Laser light switching method and device based on galvanometer motion control

Abstract

The invention provides a laser light switching method and device based on galvanometer motion control, and the method comprises the steps: obtaining the position information and type information of a laser processing track, determining the acceleration information of a galvanometer, and then determining a starting point direction vector and an end point direction vector of the laser processing track based on the position information and type information, the actual starting point and the actual ending point of the galvanometer are determined based on the preset machining speed, the position information, the acceleration information, the starting point direction vector and the ending point direction vector, and finally the galvanometer is controlled to move from the actual starting point to the actual ending point along the laser machining track based on the acceleration information, the starting point direction vector and the ending point direction vector. The laser is controlled to be turned on when the galvanometer passes through the initial starting point, and the laser is controlled to be turned off when the galvanometer passes through the initial ending point. The problem that in the existing laser processing technology, laser processing quality is poor due to the fact that light emitted by the laser device and mechanical movement of the galvanometer are not synchronous can be solved.

Description

Technical Field

[0001] The present invention relates to the field of laser processing technology, and in particular to a laser switching light method and device based on galvanometer motion control. Background Art

[0002] The galvanometer is a key component in laser processing. Its low inertia can achieve high-speed deflection and frequent start and stop. Due to the characteristics of mechanical components and optoelectronic devices, the response performance of the laser's switching light command is different from the response performance of the galvanometer mechanical system. Therefore, the laser's switching light moment cannot be synchronized with the movement state of the galvanometer, which will affect the quality of laser processing. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a laser switching light method and device based on galvanometer motion control to alleviate the problem of poor laser processing quality caused by the asynchrony between the laser light output and the galvanometer mechanical movement in the existing laser processing technology.

[0004] In a first aspect, an embodiment of the present invention provides a laser switching light method based on galvanometer motion control, comprising: obtaining position information and type information of a laser processing trajectory, and determining acceleration information of the galvanometer; wherein the position information represents the position of the galvanometer corresponding to the laser processing trajectory, and the type information represents the shape of the laser processing trajectory; based on the position information and the type information, determining a starting point direction vector and an ending point direction vector of the laser processing trajectory; wherein the starting point direction vector represents the tangent direction of the initial starting point of the laser processing trajectory, and the ending point direction vector represents the tangent direction of the initial ending point of the laser processing trajectory; based on a preset processing speed, the position information, the acceleration information, the starting point direction vector and the ending point direction vector, determining an actual starting point and an actual ending point of the galvanometer; based on the preset processing speed, the acceleration information, the starting point direction vector and the ending point direction vector, controlling the galvanometer to move from the actual starting point along the laser processing trajectory to the actual ending point, controlling the laser to turn on when the galvanometer passes through the initial starting point, and controlling the laser to turn off when the galvanometer passes through the initial ending point.

[0005] In a second aspect, an embodiment of the present invention further provides a laser switch light device based on galvanometer motion control, comprising: an acquisition and determination module, used to acquire position information and type information of a laser processing trajectory, and determine the acceleration information of the galvanometer; wherein the position information represents the position of the galvanometer corresponding to the laser processing trajectory, and the type information represents the shape of the laser processing trajectory; a first determination module, used to determine the starting direction vector and the end direction vector of the laser processing trajectory based on the position information and the type information; wherein the starting direction vector represents the tangent direction of the initial starting point of the laser processing trajectory, and the end direction vector represents the tangent direction of the initial end point of the laser processing trajectory; a second determination module, used to determine the actual starting point and the actual end point of the galvanometer based on a preset processing speed, the position information, the acceleration information, the starting direction vector and the end direction vector; a control module, used to control the galvanometer to move from the actual starting point along the laser processing trajectory to the actual end point based on the preset processing speed, the acceleration information, the starting direction vector and the end direction vector, control the laser to turn on when the galvanometer passes through the initial starting point, and control the laser to turn off when the galvanometer passes through the initial end point.

[0006] The embodiment of the present invention provides a laser light switch method and device based on galvanometer motion control, which obtains the position information and type information of the laser processing trajectory, and determines the acceleration information of the galvanometer, and then determines the starting point direction vector and the end point direction vector of the laser processing trajectory based on the position information and type information, and determines the actual starting point and the actual end point of the galvanometer based on the preset processing speed, position information, acceleration information, starting point direction vector and end point direction vector, and finally controls the galvanometer to move from the actual starting point to the actual end point along the laser processing trajectory based on the acceleration information, starting point direction vector and end point direction vector, and controls the laser to turn on when the galvanometer passes the initial starting point, and controls the laser to turn off when the galvanometer passes the initial end point. By adopting the above technology, the actual starting point and the actual end point of the galvanometer can be determined by using the position information and type information of the laser processing trajectory and the acceleration information of the galvanometer, and then in the process of controlling the movement of the galvanometer, the laser is controlled to switch on and off when the galvanometer passes the two end points of the laser processing trajectory, which can improve the synchronization between the laser light switch and the mechanical movement of the galvanometer, thereby improving the laser processing accuracy.

[0007] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0008] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 A schematic flow chart of a laser switching light method based on galvanometer motion control in an embodiment of the present invention;

[0011] Figure 2 is a schematic diagram of a straight line trajectory in an embodiment of the present invention;

[0012] Figure 3 Schematic diagram of an arc trajectory in an embodiment of the present invention;

[0013] Figure 4 is a schematic diagram of an elliptical trajectory in an embodiment of the present invention;

[0014] Figure 5 Schematic diagram of the structure of a laser switch optical device based on galvanometer motion control in an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] At present, the galvanometer can achieve high-speed deflection and frequent start and stop in laser processing. Since the response performance of the laser's switch light command is different from the response performance of the galvanometer mechanical system, the laser's switch light moment cannot be synchronized with the motion state of the galvanometer, which will affect the quality of laser processing. Based on this, the present invention provides a laser switch light method and device based on galvanometer motion control, which can alleviate the problem of poor laser processing quality caused by the asynchronism between the laser light output and the galvanometer mechanical motion in the existing laser processing technology.

[0017] To facilitate understanding of this embodiment, a laser switching light method based on galvanometer motion control disclosed in an embodiment of the present invention is first described in detail, see Figure 1 As shown, the method may include the following steps:

[0018] Step S102, obtaining the position information and type information of the laser processing trajectory, and determining the acceleration information of the galvanometer.

[0019] The position information represents the position of the galvanometer on the laser processing track, and the type information represents the shape of the laser processing track.

[0020] During laser processing, the galvanometer can move along the laser processing trajectory, that is, the laser processing trajectory actually belongs to the motion trajectory of the galvanometer. The laser processing trajectory has a certain shape (such as a straight line, a curve, etc.), and the laser processing trajectory actually corresponds to the motion position of the galvanometer. The shape of the laser processing trajectory can be characterized by type information, and the position of the galvanometer along the laser processing trajectory can be characterized by position information. In addition, the movement of the galvanometer is controlled by a motor, and before controlling the movement of the galvanometer, it is usually necessary to pre-test and determine the working parameters of the motor in order to ensure the stability of the motor-controlled galvanometer movement; for example, the performance parameters of the motor are pre-tested and the angular acceleration of the motor is set according to the performance parameter test results, so that when laser processing is performed, the motor can provide a stable acceleration for the movement of the galvanometer through the set angular acceleration, and this acceleration is actually the moving linear acceleration of the laser spot in laser processing.

[0021] Step S104, determining the starting direction vector and the ending direction vector of the laser processing trajectory based on the position information and the type information.

[0022] The starting point direction vector represents the tangent direction of the initial starting point of the laser processing trajectory, and the end point direction vector represents the tangent direction of the initial end point of the laser processing trajectory.

[0023] Step S106, determining the actual starting point and the actual end point of the galvanometer based on the preset processing speed, position information, acceleration information, starting point direction vector and end point direction vector.

[0024] The actual starting point can be a position at a certain distance from the initial starting point. Before controlling the galvanometer to move along the laser processing trajectory, it is necessary to first control the galvanometer to move from the actual starting point to the initial starting point; the actual end point can be a position at a certain distance from the initial end point. After controlling the galvanometer to move along the laser processing trajectory, the galvanometer will move from the initial end point to the actual end point.

[0025] Step S108, based on the preset processing speed, acceleration information, starting point direction vector and end point direction vector, controls the galvanometer to move from the actual starting point along the laser processing trajectory to the actual end point, controls the laser to turn on when the galvanometer passes the initial starting point, and controls the laser to turn off when the galvanometer passes the initial end point.

[0026] In actual application, in order to ensure the quality of laser processing, it is usually necessary to ensure that the ratios of the speeds of the galvanometer when passing through the initial starting point and the initial end point to the preset processing speed are both greater than 0.8 and less than 1.

[0027] The embodiment of the present invention provides a laser light switching method based on galvanometer motion control, which obtains the position information and type information of the laser processing trajectory, and determines the acceleration information of the galvanometer, and then determines the starting point direction vector and the end point direction vector of the laser processing trajectory based on the position information and type information, and determines the actual starting point and the actual end point of the galvanometer based on the preset processing speed, position information, acceleration information, starting point direction vector and end point direction vector, and finally controls the galvanometer to move from the actual starting point to the actual end point along the laser processing trajectory based on the acceleration information, the starting point direction vector and the end point direction vector, and controls the laser to turn on when the galvanometer passes the initial starting point, and controls the laser to turn off when the galvanometer passes the initial end point. By adopting the above technology, the actual starting point and the actual end point of the galvanometer can be determined by using the position information and type information of the laser processing trajectory and the acceleration information of the galvanometer, and then in the process of controlling the movement of the galvanometer, the laser is controlled to switch on and off when the galvanometer passes the two end points of the laser processing trajectory, which can improve the synchronization between the laser light switching and the mechanical movement of the galvanometer, thereby improving the laser processing accuracy.

[0028] As a possible implementation, the position information may include a first position of an initial starting point and a second position of an initial end point, and the type information may include a trajectory equation characterizing the shape of the laser processing trajectory; based on this, the above-mentioned step S104 (i.e., determining the starting direction vector and the end direction vector of the laser processing trajectory based on the position information and the type information) may include: if the trajectory equation is a straight line trajectory equation, obtaining the first position coordinates of the first position satisfying the trajectory equation and the second position coordinates of the second position satisfying the trajectory equation, and calculating the difference between the first position coordinates and the second position coordinates, and then calculating the completely identical starting direction vector and end point direction vector based on the difference; if the trajectory equation is an arc trajectory equation, determining the third position of the midpoint of the laser processing trajectory, and calculating the starting direction vector and the end point direction vector based on the position coordinates of the first position, the second position and the third position satisfying the trajectory equation; if the trajectory equation is a general curve trajectory equation, obtaining the first position coordinates and the second position coordinates, and calculating the starting direction vector based on the first position coordinates and the trajectory equation, and calculating the end point direction vector different from the starting direction vector based on the second position coordinates and the trajectory equation; wherein the straight line trajectory equation, the arc trajectory equation and the general curve trajectory equation each characterize a different shape.

[0029] See also Figure 2 As shown, the laser processing trajectory is a straight line trajectory 200, and the position coordinates of the starting point A0 and the end point B0 of the straight line trajectory 200 respectively satisfy the straight line trajectory equation are (x s,y s ) and (x e ,y e ), then the calculation method of the starting direction vector a and the end direction vector b is a=b=(x s -x e ,y s -y e ).

[0030] See also Figure 3 As shown, the laser processing trajectory is an arc trajectory 300, and the position coordinates of the starting point A0, the midpoint M and the end point B0 of the arc trajectory 300 respectively satisfy the arc trajectory equation are (x s ,y s )、(x m ,y m ) and (x e ,y e ), then the calculation method of the starting direction vector a and the end direction vector b is: first use (x s ,y s )、(x m ,y m ) and (x e ,y e ) The arc trajectory equation is used to obtain the position coordinates of the center O of the arc trajectory 300 as (x c ,y c )(Specifically, two different line segments can be obtained by connecting two points in A0, M and B0, and the perpendicular equation of each line segment can be obtained by using the position coordinates of the two end points of each line segment, and then the perpendicular equations of the two line segments can be solved to obtain the position coordinates of the intersection of the two line segments as the position coordinates of the center O), and then the starting point direction vector a=(x c -x m ,y c -y m )×(x c -x e ,y c -y e )×(x c -x s ,y c -y s ), and calculate the end point direction vector b = (x c -x m ,y c -y m )×(x c -x s ,y c -y s )×(x c -x e ,y c -ye ).

[0031] See also Figure 4 As shown, the laser processing trajectory is an elliptical trajectory 400, and the position coordinates of the starting point A0 and the end point B0 of the elliptical trajectory 400 respectively satisfy the elliptical trajectory equation F(x, y) = 0 are (x s ,y s ) and (x e ,y e ), then (x s ,y s ) and (x e ,y e ) are substituted into The starting point direction vector a and the end point direction vector b can be calculated.

[0032] As a possible implementation, the acceleration information may include acceleration characterizing the mechanical properties of the galvanometer; based on this, the above step S106 (i.e., determining the actual starting point and the actual end point of the galvanometer based on the preset processing speed, position information, acceleration information, starting point direction vector and end point direction vector) may include:

[0033] Step 1: Determine the adjustment distance of the galvanometer based on the preset processing speed and acceleration.

[0034] Specifically, the adjustment time of the galvanometer can be determined based on the preset processing speed and acceleration; and the adjustment distance can be determined based on the preset processing speed and adjustment time.

[0035] Continuing from the previous example, the angular acceleration of the motor used to control the movement of the galvanometer is β, which is converted into the moving linear acceleration a of the laser spot in the corresponding laser processing. m , and the pre-set processing speed is v, then the adjustment time of the galvanometer is t s =v / a m , the adjustment distance of the galvanometer S = v × t s / 2.

[0036] Step 2, determining the actual starting point and the actual end point based on the adjusted distance, the first position, the second position, the starting point direction vector and the end point direction vector.

[0037] Specifically, the actual starting point may be determined based on the adjustment distance, the first position and the starting point direction vector; and the actual end point may be determined based on the adjustment distance, the second position and the end point direction vector.

[0038] Continuing from the previous example, see Figures 2 to 4 As shown, when the adjustment distance S and A0 position coordinates (x s ,y s) and the starting direction vector a, we can move S from A0 along the direction indicated by a to reach A1, and then use S, (x s ,y s ) and a to calculate the position coordinates (x1, y1) of A1, A1 is the actual starting point; when the adjustment distance S and the position coordinates (x e ,y e ) and the end direction vector b, we can move S from B0 along the direction indicated by b to reach B1, and then use S, (x e ,y e ) and b to calculate the position coordinates (x2, y2) of B1, and B1 is the actual end point.

[0039] As a possible implementation, in the above step S108, controlling the galvanometer to move from the actual starting point along the laser processing trajectory to the actual end point based on the preset processing speed, acceleration information, starting point direction vector and end point direction vector may include the following steps A1 to A3:

[0040] Step A1, controlling the galvanometer to move from the actual starting point to the initial starting point based on the acceleration and the starting point direction vector.

[0041] Among them, the speed of the galvanometer when it starts to move at the actual starting point is 0.

[0042] Specifically, the operation method of step A1 may be: controlling the galvanometer to accelerate from the actual starting point along the first direction corresponding to the starting point direction vector according to the acceleration until the galvanometer accelerates to the initial starting point.

[0043] Continuing from the previous example, see Figures 2 to 4 As shown, it is known that the moving linear acceleration of the laser spot in laser processing is a m , the pre-set processing speed v and the starting direction vector a and the end direction vector b can control the galvanometer to stop at A1 according to a m Perform uniform acceleration motion in the direction pointed by a until the galvanometer reaches A0 and the velocity of the galvanometer at A0 is in the interval [0.8v,v], so that the subsequent acceleration can be calculated based on v and a. m Control the galvanometer to move from A0 along the laser processing trajectory (if the speed of the galvanometer at A0 reaches v, the galvanometer is controlled to move from A0 along the laser processing trajectory to B0 at a constant speed according to v; if the speed of the galvanometer at A0 does not reach v, the galvanometer is controlled to move at a constant speed according to a m The galvanometer is accelerated along the laser processing trajectory at a constant acceleration value until the galvanometer speed reaches the position v, and then the galvanometer is controlled to move from this position along the laser processing trajectory at a constant speed value to B0 according to v, or the galvanometer is controlled to move at a m Accelerate along the laser processing trajectory at a constant acceleration value until the galvanometer speed reaches or does not reach v (B0).

[0044] Step A2: Based on the preset processing speed and acceleration, the galvanometer is controlled to move from the initial starting point to the initial end point along the laser processing trajectory.

[0045] Specifically, if the speed of the galvanometer at the initial starting point is less than the preset processing speed, step A2 can have the following two operation modes:

[0046] Operation mode a21: Control the galvanometer to accelerate from the initial starting point along the laser processing trajectory at a constant acceleration value until the galvanometer accelerates to the initial end point at a constant acceleration value and the speed of the galvanometer at the initial end point is not greater than the preset processing speed.

[0047] Continuing from the previous example, see Figures 2 to 4 As shown, it is known that a m , v, a and b, the speed of the galvanometer at A0 is in the interval [0.8v, v], and the galvanometer can be controlled to move from A0 to a m Perform an acceleration motion with a constant acceleration value along the laser processing trajectory until the galvanometer reaches B0 and the speed of the galvanometer at B0 is within the range of [0.8v,v], so that the galvanometer can be subsequently controlled to move from B0 according to a m Make a deceleration motion with a constant acceleration value in the direction pointed by b.

[0048] Operation mode a22: Control the galvanometer to move at a constant acceleration value from the initial starting point along the laser processing trajectory until the galvanometer moves to the first target point at a constant acceleration value and the speed of the galvanometer at the first target point is equal to the preset processing speed, then control the galvanometer to move at a constant speed value from the first target point along the laser processing trajectory to the initial end point according to the preset processing speed.

[0049] Continuing from the previous example, see Figures 2 to 4 As shown, it is known that a m , v, a and b, the speed of the galvanometer at A0 is in the interval [0.8v, v], and the galvanometer can be controlled to move from A0 to a m Perform an accelerated motion with a constant acceleration value along the laser processing trajectory until the galvanometer reaches a certain point on the laser processing trajectory and the velocity of the galvanometer at this point is equal to v. Then control the galvanometer to move at a constant velocity value along the laser processing trajectory at v at this point until the galvanometer reaches B0, so that the galvanometer can be subsequently controlled to move from B0 according to a. m It moves with uniform deceleration in the direction indicated by b.

[0050] If the speed of the galvanometer at the initial starting point is equal to the preset processing speed, step A2 can be performed as follows:

[0051] Operation mode a23: Control the galvanometer to move from the initial starting point to the initial end point at a constant speed along the laser processing trajectory according to the preset processing speed.

[0052] Continuing from the previous example, see Figures 2 to 4 As shown, it is known that a m , v, a and b, the speed of the galvanometer at A0 is equal to v, and the galvanometer can be controlled to move at a constant speed from A0 along the laser processing trajectory according to v until the galvanometer reaches B0, so that the galvanometer can be subsequently controlled to move from B0 according to a m Make a deceleration motion with a constant acceleration value in the direction pointed by b.

[0053] Step A3, based on the acceleration and the end point direction vector, the galvanometer is controlled to move from the initial end point to the actual end point; wherein the velocity of the galvanometer at the actual end point is 0.

[0054] Specifically, the operation method of step A3 may be: controlling the galvanometer to decelerate at a constant acceleration value from the initial end point along the second direction corresponding to the end point direction vector, until the galvanometer decelerates at a constant acceleration value to the actual end point.

[0055] Continuing from the previous example, see Figures 2 to 4 As shown, it is known that a m , v, a and b, the speed of the galvanometer at B0 is in the interval [0.8v, v], and the galvanometer can be controlled to move from B0 according to a m Perform deceleration motion with a constant acceleration value along the direction pointed by b until the galvanometer reaches B1 and stops.

[0056] For ease of understanding, the operation of the above-mentioned laser switching light method based on galvanometer motion control is described as follows by taking a specific application as an example.

[0057] The main idea of ​​the above-mentioned laser switching light method based on galvanometer motion control is to leave a buffer distance between the actual starting point of the galvanometer positioning and the starting point of the trajectory (i.e., the initial starting point of the laser processing trajectory), and between the actual end point and the end point of the trajectory (i.e., the initial end point of the laser processing trajectory). The buffer distance between the actual starting point and the starting point of the trajectory is used to realize the pre-acceleration of the galvanometer, so that the speed of the galvanometer when it officially passes through the starting point of the trajectory has reached the set processing speed v or is slightly less than v (for example, the speed is in the interval of [0.8v, v]), and then the laser is turned on when the galvanometer passes through the starting point of the trajectory, fundamentally eliminating the problem of poor laser processing quality caused by the asynchronism between the laser opening and the mechanical movement of the galvanometer; the buffer distance between the end point of the trajectory and the actual end point is used to realize the post-deceleration of the galvanometer, so that the speed of the galvanometer when passing through the end point of the trajectory reaches v or is slightly less than v, and then the laser is turned off when the galvanometer passes through the end point of the trajectory and a stop command is sent to the galvanometer at the same time. After receiving the stop command, the galvanometer responds (i.e., deceleration movement) and stops after a certain period of time.

[0058] by Figures 2 to 4 For example, there are two ways to achieve pre-acceleration:

[0059] The first pre-acceleration method: first let the galvanometer jump to the starting point of the trajectory, and then let the galvanometer move from the starting point of the trajectory in the opposite direction of the direction pointed by the starting point direction vector (specifically, the direction from the starting point of the trajectory to the end point of the trajectory for a straight trajectory, and the tangent direction of the starting point of the trajectory for a curved trajectory) to the actual starting point, and then let the galvanometer start to accelerate from the actual starting point. When the galvanometer passes the starting point of the trajectory, the laser is controlled to open.

[0060] The second pre-acceleration method: first let the galvanometer jump directly to the actual starting point, and then let the galvanometer start to accelerate from the actual starting point. When the galvanometer passes the starting point of the trajectory, the laser is controlled to turn on.

[0061] by Figures 2 to 4 For example, the specific implementation method of post-deceleration can be: let the galvanometer pass the trajectory end point at the processing speed v, and control the laser to turn off the light when the galvanometer passes the trajectory end point, and send a stop command to the galvanometer at the same time. The galvanometer responds for a period of time and stops at the actual end point.

[0062] by Figures 2 to 4 For example, the above-mentioned laser switching light method based on galvanometer motion control can be performed in the following operation mode:

[0063] The first step is to determine the type of laser processing trajectory.

[0064] Among them, the types of laser processing trajectories can be mainly divided into (but not limited to) straight line trajectories, arc trajectories, general curve trajectories (such as elliptical trajectories, curve trajectories of other shapes, etc.).

[0065] The second step is to find the tangent direction vectors of the starting point and the end point of the trajectory (i.e., a and b in the previous text) according to the type of laser processing trajectory.

[0066] The specific calculation methods of a and b can be found in the previous article, so they will not be elaborated here.

[0067] The third step is to determine the pre-acceleration distance and post-deceleration distance of the galvanometer according to the dynamic performance of the galvanometer.

[0068] Among them, dynamic performance mainly refers to the acceleration and deceleration performance of the motor used to control the movement of the galvanometer, that is, the stable acceleration value that can be used to accelerate the galvanometer during laser processing (such as a in the previous article). m ); if the angular acceleration β of the motor is converted into the moving linear acceleration a of the corresponding laser spot during processing, then the pre-acceleration time t s =v / a, the pre-acceleration distance and post-deceleration distance of the galvanometer are both S=v×t s / 2.

[0069] The fourth step is to determine the actual starting point based on the trajectory starting point, the pre-acceleration distance, and the tangent direction vector of the trajectory starting point.

[0070] The starting point A0 of the trajectory can be moved in the opposite direction of a obtained in the second step, and the moving distance is equal to S. A1 obtained after A0 is moved is used as the actual starting point. Then, according to the position coordinates of A0 (x s ,y s ) as well as a and S to calculate the position coordinates (x1, y1) of the actual starting point A1.

[0071] The fifth step is to determine the actual end point based on the trajectory end point, the post-deceleration distance, and the tangent direction vector of the trajectory end point.

[0072] Since the speed of machining a trajectory is v, the same acceleration a is used for machining on the same trajectory. m The distance traveled from accelerating from 0 to V is the same as the distance traveled from V to 0, which is equal to S. The end point B0 of the trajectory can be moved along the direction b obtained in the second step, and the moving distance is equal to S. B1 obtained after B0 is moved is used as the actual end point. Then, according to the position coordinates of B0 (x e ,y e ) as well as b and S to calculate the position coordinates (x2, y2) of the actual end point B1.

[0073] The sixth step is to control the motion of the galvanometer and the switching light of the laser.

[0074] The motion control of the galvanometer mainly includes: controlling the galvanometer to pre-accelerate between the actual starting point and the starting point of the trajectory, controlling the galvanometer to move along the laser processing trajectory, and controlling the galvanometer to decelerate between the end point of the trajectory and the actual end point. The switching light control of the laser mainly includes: controlling the laser to turn on when the galvanometer passes the starting point of the trajectory, and controlling the laser to turn off when the galvanometer passes the end point of the trajectory.

[0075] For pre-acceleration, the following two different operation modes can be used respectively for the above two methods of implementing pre-acceleration:

[0076] The operation method for the first pre-acceleration method mentioned above is as follows: ① Control the galvanometer to jump to the starting point of the trajectory; ② Control the galvanometer to move from the starting point of the trajectory to the actual starting point in the opposite direction of the direction pointed by a by accelerating first and then decelerating; ③ Control the galvanometer to accelerate from the actual starting point in the direction pointed by a or pass through the starting point of the trajectory at a constant speed, and control the laser to turn on at the same time, and the speed of the galvanometer passing the starting point of the trajectory needs to be controlled within the interval of [0.8v,v].

[0077] The operation method for the second pre-acceleration method mentioned above is as follows: ① Control the galvanometer to jump directly to the actual starting point; ② Control the galvanometer to accelerate from the actual starting point in the direction pointed by a or pass through the trajectory starting point at a constant speed, and control the laser to turn on at the same time. The speed of the galvanometer passing through the trajectory starting point needs to be controlled within the interval of [0.8v,v].

[0078] After controlling the galvanometer for pre-acceleration, the galvanometer can be controlled to move from the starting point of the trajectory to the end point of the laser processing trajectory, and then the galvanometer is controlled to decelerate. The movement of the galvanometer along the laser processing trajectory is determined by the pre-acceleration of the galvanometer, and the movement of the galvanometer along the laser processing trajectory will affect the post-deceleration of the galvanometer. The specific motion control method of the galvanometer along the laser processing trajectory can be found in the relevant content in the previous article, which will not be repeated here.

[0079] For the post-deceleration, the following operation methods can be adopted for the above specific implementation methods of post-deceleration:

[0080] ① Control the galvanometer to pass the end point of the trajectory at a speed v, and control the laser to turn off the light when the galvanometer passes the end point of the trajectory, and send a stop command to the galvanometer at the same time; ② After receiving the stop command, the galvanometer decelerates from the end point of the trajectory to the actual end point and stops moving.

[0081] In actual application, if the pre-acceleration distance S can only ensure that the speed of the galvanometer when passing through the starting point of the trajectory is not less than 0.8v but less than v, it will have little effect on the quality of laser processing. After the galvanometer passes through the starting point of the trajectory, the galvanometer can be controlled to continue to accelerate at a constant acceleration value so that the speed of the galvanometer reaches v (at this time, the galvanometer may not have reached the end of the trajectory or has reached the end of the trajectory); if the galvanometer does not reach the end of the trajectory when its speed just reaches v, the galvanometer can be controlled to move from the position where its speed reaches v to the end of the trajectory at a constant speed value, and a stop command is sent to the galvanometer when the galvanometer reaches the end of the trajectory; if the galvanometer has reached the end of the trajectory when its speed reaches v, a stop command can be directly sent to the galvanometer when it reaches the end of the trajectory; if the galvanometer still cannot reach v at the speed of the galvanometer when it reaches the end of the trajectory due to the very short processing distance, a stop command is still sent to the galvanometer when it reaches the end of the trajectory.

[0082] By adopting the above-mentioned laser switching light method based on galvanometer motion control, the galvanometer is allowed to respond in advance through pre-acceleration in the laser switching stage, and the galvanometer is allowed to respond later through post-deceleration in the switching-off stage. The galvanometer can pass through the laser switching light spot at a uniform speed or a nearly uniform speed, ensuring the synchronization of the laser and the galvanometer on the entire laser processing trajectory, eliminating the influence of the asynchrony between the laser switching light and the galvanometer mechanical movement on the laser processing trajectory, and can alleviate the problem of poor laser processing quality caused by the asynchrony between the laser light output and the galvanometer mechanical movement in the existing laser processing technology, thereby greatly improving the accuracy of laser processing.

[0083] Based on the above-mentioned laser switch light method based on galvanometer motion control, the embodiment of the present invention also provides a laser switch light device based on galvanometer motion control, see Figure 5 As shown, the device may include:

[0084] The acquisition and determination module 502 is used to obtain the position information and type information of the laser processing trajectory and determine the acceleration information of the galvanometer; wherein the position information represents the position of the galvanometer corresponding to the laser processing trajectory, and the type information represents the shape of the laser processing trajectory.

[0085] The first determination module 504 is used to determine the starting direction vector and the end direction vector of the laser processing trajectory based on the position information and the type information; wherein the starting direction vector represents the tangent direction of the initial starting point of the laser processing trajectory, and the end direction vector represents the tangent direction of the initial end point of the laser processing trajectory.

[0086] The second determination module 506 is used to determine the actual starting point and the actual end point of the galvanometer based on the preset processing speed, the position information, the acceleration information, the starting point direction vector and the end point direction vector.

[0087] The control module 508 is used to control the galvanometer to move from the actual starting point along the laser processing trajectory to the actual end point based on the preset processing speed, the acceleration information, the starting point direction vector and the end point direction vector, control the laser to turn on when the galvanometer passes through the initial starting point, and control the laser to turn off when the galvanometer passes through the initial end point.

[0088] The above-mentioned position information may include a first position of the initial starting point and a second position of the initial end point, and the above-mentioned type information includes a trajectory equation characterizing the shape of the laser processing trajectory; based on this, the above-mentioned first determination module 504 can also be used for: if the trajectory equation is a straight line trajectory equation, then obtain the first position coordinates of the first position that satisfy the trajectory equation and the second position coordinates of the second position that satisfy the trajectory equation, and calculate the difference between the first position coordinates and the second position coordinates, and then calculate the completely identical starting point direction vector and the end point direction vector based on the difference; if the trajectory equation is an arc trajectory equation, then determine the third position of the midpoint of the laser processing trajectory, and calculate the starting point direction vector and the end point direction vector based on the position coordinates of the first position, the second position and the third position that each satisfy the trajectory equation; if the trajectory equation is a general curve trajectory equation, then obtain the first position coordinates and the second position coordinates, and calculate the starting point direction vector based on the first position coordinates and the trajectory equation, and calculate the end point direction vector different from the starting point direction vector based on the second position coordinates and the trajectory equation; wherein the shapes represented by the straight line trajectory equation, the arc trajectory equation and the general curve trajectory equation are different.

[0089] The above-mentioned acceleration information may include acceleration that characterizes the mechanical properties of the galvanometer; based on this, the above-mentioned second determination module 506 can also be used to: determine the adjustment distance of the galvanometer based on the preset processing speed and the acceleration; determine the actual starting point and the actual end point based on the adjustment distance, the first position, the second position, the starting point direction vector and the end point direction vector.

[0090] The second determination module 506 may also be configured to: determine the actual starting point based on the adjusted distance, the first position and the starting point direction vector; and determine the actual end point based on the adjusted distance, the second position and the end point direction vector.

[0091] The second determination module 506 may also be used to: determine the adjustment time of the galvanometer based on the preset processing speed and the acceleration; and determine the adjustment distance based on the preset processing speed and the adjustment time.

[0092] The above-mentioned control module 508 can also be used to: control the galvanometer to move from the actual starting point to the initial starting point based on the acceleration and the starting point direction vector; wherein, the speed of the galvanometer starting to move at the actual starting point is 0; control the galvanometer to move from the initial starting point along the laser processing trajectory to the initial end point based on the preset processing speed and the acceleration; control the galvanometer to move from the initial end point to the actual end point based on the acceleration and the end point direction vector; wherein, the speed of the galvanometer at the actual end point is 0.

[0093] The control module 508 may also be used to control the galvanometer to accelerate from the actual starting point along a first direction corresponding to the starting point direction vector according to the acceleration until the galvanometer accelerates to the initial starting point.

[0094] If the speed of the galvanometer at the initial starting point is less than the preset processing speed, the control module 508 can also be used to: control the galvanometer to accelerate from the initial starting point along the laser processing trajectory at a constant acceleration value according to the acceleration, until the galvanometer accelerates to the initial end point at the constant acceleration value and the speed of the galvanometer at the initial end point is not greater than the preset processing speed; or, control the galvanometer to accelerate from the initial starting point along the laser processing trajectory at a constant acceleration value according to the acceleration, until the galvanometer accelerates to the first target point at the constant acceleration value and when the speed of the galvanometer at the first target point is equal to the preset processing speed, control the galvanometer to move from the first target point along the laser processing trajectory at a constant speed value according to the preset processing speed to the initial end point.

[0095] If the speed of the galvanometer at the initial starting point is equal to the preset processing speed, the control module 508 can also be used to control the galvanometer to move from the initial starting point along the laser processing trajectory at a constant speed value according to the preset processing speed.

[0096] The control module 508 may also be used to control the galvanometer to decelerate at a constant acceleration value from the initial end point along a second direction corresponding to the end point direction vector according to the acceleration until the galvanometer decelerates at a constant acceleration value to the actual end point.

[0097] A laser switching light device based on galvanometer motion control provided in an embodiment of the present invention can use the position information and type information of the laser processing trajectory and the acceleration information of the galvanometer to determine the actual starting point and the actual end point of the galvanometer, and then control the switching light of the laser when the galvanometer passes through the two end points of the laser processing trajectory during the process of controlling the galvanometer movement. It can improve the synchronization between the laser switching light and the mechanical movement of the galvanometer, thereby improving the laser processing accuracy.

[0098] The laser switch light device based on galvanometer motion control provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned laser switch light method embodiment based on galvanometer motion control. For the sake of brief description, for parts not mentioned in the embodiment of the laser switch light device based on galvanometer motion control, reference may be made to the corresponding contents in the aforementioned laser switch light method embodiment based on galvanometer motion control.

[0099] Unless otherwise specifically stated, the relative steps, numerical expressions and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0100] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0101] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0102] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A laser switching light method based on galvanometer motion control, characterized in that: include: Acquire the position information and type information of the laser processing track, and determine the acceleration information of the galvanometer; wherein the position information represents the position of the galvanometer corresponding to the laser processing track, and the type information represents the shape of the laser processing track; Based on the position information and the type information, determine the starting direction vector and the end direction vector of the laser processing trajectory; wherein the starting direction vector represents the tangent direction of the initial starting point of the laser processing trajectory, and the end direction vector represents the tangent direction of the initial end point of the laser processing trajectory; Determine the actual starting point and the actual end point of the galvanometer based on the preset processing speed, the position information, the acceleration information, the starting point direction vector and the end point direction vector; Based on the preset processing speed, the acceleration information, the starting point direction vector and the end point direction vector, the galvanometer is controlled to move from the actual starting point along the laser processing trajectory to the actual end point, the laser is controlled to turn on when the galvanometer passes through the initial starting point, and the laser is controlled to turn off when the galvanometer passes through the initial end point.

2. The laser switching light method based on galvanometer motion control according to claim 1, characterized in that: The position information includes a first position of the initial starting point and a second position of the initial end point, and the type information includes a trajectory equation characterizing a shape of the laser processing trajectory; Determining a starting point direction vector and an end point direction vector of the laser processing trajectory based on the position information and the type information includes: If the trajectory equation is a straight line trajectory equation, obtaining first position coordinates of the first position satisfying the trajectory equation and second position coordinates of the second position satisfying the trajectory equation, and calculating the difference between the first position coordinates and the second position coordinates, and then calculating the starting point direction vector and the end point direction vector that are completely identical based on the difference; If the trajectory equation is an arc trajectory equation, determining a third position of the midpoint of the laser processing trajectory, and calculating the starting point direction vector and the end point direction vector based on the position coordinates of the first position, the second position and the third position that respectively satisfy the trajectory equation; If the trajectory equation is a general curve trajectory equation, the first position coordinate and the second position coordinate are obtained, and the starting point direction vector is calculated based on the first position coordinate and the trajectory equation, and the end point direction vector different from the starting point direction vector is calculated based on the second position coordinate and the trajectory equation; wherein the straight line trajectory equation, the circular arc trajectory equation and the general curve trajectory equation each represent a different shape.

3. The laser switching light method based on galvanometer motion control according to claim 2, characterized in that: The acceleration information includes acceleration characterizing the mechanical properties of the galvanometer; Determining the actual starting point and the actual end point of the galvanometer based on the preset processing speed, the position information, the acceleration information, the starting point direction vector and the end point direction vector includes: Based on the preset processing speed and the acceleration, determining an adjustment distance of the galvanometer; The actual start point and the actual end point are determined based on the adjusted distance, the first position, the second position, the start point direction vector, and the end point direction vector.

4. The laser switching light method based on galvanometer motion control according to claim 3 is characterized in that: Determining the actual starting point and the actual end point based on the adjusted distance, the first position, the second position, the starting point direction vector, and the end point direction vector includes: determining the actual starting point based on the adjusted distance, the first position and the starting point direction vector; The actual endpoint is determined based on the adjusted distance, the second position, and the endpoint direction vector.

5. The laser switching light method based on galvanometer motion control according to claim 3, characterized in that: Determining an adjustment distance of the galvanometer based on the preset processing speed and the acceleration includes: Based on the preset processing speed and the acceleration, determining the adjustment time of the galvanometer; The adjustment distance is determined based on the preset processing speed and the adjustment duration.

6. The laser switching light method based on galvanometer motion control according to claim 4, characterized in that: Controlling the galvanometer to move from the actual starting point along the laser processing trajectory to the actual end point based on the preset processing speed, the acceleration information, the starting point direction vector, and the end point direction vector includes: Based on the acceleration and the starting point direction vector, the galvanometer is controlled to move from the actual starting point to the initial starting point; wherein the speed of the galvanometer starting to move at the actual starting point is 0; Controlling the galvanometer to move from the initial starting point to the initial end point along the laser processing trajectory based on the preset processing speed and the acceleration; The galvanometer is controlled to move from the initial end point to the actual end point based on the acceleration and the end point direction vector; wherein the velocity of the galvanometer at the actual end point is 0.

7. The laser switching light method based on galvanometer motion control according to claim 6, characterized in that: Controlling the galvanometer to move from the actual starting point to the initial starting point based on the acceleration and the starting point direction vector includes: controlling the galvanometer to accelerate from the actual starting point along a first direction corresponding to the starting point direction vector according to the acceleration until the galvanometer accelerates to the initial starting point.

8. The laser switching light method based on galvanometer motion control according to claim 7, characterized in that: If the speed of the galvanometer at the initial starting point is less than the preset processing speed, controlling the galvanometer to move from the initial starting point along the laser processing trajectory to the initial end point based on the preset processing speed and the acceleration includes: Control the galvanometer to accelerate from the initial starting point along the laser processing trajectory at a constant acceleration value according to the acceleration, until the galvanometer accelerates to the initial end point at the constant acceleration value and the speed of the galvanometer at the initial end point is not greater than the preset processing speed; or control the galvanometer to accelerate from the initial starting point along the laser processing trajectory at a constant acceleration value according to the acceleration, until the galvanometer accelerates to a first target point at the constant acceleration value and when the speed of the galvanometer at the first target point is equal to the preset processing speed, control the galvanometer to move from the first target point along the laser processing trajectory at a constant speed value according to the preset processing speed to the initial end point; If the speed of the galvanometer at the initial starting point is equal to the preset processing speed, the galvanometer is controlled to move from the initial starting point along the laser processing trajectory to the initial end point based on the preset processing speed and the acceleration, including: controlling the galvanometer to move from the initial starting point along the laser processing trajectory to the initial end point at a constant speed value according to the preset processing speed.

9. The laser switching light method based on galvanometer motion control according to claim 8, characterized in that: Controlling the galvanometer to move from the initial end point to the actual end point based on the acceleration and the end point direction vector includes: controlling the galvanometer to decelerate at a constant acceleration value from the initial end point along a second direction corresponding to the end point direction vector according to the acceleration until the galvanometer decelerates to the actual end point at a constant acceleration value.

10. A laser switch optical device based on galvanometer motion control, characterized in that: include: An acquisition and determination module is used to acquire the position information and type information of the laser processing trajectory and determine the acceleration information of the galvanometer; wherein the position information represents the position of the galvanometer corresponding to the laser processing trajectory, and the type information represents the shape of the laser processing trajectory; A first determination module is used to determine a starting point direction vector and an end point direction vector of the laser processing trajectory based on the position information and the type information; wherein the starting point direction vector represents a tangent direction of an initial starting point of the laser processing trajectory, and the end point direction vector represents a tangent direction of an initial end point of the laser processing trajectory; A second determination module is used to determine the actual starting point and the actual end point of the galvanometer based on a preset processing speed, the position information, the acceleration information, the starting point direction vector and the end point direction vector; A control module is used to control the galvanometer to move from the actual starting point along the laser processing trajectory to the actual end point based on the preset processing speed, the acceleration information, the starting point direction vector and the end point direction vector, control the laser to turn on when the galvanometer passes through the initial starting point, and control the laser to turn off when the galvanometer passes through the initial end point.

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