A cutting head bevel servo verification method based on line-scan laser sensor

Abstract

This invention discloses a method for verifying the bevel motion of a cutting head based on a line-scanned laser sensor, relating to the field of laser cutting technology. The method includes: scanning the workpiece surface using a line-scanned laser sensor to obtain the position of a first straight line on the workpiece surface; determining the end point of the cutting tool; controlling the three-dimensional cutting head to rotate around a fixed point during bevel motion marking; when a change in the position of the tool end point is detected, it is determined that the tool end point has shifted, indicating a discrepancy between the cutting head feedback height and the control command; rotating the head based on the position of the first straight line and the offset of the second straight line obtained after one rotation using the G68.2 command in the CNC system; if the position of the cutting tool end point still changes, a recalibration procedure is executed; by utilizing the high-precision measurement capability of the line-scanned laser sensor, combined with control algorithms and dynamic correction technology, precise control of the cutting tool end point during the bevel motion process is achieved.

Description

Technical Field

[0001] This invention relates to the field of laser cutting technology, specifically to a method for verifying the bevel motion of a cutting head based on a line-scan laser sensor. Background Technology

[0002] In the field of industrial automation, especially in the laser cutting industry, precise control of the position and orientation of the cutting tool is crucial for achieving high-quality, high-precision machining results. Traditionally, the position control of the cutting tool has relied on mechanical limit devices or simple position sensors. These methods are inadequate when dealing with complex-shaped workpieces or scenarios requiring dynamic adjustment of the cutting path.

[0003] In recent years, with the rapid development of laser technology, line-scan laser sensors have been widely used in industrial automation due to their high precision, high speed, and non-contact measurement capabilities. Line-scan laser sensors can acquire real-time three-dimensional contour information of the workpiece surface, providing strong data support for the precise positioning of cutting tools. However, in practical applications, especially when performing complex processes such as beveling, ensuring the stability and precise control of the cutting tool's end point during dynamic processes has become a pressing technical challenge.

[0004] Existing bevel-following cutting technologies mostly rely on preset cutting paths and fixed control parameters, making it difficult to adapt to minute changes in the workpiece surface or dynamically adjust the cutting posture in real time. Furthermore, potential discrepancies between distance sensor feedback and control commands further increase the difficulty of controlling cutting accuracy. Therefore, developing a bevel-following verification method capable of real-time monitoring of the cutting tool's end-point position and dynamic correction based on actual conditions is of great significance for improving cutting accuracy and optimizing production efficiency. Summary of the Invention

[0005] Based on the shortcomings of the prior art described above, the purpose of this invention is to provide a method for verifying the bevel of a cutting head based on a line-scan laser sensor, so as to solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for verifying the bevel motion of a cutting head based on a line-scan laser sensor, comprising:

[0007] S1: Use a line scan laser sensor to scan the workpiece surface to obtain the position of the first straight line scanned by the line scan laser sensor on the workpiece surface;

[0008] S2: Determine the end point L of the cutting tool. t End point L t It is obtained by summing the preset pendulum length L and the follow-up height H1;

[0009] S3: When the CNC system performs beveling and marking, it controls the three-dimensional cutting head to rotate around a fixed point. During the rotation around the point, if the position of the tool end point L... t If there is no change, the bevel will move normally.

[0010] S4: When the position L of the tool end point is detected t When a change occurs, it is determined that the tool end point has shifted, and there is an inconsistency between the cutting head feedback height g and the control command.

[0011] S5: After detecting inconsistency, the rotation is performed based on the offset between the position of the first straight line obtained by the line scan laser sensor before rotation and the position of the second straight line obtained after one revolution, according to the G68.2 instruction in the CNC system.

[0012] S6: Monitor the position change of the cutting tool end point again. If the change still exists, execute the recalibration procedure to ensure the consistency between the cutting head distance sensor feedback and the control command.

[0013] The present invention is further configured such that the line-scanning laser sensor can scan and provide feedback on the position information of the workpiece surface in real time, providing data support for the precise positioning of the cutting tool.

[0014] The present invention is further configured such that the G68.2 command is used to automatically adjust the cutting path of the cutting head according to the straight angle information obtained by real-time scanning, so as to achieve precise bevel follow-up cutting.

[0015] The present invention is further configured such that the recalibration procedure includes adjusting the sensitivity of the distance sensor, calibrating its measurement reference point, and optimizing the control algorithm to ensure precise control of the end point position of the cutting tool.

[0016] The present invention is further configured such that the calculation logic for the pendulum length L is as follows: Where e is the descent height and γ is the tilt angle;

[0017] Method for calculating the follow-up height H1: Where r is the nozzle radius, β is the nozzle tilt angle, and g is the nozzle height;

[0018] Tool end point position: L t =L+H1.

[0019] The present invention is further configured such that the calculation logic for the angle to be deflected by G68.2 is as follows:

[0020] Based on the two points (x1, y1) and (x2, y2) of the first straight line on the surface when it is not rotated, obtained from the line scan laser sensor, the equation of the first straight line is: (y2-y1)x-(x2-x1)y+(x1y2-x2y1)=0;

[0021] After controlling the 3D cutting head to rotate around a fixed point, obtain two points (x3, y3) and (x4, y4) of the second straight line, and calculate the equation of the second straight line: (y4-y3)x-(x4-x3)y+(x3y4-x4y3)=0;

[0022] Assuming the equation of the first line is A1x + B1y + C1 = 0, and the equation of the second line is A2x + B2y + C2 = 0, combining them yields the coordinates of the intersection point (x, y).

[0023] Calculate the perpendicular distance from a point on the first line to the second line, and the perpendicular distance from a point (x1, y1) on the first line to the second line, using the point-to-line distance formula.

[0024] Given the intersection point (x, y) and a point (x1, y1) on the first straight line, the length L2 can be calculated using the distance formula between the two points. Therefore, the rotation angle θ can be calculated using the perpendicular distance d and the length L2. sin(θ)=d / L2, that is, θ=arcsin(d / L2).

[0025] The present invention is further configured such that the method is applicable to automated cutting equipment, especially for industrial applications requiring high-precision bevel follow-up cutting.

[0026] This invention provides a method for verifying the bevel motion of a cutting head based on a line-scan laser sensor. The method involves scanning the workpiece surface with a line-scan laser sensor to obtain the position of the first straight line scanned onto the workpiece surface; and determining the end point L of the cutting tool. t End point L t The value is obtained by adding the preset pendulum length L and the follow-up height H1; when the CNC system performs bevel follow-up marking, it controls the three-dimensional cutting head to rotate around a fixed point. During the rotation around the point, if the position of the tool end point L... t If there is no change, the bevel movement is normal; when the position L of the tool end point is monitored... tWhen a change occurs, it is determined that the tool end point has shifted, indicating a discrepancy between the cutting head feedback height g and the control command. After detecting the discrepancy, the CNC system rotates based on the G68.2 command, taking into account the offset between the position of the first straight line obtained by the linear laser sensor before rotation and the position of the second straight line obtained after one revolution. The position change of the cutting tool end point is monitored again. If a change still exists, a recalibration procedure is executed to ensure the consistency between the cutting head distance sensor feedback and the control command. The beneficial effects include: by utilizing the high-precision measurement capability of the linear laser sensor, combined with advanced control algorithms and dynamic correction technology, precise control of the cutting tool end point during beveling is achieved, providing a new solution for cutting processes in the field of industrial automation.

[0027] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0029] Figure 1 A flowchart illustrating an exemplary embodiment of the present invention is provided for a method of verifying the bevel motion of a cutting head based on a line-scan laser sensor;

[0030] Figure 2 This is a schematic diagram illustrating the pendulum length calculation of a cutting head bevel tracking verification method based on a line-scan laser sensor, as an exemplary embodiment of the present invention.

[0031] Figure 3 This invention provides an exemplary embodiment of a method for calculating the follow-up height H1 of a cutting head bevel follow-up verification method based on a line-scan laser sensor.

[0032] Figure 4 This is a schematic diagram illustrating the intersection coordinates and the vertical distance from a point on the first straight line to the second straight line, as shown in an exemplary embodiment of the present invention, of a cutting head bevel tracking verification method based on a line-scan laser sensor.

[0033] Figure 5A schematic diagram of the L2 distance and rotation angle of a cutting head bevel tracking verification method based on a line-scan laser sensor, as shown in an exemplary embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of the G68.2 inclined surface machining command of a CNC system for a cutting head bevel follow-up verification method based on a line-scan laser sensor, which is an exemplary embodiment of the present invention. Detailed Implementation

[0035] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0036] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0037] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0038] A method for verifying the bevel motion of a cutting head based on a line-scan laser sensor, such as... Figure 1 As shown, it includes:

[0039] S1: Use a line scan laser sensor to scan the workpiece surface to obtain the position of the first straight line scanned by the line scan laser sensor on the workpiece surface;

[0040] S2: Determine the end point L of the cutting tool. t End point L t It is obtained by summing the preset pendulum length L and the follow-up height H1;

[0041] S3: When the CNC system performs beveling and marking, it controls the three-dimensional cutting head to rotate around a fixed point. During the rotation around the point, if the position of the tool end point L... tIf there is no change, the bevel will move normally.

[0042] S4: When the position L of the tool end point is detected t When a change occurs, it is determined that the tool end point has shifted, and there is an inconsistency between the cutting head feedback height g and the control command.

[0043] S5: After detecting inconsistency, the rotation is performed based on the offset between the position of the first straight line obtained by the line scan laser sensor before rotation and the position of the second straight line obtained after one revolution, according to the G68.2 instruction in the CNC system.

[0044] S6: Monitor the position change of the cutting tool end point again. If the change still exists, execute the recalibration procedure to ensure the consistency between the cutting head distance sensor feedback and the control command.

[0045] The present invention is further configured such that the line-scanning laser sensor can scan and provide feedback on the position information of the workpiece surface in real time, providing data support for the precise positioning of the cutting tool.

[0046] The present invention is further configured such that the G68.2 command is used to automatically adjust the cutting path of the cutting head according to the straight angle information obtained by real-time scanning, so as to achieve precise bevel follow-up cutting.

[0047] The present invention is further configured such that the recalibration procedure includes adjusting the sensitivity of the distance sensor, calibrating its measurement reference point, and optimizing the control algorithm to ensure precise control of the end point position of the cutting tool.

[0048] like Figure 2 As shown, the present invention is further configured such that the calculation logic for the pendulum length L is as follows: Where e is the descent height and γ is the tilt angle;

[0049] like Figure 3 As shown, the calculation method for the follow-up height H1 is as follows: Where r is the nozzle radius, β is the nozzle tilt angle, and g is the nozzle height;

[0050] Tool end point position: L t =L+H1.

[0051] like Figure 6 As shown, the present invention is further configured such that the calculation logic for the angle to be deflected by G68.2 is as follows:

[0052] Based on the two points (x1, y1) and (x2, y2) of the first straight line on the surface when it is not rotated, obtained from the line scan laser sensor, the equation of the first straight line is: (y2-y1)x-(x2-x1)y+(x1y2-x2y1)=0;

[0053] After controlling the 3D cutting head to rotate around a fixed point, obtain two points (x3, y3) and (x4, y4) of the second straight line, and calculate the equation of the second straight line: (y4-y3)x-(x4-x3)y+(x3y4-x4y3)=0;

[0054] Assuming the equation of the first line is A1x + B1y + C1 = 0, and the equation of the second line is A2x + B2y + C2 = 0, combining them yields the coordinates of the intersection point (x, y).

[0055] like Figure 4 As shown, using the formula for the distance from a point to a line, we can find the perpendicular distance from a point on the first line to the second line, and the perpendicular distance from a point (x1, y1) on the first line to the second line.

[0056] like Figure 5 As shown, based on the intersection point (x, y) and a point (x1, y1) on the first straight line, the length L2 can be calculated using the distance formula between the two points. Therefore, the rotation angle θ can be calculated using the perpendicular distance d and the length L2. sin(θ)=d / L2, that is, θ=arcsin(d / L2).

[0057] The present invention is further configured such that the method is applicable to automated cutting equipment, especially for industrial applications requiring high-precision bevel follow-up cutting.

[0058] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0059] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0060] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0061] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0062] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0063] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0064] In the several embodiments provided in this application, it should be understood that the disclosed system can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0065] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0066] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0067] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, 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 application. 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.

[0068] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for verifying the bevel motion of a cutting head based on a line-scan laser sensor, characterized in that, include: S1: Use a line scan laser sensor to scan the workpiece surface to obtain the position of the first straight line scanned by the line scan laser sensor on the workpiece surface; S2: Determine the end point of the cutting tool End point By the preset pendulum length With follow-up height Summation and acquisition; S3: When the CNC system performs beveling and marking, it controls the 3D cutting head to rotate around a fixed point. During the rotation around the point, if the position of the tool tip... If there is no change, the bevel will move normally. S4: When the position of the tool end point is monitored When a change occurs, it is determined that the tool tip has shifted, and the cutting head will report the height. There is inconsistency between the control commands and the actual control commands. S5: After detecting inconsistency, the rotation is performed based on the offset between the position of the first straight line obtained by the line scan laser sensor before rotation and the position of the second straight line obtained after one revolution, according to the G68.2 instruction in the CNC system. S6: Monitor the position change of the cutting tool end point again. If the change still exists, execute the recalibration procedure to ensure the consistency between the cutting head distance sensor feedback and the control command.

2. The method for verifying the bevel motion of a cutting head based on a line-scan laser sensor according to claim 1, characterized in that, The line-scan laser sensor can scan and provide feedback on the position information of the workpiece surface in real time, providing data support for the precise positioning of the cutting tool.

3. The method for verifying the bevel motion of a cutting head based on a line-scan laser sensor according to claim 1, characterized in that, The G68.2 command is used to automatically adjust the cutting path of the cutting head based on the straight angle information obtained from real-time scanning, so as to achieve precise bevel follow-up cutting.

4. The method for verifying the bevel motion of a cutting head based on a line-scan laser sensor according to claim 1, characterized in that, The recalibration procedure includes adjusting the sensitivity of the distance sensor, calibrating its measurement reference point, and optimizing the control algorithm to ensure precise control of the cutting tool end point position.

5. The method for verifying the bevel motion of a cutting head based on a line-scan laser sensor according to claim 1, characterized in that, pendulum length The calculation logic is as follows: in, In order to descend, The tilt angle; Follow-up height Calculation method: in, Where is the nozzle radius, The nozzle tilt angle, Nozzle height; Tool end point position:

6. The method for verifying the bevel motion of a cutting head based on a line-scan laser sensor according to claim 1, characterized in that, The calculation logic for the required deflection angle in G68.2 is as follows: Based on the two points of the first straight line on the surface when it is not rotating, obtained from the linear laser sensor. Obtain the equation of the first straight line: After controlling the 3D cutting head to rotate around a fixed point once, two points on the second straight line are obtained. Calculate the equation of the second line: Assume the equation of the first line is The equation of the second line is By combining the coordinates, we can obtain the coordinates of the intersection point. ,in, , Calculate the perpendicular distance from a point on the first line to the second line using the formula for the distance from a point to a line. Also calculate the perpendicular distance from a point on the first line to the second line. The perpendicular distance to the second line depends on the intersection point. According to the intersection and a point on the first straight line The length can be calculated using the formula for the distance between two points. Therefore, based on the vertical distance and length Find the angle of rotation ,in, .

7. A method for verifying the bevel motion of a cutting head based on a line-scan laser sensor according to any one of claims 1-6, characterized in that, The method is applied to automated cutting equipment and industrial applications requiring high-precision bevel follow-up cutting.

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