimensional model data includes surface contour, curvature and height information;

[0015] Using a non-rigid registration algorithm to perform deformation correction on the three-dimensional model data to obtain corrected three-dimensional model data, and using the corrected three-dimensional model data as a battery surface image;

[0016] Virtually unfolding the corrected three-dimensional model data to obtain a two-dimensional unfolded view;

[0017] Performing stress analysis on the two-dimensional development diagram by a preset finite element analysis method to obtain stress distribution data, and calculating surface strain energy distribution data of the target lithium battery based on the stress distribution data;

[0018] The target lithium battery is three-dimensionally modeled based on the surface stress distribution data and the two-dimensional unfolded diagram to obtain a three-dimensional battery model.

[0019] Further, mapping the vectorized engraving pattern information to a predetermined area within the battery three-dimensional model to obtain the engraving pattern information includes:

[0020] Performing geometric feature analysis on the vectorized engraving pattern information to obtain a pattern primitive set, and performing topological decomposition on the pattern primitive set to obtain topological feature data;

[0021] Based on the topological feature data, a predetermined area in the three-dimensional model of the battery is meshed to obtain regional mesh data, and a local coordinate system is established for the regional mesh data to obtain a local coordinate system;

[0022] Performing spatial transformation on the pattern primitive set by a homogeneous coordinate transformation algorithm to obtain a transformed pattern primitive set, and mapping the transformed pattern primitive set to the local coordinate system to obtain a curved surface projection pattern;

[0023] The contour of the curved surface projection pattern is reconstructed by a spline curve fitting algorithm to obtain a continuous pattern contour, and the continuous pattern contour is used as engraving pattern information.

[0024] Furthermore, the laser processing path planning is performed based on the engraving pattern information and the battery three-dimensional model to obtain the planned processing path, including:

[0025] In the three-dimensional battery model, the curvature of the engraved pattern information is calculated by a preset topological analysis technology to obtain a surface curvature distribution map, and contour lines are extracted from the surface curvature distribution map to obtain a set of equal curvature trajectories;

[0026] By using a preset mapping algorithm, the set of equal curvature trajectories is mapped into the three-dimensional battery model to obtain surface mapping coordinates, and a mapping path in the three-dimensional battery model is constructed based on the surface mapping coordinates;

[0027] Performing collision detection based on the mapping path and the three-dimensional model of the battery to determine whether there is a set of potential collision points;

[0028] If so, obstacle avoidance processing is performed on the potential collision point set using a preset elastic deformation algorithm to obtain a collision-free carving path;

[0029] Performing multi-objective optimization on the collision-free engraving path by using an ant colony algorithm to obtain an optimized engraving path, and performing laser processing speed planning on the optimized engraving path to obtain a variable speed engraving path;

[0030] Performing acceleration constraint analysis on the variable speed engraving path to obtain a set of motion parameters, including the maximum speed of each axis, acceleration limit and angular velocity;

[0031] By using a numerical integration method, a time sequence path calculation is performed based on the motion parameter set, the variable speed engraving path and the collision-free engraving path to obtain a time-space trajectory sequence, and the time-space trajectory sequence is used as a planned processing path.

[0032] Furthermore, based on the planned processing path, the motion control instructions of each axis of the multi-axis linkage rotating laser device on the target lithium battery are obtained, including:

[0033] The planned processing path is spatially segmented and mapped to obtain a processing area sequence of each axis in the multi-axis linkage rotary laser device, and the processing area sequence is coordinate transformed to obtain axis motion data in a workpiece coordinate system; wherein the workpiece coordinate system is a coordinate system for processing the engraving pattern information;

[0034] Based on the axis motion data, the multi-axis linkage rotating laser device is mapped into joint space to obtain joint motion parameters, and the joint motion parameters are approximated by polynomials to obtain smooth joint trajectory equations;

[0035] By using the Lagrange interpolation method, the kinematics positive solution of the smooth joint trajectory equation is obtained to obtain the end effector posture sequence in Cartesian space;

[0036] Decoupling the end effector posture sequence in task space to obtain independent motion instructions for each axis, and performing inter-axis synchronization control based on the independent motion instructions for each axis to obtain a coordinated motion control instruction;

[0037] The coordinated motion control instructions are motion compensated by a neural network adaptive controller to obtain motion control instructions for each axis.

[0038] Furthermore, the task space decoupling of the end effector posture sequence is performed to obtain independent motion instructions for each axis, and inter-axis synchronization control is performed based on the independent motion instructions to obtain collaborative motion control instructions, including:

[0039] Performing spiral interpolation decomposition and task space decoupling on the end effector posture sequence to obtain the posture components of each axis, and performing singular value decomposition on the posture components of each axis to obtain independent motion instructions for each axis; wherein the independent motion instructions for each axis include the translation vector of each axis, the rotation matrix of each axis and the decomposed singular value of each axis;

[0040] A dynamic priority diagram is constructed based on the independent motion instructions of each axis to obtain the priority relationship of inter-axis motion, and a time constraint analysis is performed on the inter-axis motion priority relationship to obtain the inter-axis motion sequence under the time constraint; wherein the inter-axis motion sequence includes the start time of each axis motion, the end time of each axis and the priority level of each axis;

[0041] By performing trajectory matching on the inter-axis motion timing based on a dynamic time warping algorithm, the axis motion trajectory after time synchronization is obtained, and the speed of the axis motion trajectory after time synchronization is controlled in advance to obtain a coordinated motion trajectory after speed optimization; wherein, the speed curve, acceleration curve and timestamp information of each axis are included;

[0042] Inputting the speed-optimized collaborative motion trajectory into a preset virtual dynamics model to obtain virtual forces and / or virtual torques of each axis;

[0043] Performing disturbance observation on the virtual forces of each axis and / or the virtual torques of each axis to obtain disturbance observation results; if the disturbance observation results are that the virtual forces of each axis and / or the virtual torques of each axis exceed a preset threshold, performing frequency analysis on the disturbance observation results to obtain the main frequency component and amplitude of the disturbance;

[0044] Compensating the virtual forces and / or virtual torques of each axis based on the main frequency component and amplitude of the disturbance to obtain compensated virtual forces / torques of each axis, and converting the compensated virtual forces / torques of each axis motion instructions to obtain joint space motion instructions;

[0045] Inter-axis communication is performed on the joint space motion instructions to obtain coordinated motion control instructions.

[0046] Furthermore, the multi-axis linkage rotating laser device is provided with a laser, and the output power of the multi-axis linkage rotating laser device is controlled in real time based on the motion control instructions of each axis to obtain the laser power stability control parameters, including:

[0047] Based on the motion control instructions of each axis, a power demand analysis is performed on the multi-axis linkage rotating laser device to obtain a power demand curve, and a spectrum decomposition is performed on the power demand curve to obtain a fundamental wave power and each harmonic component corresponding to the fundamental wave power;

[0048] Using a preset PWM technology, based on the fundamental power and each harmonic component corresponding to the fundamental power, the pulse width of the laser is calculated and modulated to obtain a modulated pulse sequence;

[0049] Performing duty adjustment on the modulated pulse sequence to obtain a duty-adjusted pulse sequence; wherein the duty-adjusted pulse sequence includes the width, frequency and trigger time of each pulse;

[0050] controlling a preliminary output power of the laser based on the duty-adjusted pulse sequence;

[0051] Performing wavelet transform analysis on the preliminary output power to determine whether the preliminary output power has power fluctuation characteristics; wherein the power fluctuation characteristics include power jitter frequency, power overshoot and power harmonic distortion;

[0052] If it exists, adaptively compensating the preliminary output power based on the power fluctuation characteristics by using a Kalman filter algorithm to obtain a compensated output power;

[0053] The compensation output power is nonlinearly optimized by a fractional-order calculus control algorithm to obtain an optimized power sequence, and energy density balancing is performed on the optimized power sequence to obtain a balanced power sequence;

[0054] The laser is controlled in a real-time closed-loop manner based on the balanced power sequence to obtain a laser power stability control parameter.

[0055] The present invention also provides a lithium battery multi-axis linkage rotary laser processing control device, comprising:

[0056] A modeling module, used to perform surface imaging of a target lithium battery through an optical imaging system to obtain a battery surface image, and perform three-dimensional modeling based on the battery surface image to obtain a battery three-dimensional model;

[0057] an identification module, used for mapping the vectorized engraving pattern information to a predetermined area in the battery three-dimensional model to obtain the engraving pattern information;

[0058] A planning module, used to plan a laser processing path based on the engraving pattern information and the battery three-dimensional model to obtain a planned processing path;

[0059] A control module, for obtaining, based on the planned processing path, motion control instructions for each axis of the multi-axis linkage rotary laser device on the target lithium battery;

[0060] The output module is used to control the output power of the multi-axis linkage rotating laser device in real time based on the motion control instructions of each axis to obtain the laser power stability control parameters.

[0061] The present invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0062] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned methods are implemented.

[0063] The lithium battery multi-axis linkage rotary laser processing control method provided by the present invention comprises the following steps: performing surface imaging on a target lithium battery to obtain a battery surface image, and performing three-dimensional modeling based on the battery surface image to obtain a battery three-dimensional model; acquiring the created vectorized engraving pattern information from a preset database, and mapping the vectorized engraving pattern information to a predetermined area in the battery three-dimensional model to obtain engraving pattern information; performing laser processing path planning based on the engraving pattern information and the battery three-dimensional model to obtain a planned processing path; obtaining a multi-axis linkage rotary laser device on each axis motion control instruction of the target lithium battery based on the planned processing path; controlling the output power of the multi-axis linkage rotary laser device in real time based on the motion control instructions of each axis to obtain a laser power stability control parameter. Through the above-mentioned technical means, the technical problem that the traditional processing method has many limitations in terms of accuracy, efficiency and adaptability to complex shapes, and is difficult to meet the requirements of modern industry for high quality and high precision is solved, and the laser processing path planning based on the engraving pattern information and the battery three-dimensional model is realized. Combined with the characteristics of the multi-axis linkage rotary laser device, the most optimized processing path can be generated. This not only reduces unnecessary moving distance and improves processing efficiency, but also ensures that each processing point can receive appropriate energy input, thereby ensuring the beneficial effect of processing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is a schematic diagram of the steps of a multi-axis linkage rotary laser processing control method for lithium batteries in one embodiment of the present invention;

[0065] Figure 2 It is a structural block diagram of a multi-axis linkage rotary laser processing control device for lithium batteries in one embodiment of the present invention;

[0066] Figure 3 It is a schematic block diagram of the structure of a computer device according to an embodiment of the present invention.

[0067] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0069] like Figure 1 As shown, Figure 1 This is a schematic diagram of the steps of a lithium battery multi-axis linkage rotary laser processing control method in one embodiment of the present invention;

[0070] In one embodiment of the present invention, a lithium battery multi-axis linkage rotary laser processing control method is provided, comprising the following steps:

[0071] Step S1, performing surface imaging of a target lithium battery by an optical imaging system to obtain a battery surface image, and performing three-dimensional modeling based on the battery surface image to obtain a battery three-dimensional model.

[0072] Specifically, when implementing the above-mentioned step of "surface imaging of the target lithium battery by an optical imaging system to obtain a battery surface image, and three-dimensional modeling based on the battery surface image to obtain a battery three-dimensional model", a high-precision optical imaging system is first needed to capture detailed information on the surface of the lithium battery. This optical imaging system can be composed of one or more high-resolution cameras that can take photos of the surface of the lithium battery from different angles to ensure that the entire surface is covered, including details such as edges and corners. For example, in practical applications, assuming that we are processing a cylindrical lithium battery, in order to obtain a comprehensive and accurate surface image, we can set up multiple cameras to form a semicircular array around the battery, or use a rotatable single camera device so that the battery surface can be photographed from 360 degrees without blind spots. Once sufficient surface image data is obtained, the next step is to analyze and process these images using specialized software algorithms. This step is crucial because it not only determines the quality of subsequent three-dimensional modeling, but is also directly related to the final laser processing effect. Specifically, the software will infer the spatial geometric features of the object, such as shape, size, and surface texture, based on the obtained two-dimensional image, and then construct a three-dimensional model that accurately reflects the actual form of the lithium battery. In this process, a variety of advanced computer vision technologies such as stereo vision, structured light scanning, or laser triangulation may be used. For example, if the lithium battery in our application scenario has a complex surface structure, such as a raised safety valve or a recessed label area, then through the above-mentioned technical means, we can ensure that these subtle details can be accurately mapped to the three-dimensional model, providing a solid foundation for subsequent pattern recognition and laser processing path planning. Therefore, from the deployment of the optical imaging system to the successful establishment of the three-dimensional model, the entire process is a closely connected and interdependent workflow, and each link is crucial and indispensable. It not only realizes the detailed description of the surface characteristics of the lithium battery, but also provides the necessary data support for subsequent automated processing, thereby ensuring the effectiveness and reliability of the entire laser processing control method.

[0073] Step S2, obtaining the created vectorized engraving pattern information from a preset database, and mapping the vectorized engraving pattern information to a predetermined area in the battery three-dimensional model to obtain the engraving pattern information.

[0074] Specifically, the process of obtaining the created vectorized engraving pattern information from a preset database and mapping the vectorized engraving pattern information to a predetermined area within the battery three-dimensional model is a key step to ensure that the engraving content can be accurately applied to the target lithium battery surface. This process first involves extracting the created and optimized vectorized engraving pattern information from a preset database. This database stores various patterns that may need to be engraved, such as brand logos, serial numbers or other decorative elements, and each pattern is saved in vector format, which ensures that the image quality will not be lost in any case of enlargement or reduction. For example, when dealing with cylindrical lithium batteries, suppose we need to add a specific brand logo to its surface. We will select the corresponding vectorized pattern file from the database, which not only contains the specific shape and details of the logo, but may also include colors, fonts and other design elements. Once the appropriate pattern is selected, the next step is to accurately map the vectorized engraving pattern information to the predetermined area within the battery three-dimensional model. To achieve this, the system uses advanced mapping algorithms to find the most suitable placement based on the geometric features and engraving requirements of the battery three-dimensional model. Specifically, the mapping process involves aligning the vectorized pattern with a specific surface or area in the three-dimensional model. For cylindrical lithium-ion batteries, this may mean precisely positioning the brand logo on a segment of the top or side of the battery, taking into account the curvature and other structural features of the battery surface. In this way, we can ensure that the engraving pattern is not only aesthetically pleasing, but also does not affect the functionality and safety of the battery. In addition, the scaling and rotation of the pattern are taken into account during the mapping process, so that the final effect meets both design standards and actual processing conditions. At this stage, the system also verifies whether the selected area is suitable for engraving, for example, checking whether other critical components (such as safety valves) are located in this area, and evaluating whether the material properties allow for fine engraving. If everything is OK, the mapped vectorized engraving pattern information will become the basis for subsequent laser processing path planning. In this way, we can not only efficiently apply the pre-designed pattern to the specific battery product, but also ensure that every engraving detail can be accurately reproduced, thus meeting the needs of modern industry for high-quality lithium-ion battery surface processing. In summary, the above steps are closely linked and together constitute a complete process from pattern selection to precise mapping. This process not only simplifies the application process of the engraving pattern, but also provides a solid technical guarantee for achieving high-quality lithium battery surface processing, ensuring that each processed lithium battery can have a unique and accurate engraving pattern.

[0075] Step S3, performing laser processing path planning based on the engraving pattern information and the battery three-dimensional model to obtain a planned processing path.

[0076] Specifically, the process of planning the laser processing path based on the engraving pattern information and the three-dimensional model of the battery to obtain the planned processing path is the core link in the entire lithium battery multi-axis linkage rotary laser processing control method. In this process, it is first necessary to combine the previously obtained engraving pattern information with the three-dimensional model of the battery to ensure that each engraving detail can be accurately positioned in three-dimensional space. For example, when processing cylindrical lithium batteries, if the goal is to add a brand logo or serial number to the surface of the battery, then these engraving patterns must be accurately mapped to the surface corresponding to the three-dimensional model, taking into account the curvature changes and other geometric features of the battery surface. To achieve this, engineers use advanced computer-aided design (CAD) and computer-aided manufacturing (CAM) software to analyze the engraving pattern information and the data of the three-dimensional model of the battery. Through these software tools, a virtual environment can be created in which how the laser beam moves along a predetermined path to complete the engraving task can be simulated. In this simulated environment, the software algorithm calculates the best path from the starting point to the end point, while considering avoiding any factors that may interfere with the processing process, such as raised structures or recessed areas on the battery. For example, when it comes to cylindrical lithium batteries, path planning needs to consider not only the plane path, but also bypassing key parts such as safety valves to ensure that the engraved pattern does not affect the functionality of the battery. Next, according to the specific requirements of the engraved pattern and the spatial characteristics of the battery 3D model, the system generates a series of detailed instruction sets that define each step of the laser device during the processing process. This includes but is not limited to parameters such as the opening and closing time of the laser beam, the movement speed, the location of the direction change, and the power adjustment. These instruction sets form the basis for planning the processing path, allowing the multi-axis linkage rotary laser device to operate in a predetermined manner, thereby ensuring that the engraved pattern is accurately transferred to the actual battery surface. For example, when engraving a cylindrical lithium battery, the laser device may start from the top and then move down along a spiral path to ensure that each character or graphic element is evenly stressed to achieve the best engraving effect. In addition, in order to further optimize the processing path, a simulation test phase can also be introduced, in which virtual simulation is used to preview and verify whether the processing path meets expectations. If any problems or potential risks are found, adjustments can be made before actual processing. This method can not only reduce material waste, but also improve production efficiency, ensuring that every processed lithium battery can meet high quality standards. In summary, through in-depth analysis of engraving pattern information and battery 3D models, combined with advanced software tools and technical means, we can successfully plan the most suitable laser processing path, providing a solid guarantee for subsequent multi-axis linkage rotary laser processing.

[0077] Step S4, based on the planned processing path, obtaining the motion control instructions of each axis of the multi-axis linkage rotating laser device on the target lithium battery.

[0078] Specifically, based on the planned processing path, the process of obtaining the motion control instructions of each axis of the multi-axis linkage rotating laser device on the target lithium battery is a key step in converting virtual design into actual operation. This process requires precise engineering calculations and control system integration to ensure that each instruction can be accurately conveyed to the laser processing equipment, so that the equipment can efficiently and accurately complete the engraving task according to the predetermined path. When the planning of the processing path is completed, the next step is to generate specific motion control instructions based on these path information. This involves converting the path data in three-dimensional space into a series of commands suitable for execution by the multi-axis linkage rotating laser device. For example, when processing cylindrical lithium batteries, if you want to add a brand logo or serial number, the system will calculate the position, angle, and movement speed of the laser head relative to the battery surface at each moment based on the previously planned spiral or other forms of engraving paths. To achieve this, engineers will use specialized programming languages ​​and algorithms to write detailed instructions that can guide the device on and around the three coordinate axes of X, Y, and Z. In addition, considering the various complex situations that may be encountered during laser processing, such as surface changes, obstacle avoidance, etc., additional adjustment mechanisms will be introduced to ensure the continuity and stability of the processing process. At this stage, the software will comprehensively consider the physical characteristics of the laser equipment and the battery geometry, use mathematical models to predict the optimal working state of the laser head at different positions, and generate corresponding control instructions accordingly. For example, for the application scenario of cylindrical lithium batteries, assuming that the engraving path needs to cover the entire battery surface, the system must not only consider the movement of the straight line segment, but also accurately control the rotation of the laser head in the circumferential direction to ensure that each character or pattern element can be engraved evenly and with high quality. At the same time, in order to adapt to different engraving depth requirements, the system will also dynamically adjust the laser output power so that the processing effect meets the design standards without damaging the battery structure. Once all the necessary control instructions are prepared, they will be loaded into the control system of the multi-axis linkage rotary laser device. In actual operation, these instructions will guide the motors of each axis of the device to move at a predetermined speed and sequence, thereby achieving precise control of the laser beam. For example, when starting to engrave a complex pattern, the laser device may start from the top first, slowly descend along the preset path, and make fine adjustments to maintain an appropriate distance from the battery surface. As the engraving process progresses, the device will continue to receive new instructions, adjust its posture and motion trajectory in real time, and ensure that the entire processing process is smooth and stable. Ultimately, in this way, we can not only ensure the high-precision reproduction of the engraved pattern, but also effectively improve production efficiency, reduce scrap rate, and meet the needs of modern industry for high-quality lithium battery surface processing.

[0079] Step S5, based on the motion control instructions of each axis, the output power of the multi-axis linkage rotating laser device is controlled in real time to obtain a laser power stability control parameter.

[0080] Specifically, in the process of realizing "real-time control of the output power of the multi-axis linkage rotating laser device based on the motion control instructions of each axis to obtain the laser power stability control parameters", it is first necessary to understand how to effectively apply the previously calculated motion control instructions of each axis to actual processing. The motion control instructions of each axis here are the results obtained through dynamic constraint analysis and kinematic solution, and they accurately define the parameters such as angular displacement, angular velocity and angular acceleration of each axis during the processing process. These instructions not only ensure the accuracy of the processing path, but also take into account the coordination between the robot arm and other components. For example, in the field of aviation manufacturing, when processing parts with complex shapes such as aircraft engine parts or car shells with streamlined designs, engineers must ensure that the laser equipment can perform high-precision processing according to the preset trajectory. To achieve this, it is necessary to establish a feedback control system to monitor and adjust the output power of the multi-axis linkage rotating laser device in real time. The core of this system is to dynamically adjust the laser power according to the motion control instructions of each axis to ensure the stability of the laser energy during the entire processing process. Specifically, when the robot arm moves along the predetermined trajectory, the laser device adjusts its output power according to the current position and speed information. This is because the amount of material removed at different positions and speeds is different, and if the power is kept constant, it may cause some areas to be overburned or under-processed. Therefore, by monitoring the actual motion state of each axis in real time and combining it with a pre-set power curve, it is possible to ensure that the laser equipment always outputs the appropriate energy. For example, when processing the complex combustion chamber wall inside an aircraft engine, it is particularly important to control the laser power in real time due to the complex geometry and high precision requirements of this part. Through a sophisticated sensor network and a fast-responding controller, the process from detection to adjustment can be completed in a few milliseconds to maintain a stable laser power output. This instant adjustment capability not only improves the processing quality, but also reduces the risk of material damage caused by power fluctuations. Next, in order to obtain stable control parameters for laser power, the performance of the entire system needs to be evaluated and optimized. This includes analyzing the trend of laser power changes over time, identifying factors that may affect stability, such as ambient temperature changes or mechanical vibrations, and adjusting the control algorithm accordingly. In addition, an adaptive control mechanism can be introduced so that the system can automatically adjust parameters under different processing conditions to achieve the best working state. For example, when processing large workpieces such as car shells, due to the wide processing range and long duration, the use of adaptive control can help maintain long-term power stability and avoid processing errors caused by external interference. In summary, by combining the motion control instructions of each axis with the output power of the multi-axis linkage rotation laser device, and with the help of a real-time feedback control system, precise control of laser power can be achieved, and finally a set of stable control parameters can be obtained.This method is not only suitable for processing complex parts in the field of aviation manufacturing, such as aircraft engine components, but also can well meet the needs of streamlined design in the automotive manufacturing industry, such as car shells. Through the above steps, engineers can ensure that the target surface workpiece after laser multi-axis linkage processing not only meets the expected design standards, but also has high-quality surface finish and dimensional accuracy.

[0081] In a specific embodiment, the surface of the target lithium battery is imaged by an optical imaging system to obtain a battery surface image, and three-dimensional modeling is performed based on the battery surface image to obtain a battery three-dimensional model, including:

[0082] Scanning the target lithium battery through an optical imaging system to obtain three-dimensional point cloud data of the surface of the target lithium battery;

[0083] Performing Poisson surface reconstruction on the three-dimensional point cloud data to obtain three-dimensional model data of the target lithium battery surface; wherein the three-dimensional model data includes surface contour, curvature and height information;

[0084] Using a non-rigid registration algorithm to perform deformation correction on the three-dimensional model data to obtain corrected three-dimensional model data, and using the corrected three-dimensional model data as a battery surface image;

[0085] Virtually unfolding the corrected three-dimensional model data to obtain a two-dimensional unfolded view;

[0086] Performing stress analysis on the two-dimensional development diagram by a preset finite element analysis method to obtain stress distribution data, and calculating surface strain energy distribution data of the target lithium battery based on the stress distribution data;

[0087] The target lithium battery is three-dimensionally modeled based on the stress distribution data and the two-dimensional unfolded diagram to obtain a three-dimensional battery model.

[0088] Specifically, the process of imaging the surface of the target lithium battery by an optical imaging system to obtain a battery surface image, and performing three-dimensional modeling based on the battery surface image to obtain a battery three-dimensional model is a complex and sophisticated technical process. First, this process scans the target lithium battery through an optical imaging system to obtain three-dimensional point cloud data on its surface. Structured light projection is a high-precision three-dimensional scanning method that projects a series of known patterned light onto an object and then uses a camera to capture the changes in these light rays after they are reflected on the surface of the object. For example, when processing cylindrical lithium batteries, we can set up a scanning system consisting of one or more projectors and cameras to project patterns such as stripes and grids onto the battery from different angles, and record the appearance of these patterns after bending and deforming on the battery surface. By analyzing these changes, the spatial coordinates of each point on the battery surface can be calculated, and then detailed three-dimensional point cloud data can be constructed. Next, the three-dimensional point cloud data is reconstructed by Poisson surface to obtain the three-dimensional model data of the target lithium battery surface, and the corrected three-dimensional model data is used as the battery surface image. Poisson surface reconstruction is a powerful algorithm that can convert discrete point cloud data into a continuous surface model. In this process, the algorithm considers the relationship between each point in the point cloud and its neighboring points, and infers the surface that best fits the actual shape by solving the Poisson equation. For cylindrical lithium batteries, this step can not only accurately restore the overall shape of the battery, but also finely capture local features such as labels and safety valves. The generated three-dimensional model data includes surface contours, curvatures, and height information, which provide the basis for subsequent processing. In order to further improve the accuracy of the three-dimensional model, a non-rigid registration algorithm is used to perform deformation correction on the three-dimensional model data to obtain the corrected three-dimensional model data. The non-rigid registration criterion is a method for solving the shape change of an object in different states. In the application of lithium batteries, the battery may be slightly deformed due to the manufacturing process or the use environment. Therefore, the non-rigid registration algorithm can be used to adjust the original three-dimensional model to a form that is closer to the actual state. In addition, the corrected three-dimensional model data will be topologically optimized, that is, unnecessary details or redundant parts are removed, and the model structure is simplified without affecting its main features, so as to obtain an optimized battery three-dimensional model. This optimization not only improves the computational efficiency of the model, but also lays a good foundation for subsequent development and analysis. Subsequently, the optimized battery three-dimensional model is virtually unfolded to obtain a two-dimensional unfolded diagram. This process is to map all points on the surface of the three-dimensional model to a plane, similar to flattening a map on a piece of paper. For cylindrical lithium batteries, this means finding a way to make the originally curved surface fully represented in two-dimensional space. Virtual unfolding is not only a visual conversion, but more importantly, it provides a convenient operating platform for subsequent stress analysis.By performing stress analysis on the two-dimensional development diagram using a preset finite element analysis method, stress distribution data can be obtained. Finite element analysis is a numerical simulation technology widely used in the engineering field, which decomposes complex physical problems into many simple small units for solution. Here, by applying virtual loads to various areas on the development diagram, the stress changes that may be caused by laser processing are simulated, and finally the stress distribution data is obtained. Based on these data, the surface strain energy distribution data of the target lithium battery can also be calculated, which helps to evaluate the impact of the processing process on the stability of the battery structure. Finally, based on the stress distribution data and the two-dimensional development diagram, the target lithium battery is three-dimensionally modeled to obtain a battery three-dimensional model. This stage combines the results of all the previous steps and reconstructs a complete three-dimensional model containing stress information. The advantage of this is that the mechanical properties of various parts of the battery surface can be fully considered when designing engraving patterns or planning laser processing paths to avoid damage caused by excessive stress. For example, when adding a brand logo or serial number to a cylindrical lithium battery, the most suitable engraving position and depth can be selected according to the stress distribution to ensure that both the aesthetic effect is achieved and the safety performance of the battery is not weakened. Through the above series of operations, we can not only obtain an accurate three-dimensional battery model, but also provide a solid technical guarantee for achieving efficient, precise and safe laser processing.

[0089] In a specific embodiment, mapping the vectorized engraving pattern information to a predetermined area in the three-dimensional model of the battery to obtain the engraving pattern information includes:

[0090] Performing geometric feature analysis on the vectorized engraving pattern information to obtain a pattern primitive set, and performing topological decomposition on the pattern primitive set to obtain topological feature data;

[0091] Based on the topological feature data, a predetermined area in the three-dimensional model of the battery is meshed to obtain regional mesh data, and a local coordinate system is established for the regional mesh data to obtain a local coordinate system;

[0092] Performing spatial transformation on the pattern primitive set by a homogeneous coordinate transformation algorithm to obtain a transformed pattern primitive set, and mapping the transformed pattern primitive set to the local coordinate system to obtain a curved surface projection pattern;

[0093] The contour of the curved surface projection pattern is reconstructed by a spline curve fitting algorithm to obtain a continuous pattern contour, and the continuous pattern contour is used as engraving pattern information.

[0094] Specifically, the process of mapping the vectorized engraving pattern information to a predetermined area within the three-dimensional model of the battery to obtain the engraving pattern information is a complex and precise technical implementation. This process first involves performing geometric feature analysis on the vectorized engraving pattern information to obtain a set of pattern primitives, and topologically decomposing the set of pattern primitives to obtain topological feature data. Specifically, when processing a cylindrical lithium battery, assuming that we want to add a brand logo or serial number on its surface, we must first extract all the basic elements that constitute the pattern from the vectorized engraving pattern, such as straight line segments, curve segments, polygons, etc., which together constitute a set of pattern primitives. Next, by topologically decomposing these primitives, we can obtain detailed information about the connection relationship and spatial layout between them, that is, topological feature data. For example, for a brand logo containing multiple characters, each character can be regarded as an independent primitive, and the relative position and arrangement order between the characters constitute important topological information. Based on the topological feature data, the predetermined area within the three-dimensional model of the battery is meshed to obtain regional mesh data, and a local coordinate system is established for the regional mesh data to obtain a local coordinate system. This step is to ensure that the vectorized pattern can accurately fit the specific shape of the battery surface. In the application scenario of cylindrical lithium batteries, we first need to determine the predetermined area where the engraved pattern is to be placed, and then finely mesh the area. This includes not only dividing the entire surface into many small triangular or quadrilateral units, but also considering the curvature changes and other geometric characteristics of the battery surface. The regional mesh data generated in this way provides the basis for subsequent spatial transformation. In addition, in order to facilitate calculation and operation, we also need to establish a local coordinate system for these grid units so that the position of each point can be represented by a set of relative coordinates. The establishment of this local coordinate system helps to simplify complex three-dimensional calculations and improve mapping accuracy. The pattern primitive set is spatially transformed by the homogeneous coordinate transformation algorithm to obtain a transformed pattern primitive set, and the transformed pattern primitive set is mapped to the local coordinate system to obtain a surface projection pattern. Homogeneous coordinate transformation is a powerful mathematical tool that can flexibly adjust the position, direction and scale of an object while keeping the geometric features unchanged. In this process, we perform a series of spatial transformations on the previously extracted pattern primitive set according to predetermined rules, such as translation, rotation and scaling, to adapt to the actual form of the battery surface. For example, when adding a brand logo to a cylindrical lithium battery, a pattern that was originally a flat design may need to be transformed into a form that fits along a spiral. After completing these transformations, we accurately map the new set of pattern primitives onto the local coordinate system, resulting in a surface projected pattern. This step ensures that the engraved pattern can be reproduced correctly in three-dimensional space while retaining the aesthetic effect of the original design.In order to further optimize the expression of the pattern, the surface projection pattern is reconstructed by the spline curve fitting algorithm to obtain a continuous pattern contour, and the continuous pattern contour is used as the engraving pattern information. The spline curve fitting algorithm is a method for smoothing and optimizing discrete data points, which can effectively eliminate any irregularities or mutation points introduced by spatial transformation. In this case, by applying the spline curve fitting algorithm, we can connect the discrete points in the surface projection pattern to form a continuous and smooth line, that is, the continuous pattern contour. For cylindrical lithium batteries, this means that even after complex geometric transformations, the final engraved pattern can still maintain a clear and smooth appearance without jagged edges or other defects. In addition, spline curve fitting also helps to improve the efficiency of laser processing path planning because it reduces unnecessary return movements and enables the laser head to move more smoothly. In summary, the above series of steps are closely linked to form an efficient, accurate and safe engraving pattern mapping system for multi-axis linkage rotary laser equipment. This system can not only adapt to complex and changeable processing requirements, but also flexibly respond to various unexpected situations, providing a solid guarantee for achieving high-quality lithium battery surface engraving. In this way, we not only achieve seamless connection from vectorized engraving pattern information to specific battery surface, but also provide reliable technical support for high-quality lithium battery surface processing in modern industry, ensuring that every processed lithium battery can achieve the expected effect. Through the above method, we can not only ensure the accuracy and aesthetics of the engraved pattern in three-dimensional space, but also greatly improve the processing efficiency and quality. For example, in actual application scenarios, when engraving a brand logo on the surface of a cylindrical lithium battery, the entire process, from pattern selection, geometric feature analysis, topological decomposition, mesh division, local coordinate system establishment, to the final space transformation and contour reconstruction, strictly follows the above steps to ensure that every detail can be accurately reproduced. This method not only improves production efficiency, but also ensures that each processed lithium battery can have a unique and accurate engraving pattern, meeting the needs of modern industry for high-quality lithium battery surface processing.

[0095] In a specific embodiment, the laser processing path planning is performed based on the engraving pattern information and the battery three-dimensional model to obtain the planned processing path, including:

[0096] In the three-dimensional battery model, the curvature of the engraved pattern information is calculated by a preset topological analysis technology to obtain a surface curvature distribution map, and contour lines are extracted from the surface curvature distribution map to obtain a set of equal curvature trajectories;

[0097] By using a preset mapping algorithm, the set of equal curvature trajectories is mapped into the three-dimensional battery model to obtain surface mapping coordinates, and a mapping path in the three-dimensional battery model is constructed based on the surface mapping coordinates;

[0098] Performing collision detection based on the mapping path and the three-dimensional model of the battery to determine whether there is a set of potential collision points;

[0099] If so, obstacle avoidance processing is performed on the potential collision point set using a preset elastic deformation algorithm to obtain a collision-free carving path;

[0100] Performing multi-objective optimization on the collision-free engraving path by using an ant colony algorithm to obtain an optimized engraving path, and performing laser processing speed planning on the optimized engraving path to obtain a variable speed engraving path;

[0101] Performing acceleration constraint analysis on the variable speed engraving path to obtain a set of motion parameters, including the maximum speed of each axis, acceleration limit and angular velocity;

[0102] By using a numerical integration method, a time sequence path calculation is performed based on the motion parameter set, the variable speed engraving path and the collision-free engraving path to obtain a time-space trajectory sequence, and the time-space trajectory sequence is used as a planned processing path.

[0103] Specifically, the process of planning the laser processing path based on the engraving pattern information and the three-dimensional model of the battery to obtain the planned processing path is a highly integrated, multi-step technical implementation. In this process, the curvature of the engraving pattern information is first calculated in the three-dimensional model of the battery by a preset topological analysis technology to obtain a surface curvature distribution map, and the contour line of the surface curvature distribution map is extracted to obtain a set of equal curvature trajectories. The key to this step is to accurately understand and capture the geometric characteristics of the battery surface. For example, when processing cylindrical lithium batteries, we use topological analysis technology to evaluate the curvature changes at each point on the battery surface. This analysis not only takes into account the macroscopic shape features, such as the overall cylindrical structure of the battery, but also goes deep into the microscopic level, including the curvature details of local features such as safety valves and labels. By processing these data, a detailed surface curvature distribution map is generated, and then a series of equal curvature trajectory sets are extracted from it. These trajectories represent paths with the same or similar curvature characteristics, providing a basis for subsequent mapping. Next, the set of equal curvature trajectories is mapped to the three-dimensional model of the battery through a preset mapping algorithm to obtain the surface mapping coordinates, and a mapping path in the three-dimensional model of the battery is constructed based on the surface mapping coordinates. At this stage, the role of the mapping algorithm is to accurately convert the equal curvature trajectories on the two-dimensional plane into three-dimensional space to ensure that they can perfectly fit the actual surface of the battery. For cylindrical lithium batteries, this means taking into account the bending and rotation characteristics of the surface so that each equal curvature trajectory can naturally fit on the surface of the battery. The mapping path constructed in this way is not only a link connecting various key points, but also an important basis for guiding how the laser beam moves along a predetermined path. In order to ensure the safety and reliability of the processing process, collision detection is required based on the mapping path and the three-dimensional model of the battery to determine whether there is a set of potential collision points. The purpose of collision detection is to identify any obstacles or risk points that may hinder the smooth progress of laser processing. For example, in the application scenario of cylindrical lithium batteries, if the engraving path is close to the safety valve or other raised structures of the battery, special attention should be paid to avoid collision between the laser head and these parts. If there is a set of potential collision points, the set of potential collision points is processed for obstacle avoidance through a preset elastic deformation algorithm to obtain a collision-free engraving path. The elastic deformation algorithm can flexibly adjust the path so that it bypasses dangerous areas without affecting the overall engraving effect. This method not only protects the device and the battery itself, but also ensures that the processing quality is not affected. Subsequently, the collision-free engraving path is multi-objective optimized through the ant colony algorithm to obtain an optimized engraving path, and the laser processing speed of the optimized engraving path is planned to obtain a variable-speed engraving path. The ant colony algorithm is an optimization algorithm that simulates the foraging behavior of ants in nature. It can find the optimal solution among many possible path choices.In this example, the ant colony algorithm will comprehensively consider multiple factors, such as path length, processing time, energy consumption, etc., to determine the most ideal engraving path. In addition, speed planning is to reasonably arrange the moving speed of the laser head according to the optimized path characteristics to ensure that the best engraving effect can be achieved at different positions. For example, when approaching a complex curved surface structure, the speed may be reduced to improve accuracy; while in a relatively flat area, the speed can be appropriately increased to improve efficiency. Further, the variable speed engraving path is subjected to acceleration constraint analysis to obtain a set of motion parameters, including the maximum speed, acceleration limit and angular velocity of each axis. Acceleration constraint analysis is to ensure that the laser head will not produce unnecessary vibration or error due to sudden acceleration or deceleration during the entire processing process. For cylindrical lithium batteries, reasonable acceleration control is particularly important because it involves the coordinated work of multiple axes and complex surface adaptation problems. Therefore, by setting the maximum speed, acceleration limit and angular velocity of each axis, we can ensure that every action is smooth and precise, thereby maintaining high-quality processing standards. Finally, the numerical integration method is used to calculate the time-series path based on the motion parameter set, the variable speed engraving path and the collision-free engraving path, and the time-space trajectory sequence is obtained, and the time-space trajectory sequence is used as the planned processing path. The numerical integration method is a mathematical tool for solving differential equations, and here it is used to calculate the exact position and posture of the laser head at each moment. The time-space trajectory sequence not only describes the change of the laser head over time, but also includes all the necessary motion parameters, such as speed, acceleration, etc. In this way, we get a complete and carefully designed planned processing path, which can guide the multi-axis linkage rotary laser equipment to complete the engraving task efficiently and accurately, while ensuring the safety and stability of the whole process. In this way, we not only achieve a seamless connection from design to actual operation, but also provide a solid technical guarantee for high-quality lithium battery surface processing in modern industry.

[0104] In a specific embodiment, the obtaining of the motion control instructions of each axis of the target lithium battery by the multi-axis linkage rotating laser device based on the planned processing path includes:

[0105] The planned processing path is spatially segmented and mapped to obtain a processing area sequence of each axis in the multi-axis linkage rotary laser device, and the processing area sequence is coordinate transformed to obtain axis motion data in a workpiece coordinate system; wherein the workpiece coordinate system is a coordinate system for processing the engraving pattern information;

[0106] Based on the axis motion data, the multi-axis linkage rotating laser device is mapped into joint space to obtain joint motion parameters, and the joint motion parameters are approximated by polynomials to obtain smooth joint trajectory equations;

[0107] By using the Lagrange interpolation method, the kinematics positive solution of the smooth joint trajectory equation is obtained to obtain the end effector posture sequence in Cartesian space;

[0108] Decoupling the end effector posture sequence in task space to obtain independent motion instructions for each axis, and performing inter-axis synchronization control based on the independent motion instructions for each axis to obtain a coordinated motion control instruction;

[0109] The coordinated motion control instructions are motion compensated by a neural network adaptive controller to obtain motion control instructions for each axis.

[0110] Specifically, the process of obtaining the motion control instructions of each axis of the multi-axis linkage rotating laser device in the target lithium battery based on the planned processing path is a highly integrated and precisely coordinated technical implementation. This process starts with spatial segmentation mapping of the planned processing path, obtaining the processing responsible area sequence of each axis in the multi-axis linkage rotating laser device, and performing coordinate transformation on the processing responsible area sequence to obtain the axis motion data in the workpiece coordinate system. The workpiece coordinate system mentioned here is a coordinate system specifically used for processing the engraving pattern information, which ensures that all calculations and operations are carried out around the specific features of the battery surface. For example, when processing cylindrical lithium batteries, we first divide the entire engraving path into multiple small segments according to certain logical rules, and each segment corresponds to a specific working range of one or some axes in the laser device. In this way, the tasks and responsibilities of each axis at different stages can be clearly defined. Then, we convert these segmented paths to the workpiece coordinate system, so that all subsequent operations can directly refer to the actual position and posture of the battery. Next, the multi-axis linkage rotating laser device is mapped in joint space based on the axis motion data to obtain joint motion parameters, and the joint motion parameters are polynomially approximated to obtain a smooth joint trajectory equation. Joint space mapping is a method of converting a path in Cartesian space into a change in the robot's joint angle, which is particularly important for complex multi-axis linkage devices. In this case, we used joint space mapping technology to convert the previously obtained axis motion data into specific joint angle values, namely joint motion parameters. In order to ensure the smoothness and continuity of the motion, we also used the polynomial approximation method to construct the smooth joint trajectory equation. This step not only eliminates possible mutation points, but also ensures that the laser head moves smoothly throughout the entire processing process. For example, in the application scenario of cylindrical lithium batteries, if a brand logo needs to be engraved along a spiral line, the smooth trajectory equation obtained by polynomial approximation will ensure that the laser beam can move along the curve in the most natural way without unnecessary jitter or pauses. Subsequently, the joint trajectory equation is kinematically solved by the Lagrangian interpolation method to obtain the end effector pose sequence in Cartesian space. The Lagrangian interpolation method is a numerical method that can construct a smooth curve between a given series of discrete data points. In this step, we use this method to solve the Cartesian space position corresponding to the joint trajectory equation, that is, the exact position and posture of the end effector (such as the laser head) at each moment. For cylindrical lithium batteries, this means that we can accurately predict every movement of the laser head in three-dimensional space, including its position, direction, and speed. This high-precision prediction is crucial to achieving high-quality engraving results because it ensures that the laser beam can always act accurately on the battery surface according to the predetermined path.Next, the end effector posture sequence is decoupled in task space to obtain independent motion instructions for each axis, and inter-axis synchronization control is performed based on the independent motion instructions for each axis to obtain collaborative motion control instructions. Task space decoupling refers to decomposing a complex multi-axis linkage problem into several relatively simple single-axis problems, thereby simplifying the design of the control system. In this example, by decoupling the end effector posture sequence, we can generate independent motion instructions for each axis to ensure that their respective actions can be accurately controlled. However, in order to achieve overall collaborative motion, the synchronization problem between axes needs to be further considered. Through inter-axis synchronization control, we integrate the independent motion instructions of each axis to form a set of collaborative motion control instructions. This not only ensures that the actions of each axis can be seamlessly connected, but also improves the response speed and stability of the entire system. For example, during the engraving process, even if one axis is slightly delayed due to external interference, the other axes can adjust their actions in time to maintain the consistency of the overall engraving path. Finally, the collaborative motion control instructions are motion compensated by a neural network adaptive controller to obtain motion control instructions for each axis. The neural network adaptive controller is an intelligent control strategy that can optimize control performance through learning and adjustment. At this stage, we use the powerful modeling ability of neural networks to dynamically adjust the coordinated motion control instructions according to the changes in the actual processing environment to ensure that the laser equipment can operate stably under various conditions. For example, in the application scenario of cylindrical lithium batteries, if the material properties change slightly due to temperature changes, the neural network adaptive controller can automatically adjust the laser power and movement speed according to the real-time feedback information to maintain the best engraving quality. In this way, we not only achieve the complete transformation from planning the processing path to specific motion control instructions, but also provide reliable technical support for high-quality lithium battery surface processing in modern industry, ensuring that every processed lithium battery can achieve the expected effect. In summary, the above series of steps are closely linked and together constitute an efficient, accurate and safe motion control system for multi-axis linkage rotary laser equipment. This system can not only adapt to complex and changeable processing requirements, but also flexibly respond to various unexpected situations, providing a solid guarantee for achieving high-quality lithium battery surface engraving.

[0111] In a specific embodiment, the task space decoupling of the end effector posture sequence is performed to obtain independent motion instructions for each axis, and inter-axis synchronization control is performed based on the independent motion instructions to obtain a coordinated motion control instruction, including:

[0112] Performing spiral interpolation decomposition and task space decoupling on the end effector posture sequence to obtain the posture components of each axis, and performing singular value decomposition on the posture components of each axis to obtain independent motion instructions for each axis; wherein the independent motion instructions for each axis include the translation vector of each axis, the rotation matrix of each axis and the decomposed singular value of each axis;

[0113] A dynamic priority diagram is constructed based on the independent motion instructions of each axis to obtain the priority relationship of inter-axis motion, and a time constraint analysis is performed on the inter-axis motion priority relationship to obtain the inter-axis motion sequence under the time constraint; wherein the inter-axis motion sequence includes the start time of each axis motion, the end time of each axis and the priority level of each axis;

[0114] By performing trajectory matching on the inter-axis motion timing based on a dynamic time warping algorithm, the axis motion trajectory after time synchronization is obtained, and the speed of the axis motion trajectory after time synchronization is controlled in advance to obtain a coordinated motion trajectory after speed optimization; wherein, the speed curve, acceleration curve and timestamp information of each axis are included;

[0115] Inputting the speed-optimized collaborative motion trajectory into a preset virtual dynamics model to obtain virtual forces and / or virtual torques of each axis;

[0116] Performing disturbance observation on the virtual forces of each axis and / or the virtual torques of each axis to obtain disturbance observation results; if the disturbance observation results are that the virtual forces of each axis and / or the virtual torques of each axis exceed a preset threshold, performing frequency analysis on the disturbance observation results to obtain the main frequency component and amplitude of the disturbance;

[0117] Compensating the virtual forces and / or virtual torques of each axis based on the main frequency component and amplitude of the disturbance to obtain compensated virtual forces / torques of each axis, and converting the compensated virtual forces / torques of each axis motion instructions to obtain joint space motion instructions;

[0118] Inter-axis communication is performed on the joint space motion instructions to obtain coordinated motion control instructions.

[0119] Specifically, the process of performing task space decoupling on the end effector posture sequence, obtaining independent motion instructions for each axis, and performing inter-axis synchronization control based on the independent motion instructions to obtain coordinated motion control instructions is a key step to ensure efficient and accurate operation of multi-axis linkage rotary laser equipment. This process first starts with spiral interpolation decomposition and task space decoupling of the end effector posture sequence to obtain the posture components of each axis, and performs singular value decomposition on the posture components of each axis to obtain independent motion instructions for each axis. The task space decoupling mentioned here refers to decomposing complex multi-axis linkage problems into several relatively simple single-axis problems, thereby simplifying the design and implementation of the control system. Specifically, when processing cylindrical lithium batteries, assuming that we want to engrave a brand logo along a spiral line, then this continuous curve can be converted into multiple short spiral segments through spiral interpolation decomposition, each segment corresponding to a specific axis posture component. The next task space decoupling is to decompose these complex three-dimensional motion requirements into individual axes. For example, for a multi-degree-of-freedom laser processing system, it may involve coordinated motion in multiple directions such as the X-axis, Y-axis, Z-axis, and rotation axis. Through task space decoupling, we can clearly define the specific tasks of each axis at different time points, such as translation distance, rotation angle, etc., so that the action of each axis can be precisely controlled. To achieve this, we first need to perform spiral interpolation decomposition on the end effector pose sequence to capture complex path features, and then perform task space decoupling to decompose the entire action into a series of simple and clear subtasks, namely, the pose components of each axis. These components represent the contribution of each axis in completing the overall task, and they can be described as translation vectors (indicating the distance moved along a straight line), rotation matrices (describing the angle of rotation around the axis), and decomposed singular values ​​(used to quantify the strength of each axis). By performing singular value decomposition on the pose components of each axis, they are further refined into specific independent motion instructions for each axis, including translation vectors for each axis, rotation matrices for each axis, and decomposed singular values ​​for each axis. These instructions not only describe the precise position and posture of each axis at different time points, but also contain the relative relationship between them. The importance of task space decoupling lies in that it can significantly reduce the complexity of the system, so that the actions of each axis can be independently designed and optimized while maintaining the consistency and coordination of the overall task. For example, during the engraving process, even if one axis is slightly delayed due to external interference or changes in material properties, other axes can adjust their movements in time to maintain the consistency of the overall engraving path. In addition, this decoupling method can also improve the response speed and stability of the system because it allows more precise control of the movement of each axis, reducing unnecessary energy consumption and mechanical wear. In order to achieve efficient inter-axis coordination, a dynamic priority graph is constructed based on the independent motion instructions of each axis to obtain the inter-axis motion priority relationship, and the inter-axis motion priority relationship is subjected to time constraint analysis to obtain the inter-axis motion timing under time constraints.The dynamic priority diagram is a tool that intuitively displays the interdependencies and priorities between axes. It helps us determine which axis actions should be completed first and which can be started at a later time point. For the application scenario of cylindrical lithium batteries, if some axes are responsible for processing critical areas (such as near the safety valve), then these axes may be given higher priority. In addition, time constraint analysis ensures that the actions of all axes can be completed within a reasonable timing, including the start time, end time and priority level of each axis movement. The importance of this step is to avoid bottlenecks or errors in the entire processing process due to delays in a certain axis. In order to ensure the synchronization of the actions of each axis, the trajectory matching of the inter-axis motion timing is performed based on the dynamic time warping algorithm to obtain the axis motion trajectory after time synchronization, and the speed forward control of the axis motion trajectory after time synchronization is performed to obtain the coordinated motion trajectory after speed optimization. The dynamic time warping algorithm can adjust the time distribution of the actions of each axis while maintaining the original trajectory shape, so that they are as synchronized as possible. For example, in the process of engraving a cylindrical lithium battery, even if some axes deviate slightly from the original plan due to material properties or external interference, the dynamic time warping algorithm can readjust their timing to realign them with the movements of other axes. Speed ​​look-ahead control further optimizes the speed curve, acceleration curve and timestamp information of each axis on this basis to ensure that the entire processing process is both smooth and efficient. This method can not only reduce unnecessary energy consumption, but also improve engraving accuracy.

[0120] In order to simulate the dynamic behavior in the actual processing environment, the speed-optimized collaborative motion trajectory is input into the preset virtual dynamic model to obtain the virtual force and / or virtual torque of each axis. The virtual dynamic model is a simulation tool that can predict the virtual force or torque borne by each axis based on a given motion trajectory. For cylindrical lithium batteries, this means that we can know in advance the force or torque that the laser head needs to apply when it is in different positions, thereby providing a basis for subsequent disturbance observation and compensation. In this way, we can more accurately evaluate the working state of each axis to ensure that it is always within the optimal operating range. In order to deal with possible external interference, the virtual force and / or virtual torque of each axis are subjected to disturbance observation to obtain disturbance observation results; if the disturbance observation result is that the virtual force and / or virtual torque of each axis exceeds the preset threshold, the disturbance observation result is subjected to frequency analysis to obtain the main frequency component and amplitude of the disturbance. Disturbance observation is a process of real-time monitoring of system response, aiming to detect any abnormal situation and take timely measures. For example, during the engraving process of a cylindrical lithium battery, if an axis is suddenly subjected to additional resistance, causing the virtual force or torque to exceed the normal range, then we need to immediately perform a frequency analysis on the disturbance to find out its main frequency components and amplitudes. This analysis can help us understand the nature of the disturbance and thus develop an effective response strategy. Finally, the virtual forces and / or virtual torques of each axis are compensated based on the main frequency components and amplitudes of the disturbance to obtain the compensated virtual forces / torques of each axis, and the compensated virtual forces / torques of each axis are converted into motion instructions for joint space motion. The compensation process is to adjust the virtual forces or torques of each axis according to the results of the frequency analysis to offset the influence of external interference. For example, if it is found that an axis is affected by periodic vibration, we can offset this vibration by increasing the corresponding reverse force to ensure that the laser head can move stably. Then, these compensated virtual forces / torques are converted into joint space motion instructions, that is, specific angle change instructions for each joint, to prepare for the final inter-axis communication. In order to achieve the collaborative work of multi-axis linkage rotary laser equipment, the joint space motion instructions are communicated between axes to obtain collaborative motion control instructions. Inter-axis communication refers to the exchange of information between axes through high-speed data transmission channels to ensure that they can move synchronously according to unified scheduling instructions. For the application scenario of cylindrical lithium batteries, this means that all axes can work closely together to complete complex engraving tasks while maintaining high precision and efficiency. In this way, we not only achieve the complete conversion from the end effector pose sequence to specific motion control instructions, but also provide reliable technical support for high-quality lithium battery surface processing in modern industry, ensuring that every processed lithium battery can achieve the expected results. In summary, the above series of steps are closely linked to form an efficient, precise and safe motion control system for multi-axis linkage rotary laser equipment.This system can not only adapt to complex and changing processing requirements, but also flexibly respond to various unexpected situations, providing a solid guarantee for achieving high-quality lithium battery surface engraving. Task space decoupling is a key link. By decomposing complex multi-axis linkage problems into several relatively simple single-axis problems, it greatly improves the flexibility and controllability of the system and ensures that each task can be accurately executed.

[0121] In a specific embodiment, a laser is provided in the multi-axis linkage rotating laser device, and the output power of the multi-axis linkage rotating laser device is controlled in real time based on the motion control instructions of each axis to obtain the laser power stability control parameters, including:

[0122] Based on the motion control instructions of each axis, a power demand analysis is performed on the multi-axis linkage rotating laser device to obtain a power demand curve, and a spectrum decomposition is performed on the power demand curve to obtain a fundamental wave power and each harmonic component corresponding to the fundamental wave power;

[0123] Using a preset PWM technology, based on the fundamental power and each harmonic component corresponding to the fundamental power, the pulse width of the laser is calculated and modulated to obtain a modulated pulse sequence;

[0124] Performing duty adjustment on the modulated pulse sequence to obtain a duty-adjusted pulse sequence; wherein the duty-adjusted pulse sequence includes the width, frequency and trigger time of each pulse;

[0125] controlling a preliminary output power of the laser based on the duty-adjusted pulse sequence;

[0126] Performing wavelet transform analysis on the preliminary output power to determine whether the preliminary output power has power fluctuation characteristics; wherein the power fluctuation characteristics include power jitter frequency, power overshoot and power harmonic distortion;

[0127] If it exists, adaptively compensating the preliminary output power based on the power fluctuation characteristics by using a Kalman filter algorithm to obtain a compensated output power;

[0128] The compensation output power is nonlinearly optimized by a fractional-order calculus control algorithm to obtain an optimized power sequence, and energy density balancing is performed on the optimized power sequence to obtain a balanced power sequence;

[0129] The laser is controlled in a real-time closed-loop manner based on the balanced power sequence to obtain a laser power stability control parameter.

[0130] Specifically, a laser is provided in the multi-axis linkage rotating laser device, and the output power of the multi-axis linkage rotating laser device is controlled in real time based on the motion control instructions of each axis, and the process of obtaining the laser power stable control parameters is a highly complex and precise technical implementation. This process first analyzes the power demand of the multi-axis linkage rotating laser device based on the motion control instructions of each axis to obtain a power demand curve, and performs spectrum decomposition on the power demand curve to obtain the fundamental power and each harmonic component corresponding to the fundamental power. When processing cylindrical lithium batteries, assuming that we are processing along a complex engraving path, the movement speed, acceleration and position change of each axis will affect the power required by the laser. Through power demand analysis, we can predict the power demand at each moment in the entire processing process to form a continuous power demand curve. Next, by performing spectrum decomposition on this curve, it can be decomposed into fundamental power and multiple harmonic components. The fundamental power represents the main energy demand, while the harmonic component reflects the fluctuation and irregular part in the power demand. The pulse width of the laser is calculated and modulated based on the fundamental power and the harmonic components corresponding to the fundamental power by using the preset PWM (pulse width modulation) technology to obtain a modulated pulse sequence. PWM technology is a method of adjusting the average power by changing the pulse width, and is widely used in power control in laser processing. Specifically, according to the characteristics of the fundamental power and the harmonic components, we can calculate a series of pulses of different widths, which can simulate the required power output. For example, in the application scenario of cylindrical lithium batteries, if a certain section of the engraving path requires a higher power input, the corresponding PWM pulse will be wider, and vice versa. The modulated pulse sequence generated in this way can not only accurately reflect the changes in power demand, but also ensure that the output of the laser is smoother and more stable. In order to further optimize the pulse sequence, the modulated pulse sequence is duty-adjusted to obtain a duty-adjusted pulse sequence; wherein the duty-adjusted pulse sequence includes the width, frequency and trigger time of each pulse. The duty cycle refers to the proportion of time that the pulse is in the on state in a cycle, which directly affects the average output power of the laser. By reasonably adjusting the duty cycle, the output of the laser can be made more in line with actual needs while reducing unnecessary energy waste. For example, in some cases, even if the power demand is high, it can be met by increasing the pulse frequency rather than simply increasing the pulse width, thereby avoiding excessive instantaneous power that causes material damage. In addition, precise control of the triggering time of each pulse is also very important because it determines the specific location and timing of the laser beam acting on the battery surface.After controlling the preliminary output power of the laser based on the duty cycle pulse sequence, we need to perform wavelet transform analysis on the preliminary output power to determine whether the preliminary output power has power fluctuation characteristics; wherein the power fluctuation characteristics include power jitter frequency, power overshoot and power harmonic distortion. Wavelet transform is a powerful tool for analyzing non-stationary signals, which can reveal small changes in power output. For cylindrical lithium batteries, even small power fluctuations may affect the engraving quality, so wavelet transform analysis can help us discover and solve these problems in a timely manner. For example, if the power jitter frequency is too high or the power overshoot is too large, this may mean that the current control strategy needs to be adjusted to ensure that the laser output is more stable. If there is a power fluctuation feature, the Kalman filter algorithm is used to perform adaptive power compensation on the preliminary output power based on the power fluctuation feature to obtain the compensated output power. Kalman filtering is a recursive least squares estimation method that can provide optimal estimation under conditions of uncertainty and noise. In this step, we use the Kalman filter algorithm to dynamically adjust the output power according to the detected power fluctuation characteristics, so that the final output is closer to the ideal value. For example, in the application of cylindrical lithium batteries, if the power harmonic distortion is too high, the Kalman filter can gradually eliminate the influence of the harmonic components by continuously correcting the error, so that the output power is purer and more stable. The compensated output power is nonlinearly optimized by the fractional-order calculus control algorithm to obtain an optimized power sequence, and the energy density of the optimized power sequence is balanced to obtain a balanced power sequence. Fractional-order calculus is a method of extending traditional integer-order calculus, which can better describe and control the behavior of nonlinear systems. In this case, by applying the fractional-order calculus control algorithm, we can adjust the output power more accurately so that it always maintains the best state throughout the entire processing process. Energy density balance ensures that the effect of the laser beam at different positions is consistent, avoiding quality problems caused by uneven power distribution. For example, in the engraving process of cylindrical lithium batteries, even if the curvature of the battery surface changes, the power output after energy density balance can still remain uniform, ensuring that each engraving point can obtain appropriate energy input. Finally, the laser is controlled in real time in a closed loop based on the balanced power sequence to obtain the laser power stability control parameters. The real-time closed-loop control system is a feedback mechanism that automatically adjusts control parameters based on the difference between the actual output and the set target to ensure system stability and accuracy. At this stage, we use all the previously optimized power data as input to achieve precise management of the laser output power through closed-loop control. For example, during the engraving process of cylindrical lithium batteries, even if the material properties change or other unforeseen situations occur, the closed-loop control system can respond quickly and adjust the power output to ensure that the processing process always proceeds according to the predetermined plan.In this way, we not only achieve seamless connection from motion control instructions to laser power output, but also provide reliable technical support for high-quality lithium battery surface processing in modern industry, ensuring that every processed lithium battery can achieve the expected effect. In summary, the above series of steps are closely linked to form an efficient, accurate and safe power control system for multi-axis linkage rotary laser equipment. This system can not only adapt to complex and changeable processing requirements, but also flexibly respond to various unexpected situations, providing a solid guarantee for achieving high-quality lithium battery surface engraving.

[0131] The above describes the multi-axis linkage rotary laser processing control method of lithium battery in the embodiment of the present invention. The following describes the multi-axis linkage rotary laser processing control device of lithium battery in the embodiment of the present invention. Figure 2 In one embodiment of the present invention, a multi-axis linkage rotary laser processing control device for lithium batteries includes:

[0132] A modeling module 21 is used to perform surface imaging of a target lithium battery through an optical imaging system to obtain a battery surface image, and perform three-dimensional modeling based on the battery surface image to obtain a battery three-dimensional model;

[0133] An identification module 22, used for mapping the vectorized engraving pattern information to a predetermined area in the battery three-dimensional model to obtain the engraving pattern information;

[0134] A planning module 23, used to plan a laser processing path based on the engraving pattern information and the battery three-dimensional model to obtain a planned processing path;

[0135] A control module 24, for obtaining, based on the planned processing path, a motion control instruction for each axis of the multi-axis linkage rotating laser device on the target lithium battery;

[0136] The output module 25 is used to control the output power of the multi-axis linkage rotating laser device in real time based on the motion control instructions of each axis to obtain a laser power stability control parameter.

[0137] In this embodiment, for the specific implementation of each unit in the above device embodiment, please refer to the above method embodiment, which will not be repeated here.

[0138] Reference Figure 3 The present invention also provides a computer device in an embodiment, wherein the internal structure of the computer device can be as follows: Figure 3As shown. The computer device includes a processor, a memory, a display screen, an input device, a network interface and a database connected through a system bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the corresponding data in this embodiment. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the above method is implemented.

[0139] Those skilled in the art will understand that Figure 3 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device to which the solution of the present invention is applied.

[0140] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the above method is implemented. It can be understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0141] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided by the present invention and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double-speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM.

[0142] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0143] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A lithium battery multi-axis linkage rotary laser processing control method, characterized in that: The following steps are involved: Performing surface imaging of a target lithium battery through an optical imaging system to obtain a battery surface image, and performing three-dimensional modeling based on the battery surface image to obtain a battery three-dimensional model; Acquire the created vectorized engraving pattern information from a preset database, and map the vectorized engraving pattern information to a predetermined area in the battery three-dimensional model to obtain the engraving pattern information; Perform laser processing path planning based on the engraving pattern information and the battery three-dimensional model to obtain a planned processing path; Based on the planned processing path, a motion control instruction of each axis of the multi-axis linkage rotating laser device on the target lithium battery is obtained; Based on the motion control instructions of each axis, the output power of the multi-axis linkage rotating laser device is controlled in real time to obtain a laser power stability control parameter; The target lithium battery is imaged by an optical imaging system to obtain a battery surface image, and three-dimensional modeling is performed based on the battery surface image to obtain a battery three-dimensional model, including: Scanning the target lithium battery through an optical imaging system to obtain three-dimensional point cloud data of the surface of the target lithium battery; Performing Poisson surface reconstruction on the three-dimensional point cloud data to obtain three-dimensional model data of the target lithium battery surface; wherein the three-dimensional model data includes surface contour, curvature and height information; Using a non-rigid registration algorithm to perform deformation correction on the three-dimensional model data to obtain corrected three-dimensional model data, and using the corrected three-dimensional model data as a battery surface image; Virtually unfolding the corrected three-dimensional model data to obtain a two-dimensional unfolded view; Performing stress analysis on the two-dimensional development diagram by a preset finite element analysis method to obtain stress distribution data, and calculating surface strain energy distribution data of the target lithium battery based on the stress distribution data; The target lithium battery is three-dimensionally modeled based on the surface stress distribution data and the two-dimensional unfolded diagram to obtain a three-dimensional battery model.

2. The lithium battery multi-axis linkage rotary laser processing control method according to claim 1 is characterized in that: Mapping the vectorized engraving pattern information to a predetermined area within the battery three-dimensional model to obtain the engraving pattern information includes: Performing geometric feature analysis on the vectorized engraving pattern information to obtain a pattern primitive set, and performing topological decomposition on the pattern primitive set to obtain topological feature data; Based on the topological feature data, a predetermined area in the three-dimensional model of the battery is meshed to obtain regional mesh data, and a local coordinate system is established for the regional mesh data to obtain a local coordinate system; Performing spatial transformation on the pattern primitive set by a homogeneous coordinate transformation algorithm to obtain a transformed pattern primitive set, and mapping the transformed pattern primitive set to the local coordinate system to obtain a curved surface projection pattern; The contour of the curved surface projection pattern is reconstructed by a spline curve fitting algorithm to obtain a continuous pattern contour, and the continuous pattern contour is used as engraving pattern information.

3. The lithium battery multi-axis linkage rotary laser processing control method according to claim 1 is characterized in that: The laser processing path planning is performed based on the engraving pattern information and the battery three-dimensional model to obtain a planned processing path, including: In the three-dimensional battery model, the curvature of the engraved pattern information is calculated by a preset topological analysis technology to obtain a surface curvature distribution map, and contour lines are extracted from the surface curvature distribution map to obtain a set of equal curvature trajectories; By using a preset mapping algorithm, the set of equal curvature trajectories is mapped into the three-dimensional battery model to obtain surface mapping coordinates, and a mapping path in the three-dimensional battery model is constructed based on the surface mapping coordinates; Performing collision detection based on the mapping path and the three-dimensional model of the battery to determine whether there is a set of potential collision points; If so, obstacle avoidance processing is performed on the potential collision point set using a preset elastic deformation algorithm to obtain a collision-free carving path; Performing multi-objective optimization on the collision-free engraving path by using an ant colony algorithm to obtain an optimized engraving path, and performing laser processing speed planning on the optimized engraving path to obtain a variable speed engraving path; Performing acceleration constraint analysis on the variable speed engraving path to obtain a set of motion parameters, including the maximum speed of each axis, acceleration limit and angular velocity; By using a numerical integration method, a time sequence path calculation is performed based on the motion parameter set, the variable speed engraving path and the collision-free engraving path to obtain a time-space trajectory sequence, and the time-space trajectory sequence is used as a planned processing path.

4. The lithium battery multi-axis linkage rotary laser processing control method according to claim 1, characterized in that: The method of obtaining the motion control instructions of each axis of the target lithium battery by the multi-axis linkage rotating laser device based on the planned processing path includes: The planned processing path is spatially segmented and mapped to obtain a processing area sequence of each axis in the multi-axis linkage rotary laser device, and the processing area sequence is coordinate transformed to obtain axis motion data in a workpiece coordinate system; wherein the workpiece coordinate system is a coordinate system for processing the engraving pattern information; Based on the axis motion data, the multi-axis linkage rotating laser device is mapped into joint space to obtain joint motion parameters, and the joint motion parameters are approximated by polynomials to obtain smooth joint trajectory equations; By using the Lagrange interpolation method, the kinematics positive solution of the smooth joint trajectory equation is obtained to obtain the end effector posture sequence in Cartesian space; Decoupling the end effector posture sequence in task space to obtain independent motion instructions for each axis, and performing inter-axis synchronization control based on the independent motion instructions for each axis to obtain a coordinated motion control instruction; The coordinated motion control instructions are motion compensated by a neural network adaptive controller to obtain motion control instructions for each axis.

5. The lithium battery multi-axis linkage rotary laser processing control method according to claim 4 is characterized in that: The task space decoupling of the end effector posture sequence is performed to obtain independent motion instructions for each axis, and inter-axis synchronization control is performed based on the independent motion instructions to obtain a coordinated motion control instruction, including: Performing spiral interpolation decomposition and task space decoupling on the end effector posture sequence to obtain the posture components of each axis, and performing singular value decomposition on the posture components of each axis to obtain independent motion instructions for each axis; wherein the independent motion instructions for each axis include the translation vector of each axis, the rotation matrix of each axis and the decomposed singular value of each axis; A dynamic priority diagram is constructed based on the independent motion instructions of each axis to obtain the priority relationship of inter-axis motion, and a time constraint analysis is performed on the inter-axis motion priority relationship to obtain the inter-axis motion sequence under the time constraint; wherein the inter-axis motion sequence includes the start time of each axis motion, the end time of each axis and the priority level of each axis; By performing trajectory matching on the inter-axis motion timing based on a dynamic time warping algorithm, the axis motion trajectory after time synchronization is obtained, and the speed of the axis motion trajectory after time synchronization is controlled in advance to obtain a coordinated motion trajectory after speed optimization; wherein, the speed curve, acceleration curve and timestamp information of each axis are included; Inputting the speed-optimized collaborative motion trajectory into a preset virtual dynamics model to obtain virtual forces and / or virtual torques of each axis; Performing disturbance observation on the virtual forces of each axis and / or the virtual torques of each axis to obtain disturbance observation results; if the disturbance observation results are that the virtual forces of each axis and / or the virtual torques of each axis exceed a preset threshold, performing frequency analysis on the disturbance observation results to obtain the main frequency component and amplitude of the disturbance; Compensating the virtual forces and / or virtual torques of each axis based on the main frequency component and amplitude of the disturbance to obtain compensated virtual forces / torques of each axis, and converting the compensated virtual forces / torques of each axis motion instructions to obtain joint space motion instructions; Inter-axis communication is performed on the joint space motion instructions to obtain coordinated motion control instructions.

6. The lithium battery multi-axis linkage rotary laser processing control method according to claim 1, characterized in that: The multi-axis linkage rotating laser device is provided with a laser, and the output power of the multi-axis linkage rotating laser device is controlled in real time based on the motion control instructions of each axis to obtain a laser power stability control parameter, including: Based on the motion control instructions of each axis, a power demand analysis is performed on the multi-axis linkage rotating laser device to obtain a power demand curve, and a spectrum decomposition is performed on the power demand curve to obtain a fundamental wave power and each harmonic component corresponding to the fundamental wave power; Using a preset PWM technology, based on the fundamental power and each harmonic component corresponding to the fundamental power, the pulse width of the laser is calculated and modulated to obtain a modulated pulse sequence; Performing duty adjustment on the modulated pulse sequence to obtain a duty-adjusted pulse sequence; wherein the duty-adjusted pulse sequence includes the width, frequency and trigger time of each pulse; controlling a preliminary output power of the laser based on the duty-adjusted pulse sequence; Performing wavelet transform analysis on the preliminary output power to determine whether the preliminary output power has power fluctuation characteristics; wherein the power fluctuation characteristics include power jitter frequency, power overshoot and power harmonic distortion; If it exists, adaptively compensating the preliminary output power based on the power fluctuation characteristics by using a Kalman filter algorithm to obtain a compensated output power; The compensation output power is nonlinearly optimized by a fractional-order calculus control algorithm to obtain an optimized power sequence, and energy density balancing is performed on the optimized power sequence to obtain a balanced power sequence; The laser is controlled in a real-time closed-loop manner based on the balanced power sequence to obtain a laser power stability control parameter.

7. A lithium battery multi-axis linkage rotary laser processing control device, characterized in that: include: A modeling module, used to perform surface imaging of a target lithium battery through an optical imaging system to obtain a battery surface image, and perform three-dimensional modeling based on the battery surface image to obtain a battery three-dimensional model; A recognition module, used for mapping the vectorized engraving pattern information to a predetermined area in the three-dimensional model of the battery to obtain the engraving pattern information; A planning module, used to plan a laser processing path based on the engraving pattern information and the battery three-dimensional model to obtain a planned processing path; A control module, for obtaining, based on the planned processing path, motion control instructions for each axis of the multi-axis linkage rotary laser device on the target lithium battery; An output module, used to control the output power of the multi-axis linkage rotating laser device in real time based on the motion control instructions of each axis, and obtain a laser power stability control parameter; The target lithium battery is imaged by an optical imaging system to obtain a battery surface image, and three-dimensional modeling is performed based on the battery surface image to obtain a battery three-dimensional model, including: Scanning the target lithium battery through an optical imaging system to obtain three-dimensional point cloud data of the surface of the target lithium battery; Performing Poisson surface reconstruction on the three-dimensional point cloud data to obtain three-dimensional model data of the target lithium battery surface; wherein the three-dimensional model data includes surface contour, curvature and height information; Using a non-rigid registration algorithm to perform deformation correction on the three-dimensional model data to obtain corrected three-dimensional model data, and using the corrected three-dimensional model data as a battery surface image; Virtually unfolding the corrected three-dimensional model data to obtain a two-dimensional unfolded view; Performing stress analysis on the two-dimensional development diagram by a preset finite element analysis method to obtain stress distribution data, and calculating surface strain energy distribution data of the target lithium battery based on the stress distribution data; The target lithium battery is three-dimensionally modeled based on the surface stress distribution data and the two-dimensional unfolded diagram to obtain a three-dimensional battery model.

8. A computer device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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