Method and device for determining motion parameters of laser galvanometer, electronic equipment and medium
By calculating the appropriate galvanometer delay time for different processing trajectories in laser processing, the oscillation and explosion point problems caused by the abnormal synchronization between the galvanometer delay and the laser delay are solved, and high-precision and high-efficiency laser processing is achieved.
Patent Information
- Application Number
- CN202510274315.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-10
- Publication Date
- 2025-06-27
AI Technical Summary
In laser processing, the galvanometer delay time is not synchronized with the laser switch light delay time, resulting in problems such as oscillation and explosion points at the starting point, and the unified process parameters cannot meet the needs of different processing trajectories, resulting in reduced processing accuracy and efficiency.
By obtaining the trajectory to be processed in the target processing scenario, determining the galvanometer movement type and related parameters, and calculating appropriate delay times for jump and angle movement, variable delay parameters are used to synchronize the movement of the galvanometer and laser.
It achieves the improvement of processing efficiency while ensuring processing accuracy, avoids oscillation and explosion point problems caused by galvanometer delay, and is suitable for laser processing of different processing trajectories.
Smart Images
Figure CN120206064A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of laser processing, and in particular, to a method, device, electronic device and medium for determining the motion parameters of a laser galvanometer. Background Art
[0002] The galvanometer is a key component in laser processing. The galvanometer realizes laser marking, cutting, welding, engraving, etc. by controlling the deflection of the laser beam direction. Among them, during the jump between processing units and the conversion (rotation angle) between continuous processing vectors, if the delay time of the galvanometer is not synchronized with the switch-on and switch-off delay time of the laser, it will cause problems such as oscillation and explosion at the starting point. Therefore, it is necessary to set appropriate galvanometer delay parameters to synchronize the switch-on and switch-off delay time of the laser to prevent problems such as oscillation and explosion.
[0003] Currently, in the prior art, unified process parameters are used for both jump and rotation angle delays. However, the actual processing trajectories in actual processing scenarios are different, and the unified parameters obviously do not meet the actual processing requirements, resulting in a reduction in processing accuracy or processing efficiency. For example Figure 1 As shown, in the jump scenario, if the jump delay of the galvanometer is set too large, although it will not affect the processing quality, the too long delay time will reduce the processing efficiency. Or conversely, if the jump delay of the galvanometer is set too small, the galvanometer does not move completely in place, but the laser is turned on after the laser switch-on delay, resulting in oscillation at the processing starting point. Another example is in the rotation angle scenario of continuous processing, as Figure 2 shown, if the rotation angle delay of the galvanometer is set too small, a fillet will appear at the rotation angle, affecting the processing accuracy. On the contrary, if the rotation angle delay is set too large, an explosion point will appear. Summary of the Invention
[0004] In view of this, the purpose of the present invention is to provide a method, device, electronic device and medium for determining the motion parameters of a laser galvanometer to improve the processing accuracy while ensuring the processing efficiency.
[0005] In a first aspect, a method for determining the motion parameters of a laser galvanometer is provided. The method includes:
[0006] Obtain the to-be-processed trajectory under the target processing scenario;
[0007] Based on the to-be-processed trajectory, determine the galvanometer motion type and the to-be-processed trajectory parameters. The galvanometer motion type includes at least one of the following: jump type, rotation angle type; the to-be-processed trajectory parameters include at least one of the following: the jump distance between each processing unit, the included angle between two adjacent segments of the processing trajectory at each rotation angle point in the galvanometer motion direction, hereinafter simply referred to as the motion included angle;
[0008] When the galvanometer movement type is a jump type, determine the jump delay time between each processing unit based on the jump distance between each processing unit and the preset jump speed, so that the galvanometer performs jump movement according to each jump delay time; wherein, the preset jump speed is the upper limit value of the jump speed in the target processing scenario;
[0009] And / or when the galvanometer movement type is an angular rotation type, determine each angular rotation delay time based on the movement angle at each angular rotation point and the preset laser processing speed, so that the galvanometer performs angular rotation movement according to each angular rotation delay time.
[0010] Optionally, when the galvanometer movement type is a jump type, determining the jump delay time between each processing unit based on the jump distance between each processing unit and the preset jump speed includes:
[0011] Determine the first jump delay time and the first jump distance during the process of the galvanometer decelerating from the preset jump speed to 0;
[0012] Based on the first jump delay time and the first jump distance, determine the second jump delay time corresponding to the minimum jump distance in the to-be-processed trajectory through the jump delay calculation formula; the jump delay calculation formula is:
[0013]
[0014] wherein, JumpDelayMin is the second jump delay time; FullJumpDelay is the first jump delay time; S is the first jump distance; jumpMin is the minimum jump distance in the to-be-processed trajectory;
[0015] Determine the magnitudes of the other jump distances in the to-be-processed trajectory relative to the first jump distance except for the minimum jump distance;
[0016] Determine the jump delay times corresponding to the other jump distances based on the magnitudes of the other jump distances relative to the first jump distance.
[0017] Optionally, determining the first jump delay time and the first jump distance of the galvanometer at the preset jump speed includes:
[0018] Obtain the initial jump delay time of the galvanometer at the preset jump speed;
[0019] Based on the dichotomy method, adjust the initial jump delay time until there is no longer oscillation at the target position of the jump;
[0020] Determine the minimum jump delay time when there is no longer oscillation as the first jump delay time;
[0021] Calculate the first jump distance based on the first jump delay time and the preset jump speed.
[0022] Optionally, determining the jump delay time corresponding to other jump distances based on the relative distance magnitude includes:
[0023] When the other jump distance is greater than the first jump distance, determining the first jump delay time as the jump delay time corresponding to this jump distance;
[0024] When the other jump distance is less than the first jump distance, using the linear interpolation method to determine the jump delay time corresponding to the other jump distance.
[0025] Optionally, when the galvanometer movement type is the corner type, determining the corner delay time at each corner point based on the movement angle at each corner point and the preset laser processing speed includes:
[0026] Determining the first corner delay time corresponding to a 90-degree corner at the preset laser processing speed based on the dichotomy method;
[0027] Determining the second corner delay time at each corner point based on the first corner delay time and the movement angle at each corner point.
[0028] Optionally, the method further includes:
[0029] Determining the third corner delay time corresponding to the largest corner in the to-be-processed trajectory; the largest corner is the corner at the position with the largest movement angle;
[0030] When the second corner delay time is greater than the third corner delay time, determining the third corner delay time as the corner delay time at the corresponding corner point.
[0031] Optionally, determining the second corner delay time at each corner point based on the first corner delay time and the movement angle at each corner point includes:
[0032] Calculating the cosine value of the movement angle at each corner point;
[0033] Based on the cosine value of the movement angle at each corner point and the first corner delay time, calculating the second corner delay time at each corner point through the corner delay calculation formula, and the corner delay calculation formula is:
[0034]
[0035] wherein, InitConnerDelay is the first corner delay time, is the cosine value of the movement angle.
[0036] In a second aspect, a device for determining laser galvanometer movement parameters is provided, and the device includes:
[0037] An acquisition unit, configured to acquire a to-be-processed trajectory in a target processing scenario;
[0038] The first determination unit is configured to determine the galvanometer movement type and the parameters of the trajectory to be processed based on the trajectory to be processed. The galvanometer movement type includes at least one of the following: jump type, corner type; the parameters of the trajectory to be processed include at least one of the following: the jump distance between each processing unit, the included angle between two adjacent processing trajectories at each corner point in the galvanometer movement direction, hereinafter simply referred to as the movement included angle.
[0039] The second determination unit is configured to, when the galvanometer movement type is the jump type, determine the jump delay time between each processing unit based on the jump distance between each processing unit and the preset jump speed, so that the galvanometer performs jump movement according to each jump delay time; wherein, the preset jump speed is the upper limit value of the jump speed in the target processing scenario.
[0040] And / or the third determination unit is configured to, when the galvanometer movement type is the corner type, determine each corner delay time based on the movement included angle at each corner point and the preset laser processing speed; so that the galvanometer performs corner movement according to each corner delay time.
[0041] In a third aspect, an electronic device is provided, including a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus;
[0042] The memory is used to store a computer program;
[0043] The processor is configured to, when executing the program stored on the memory, implement the method steps described in any one of the first aspect.
[0044] In a fourth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the method steps described in any one of the first aspect.
[0045] A method, device, electronic device, and medium for determining laser galvanometer movement parameters provided by the present invention. The method obtains the trajectory to be processed in the target processing scenario; determines the galvanometer movement type and the parameters of the trajectory to be processed based on the trajectory to be processed. When the galvanometer movement type is the jump type, determine the jump delay time between each processing unit based on the jump distance between each processing unit and the preset jump speed, so that the galvanometer performs jump movement according to each jump delay time; and / or when the galvanometer movement type is the corner type, determine each corner delay time based on the movement included angle at each corner point and the preset laser processing speed; so that the galvanometer performs corner movement according to each corner delay time. The present invention adopts variable delay parameters for specific jump distances and corner characteristics. Compared with the traditional method of setting unified jump delays and corner delays, it can ensure both processing accuracy and processing efficiency by setting more appropriate galvanometer delay parameters.
[0046] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following provides preferred embodiments in conjunction with the accompanying drawings and makes a detailed description as follows. Description of the Drawings
[0047] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can be obtained based on these drawings.
[0048] Figure 1 Shows a schematic diagram of the influence of different jump delay parameters on the processing effect;
[0049] Figure 2 Shows a schematic diagram of the influence of different corner delay parameters on the processing effect;
[0050] Figure 3 Shows a flowchart of a method for determining the motion parameters of a laser galvanometer provided by an embodiment of the present invention;
[0051] Figure 4 Shows a schematic diagram of a to-be-processed trajectory of the corner type of an embodiment of the present invention;
[0052] Figure 5 Shows a schematic diagram of a to-be-processed trajectory of another corner type of an embodiment of the present invention;
[0053] Figure 6 Shows a schematic diagram of linear interpolation during jump delay provided by an embodiment of the present invention;
[0054] Figure 7 Shows a schematic diagram of the structure of a device for determining the motion parameters of a laser galvanometer provided by an embodiment of the present invention;
[0055] Figure 8 Shows a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Detailed Embodiments
[0056] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.
[0057] Considering that in the prior art, unified process parameters are used to achieve jump and corner delays, but in actual machining scenarios, the trajectories are different, and fixed parameters obviously do not meet the actual machining requirements, resulting in a reduction in machining accuracy or machining efficiency. Based on this, the embodiments of the present invention provide a method and device for determining the motion parameters of a laser galvanometer, which will be described below through embodiments.
[0058] Before elaborating on the embodiments of the present invention, the working principle of the laser galvanometer system will be described first. The laser galvanometer system is a device used to precisely control the direction of a laser beam and is widely used in fields such as laser marking, cutting, welding, engraving, and scientific research. It mainly consists of the following parts: a laser, a beam expander, galvanometers (including the X-axis and Y-axis), a lens, and a control system. The laser generates a laser beam, and the beam expander is used to adjust the diameter and divergence angle of the laser beam, making the laser beam more suitable for subsequent focusing and scanning processes. The X-axis and Y-axis are responsible for deflecting the laser beam in the X and Y directions respectively. When the galvanometers receive a control signal, they will quickly rotate a certain angle, thereby changing the direction of the laser beam. The control system sends motion parameters such as the motion speed, angle, and delay time of the galvanometers to each galvanometer axis to achieve precise control of the laser beam position. The role of the lens is to refocus the laser beam reflected from the galvanometer onto the working surface.
[0059] The embodiments of the present invention provide a method for determining the motion parameters of a laser galvanometer, as Figure 3 shown, the method includes the following steps:
[0060] Step S301: Obtain the to-be-machined trajectory in the target machining scenario.
[0061] In this step, the target machining scenario includes at least one of the following: laser marking, cutting, welding, engraving.
[0062] In a feasible implementation, a machining trajectory path to be machined is constructed numerically controlled, and position information of each machining trajectory point is generated through a workpiece coordinate system during the construction.
[0063] For example, in a welding scenario, if the machining trajectory to be processed is discontinuous, the laser beam needs to jump from one point to another and then turn on the laser to start working; if it is continuous, there may be turning angles in the machining trajectory to be processed. As Figure 4 and Figure 5 shown, there are three machining trajectories in the machining trajectory to be processed, namely machining trajectory 1, machining trajectory 2, and machining trajectory 3. The three trajectories are in different directions and two turning angles need to be made.
[0064] Step S302: Determine the galvanometer movement type and the machining trajectory parameters based on the machining trajectory to be processed.
[0065] The galvanometer movement type includes at least one of the following: jump type, turning angle type; the machining trajectory parameters include at least one of the following: the jump distance between each machining unit, the included angle between two adjacent machining trajectories at each turning point in the galvanometer movement direction, hereinafter simply referred to as the movement included angle.
[0066] In this step, the galvanometer movement type is determined according to the type of the machining trajectory. If there are jumping points in the machining trajectory to be processed, the galvanometer needs to perform a jumping movement. If there are turning angles in the machining trajectory to be processed, the galvanometer needs to perform a turning angle movement.
[0067] In the embodiments of the present application, a machining unit is a process block that completes a certain task, and each machining unit has its specific function and purpose, such as cutting, drilling, assembling, etc. The jumping movement is a non-machining movement process from one machining unit to another machining unit.
[0068] As Figure 4 shown, the movement included angle refers to the included angle between the tangent directions of two trajectories, and this tangent direction is the galvanometer movement direction.
[0069] Step S303: When the galvanometer movement type is the jump type, determine the jump delay time between each machining unit based on the jump distance between each machining unit and the preset jump speed, so that the galvanometer performs a jump movement according to each jump delay time. Among them, the preset jump speed is the upper limit value of the jump speed in the target machining scenario.
[0070] In a feasible implementation, the jump distances in the machining trajectory to be processed can be calculated through the position information of the jump start point and the jump end point. This position information is automatically generated when numerically controlling the construction of the path trajectory.
[0071] The specific method for determining the jump delay time will be described in detail in the following embodiments and will not be elaborated here.
[0072] And / or step S304: When the galvanometer movement type is the corner type, determine the corner delay time at each corner point based on the movement angle at each corner point and the preset laser processing speed; so that the galvanometer performs corner movement according to each corner delay time.
[0073] Among them, the preset laser processing speed is determined according to the specific work task. For example, when using a laser for marking, the laser processing speed is the laser marking speed; when using a laser for cutting, the laser processing speed is the laser cutting speed.
[0074] In this step, the greater the movement angle between two trajectories, the greater the speed change of the galvanometer, and the greater the required corner delay time.
[0075] The specific corner delay time will be described in detail in the following embodiments and will not be elaborated here.
[0076] The present invention adopts variable delay parameters for specific jump distances and corner characteristics. Compared with the traditional method of setting a unified jump delay and corner delay, it can set more appropriate galvanometer delay parameters to ensure both processing accuracy and processing efficiency.
[0077] Based on the above embodiments, when the galvanometer movement type is the jump type, determining the jump delay time between each processing unit based on the jump distance between each processing unit and the preset jump speed includes the following steps:
[0078] Step S301A: Determine the first jump delay time and the first jump distance during the process of the galvanometer decelerating from the preset jump speed to 0.
[0079] The jump movement of the galvanometer is generally divided into three stages: acceleration, uniform speed, and deceleration. When the galvanometer jumps from one processing point to another processing point, when the distance between the two processing points is long enough, it first performs uniform acceleration movement, accelerates from 0 to the preset jump speed, then performs a period of uniform speed movement, and then decelerates until it decelerates to 0 and ends. If the distance between the two processing points is too small, it is possible that the galvanometer reaches the processing position before accelerating to the preset jump speed, and in this case, the uniform speed stage will not be passed. Another situation is that the galvanometer just starts to decelerate after accelerating to the preset jump speed and reaches the processing position exactly when it decelerates to 0.
[0080] Among them, the acceleration during acceleration or deceleration is determined according to the performance of the galvanometer.
[0081] In the embodiment of the present invention, the first jump delay time of the galvanometer at the preset jump speed refers to the situation where the galvanometer directly decelerates after its speed reaches the preset jump speed and decelerates to 0.
[0082] In a feasible implementation manner, determining the first jump delay time and the first jump distance of the galvanometer at a preset jump speed includes:
[0083] Step S303A1: Obtain the initial jump delay time of the galvanometer at the preset jump speed.
[0084] In this step, an initial jump delay time can be set according to experience.
[0085] Step S303A2: Adjust the initial jump delay time based on the dichotomy method until there is no longer oscillation at the target position of the jump, and determine the minimum jump delay time when there is no longer oscillation as the first jump delay time.
[0086] In this step, the search range is gradually narrowed by the dichotomy method to find a suitable jump delay time, so that the system can stabilize after jumping to the target position without oscillation.
[0087] In a specific example, for instance, if oscillation occurs when using the initial jump delay time T, it indicates that the initial jump delay time is set too small. Then multiply the initial jump delay time by two to get 2T. When using 2T, it is found that there is no oscillation. However, in order to improve the processing efficiency, and without oscillation, try to minimize the jump delay time as much as possible. Therefore, an intermediate value 1.5T can be taken between T and 2T, and determine whether oscillation will occur at 1.5T. If so, continue to take an intermediate value 1.75T between 1.5T and 2T. If this intermediate value 1.75T does not cause oscillation, continue to take the intermediate value between 1.5T and 1.75T, and so on, until the minimum jump time when there is no longer oscillation is obtained.
[0088] In the embodiments of the present invention, it is judged whether oscillation occurs through the dynamic response change diagram of the processing result, as Figure 3 shown.
[0089] Step S303A3: Calculate the first jump distance based on the first jump delay time and the preset jump speed.
[0090] In the embodiments of the present invention, the acceleration can be determined according to the performance of the galvanometer, and the first jump distance is calculated by the first jump delay time, the acceleration, and the preset jump speed.
[0091] In practical applications, parameters such as the acceleration of the galvanometer are provided by the galvanometer manufacturer. When the manufacturer cannot provide parameters such as the acceleration of the galvanometer, the first jump distance can be obtained by on-site testing. Specifically, by setting the initial jump distance L, and then obtaining the real-time velocity-time curve of the galvanometer movement at the initial jump distance to ensure that the jump speed reaches the preset jump speed during the jump process; if the preset jump speed is not reached at the initial jump distance, it means the setting is too small, then multiply it by two to get 2L, and between L and 2L, gradually find the smallest jump distance as the first jump distance S by the bisection method.
[0092] By using the bisection method, not only can it ensure that there is no oscillation at the target position of the jump, improving the processing accuracy, but also while ensuring no oscillation, the jump delay time is minimized, improving the processing efficiency.
[0093] Step S301B: Based on the first jump delay time and the first jump distance, determine the second jump delay time corresponding to the smallest jump distance in the to-be-processed trajectory through the jump delay calculation formula; the jump delay calculation formula is:
[0094]
[0095] where JumpDelayMin is the second jump delay time; FullJumpDelay is the first jump delay time; S is the first jump distance; jumpMin is the smallest jump distance in the to-be-processed trajectory.
[0096] In a processing sequence corresponding to a to-be-processed trajectory, calculate the jump distances (jump1, jump2... jumpn) at all jump positions; and find the smallest jump path min(jump1, jump2... jumpn), denoted as jumpMin. And substitute it into the above formula 1 to calculate the corresponding second jump delay time.
[0097] Step S301C: Determine the magnitudes of the other jump distances in the to-be-processed trajectory relative to the first jump distance except for the smallest jump distance.
[0098] It can be understood that the values of the other jump distances in the to-be-processed trajectory except for the smallest jump distance are all greater than the smallest jump distance.
[0099] Step S301D: Determine the jump delay times corresponding to the other jump distances based on the magnitudes of the other jump distances relative to the first jump distance.
[0100] In a feasible implementation manner, determining the jump delay times corresponding to the other jump distances based on the relative distance magnitudes includes:
[0101] When other jump distances are greater than the first jump distance, determine the first jump delay time as the jump delay time corresponding to this jump distance.
[0102] If other jump distances are greater than the first jump distance, it means that after the galvanometer reaches the preset jump speed, it will undergo a period of uniform motion and then decelerate until it reaches 0. Therefore, the jump delay time during the deceleration stage still moves at the first jump delay time, which can ensure that it exactly decelerates to 0 when reaching the target position and there will be no oscillation.
[0103] When other jump distances are less than the first jump distance, use linear interpolation to determine the jump delay time corresponding to other jump distances.
[0104] When other jump distances are less than the first jump distance, it means that the galvanometer starts to decelerate before reaching the preset jump speed, so the jump delay time will decrease.
[0105] In a feasible implementation, as Figure 6 shown, use linear interpolation, that is, find a suitable jump delay time between the second jump delay time and the first jump delay time.
[0106] In an example, the linear interpolation formula is:
[0107] (S - H) / (FullJumpDelay - Hdelay) = K (slope) Formula 2:
[0108] Wherein, S is the first jump distance, FullJumpDelay is the first jump delay time; Hdelay is the jump delay time to be solved, and H is one of the other jump distances. Among them, the slope K can be calculated by substituting the first jump delay time, the second jump delay time, the first jump distance, and the minimum jump distance into Formula 2.
[0109] Embodiments of the present invention adjust appropriate jump delay times according to different jump distances to ensure processing accuracy and processing efficiency.
[0110] Based on the above embodiments, when the motion type of the galvanometer is the corner type, determining each corner delay time based on the motion angle at each corner point and the preset laser processing speed includes the following steps:
[0111] Step S304A: Determine the first corner delay time corresponding to a 90-degree corner at the preset laser processing speed based on the dichotomy method.
[0112] In this step, first, an initial corner delay time is determined based on a preset laser processing speed. The range is continuously narrowed using the bisection method, and the search stops when there are neither explosion points nor rounded corners in the processing result. The corner delay time at this moment is determined as the first corner delay time. The specific bisection search process refers to the above example and will not be elaborated here.
[0113] Step S304B: Determine the second corner delay time at each corner based on the first corner delay time and the movement angle at each corner.
[0114] In a feasible implementation, determining the second corner delay time at each corner based on the first corner delay time and the movement angle at each corner includes:
[0115] Calculate the cosine value of the movement angle at each corner.
[0116] In the embodiments of the present invention, the movement angle at each corner is generated when constructing the processing trajectory through numerical control.
[0117] Based on the cosine value of the movement angle at each corner and the first corner delay time, the second corner delay time at each corner is calculated through the corner delay calculation formula. The corner delay calculation formula is:
[0118]
[0119] where InitConnerDelay is the first corner delay time, is the cosine value of the movement angle.
[0120] When the movement angle is too large, as shown in Figure 5 , 2 exceeds 90 degrees, then the cosine value is negative, and the second corner delay time calculated by Equation 3 will exceed the first corner delay time. When is 180 degrees, the second jump delay time is twice the first jump delay time, which may be too large. Too long second corner delay time may cause explosion points at the corner. Therefore, correction is required.
[0121] Therefore, based on the above embodiments, the method further includes:
[0122] Step S304C: Determine the third corner delay time corresponding to the largest corner in the to-be-processed trajectory; the largest corner is the corner at the location with the largest movement angle.
[0123] In the embodiment of the present invention, the third corner delay time corresponding to the maximum corner in the to-be-processed trajectory is determined by the bisection method, that is, an initial corner delay time is determined at the maximum corner, and then continuous search is performed by the bisection method until no burst points and rounded corners appear, and it is determined as the third corner delay time.
[0124] Step S304D: When the second corner delay time is greater than the third corner delay time, the third corner delay time is determined as the corner delay time at the corresponding corner.
[0125] In this step, that is, for each corner, its corner delay time is set to MaxConnerDelay], where MaxConnerDelay is the third corner delay time.
[0126] In the embodiment of the present invention, the third jump delay time corresponding to the maximum corner is determined by the bisection method. By adjusting the second corner delay time so that it does not exceed the third jump delay time, the occurrence of burst points can be prevented, and the processing accuracy is further improved.
[0127] Based on the same technical concept, a device for determining the motion parameters of a laser galvanometer is provided, as Figure 7 shown. The device includes:
[0128] An acquisition unit 701, configured to acquire the to-be-processed trajectory in the target processing scenario;
[0129] A first determination unit 702, configured to determine the galvanometer motion type and the to-be-processed trajectory parameters based on the to-be-processed trajectory. The galvanometer motion type includes at least one of the following: jump type, corner type; the to-be-processed trajectory parameters include at least one of the following: the jump distance between each processing unit, the included angle between two adjacent processed trajectories at each corner point in the galvanometer motion direction, hereinafter simply referred to as the motion included angle;
[0130] A second determination unit 703, configured to, when the galvanometer motion type is the jump type, determine the jump delay time between each processing unit based on the jump distance between each processing unit and the preset jump speed, so that the galvanometer performs jump motion according to each jump delay time;
[0131] And / or a third determination unit 704, configured to, when the galvanometer motion type is the corner type, determine each corner delay time based on the motion included angle at each corner point and the preset laser processing speed; so that the galvanometer performs corner motion according to each corner delay time.
[0132] Based on the same technical concept, the embodiment of the present invention also provides an electronic device, as Figure 8As shown, it includes a processor 801, a communication interface 802, a memory 803, and a communication bus 804. Among them, the processor 801, the communication interface 802, and the memory 803 complete communication with each other through the communication bus 804.
[0133] The memory 803 is used to store computer programs;
[0134] When the processor 801 is used to execute the program stored on the memory 803, it implements the steps of the method for determining the motion parameters of a laser galvanometer.
[0135] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.
[0136] The communication interface is used for communication between the above electronic device and other devices.
[0137] The memory can include a Random Access Memory (RAM), or can also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory can also be at least one storage device located far from the aforementioned processor.
[0138] The above-mentioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
[0139] The computer program product for the method of determining the motion parameters of a laser galvanometer provided by an embodiment of the present invention includes a computer-readable storage medium storing program codes. The instructions included in the program codes can be used to execute the method described in the foregoing method embodiment. For the specific implementation, reference can be made to the method embodiment and will not be elaborated herein.
[0140] The device for determining the motion parameters of a laser galvanometer provided by an embodiment of the present invention can be specific hardware on a device or software or firmware installed on the device. For the device provided by an embodiment of the present invention, its implementation principle and the technical effects produced are the same as those of the foregoing method embodiment. For the sake of brief description, for the parts not mentioned in the device embodiment, reference can be made to the corresponding content in the foregoing method embodiment. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the foregoing described systems, devices, and units can all refer to the corresponding processes in the above method embodiment and will not be elaborated herein.
[0141] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the devices or units can be in an electrical, mechanical, or other form.
[0142] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0143] In addition, each functional unit in the embodiments provided by the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.
[0144] When the above-mentioned functions are implemented in the form of 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 the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.
[0145] It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.
[0146] Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions described in the foregoing embodiments, or can easily think of changes, or make equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. All should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims
1. A method for determining motion parameters of a laser galvanometer, characterized in that: The method comprises: Obtain the trajectory to be processed in the target processing scenario; Determine the galvanometer motion type and the parameters of the trajectory to be processed based on the trajectory to be processed, wherein the galvanometer motion type includes at least one of the following: a jump type and a corner type; the parameters of the trajectory to be processed include at least one of the following: a jump distance between each processing unit, and an angle between two adjacent processing trajectories at each corner point in the galvanometer motion direction, hereinafter referred to as a motion angle; When the galvanometer motion type is a jump type, the jump delay time between the processing units is determined based on the jump distance between the processing units and the preset jump speed, so that the galvanometer performs a jump motion according to each of the jump delay times; wherein the preset jump speed is an upper limit value of the jump speed in the target processing scene; And / or when the galvanometer motion type is an angular type, each angular delay time is determined based on the motion angle at each angular point and a preset laser processing speed, so that the galvanometer performs angular motion according to the angular delay time.
2. The method according to claim 1, characterized in that When the galvanometer motion type is a jump type, determining the jump delay time between the processing units based on the jump distance between the processing units and the preset jump speed includes: Determine a first jump delay time and a first jump distance in a process in which the galvanometer decelerates from a preset jump speed to 0; Based on the first jump delay time and the first jump distance, the second jump delay time corresponding to the minimum jump distance in the to-be-processed trajectory is determined by a jump delay time calculation formula; the jump delay time calculation formula is: Among them, JumpDelayMin is the second jump delay time; FullJumpDelay is the first jump delay time; S is the first jump distance; jumpMin is the minimum jump distance in the trajectory to be processed; Determine the size of other jump distances in the trajectory to be processed except the minimum jump distance relative to the first jump distance; The jump delay time corresponding to the other jump distances is determined based on the size of the other jump distances relative to the first jump distance.
3. The method according to claim 2, characterized in that The determining of the first jump delay time and the first jump distance of the galvanometer at the preset jump speed comprises: Get the initial jump delay time of the galvanometer at the preset jump speed; Adjusting the initial jump delay time based on the dichotomy method until no more oscillation occurs at the jump target position; The minimum jump delay time when oscillation no longer occurs is determined as the first jump delay time; A first jump distance is calculated based on the first jump delay time and the preset jump speed.
4. The method according to claim 2, characterized in that: Determining the jump delay time corresponding to other jump distances based on the relative distance includes: When other jump distances are greater than the first jump distance, determining the first jump delay time as the jump delay time corresponding to the jump distance; When other jump distances are smaller than the first jump distance, a linear interpolation method is used to determine jump delay times corresponding to other jump distances.
5. The method according to claim 1, characterized in that When the galvanometer motion type is a corner type, determining the delay time of each corner based on the motion angle at each corner point and the preset laser processing speed includes: Determine the first corner delay time corresponding to a 90-degree corner at a preset laser processing speed based on a dichotomy method; A second corner delay time at each corner is determined based on the first corner delay time and the motion angle at each corner.
6. The method according to claim 5, characterized in that The method further comprises: Determine the third rotation angle delay time corresponding to the maximum rotation angle in the trajectory to be processed; the maximum rotation angle is the rotation angle at the maximum motion angle; When the second corner delay time is greater than the third corner delay time, the third corner delay time is determined as the corner delay time at the corresponding corner.
7. The method according to claim 5, characterized in that The determining of the second corner delay time at each corner based on the first corner delay time and the motion angle at each corner comprises: Calculate the cosine value of the motion angle at each corner; Based on the cosine value of the motion angle at each corner and the first corner delay time, the second corner delay time at each corner is calculated by a corner delay calculation formula, and the corner delay calculation formula is: Among them, InitConnerDelay is the first corner delay time, is the cosine of the motion angle.
8. A device for determining motion parameters of a laser galvanometer, characterized in that: The device comprises: An acquisition unit, used for acquiring a trajectory to be processed in a target processing scenario; A first determination unit is used to determine the galvanometer motion type and the parameters of the trajectory to be processed based on the trajectory to be processed, wherein the galvanometer motion type includes at least one of the following: a jump type and a corner type; the parameters of the trajectory to be processed include at least one of the following: a jump distance between each processing unit, and an angle between two adjacent processing trajectories at each corner point in the galvanometer motion direction, hereinafter referred to as a motion angle; A second determining unit is used to determine the jump delay time between the processing units based on the jump distance and the preset jump speed between the processing units when the motion type of the galvanometer is a jump type, so that the galvanometer performs a jump motion according to each of the jump delay times; wherein the preset jump speed is an upper limit value of the jump speed in the target processing scene; And / or a third determination unit, used to determine each corner delay time based on the movement angle at each corner point and a preset laser processing speed when the galvanometer motion type is a corner type; so that the galvanometer performs angular motion according to the corner delay time.
9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing the method steps described in any one of claims 1 to 7 when executing a program stored in a memory.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of claims 1 to 7 are implemented.