Laser Switching Method and Device Based on Galvanometer Motion Control

Abstract

This invention provides a laser switching method and apparatus based on galvanometer motion control. It acquires the position and type information of the laser processing trajectory and determines the acceleration information of the galvanometer. Then, based on the position and type information, it determines the starting and ending direction vectors of the laser processing trajectory. Based on a preset processing speed, position information, acceleration information, and the starting and ending direction vectors, it determines the actual starting and ending points of the galvanometer. Finally, based on the acceleration information, the starting and ending direction vectors, it controls the galvanometer to move from the actual starting point along the laser processing trajectory to the actual ending point. The laser is switched on when the galvanometer passes the initial starting point and switched off when the galvanometer passes the initial ending point. This invention can alleviate the problem of poor laser processing quality caused by the asynchrony between laser emission and galvanometer mechanical movement in existing laser processing technologies.

Description

Technical Field

[0001] This invention relates to the field of laser processing technology, and in particular to a laser switching method and apparatus based on galvanometer motion control. Background Technology

[0002] The galvanometer is a key component in laser processing, utilizing its low inertia to achieve high-speed deflection and frequent start-stop. However, due to the characteristics of mechanical components and optoelectronic devices, the response performance of the laser's switching command differs from that of the galvanometer's mechanical system. Consequently, the laser's switching timing cannot be synchronized with the galvanometer's motion, which affects 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 method and device based on galvanometer motion control, so as to alleviate the problem of poor laser processing quality caused by the asynchronous laser light output and galvanometer mechanical movement in the existing laser processing technology.

[0004] In a first aspect, embodiments of the present invention provide a laser switching method based on galvanometer motion control, comprising: acquiring position information and type information of a laser processing trajectory, and determining acceleration information of a galvanometer; wherein the position information represents the position of the galvanometer on the laser processing trajectory, and the type information represents the shape of the laser processing trajectory; determining a starting point direction vector and an ending point direction vector of the laser processing trajectory based on the position information and the type information; 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; determining the actual starting point and the actual ending point of the galvanometer based on a preset processing speed, the position information, 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 based on the preset processing speed, the acceleration information, the starting point direction vector, and the ending point direction vector; controlling the laser to turn on when the galvanometer passes the initial starting point; and controlling the laser to turn off when the galvanometer passes the initial ending point.

[0005] Secondly, embodiments of the present invention also provide a laser switching device based on galvanometer motion control, comprising: an acquisition and determination module, configured to acquire position information and type information of a laser processing trajectory, and determine acceleration information of a galvanometer; wherein the position information represents the position of the galvanometer on the laser processing trajectory, and the type information represents the shape of the laser processing trajectory; a first determination module, configured to determine the starting point direction vector and the ending point direction vector of the laser processing trajectory based on the position information and the type information; 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; a second determination module, configured to determine the actual starting point and the actual ending point of the galvanometer based on a preset processing speed, the position information, the acceleration information, the starting point direction vector, and the ending point direction vector; and a control module, configured to control the galvanometer to move from the actual starting point along the laser processing trajectory to the actual ending point based on the preset processing speed, the acceleration information, the starting point direction vector, and the ending point direction vector, control the laser to turn on when the galvanometer passes the initial starting point, and control the laser to turn off when the galvanometer passes the initial ending point.

[0006] This invention provides a laser switching method and apparatus based on galvanometer motion control. The method acquires the position and type information of the laser processing trajectory and determines the acceleration information of the galvanometer. Then, based on the position and type information, it determines the starting and ending direction vectors of the laser processing trajectory. Based on a preset processing speed, position information, acceleration information, and the starting and ending direction vectors, it determines the actual starting and ending points of the galvanometer. Finally, based on the acceleration information, the starting and ending direction vectors, it controls the galvanometer to move from the actual starting point along the laser processing trajectory to the actual ending point. The laser is switched on when the galvanometer passes the initial starting point and switched off when the galvanometer passes the initial ending point. Using this technology, the actual starting and ending points of the galvanometer can be determined using the position and type information of the laser processing trajectory and the acceleration information of the galvanometer. This allows for controlling the laser to switch on and off when the galvanometer passes both ends of the laser processing trajectory, improving the synchronization between the laser switching and the mechanical movement of the galvanometer, thereby improving laser processing accuracy.

[0007] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0008] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0009] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0010] Figure 1 This is a schematic flowchart of a laser switching light method based on galvanometer motion control in an embodiment of the present invention.

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

[0012] Figure 3 This is a schematic diagram of the arc trajectory in an embodiment of the present invention;

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

[0014] Figure 5 This is a schematic diagram of a laser switching optical device based on galvanometer motion control in an embodiment of the present invention. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Currently, galvanometers in laser processing can achieve high-speed deflection and frequent start-stop. However, because the response performance of the laser's switching light command differs from that of the galvanometer's mechanical system, the laser's switching light timing cannot be synchronized with the galvanometer's motion state, which affects the quality of laser processing. Therefore, this invention provides a laser switching light method and apparatus based on galvanometer motion control, which can alleviate the problem of poor laser processing quality caused by the asynchrony between laser light output and galvanometer mechanical movement in existing laser processing technologies.

[0017] To facilitate understanding of this embodiment, a laser switching method based on galvanometer motion control disclosed in this invention will first be described in detail. (See [link to relevant documentation]). Figure 1 As shown, the method may include the following steps:

[0018] Step S102: Obtain the position and type information of the laser processing trajectory, and determine the acceleration information of the galvanometer.

[0019] Among them, the position information represents the position of the galvanometer on the laser processing trajectory, and the type information represents the shape of the laser processing trajectory.

[0020] During laser processing, the galvanometer moves along the laser processing trajectory; that is, the laser processing trajectory is actually the galvanometer's motion trajectory. The laser processing trajectory has a certain shape (such as a straight line or curve), and it corresponds to the galvanometer's position. The shape of the laser processing trajectory can be characterized by type information, and the position information can be used to characterize the galvanometer's position along that trajectory. Furthermore, the galvanometer's movement is controlled by a motor. Before controlling the galvanometer's movement, the motor's operating parameters usually need to be tested and determined in advance to ensure the stability of the motor's control over the galvanometer's movement. For example, the motor's performance parameters are tested in advance, and the angular acceleration of the motor is set based on the test results. This ensures that the motor can provide a stable acceleration for the galvanometer's movement during laser processing, and this acceleration is actually the linear acceleration of the laser spot's movement during laser processing.

[0021] Step S104: Based on the location information and type information, determine the starting direction vector and ending direction vector of the laser processing trajectory.

[0022] Among them, 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.

[0023] Step S106: Based on the preset processing speed, position information, acceleration information, starting direction vector and ending direction vector, determine the actual starting point and actual ending point of the galvanometer.

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

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

[0026] In practical applications, in order to ensure the quality of laser processing, it is usually necessary to ensure that the ratio between the speed of the galvanometer when passing through the initial starting point and the initial ending point and the preset processing speed is greater than 0.8 and less than 1.

[0027] This invention provides a laser switching method based on galvanometer motion control. The method acquires the position and type information of the laser processing trajectory and determines the acceleration information of the galvanometer. Then, based on the position and type information, it determines the starting and ending direction vectors of the laser processing trajectory. Based on a preset processing speed, position information, acceleration information, and the starting and ending direction vectors, it determines the actual starting and ending points of the galvanometer. Finally, based on the acceleration information, the starting and ending direction vectors, it controls the galvanometer to move from the actual starting point along the laser processing trajectory to the actual ending point. The laser is switched on when the galvanometer passes the initial starting point and switched off when the galvanometer passes the initial ending point. Using this technique, the actual starting and ending points of the galvanometer can be determined using the position and type information of the laser processing trajectory and the acceleration information of the galvanometer. This allows for controlling the laser to switch on and off when the galvanometer passes both ends of the laser processing trajectory, improving the synchronization between the laser switching and the mechanical movement of the galvanometer, thereby improving laser processing accuracy.

[0028] As one possible implementation, the position information may include a first position of the initial starting point and a second position of the initial ending point, and the type information may include a trajectory equation representing the shape of the laser processing trajectory. Based on this, the above step S104 (i.e., determining the starting direction vector and ending direction vector of the laser processing trajectory based on the position information and type information) may include: if the trajectory equation is a straight trajectory equation, then 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 exact starting direction vector and ending direction vector based on the difference; if the trajectory equation is a circular arc trajectory equation, then determining the third position of the midpoint of the laser processing trajectory, and calculating the starting direction vector and ending 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 curved trajectory equation, then 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 ending direction vector, which is different from the starting direction vector, based on the second position coordinates and the trajectory equation; wherein, the straight trajectory equation, the circular arc trajectory equation, and the general curved trajectory equation each represent different shapes.

[0029] See Figure 2 As shown, the laser processing trajectory is a straight line trajectory 200. The starting point A0 and ending point B0 of the straight line trajectory 200 satisfy the equation of the straight line trajectory, and their position coordinates are respectively (x...). s,y s ) and (x e ,y e If the starting direction vector a and the ending direction vector b are given by the formula a = b = (x...), then the starting direction vector a and the ending direction vector b are calculated as follows: a = b = (x...). s -x e ,y s -y e ).

[0030] See Figure 3 As shown, the laser processing trajectory is a circular arc trajectory 300. The starting point A0, midpoint M, and ending point B0 of the circular arc trajectory 300 satisfy the position coordinates of the circular arc trajectory equation, respectively (x...). s ,y s ), (x m ,y m ) and (x e ,y e If the starting direction vector a and the ending direction vector b are given, then the calculation method is as follows: first use (x s ,y s ), (x m ,y m ) and (x e ,y e The coordinates of the center O of the circular arc trajectory 300 are obtained by solving the equation of the circular arc trajectory. c ,y c (Specifically, two different line segments can be obtained by connecting two points in A0, M, and B0 with a line segment. The equation of the perpendicular line of each line segment can be obtained using the position coordinates of the two endpoints of each line segment. Then, the position coordinates of the intersection point of the two line segments can be obtained by solving the equations of the perpendicular lines of the two line segments simultaneously, which are then used as the position coordinates of the center O.) Then, the starting 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 endpoint 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 Figure 4 As shown, the laser processing trajectory is an elliptical trajectory 400. The starting point A0 and ending point B0 of the elliptical trajectory 400 satisfy the equation F(x,y)=0, and their position coordinates are respectively (x...). s ,y s ) and (x e ,y e ), then (x s ,y s ) and (x e ,y e Substitute them respectively Then the starting direction vector a and the ending direction vector b can be calculated.

[0032] As one possible implementation, the acceleration information may include acceleration characterizing the mechanical properties of the galvanometer; based on this, step S106 (i.e., determining the actual starting point and actual ending point of the galvanometer based on preset processing speed, position information, acceleration information, starting point direction vector, and ending 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; the adjustment distance can be determined based on the preset processing speed and adjustment time.

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

[0036] Step 2: Based on the adjusted distance, first position, second position, starting direction vector, and ending direction vector, determine the actual starting point and actual ending point.

[0037] Specifically, the actual starting point can be determined based on the adjusted distance, the first position, and the starting direction vector; the actual ending point can be determined based on the adjusted distance, the second position, and the ending direction vector.

[0038] Following the previous example, see Figures 2 to 4 As shown, with known adjustment distance S and A0 position coordinates (x s ,y sGiven the given information and the starting direction vector a, one can move S from A0 along the direction indicated by a to reach A1, and then utilize S, (x... s ,y s ) and a calculate the position coordinates (x1, y1) of A1, which is the actual starting point; given the adjusted distance S and the position coordinates (x1, y1) of B0. e ,y e Given the direction vector b, one can move S from B0 along the direction indicated by b to reach B1, and then utilize S, (x) e ,y e ) and b calculate the position coordinates (x2, y2) of B1, and B1 is the actual endpoint.

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

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

[0041] The magnitude of the velocity of the galvanometer at the actual starting point is 0.

[0042] Specifically, step A1 can be operated as follows: control the galvanometer to accelerate from the actual starting point along the first direction corresponding to the starting point direction vector until the galvanometer accelerates back to the initial starting point.

[0043] Following the previous example, see Figures 2 to 4 As shown, the linear acceleration of the laser spot during laser processing is known to be a. m The pre-set processing speed v, as well as the starting direction vector a and the ending direction vector b, can control the galvanometer to remain stationary at point A1 according to a. m The mirror undergoes uniformly accelerated motion in the direction indicated by 'a' until it reaches A0 and its velocity at A0 is within the interval [0.8v, v], so that subsequent calculations based on v and 'a' can be performed. m Control the galvanometer to move from point A0 along the laser processing trajectory (if the galvanometer's speed at A0 reaches v, then control the galvanometer to move from A0 to B0 at a constant speed value according to v along the laser processing trajectory; if the galvanometer's speed at A0 does not reach v, then control the galvanometer to move according to a...). m The galvanometer is accelerated along the laser processing trajectory at a constant acceleration value until it reaches a position where the galvanometer speed reaches v. Then, the galvanometer is controlled to move from that position along the laser processing trajectory at a constant speed value to B0, or the galvanometer is controlled to move at a constant speed value. m The laser processing trajectory is accelerated 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 ending 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, then step A2 can be performed in the following two ways:

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

[0047] Following the previous example, see Figures 2 to 4 As shown, it is known that a m Given v, a, and b, the velocity of the galvanometer at A0 is within the interval [0.8v, v]. The galvanometer can be controlled to move from A0 according to a... m The laser processing trajectory is continuously accelerated until the galvanometer reaches B0 and its velocity 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 It decelerates along the direction indicated by b with a constant acceleration.

[0048] Operation mode a22: 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 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 from the first target point along the laser processing trajectory at a constant speed value at a preset processing speed to the initial end point.

[0049] Following the previous example, see Figures 2 to 4 As shown, it is known that a m Given v, a, and b, the velocity of the galvanometer at A0 is within the interval [0.8v, v]. The galvanometer can be controlled to move from A0 according to a... m The galvanometer moves along the laser processing trajectory with a constant acceleration value until it reaches a point on the trajectory where its velocity at that point equals the magnitude of v. Then, the galvanometer is controlled to move along the laser processing trajectory at that point with a constant velocity value of v until it reaches point B0. This allows for subsequent control of the galvanometer to move from point B0 according to the velocity value a. m It undergoes uniformly decelerated motion 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, then step A2 can be performed as follows:

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

[0052] Following the previous example, see Figures 2 to 4 As shown, it is known that a m The speed of the galvanometer at A0 is equal to the magnitude of v. This allows the galvanometer to be controlled to move at a constant speed (v) along the laser processing trajectory from A0 until it reaches B0. This allows for subsequent control of the galvanometer from B0 along the laser processing trajectory according to the speed (a) and the speed (b). m It decelerates along the direction indicated by b with a constant acceleration.

[0053] Step A3: Control the galvanometer to move from the initial endpoint to the actual endpoint based on the acceleration and the endpoint direction vector; wherein, the magnitude of the galvanometer's velocity at the actual endpoint is 0.

[0054] Specifically, step A3 can be operated as follows: control the galvanometer to decelerate from the initial endpoint along the second direction corresponding to the endpoint direction vector with a constant acceleration value until the galvanometer decelerates to the actual endpoint with a constant acceleration value.

[0055] Following the previous example, see Figures 2 to 4 As shown, it is known that a m Given v, a, and b, the velocity of the galvanometer at point B0 is within the range [0.8v, v], and the galvanometer can be controlled to move from point B0 according to a. m The mirror decelerates along the direction indicated by b with a constant acceleration until it stops at point B1.

[0056] For ease of understanding, the operation of the laser switching method based on galvanometer motion control described above will be illustrated by taking a specific application as an example.

[0057] The main idea of ​​the laser switching method based on galvanometer motion control is as follows: A buffer distance is maintained 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 ending point and the ending point of the trajectory (i.e., the initial ending point of the laser processing trajectory). The buffer distance between the actual starting point and the starting point of the trajectory is used to pre-accelerate the galvanometer, ensuring that the galvanometer's speed reaches the set processing speed v or slightly less than v (e.g., the speed is within the range of [0.8v, v]) when it officially passes the starting point of the trajectory. This allows the laser to be turned on when the galvanometer passes the starting point of the trajectory, fundamentally eliminating the problem of poor laser processing quality caused by the asynchronous laser switching and galvanometer mechanical movement. The buffer distance between the ending point of the trajectory and the actual ending point is used to decelerate the galvanometer, ensuring that the galvanometer's speed reaches v or slightly less than v when it passes the ending point of the trajectory. This allows the laser to be turned off when the galvanometer passes the ending point of the trajectory, and a stop command is simultaneously sent to the galvanometer. After receiving the stop command, the galvanometer stops after a certain time response (i.e., deceleration).

[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 vector of the starting point (for a straight trajectory, the direction is from the starting point of the trajectory to the ending point of the trajectory, and for a curved trajectory, the direction is the tangent direction of the starting point of the trajectory) to the actual starting point. Then, let the galvanometer start to accelerate from the actual starting point. The galvanometer controls the laser to turn on at the same time as it passes the starting point of the trajectory.

[0060] The second pre-acceleration method: First, let the galvanometer jump directly to the actual starting point, and then let the galvanometer start accelerating from the actual starting point. The galvanometer controls the laser to turn on while passing the starting point of the trajectory.

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

[0062] by Figures 2 to 4 For example, the laser switching method based on galvanometer motion control described above can be performed as follows:

[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, circular arc trajectories, and general curved trajectories (such as elliptical trajectories, curved trajectories of other shapes, etc.).

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

[0066] For details on how to calculate a and b, please refer to the relevant content above; we will not repeat them here.

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

[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 (such as a mentioned above) that can be used to accelerate the galvanometer during laser processing. m If the angular acceleration β of the motor is converted into the linear acceleration a of the 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 trajectory starting point A0 can be moved in the opposite direction of the value 'a' obtained in the second step, with the moving distance equal to the magnitude of S. The resulting A1 after the movement of A0 is then used as the actual starting point. Finally, based on the position coordinates (x, y) of A0... s ,y s ) and a and S calculate the actual starting point A1 position coordinates (x1, y1).

[0071] The fifth step is to determine the actual endpoint based on the trajectory endpoint, the subsequent deceleration distance, and the tangent direction vector of the trajectory endpoint.

[0072] Since the speed of processing a trajectory is v, the acceleration a is the same on the same trajectory. m The distance traveled from 0 to V is the same as the distance traveled from V to 0, both equal to S. The trajectory endpoint B0 can be moved along the direction b obtained in the second step, with the moving distance equal to S. The resulting B1 after the movement of B0 is taken as the actual endpoint. Then, based on the position coordinates (x, y) of B0... e ,y e The actual endpoint B1's position coordinates (x2, y2) are calculated using b and S.

[0073] The sixth step is to control the motion of the galvanometer and the on / off control 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 trajectory starting point; controlling the galvanometer to move along the laser processing trajectory; and controlling the galvanometer to decelerate between the trajectory endpoint and the actual endpoint. The laser switching control mainly includes: controlling the laser to turn on when the galvanometer passes the trajectory starting point; and controlling the laser to turn off when the galvanometer passes the trajectory endpoint.

[0075] For pre-acceleration, the following two different operating methods can be used for the two methods mentioned above that achieve pre-acceleration:

[0076] The operation method for the first pre-acceleration method 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 in the opposite direction of the direction pointed to by a, and move to the actual starting point in the manner of first accelerating and then decelerating; ③ Control the galvanometer to accelerate or pass through the starting point of the trajectory in the direction pointed to by a from the actual starting point, while controlling the laser to turn on, and it is necessary to control the speed of the galvanometer passing through the starting point of the trajectory to be within the range of [0.8v, v].

[0077] Regarding the operation of the second pre-acceleration method mentioned above: ① Control the galvanometer to jump directly to the actual starting point; ② Control the galvanometer to accelerate or pass through the starting point of the trajectory at a constant speed from the actual starting point along the direction pointed to by a, while controlling the laser to turn on, and it is necessary to control the speed of the galvanometer passing through the starting point of the trajectory to be within the range of [0.8v, v].

[0078] After controlling the galvanometer to perform pre-acceleration, the galvanometer can be controlled to move from the starting point of the trajectory along the laser processing trajectory to the ending point of the trajectory, and then the galvanometer can be controlled to perform post-deceleration. 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. For details on the motion control method of the galvanometer along the laser processing trajectory, please refer to the relevant content above, which will not be repeated here.

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

[0080] ① Control the galvanometer to pass through the end point of the trajectory at a speed v, and control the laser to turn off when the galvanometer passes through the end point of the trajectory, while sending a stop command to the galvanometer; 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 practical applications, if the pre-acceleration distance S can only ensure that the speed of the galvanometer when passing the starting point of the trajectory is not less than 0.8v but less than v, then the impact on the quality of laser processing is not significant. After the galvanometer passes the starting point of the trajectory, it can be controlled to continue accelerating at a constant acceleration value to make the speed of the galvanometer reach v (at this time, the galvanometer may not have reached the end point of the trajectory or may have already reached the end point of the trajectory). If the galvanometer has not reached the end point of the trajectory when its speed just reaches v, it can be controlled to move from the position where its speed reaches v to the end point of the trajectory at a constant speed value, and a stop command can be sent to the galvanometer when it reaches the end point of the trajectory. If the galvanometer has already reached the end point of the trajectory when its speed reaches v, a stop command can be sent to the galvanometer directly when it reaches the end point of the trajectory. If the processing distance is very short, causing the speed of the galvanometer to still not reach v when it reaches the end point of the trajectory, a stop command can still be sent to the galvanometer when it reaches the end point of the trajectory.

[0082] By employing the aforementioned laser switching method based on galvanometer motion control, the galvanometer is pre-accelerated during the laser switching phase to allow it to respond in advance, and decelerated after passing through the laser switching point during the switching phase to delay its response. This allows the galvanometer to pass through the laser switching point at a uniform or near-uniform speed, ensuring synchronization between the laser and the galvanometer throughout the entire laser processing trajectory. This eliminates the impact of asynchronous mechanical motion between the laser switching light and the galvanometer on the laser processing trajectory, alleviating the problem of poor laser processing quality caused by asynchronous laser output and galvanometer mechanical motion in existing laser processing technologies, and greatly improving the precision of laser processing.

[0083] Based on the above-described laser switching method based on galvanometer motion control, this invention also provides a laser switching device based on galvanometer motion control. (See attached image.) Figure 5 As shown, the device may include:

[0084] The acquisition and determination module 502 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 on the laser processing trajectory, and the type information represents the shape of the laser processing trajectory.

[0085] The first determining module 504 is used to determine the starting direction vector and the ending 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 ending direction vector represents the tangent direction of the initial ending point of the laser processing trajectory.

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

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

[0088] The aforementioned position information may include the first position of the initial starting point and the second position of the initial ending point, and the aforementioned type information includes a trajectory equation characterizing the shape of the laser processing trajectory. Based on this, the aforementioned first determining module 504 may also be used to: if the trajectory equation is a straight trajectory equation, obtain 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 calculate the difference between the first position coordinates and the second position coordinates, and then calculate the identical starting point direction vector and the ending point direction vector based on the difference; if the trajectory equation is a circular arc trajectory equation, determine the third position of the midpoint of the laser processing trajectory, and calculate the starting point direction vector and the ending 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 curved trajectory equation, 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 ending point direction vector that is different from the starting point direction vector based on the second position coordinates and the trajectory equation; wherein, the straight trajectory equation, the circular arc trajectory equation, and the general curved trajectory equation each characterize different shapes.

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

[0090] The second determining module 506 described above can also be used to: determine the actual starting point based on the adjusted distance, the first position, and the starting point direction vector; and determine the actual ending point based on the adjusted distance, the second position, and the ending point direction vector.

[0091] The second determining module 506 described above can 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 control module 508 described above 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 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 ending point based on the preset processing speed and the acceleration; control the galvanometer to move from the initial ending point to the actual ending point based on the acceleration and the ending point direction vector; wherein the speed of the galvanometer at the actual ending point is 0.

[0093] The control module 508 described above can also be used to: control 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.

[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 along the laser processing trajectory from the initial starting point with a constant acceleration value until the galvanometer accelerates to the initial ending point with a constant acceleration value and the speed of the galvanometer at the initial ending point is not greater than the preset processing speed; or, control the galvanometer to accelerate along the laser processing trajectory from the initial starting point with a constant acceleration value until the galvanometer accelerates to the first target point with a constant acceleration value and the speed of the galvanometer at the first target point is equal to the preset processing speed, and then control the galvanometer to move along the laser processing trajectory from the first target point with a constant speed value to the initial ending point with the preset processing speed.

[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 to the initial ending point according to the preset processing speed.

[0096] The control module 508 described above can also be used to: control the galvanometer to decelerate at a constant acceleration value from the initial endpoint along the second direction corresponding to the endpoint direction vector until the galvanometer decelerates to the actual endpoint at a constant acceleration value.

[0097] The present invention provides a laser switching light device based on galvanometer motion control, which can determine the actual starting point and actual ending point of the galvanometer by using the position and type information of the laser processing trajectory and the acceleration information of the galvanometer. Then, during the process of controlling the movement of the galvanometer, the laser switching light is controlled when the galvanometer passes through the two ends of the laser processing trajectory, which 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 switching device based on galvanometer motion control provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned laser switching method based on galvanometer motion control. For the sake of brevity, any parts not mentioned in the embodiment of the laser switching device based on galvanometer motion control can be referred to the corresponding content in the aforementioned embodiment of the laser switching method based on galvanometer motion control.

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

[0100] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0101] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0102] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A laser switch light method based on galvanometer motion control, characterized in that, The method comprises: obtaining position information and type information of a laser processing track, and determining acceleration information of a galvanometer; wherein the position information represents a position of the galvanometer on the laser processing track, the position information comprises a first position of an initial starting point of the laser processing track and a second position of an initial ending point of the laser processing track, the type information comprises a track equation representing a shape of the laser processing track, and the acceleration information comprises acceleration representing mechanical performance of the galvanometer; 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 track; wherein the starting point direction vector is a tangent direction vector of the initial starting point, and the ending point direction vector is a tangent direction vector of the initial ending point; based on a preset processing speed and the acceleration, determining an adjustment distance of the galvanometer; based on the adjustment distance, the first position and the starting point direction vector, determining an actual starting point of the galvanometer; based on the adjustment distance, the second position and the ending point direction vector, determining 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 to the actual ending point along the laser processing track, 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; the ratio between the speed of the galvanometer when passing through the initial starting point and the preset processing speed is greater than 0.8 and less than 1, and the ratio between the speed of the galvanometer when passing through the initial ending point and the preset processing speed is greater than 0.8 and less than 1. 2.The laser switch light method based on galvanometer motion control according to claim 1, wherein, Based on the position information and the type information, the starting point direction vector and the ending point direction vector of the laser processing track are determined, comprising: if the track equation is a straight line track equation, obtaining a first position coordinate of the first position satisfying the track equation and a second position coordinate of the second position satisfying the track equation, and calculating the difference between the first position coordinate and the second position coordinate, and then calculating the same starting point direction vector and ending point direction vector based on the difference; if the track equation is a circular arc track equation, determining a third position of a midpoint of the laser processing track, and calculating the starting point direction vector and the ending point direction vector based on the position coordinates of the first position, the second position and the third position satisfying the track equation; if the track equation is a general curve track equation, obtaining the first position coordinate and the second position coordinate, and calculating the starting point direction vector based on the first position coordinate and the track equation, and calculating the ending point direction vector different from the starting point direction vector based on the second position coordinate and the track equation; wherein the shapes represented by the straight line track equation, the circular arc track equation and the general curve track equation are different. 3.The laser switch light method based on galvanometer motion control according to claim 2, characterized in that, Based on the preset processing speed and the acceleration, the adjustment distance of the galvanometer is determined, comprising: based on the preset processing speed and the acceleration, determining an adjustment time length of the galvanometer; Determine the adjustment distance based on the preset machining speed and the adjustment duration.

4. The laser switch light method based on galvanometer motion control according to claim 2, characterized in that, Controlling the galvanometer to move from the actual starting point to the actual ending point along the laser processing trajectory based on the preset machining speed, the acceleration information, the starting point direction vector and the ending point direction vector, including: 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; wherein the speed of the galvanometer at the actual starting point is 0; Controlling the galvanometer to move from the initial starting point to the initial ending point along the laser processing trajectory based on the preset machining speed and the acceleration; Controlling the galvanometer to move from the initial ending point to the actual ending point based on the acceleration and the ending point direction vector; wherein the speed of the galvanometer at the actual ending point is 0.

5. The laser switch light method based on galvanometer motion control according to claim 4, 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, including: controlling the galvanometer to accelerate from the actual starting point along a first direction corresponding to the starting point direction vector at a constant acceleration value until the galvanometer accelerates to the initial starting point.

6. The laser switch light method based on galvanometer motion control according to claim 5, characterized in that, If the speed of the galvanometer at the initial starting point is less than the preset machining speed, controlling the galvanometer to move from the initial starting point to the initial ending point along the laser processing trajectory based on the preset machining speed and the acceleration, including: Controlling 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 a constant acceleration value and the speed of the galvanometer at the first target point is equal to the preset machining speed, and then controlling the galvanometer to move from the first target point to the initial ending point along the laser processing trajectory at a constant speed value according to the preset machining speed; or controlling 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 ending point at a constant acceleration value and the speed of the galvanometer at the initial ending point is not greater than the preset machining speed; If the speed of the galvanometer at the initial starting point is equal to the preset machining speed, controlling the galvanometer to move from the initial starting point to the initial ending point along the laser processing trajectory based on the preset machining speed and the acceleration, including: controlling the galvanometer to move from the initial starting point to the initial ending point along the laser processing trajectory at a constant speed value according to the preset machining speed.

7. The laser switch light method based on galvanometer motion control according to claim 6, characterized in that, Controlling the galvanometer to move from the initial ending point to the actual ending point based on the acceleration and the ending point direction vector, including: controlling the galvanometer to decelerate from the initial ending point along a second direction corresponding to the ending point direction vector at a constant acceleration value according to the acceleration until the galvanometer decelerates to the actual ending point at a constant acceleration value.

8. A laser switch light device based on a galvanometer motion control, characterized in that, Including: The acquisition determination module is configured to acquire position information and type information of a laser processing track and determine acceleration information of a galvanometer; the position information represents a position of the galvanometer on the laser processing track, the position information includes a first position of an initial starting point of the laser processing track and a second position of an initial ending point of the laser processing track, the type information includes a track equation representing a shape of the laser processing track, and the acceleration information includes acceleration representing mechanical performance of the galvanometer; The first determination module is configured to determine a starting point direction vector and an ending point direction vector of the laser processing track based on the position information and the type information; the starting point direction vector is a tangent direction vector of the initial starting point of the laser processing track, and the ending point direction vector is a tangent direction vector of the initial ending point of the laser processing track; The second determination module is configured to determine an adjustment distance of the galvanometer based on a preset processing speed and the acceleration, determine an actual starting point of the galvanometer based on the adjustment distance, the first position and the starting point direction vector, and determine an actual ending point of the galvanometer based on the adjustment distance, the second position and the ending point direction vector; The control module is configured to control the galvanometer to move from the actual starting point to the actual ending point along the laser processing track based on the preset processing speed, the acceleration information, the starting point direction vector and the ending point direction vector, control laser light to turn on when the galvanometer passes through the initial starting point, and control laser light to turn off when the galvanometer passes through the initial ending point; a ratio between a speed of the galvanometer when passing through the initial starting point and the preset processing speed is greater than 0.8 and less than 1, and a ratio between a speed of the galvanometer when passing through the initial ending point and the preset processing speed is greater than 0.8 and less than 1.

Images