Laser cutting machine and control method, device and computer readable storage medium thereof

Abstract

The application relates to a laser cutting machine and a control method and device thereof and a computer readable storage medium. The laser cutting machine comprises a laser cutting head and a plurality of supporting pieces. The plurality of supporting pieces are used for supporting a piece to be cut. The laser cutting head is located on the top side of the supporting pieces and can move relative to the supporting pieces to cut the piece to be cut. The control method of the laser cutting machine comprises the following steps: determining the current position of the laser cutting head; selecting a target supporting piece according to the current position of the laser cutting head. The target supporting piece is a supporting piece located within the influence range of the laser cutting head at the current position; and controlling the target supporting piece to move to avoid the laser cutting head. The target supporting piece can be determined according to the current position of the laser cutting head, and the target supporting piece can automatically avoid. Good avoidance effects can be obtained in various application scenarios of the laser cutting machine. The control device and the computer readable storage medium designed by the application also have corresponding beneficial effects.

Description

Technical Field

[0001] The present application relates to the field of laser cutting technology, and in particular to a laser cutting machine and a control method, device, and computer-readable storage medium thereof. Background Art

[0002] 3D laser cutting machines are widely used in various manufacturing industries, including aerospace, automobiles, and ships, processing a wide range of process materials, including large-format, 3D transparent parts. Generally speaking, a laser cutting machine consists of a support and a laser cutting head. The support supports the part to be cut. However, due to the high laser energy intensity of the laser cutting head, if a transparent part is placed directly on the support for cutting, the laser will pass through the part and transfer energy to the support. This can damage the support, undermining its stability and even injuring the operator. Summary of the Invention

[0003] In view of this, a first aspect of an embodiment of the present application is intended to provide a control method for a laser cutting machine, wherein the laser cutting machine includes a laser cutting head and a plurality of support members, wherein the plurality of support members are used to support a workpiece to be cut, and the laser cutting head is located on top of the support members and can move relative to the support members to cut the workpiece to be cut. The control method for the laser cutting machine includes:

[0004] Determining the current position of the laser cutting head;

[0005] Selecting a target support according to the current position of the laser cutting head, wherein the target support is the support located within the influence range of the laser cutting head at the current position;

[0006] The target support member is controlled to move to avoid the laser cutting head.

[0007] In some embodiments, determining the current position of the laser cutting head includes:

[0008] Determining the current position coordinates of the laser cutting head in a plane coordinate system, where the plane coordinate system is a coordinate system perpendicular to the height direction;

[0009] The selecting of the target support according to the current position of the laser cutting head comprises:

[0010] Determining the position coordinates of each of the support members in the plane coordinate system;

[0011] If the distance between the position coordinates of the support and the current position coordinates of the laser cutting head is less than a safety radius, the support is determined as the target support. The safety radius is used to characterize the influence range of the laser cutting head at the current position.

[0012] In some embodiments, the laser cutting machine comprises a power mechanism, the laser cutting head is connected to the power mechanism, the power mechanism is used to drive the laser cutting head to move relative to the support, the determining the current position coordinate of the laser cutting head in the plane coordinate system comprises:

[0013] determining the current position coordinate of the power mechanism in the plane coordinate system;

[0014] converting the current position coordinate of the power mechanism into the current position coordinate of the laser cutting head.

[0015] In some embodiments, the power mechanism comprises a first arm and a second arm connected to the first arm, the second arm is capable of rotating relative to the first arm around a rotation axis in the height direction, the laser cutting head is connected to an end of the second arm away from the first arm, the determining the current position coordinate of the power mechanism comprises:

[0016] determining the current position coordinate of a reference point on the first arm, the reference point is a point on the rotation axis of the second arm relative to the first arm;

[0017] the converting the current position coordinate of the power mechanism into the current position coordinate of the laser cutting head comprises:

[0018] determining the rotation angle of the second arm relative to the first arm;

[0019] using trigonometric functions to determine a correction value according to the rotation angle of the second arm and the distance between the laser cutting head and the reference point in the plane coordinate system;

[0020] converting the current position coordinate of the reference point into the current position coordinate of the laser cutting head according to the correction value.

[0021] In some embodiments, the determining the current position coordinate of the power mechanism in the plane coordinate system comprises:

[0022] determining the initial coordinate of the power mechanism in the plane coordinate system and the movement amount;

[0023] determining the current position coordinate of the power mechanism in the plane coordinate system according to the initial coordinate and the movement amount.

[0024] In some embodiments, the determining the initial coordinate of the power mechanism in the plane coordinate system comprises:

[0025] determining the cutting starting point on the piece to be cut;

[0026] moving the power mechanism to the cutting starting point, and determining a position coordinate of the cutting starting point in the plane coordinate system as an initial coordinate of the power mechanism in the plane coordinate system.

[0027] In some embodiments, the control method of the laser cutting machine further comprises:

[0028] controlling other support members other than the target support member to support the member to be cut.

[0029] A second aspect of the embodiments of the present application provides a control device of a laser cutting machine, the laser cutting machine comprising a laser cutting head and a plurality of support members, the plurality of support members being used to support a member to be cut, the laser cutting head being located on a top side of the support members and being capable of moving relative to the support members to cut the member to be cut, the control device of the laser cutting machine comprising:

[0030] a determining module configured to determine a current position of the laser cutting head;

[0031] a selecting module configured to select a target support member according to the current position of the laser cutting head, the target support member being a support member located within an influence range of the current position of the laser cutting head; and

[0032] a driving module configured to control the support members to move to avoid the laser cutting head.

[0033] A third aspect of the embodiments of the present application provides a computer readable storage medium, the computer readable storage medium storing computer program instructions, the computer program instructions being executed by a processor to implement the control method of the laser cutting machine according to any one of the above embodiments.

[0034] A fourth aspect of the embodiments of the present application provides a laser cutting machine, the laser cutting machine comprising: a plurality of support members, used to support a member to be cut; a laser cutting head, capable of moving relative to the support members to cut the member to be cut; and at least one of the control device of the laser cutting machine according to the above embodiments and the computer readable storage medium according to the above embodiments.

[0035] The laser cutting machine and the control method, device and computer readable storage medium thereof provided by the embodiment of the present application can determine the target support according to the current position of the laser cutting head and make the target support automatically avoid, so that the probability of the support being damaged by the energy released by the laser cutting head can be effectively reduced, and the use safety and service life of the laser cutting machine can be improved. Moreover, whether the support avoids or not is determined according to the current position of the laser cutting head, so that the above-mentioned effect can be achieved when the laser cutting head works in any path without the laser cutting head moving according to the set movement track, so that better avoidance effect can be obtained in each application scenario of the laser cutting machine. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 An operation schematic diagram of the control method of the laser cutting machine of an embodiment of the present application;

[0037] Figure 2 An implementation flow schematic diagram of the control method of the laser cutting machine of an embodiment of the present application;

[0038] Figure 3 A schematic diagram of the plane coordinate system of the control method of the laser cutting machine of an embodiment of the present application.

[0039] REFERENCE SIGNS

[0040] The laser cutting head 1; the support 2; the target support 2a; the power mechanism 3; the first arm 31; the second arm 32; the third arm 33; the to-be-cut piece 4. DETAILED DESCRIPTION

[0041] It should be noted that the embodiments in the present application and the technical features in the embodiments can be combined with each other without conflict, and the detailed description in the specific embodiments should be understood as the explanation and description of the present application, and should not be regarded as improper limitation of the present application.

[0042] The orientation terms in the description of the present application are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be understood as the limitation of the present application.

[0043] Three-dimensional laser cutting machines are widely used in aerospace, automotive, shipping and other manufacturing industries, and undertake the task of processing various process raw materials, including cutting large-format three-dimensional transparent parts. Generally, a laser cutting machine includes a support and a laser cutting head, and the support is used to support the cutting part. Because the laser energy intensity of the laser cutting head is very high, it may cause the support near the laser cutting head to be damaged by the energy of the laser cutting head, especially when cutting a transparent cutting part, the laser may directly pass through the cutting part and excite energy onto the support, which may cause serious damage to the support, and even injure the workers.

[0044] Therefore, the embodiments of the present application expect to provide a control method of a laser cutting machine, with reference to Figure 1 , the laser cutting machine includes a laser cutting head 1 and a plurality of supports 2, the plurality of supports 2 are used to support a cutting part 4, and the laser cutting head 1 is located on the top side of the support 2 and can move relative to the support 2 to cut the cutting part 4.

[0045] As an example, the support 2 includes a fixed end and a movable end, the movable end can move relative to the fixed end, and the movable end is used to contact the cutting part 4. More specifically, the support 2 can be a support cylinder. With reference to Figure 2 , the control method of the laser cutting machine provided by the embodiments of the present application includes:

[0046] Step S101: determining the current position of the laser cutting head 1.

[0047] Step S102: selecting a target support 2a according to the current position of the laser cutting head 1, the target support 2a being a support 2 located within the influence range of the laser cutting head 1 at the current position.

[0048] Step S103: controlling the target support 2a to act to avoid the laser cutting head 1.

[0049] In this embodiment, the specific implementation of step S101 to determine the current position of the laser cutting head 1 is not limited, as an example, the determination of the current position of the laser cutting head 1 can be realized by establishing a coordinate system and determining the position coordinates of the laser cutting head 1 in the coordinate system. Alternatively, the laser cutting machine can include a position sensor for monitoring the position of the laser cutting head 1, and the current position of the laser cutting head 1 can be determined by acquiring the position data sensed by the position sensor.

[0050] The current position of the laser cutting head 1 determined in step S101 is used to determine the target support 2a in step S102, and the target support 2a specifically refers to a support 2 located within the influence range of the laser cutting head 1 at the current position.

[0051] The influence range of the laser cutting head 1 at the current position here should be understood as the range affected by the energy released by the laser cutting head 1 at the current position of the laser cutting head 1. In other words, if the support member 2 at a certain position is affected by the energy released by the laser cutting head 1 and may be damaged, then this position is within the influence range of the laser cutting head 1 at the current position.

[0052] The influence range of the laser cutting head 1 at the current position can be specifically determined according to the power of the laser cutting head 1 , the laser intensity, and the laser intensity that the support member 2 can withstand.

[0053] by Figure 1 For example, among the multiple support members 2, Figure 1 The second support member 2 from the left falls into the area, and therefore, the support member 2 is determined as the target support member 2a.

[0054] It should be noted that, in actual application, multiple supports 2 may be determined as target supports 2a at the same time. Of course, there is also the possibility that no support 2 is located within the influence range of the laser cutting head 1 at the current position.

[0055] It can be understood that the target support 2a determined in step S102 may be damaged by the energy of the laser cutting head 1. Therefore, in step S103, the target support 2a is controlled to move to avoid the laser cutting head 1, thereby reducing the possibility of the target support 2a being damaged by the energy of the laser cutting head 1.

[0056] Taking the support member 2 as a support cylinder as an example, in step S103, the target support member 2a can be controlled to shrink so as to avoid the laser cutting head 1, see Figure 1 Of course, the structural form and avoidance method of the target support 2a are not limited thereto, and those skilled in the art can reasonably determine the avoidance method of the target support 2a according to actual use requirements, as long as the target support 2a can be moved out of the influence range of the laser cutting head 1 at the current position.

[0057] In the control method of the laser cutting machine provided in the embodiment of the present application, the target support 2a can be determined based on the current position of the laser cutting head 1 and the target support 2a can be automatically avoided. In this way, the probability of the support 2 being damaged by the energy released by the laser cutting head 1 can be effectively reduced, thereby improving the safety and service life of the laser cutting machine. In addition, whether the support 2 is avoided is determined based on the current position of the laser cutting head 1. Therefore, the above-mentioned effect can be achieved when the laser cutting head 1 is working in any path, without the need for the laser cutting head 1 to move according to a set motion trajectory. In this way, a good avoidance effect can be obtained in various application scenarios of the laser cutting machine.

[0058] In some embodiments, with reference to Figure 1 and Figure 3 , the method further comprises: controlling other support 2 except the target support 2a to support the laser cutting head 1. In this way, the possibility of the workpiece 4 to be cut to displace due to the loss of support of the target support 2a can be reduced.

[0059] It can be understood that the above method can be performed at a set frequency during the cutting process of the laser cutting machine, so that the automatic avoidance and support of the support 2 during the cutting process of the laser cutting machine can be achieved.

[0060] In some embodiments, with reference to Figure 1 and Figure 3 , the determination of the current position of the laser cutting head 1 in step S101 specifically comprises: determining the current position A of the laser cutting head 1 in a plane coordinate system, where the plane coordinate system is a coordinate system perpendicular to the height direction. The selection of the target support 2a according to the current position of the laser cutting head 1 in step S102 specifically comprises: determining the position coordinates C of each support 2 in the plane coordinate system, if the distance between the position coordinates of the support 2 and the current position coordinates of the laser cutting head 1 is less than the safety radius, the support 2 is determined as the target support 2a, where the safety radius is used to represent the influence range of the laser cutting head 1 at the current position.

[0061] In this embodiment, the plane coordinate system can be a coordinate system in any one plane perpendicular to the height direction of the laser cutting machine, Figure 3 An exemplary plane coordinate system is given.

[0062] The current position coordinates A of the laser cutting head 1 in the plane coordinate system should be understood as the position coordinates of the projection of the laser emitting part of the laser cutting head 1 in the plane coordinate system, and the position coordinates C of the support 2 in the plane coordinate system should be understood as the position coordinates of the projection of the support center of the support 2 in the plane coordinate system.

[0063] It can be understood that the influence range of the laser cutting head 1 at the current position is a spatial range, and the safety radius is used to represent the influence range in the plane coordinate system. Specifically, the safety radius can be understood as the average distance between the boundary of the projection area of the influence range of the laser cutting head 1 at the current position in the plane coordinate system and the position coordinates A of the laser cutting machine in the plane coordinate system.

[0064] With reference to Figure 3, the current position coordinate of the laser cutting head 1 is A (x1, y1), the coordinate of the support 2 in the plane coordinate system is C (a, b), and the safety radius is R. For a certain support 2, if (x1-a) 2 + (y1-b) 2 ≤ R 2, the support 2 is determined as the target support 2a; if (x1-a) 2 + (y1-b) 2 > R 2, the support 2 is not the target support 2a.

[0065] In the embodiment, step S102 is performed in the plane coordinate system, so that the calculation steps can be saved, the processing efficiency is improved, and the reliability of the support 2 avoidance is further improved. Of course, in some other embodiments, a three-dimensional coordinate system can also be constructed by those skilled in the art, and step S102 can be performed in the three-dimensional coordinate system by using a similar method, or other suitable methods can be used to determine the target support 2a.

[0066] In some embodiments, with reference to Figure 1 and Figure 3 , the laser cutting machine comprises a power mechanism 3, the laser cutting head 1 is connected to the power mechanism 3, and the power mechanism 3 is used to drive the laser cutting head 1 to move relative to the support 2. Determining the current position coordinate A of the laser cutting head 1 in the plane coordinate system can specifically comprise: determining the current position coordinate B of the power mechanism 3 in the plane coordinate system, and converting the current position coordinate B of the power mechanism 3 into the current position coordinate A of the laser cutting head 1.

[0067] In the embodiment, the specific structure of the power structure is not limited. It can be understood that in the actual working process, the control instruction received by the power mechanism 3 actually contains an instruction indicating the position to which the power mechanism 3 needs to move, so in the embodiment, the control instruction of the power mechanism 3 can be obtained, and then the current position coordinate of the power mechanism 3 in the plane coordinate system is converted according to the position indicated in the control instruction. The specific conversion method can be determined according to the relative relationship between the coordinate system referred to in the control instruction and the plane coordinate system, and no limitation is made to this.

[0068] Of course, those skilled in the art can also use other methods to obtain the current position coordinate B of the power mechanism 3, such as using a position sensor to obtain the current position coordinate B of the power mechanism 3.

[0069] After the current position coordinate B of the power mechanism 3 in the plane coordinate system is determined, the position coordinate A of the laser cutting head 1 can be calculated according to the current position coordinate B of the power mechanism 3. Specifically, the position of the laser cutting head 1 is usually fixed relative to the position of the power mechanism 3, or can only move within a fixed range relative to the power mechanism 3, so the current position coordinate B of the power mechanism 3 can be converted into the current position coordinate A of the laser cutting head 1 according to the relative position relationship between the laser cutting head 1 and the power mechanism 3. The specific conversion method can be determined according to the specific structure of the power mechanism, and the conversion method will be specifically given in the relevant part below, which will not be described here.

[0070] In this embodiment, the position coordinate of the laser cutting head 1 is calculated by the position coordinate B of the power mechanism 3. Compared with directly obtaining the position coordinate of the laser cutting head 1, it is relatively easy to obtain the position coordinate of the power mechanism 3 (for example, it can be obtained by the control instruction of the power mechanism 3), so the calculation amount can be saved and the processing efficiency can be improved.

[0071] In some embodiments, with reference to Figure 1 and Figure 3 , the power mechanism 3 includes a first arm 31 and a second arm 32 connected to the first arm 31, the second arm 32 can rotate relative to the first arm 31 about the rotation axis in the height direction, and the laser cutting head 1 is connected to one end of the second arm 32 away from the first arm 31. In this embodiment, the first arm 31 and the second arm 32 can be specifically connected by a servo motor, so that the second arm 32 can rotate relative to the first arm 31 about the rotation axis in the height direction.

[0072] In this implementation, determining the current position coordinate B of the power mechanism 3 can specifically include determining the current position coordinate of a reference point on the first arm 31, the reference point being a point on the rotation axis of the second arm 32 relative to the first arm 31, as an example, the reference point is the center point of the projection of the rotation axis on the plane coordinate system, and exemplarily, in Figure 3 , it is represented as point B.

[0073] Converting the current position coordinate B of the power mechanism 3 into the current position coordinate A of the laser cutting head 1 specifically includes: determining the rotation angle of the second arm 32 relative to the first arm 31, using trigonometric functions to determine a correction value according to the rotation angle of the second arm 32 and the distance between the laser cutting head 1 and the reference point B in the plane coordinate system, and converting the current position coordinate of the reference point into the current position coordinate of the laser cutting head 1 according to the correction value.

[0074] With reference to Figure 3, assuming that the position coordinate of the laser cutting head 1 is A (x1, y2), the current position coordinate of the reference point is B (x2, y2), and the distance between the A point and the B point is L, when the second arm 32 rotates around the first arm 31, the laser cutting head 1 will move on a circular path with the B point as the center and L as the radius.

[0075] Assuming that the rotation angle of the second arm 32 around the first arm 31 is θ, the correction value is actually a vector Through the calculation of the trigonometric function, it can be obtained that = (L*cosθ, L*sinθ), that is, in the position coordinate A (x1, y1) of the laser cutting head 1, x1=x2+L*cosθ, y1=y2+L*sinθ.

[0076] The rotation angle θ here can specifically refer to the rotation angle of the second arm 32 around the first arm 31 from the initial position parallel to the X-axis of the plane coordinate system.

[0077] In the embodiment, the power mechanism 3 includes the first arm 31 and the second arm 32, so that the movable range of the laser cutting head 1 can be increased, and the cutting precision and cutting range of the laser cutting machine can be improved. Further, the conversion method provided in the embodiment can more accurately determine the position coordinate A of the laser cutting head 1 in the above-mentioned case, and thus the avoidance effect can be improved.

[0078] It should be noted that the structure of the power structure is not limited to this, for example, the power mechanism 3 can also include more arms. As an example, with reference to Figure 1 The power mechanism 3 can also include a third arm 33 connected to the second arm 32, the third arm 33 can move relative to the second arm 32 around an axis perpendicular to the height direction, and the laser cutting head 1 is connected to one end of the third arm 33 away from the second arm 32. In this implementation, when converting, a second correction value can be further introduced to compensate for the influence of the rotation of the third arm 33 on the position A of the laser cutting head 1, or the safety radius can be appropriately increased to compensate for the influence of the rotation of the third arm 33 on the position A of the laser cutting head 1, so as to reduce the calculation amount.

[0079] In some embodiments, with reference to Figure 1 and Figure 3 Determining the current position coordinate B of the power mechanism 3 in the plane coordinate system specifically includes: determining the initial coordinate D of the power mechanism 3 in the plane coordinate system and the movement amount Determining the current position coordinate B of the power mechanism in the plane coordinate system according to the initial coordinate D and the movement amount

[0080] The initial coordinate D here specifically refers to the position coordinate of the power mechanism 3 in the plane coordinate system at the beginning of the cutting action. ​

[0081] Assuming the initial coordinates are (x0, y0), the movement amount = (p, q), then in the position coordinates B (x2, y2) of the power mechanism 3, x2 = x0 + p, y2 = y0 + q.

[0082] Further, as mentioned above, in the position coordinates A (x1, y1) of the laser cutting head 1, x1 = x2 + L*cosθ, y1 = y2 + L*sinθ, which can be combined to obtain x1 = x0 + p + L*cosθ, y1 = y0 + q + L*sinθ.

[0083] In this embodiment, the initial coordinates D of the power mechanism 3 can be determined by calibration, and the specific manner of calibration is not limited. For example, the calibration can be completed by moving the power mechanism 3 to a certain calibration point, or by moving the power mechanism 3 to a certain limit point within its movement range. The movement amount of the power mechanism can be determined by obtaining and analyzing the control instructions of the power mechanism 3, or by obtaining the action parameters of the power components such as motors, cylinders, and oil cylinders in the power mechanism 3, and the present application is not limited in this regard.

[0084] In this embodiment, the position coordinates of the power mechanism 3 are determined by the initial coordinates D and the movement amount , which can reduce the amount of calculation and help improve the calculation accuracy of the position coordinates B of the power mechanism.

[0085] In some embodiments, referring to Figure 1 and Figure 3 , the initial coordinates D of the power mechanism 3 in the plane coordinate system are determined by determining the cutting starting point on the workpiece 4, moving the power mechanism 3 to the cutting starting point, and determining the position coordinates of the cutting starting point in the plane coordinate system as the initial coordinates D of the power mechanism 3 in the plane coordinate system.

[0086] Referring to Figure 1 and Figure 3 , M is the cutting trajectory, the laser cutting head 1 cuts the workpiece 4 along the cutting trajectory M, and D is the starting point of the cutting work.

[0087] In this embodiment, the cutting starting point on the workpiece 4 is determined as the initial coordinates D, which can further calibrate the plane coordinate system and the self-coordinate system of the workpiece 4 (which is usually used as the reference coordinate system when controlling the power mechanism to act), which helps to further improve the calculation accuracy and simplify the calculation logic (the data in the above plane coordinate system can be used uniformly to complete the calculation, and there is no need to switch between the self-coordinate system of the workpiece 4 and the above plane coordinate system).

[0088] The embodiment of the present application further provides a control device of a laser cutting machine, referring to Figure 1 and Figure 3 , the laser cutting machine comprises a laser cutting head 1 and a plurality of support members 2, the plurality of support members 2 are used for supporting a piece to be cut 4, the laser cutting head 1 is located on the top side of the support member 2 and can move relative to the support member 2 to cut the piece to be cut 4, and the control device of the laser cutting machine comprises:

[0089] a determination module, used for determining a current position of the laser cutting head 1;

[0090] a selection module, used for selecting a target support member 2a according to the current position of the laser cutting head 1, the target support member 2a being a support member 2 located in a cutting range of the current position of the laser cutting head 1; and

[0091] a driving module, used for controlling the support member 2 to move to avoid the laser cutting head 1.

[0092] In some embodiments, referring to Figure 1 and Figure 3 , the determination module is specifically used for determining a current position coordinate A of the laser cutting head 1 in a plane coordinate system, the plane coordinate system being a coordinate system perpendicular to a height direction. The selection module is specifically used for: determining a position coordinate C of each support member 2 in the plane coordinate system; and determining the support member 2 as the target support member 2a if a distance between the position coordinate C of the support member 2 and the current position coordinate A of the laser cutting head 1 is less than a safety radius, the safety radius being used for representing an influence range of the laser cutting head 1 at the current position A.

[0093] In some embodiments, referring to Figure 1 and Figure 3 , the laser cutting machine comprises a power mechanism 3, the laser cutting head 1 is connected to the power mechanism 3, and the power mechanism 3 is used for driving the laser cutting head 1 to move relative to the support member 2; when determining the current position coordinate A of the laser cutting head 1 in the plane coordinate system, the determination module is specifically used for: determining a current position coordinate B of the power mechanism 3 in the plane coordinate system; and converting the current position coordinate B of the power mechanism 3 into the current position coordinate A of the laser cutting head 1.

[0094] In some embodiments, referring to Figure 1 and Figure 3, the power mechanism 3 comprises a first arm 31 and a second arm 32 connected to the first arm 31, the second arm 32 can rotate relative to the first arm 31 around a rotation axis in the height direction, and the laser cutting head 1 is connected to one end of the second arm 32 away from the first arm 31; when determining the current position coordinate B of the power mechanism 3 in the plane coordinate system, the determining module is specifically used for: determining the current position coordinate of a reference point on the first arm 31, the reference point being a point on the rotation axis of the second arm 32 relative to the first arm 31; when converting the current position coordinate B of the power mechanism 3 into the current position coordinate A of the laser cutting head 1, the determining module is specifically used for: determining the rotation angle of the second arm 32 relative to the first arm 31; determining a correction value using a trigonometric function according to the rotation angle of the second arm 32 and the distance between the laser cutting head 1 and the reference point in the plane coordinate system; and converting the current position coordinate of the reference point into the current position coordinate A of the laser cutting head 1 according to the correction value.

[0095] In some embodiments, referring to Figure 1 and Figure 3 , when determining the current position coordinate of the power mechanism 3 in the plane coordinate system, the determining module is specifically used for: determining the initial coordinate D of the power mechanism 3 in the plane coordinate system and the movement amount ; and determining the current position coordinate B of the power mechanism 3 in the plane coordinate system according to the initial coordinate D and the movement amount .

[0096] In some embodiments, referring to Figure 1 and Figure 3 , when determining the initial coordinate D of the power mechanism 3 in the plane coordinate system, the determining module is specifically used for: determining the cutting starting point on the workpiece 4; and moving the power mechanism 3 to the cutting starting point and determining the position coordinate of the cutting starting point in the plane coordinate system as the initial coordinate D of the power mechanism 3 in the plane coordinate system.

[0097] In some embodiments, referring to Figure 1 and Figure 3 , when controlling the support 2 to move to avoid the laser cutting head 1, the control module is specifically further used for: controlling other supports 2 to support the workpiece 4 except the target support 2a.

[0098] It should be noted that the information interaction, execution process and the like between the above modules are based on the same concept as the method embodiments of the present application, and are devices corresponding to the control method of the laser cutting machine. All implementation manners in the above method embodiments are applicable to the embodiments of the device, and specific functions and technical effects brought by the device can be referred to the method embodiments part, which will not be described here.

[0099] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the above described functions.

[0100] The functional units and modules in the embodiments can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0101] The embodiments of the present application also provide a computer device, including a memory and a processor, the memory stores a computer program capable of running on the processor, and the processor implements the steps in the control method of the laser cutting machine according to any one of the above embodiments when executing the computer program.

[0102] The hardware entities of the computer device include a processor, a communication interface and a memory, wherein: the processor generally controls the overall operation of the computer device. The communication interface can enable the computer device to communicate with other terminals or servers through a network. The memory is configured to store instructions and applications executable by the processor, and can also cache data to be processed by the processor and data to be processed or having been processed by each module in the computer device (for example, image data, audio data, voice communication data and video communication data), which can be realized by FLASH or RAM. The processor, the communication interface and the memory can transmit data through a bus.

[0103] The computer readable storage medium can be transitory or non-transitory.

[0104] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps in the control method of the laser cutting machine according to any one of the above embodiments.

[0105] The embodiments of the present application also provide a computer program product, which includes a computer program or instructions, and the computer program or instructions are run by a processor to implement the steps in the control method of the laser cutting machine according to any one of the above embodiments.

[0106] The computer program product can be implemented by hardware, software or a combination thereof. In some embodiments, the computer program product is embodied in a computer storage medium. In some other embodiments, the computer program product is embodied in a software product, such as a software development kit (SDK) or the like.

[0107] The fourth aspect of the embodiments of the present application provides a laser cutting machine, referring to Figure 1 Figure 3 Figure 1 Figure 3 Figure 1 Figure 3 Figure 1 Figure 3 Figure 1 Figure 3 Figure 1 Figure 3 Figure 1 Figure 3 Figure 1 Figure 3 Figure 1 Figure 3 Figure 1 Figure 3 Figure 1 Figure 3 Figure The laser cutting machine comprises: a plurality of support members 2 for supporting a piece to be cut 4; a laser cutting head 1 capable of moving relative to the support members 2 to cut the piece to be cut 4; and at least one of the control device of the laser cutting machine of the above embodiments and the computer readable storage medium of the above embodiments.

[0108] Thus, the laser cutting machine provided by the embodiments of the present application has the corresponding beneficial effects due to the adoption of at least one of the above control device and computer readable storage medium.

[0109] The various embodiments / implementation modes provided by the present application can be combined with each other without contradiction.

[0110] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a laser cutting machine, characterized in that: The laser cutting machine includes a laser cutting head and a plurality of support members, wherein the plurality of support members are used to support the workpiece to be cut. The laser cutting head is located on the top side of the support members and can move relative to the support members to cut the workpiece to be cut. The control method of the laser cutting machine includes: Determining the current position of the laser cutting head; Selecting a target support according to the current position of the laser cutting head, wherein the target support is the support located within the influence range of the laser cutting head at the current position; Controlling the target support member to move so as to avoid the laser cutting head; wherein, The laser cutting machine includes a power mechanism, the laser cutting head is connected to the power mechanism, and the power mechanism is used to drive the laser cutting head to move relative to the support member. Determining the current position of the laser cutting head includes: Determining the initial coordinates and movement amount of the power mechanism in the plane coordinate system; determining the current position coordinates of the power mechanism in the plane coordinate system based on the initial coordinates and the movement amount, and converting the current position coordinates of the power mechanism into the current position coordinates of the laser cutting head, wherein the plane coordinate system is a coordinate system perpendicular to the height direction; The selecting of the target support according to the current position of the laser cutting head comprises: Determining the position coordinates of each of the support members in the plane coordinate system; If the distance between the position coordinates of the support and the current position coordinates of the laser cutting head is less than a safety radius, the support is determined as the target support. The safety radius is used to characterize the influence range of the laser cutting head at the current position.

2. The control method of the laser cutting machine according to claim 1, characterized in that: The power mechanism includes a first arm and a second arm connected to the first arm, the second arm can rotate relative to the first arm around a rotation axis in a height direction, the laser cutting head is connected to an end of the second arm away from the first arm, and determining the current position coordinates of the power mechanism includes: Determine the current position coordinates of a reference point on the first arm, where the reference point is a point on the rotation axis of the second arm relative to the first arm; The converting the current position coordinates of the power mechanism into the current position coordinates of the laser cutting head comprises: determining a rotation angle of the second arm relative to the first arm; determining a correction value using a trigonometric function according to a rotation angle of the second arm and a distance between the laser cutting head and the reference point in the plane coordinate system; According to the correction value, the current position coordinates of the reference point are converted into the current position coordinates of the laser cutting head.

3. The control method of the laser cutting machine according to claim 1, characterized in that: Determining the initial coordinates of the power mechanism in the plane coordinate system includes: Determining a cutting starting point on the workpiece to be cut; The power mechanism is moved to the cutting starting point, and the position coordinates of the cutting starting point in the plane coordinate system are determined as the initial coordinates of the power mechanism in the plane coordinate system.

4. The control method of a laser cutting machine according to any one of claims 1 to 3, characterized in that: The control method of the laser cutting machine further includes: The supporting members other than the target supporting member are controlled to support the workpiece to be cut.

5. A control device for a laser cutting machine, characterized in that: The laser cutting machine includes a laser cutting head and a plurality of support members, wherein the plurality of support members are used to support the workpiece to be cut. The laser cutting head is located on the top side of the support members and can move relative to the support members to cut the workpiece to be cut. The control device of the laser cutting machine includes: A determination module, configured to determine the current position of the laser cutting head; A selection module is configured to select a target support member according to a current position of the laser cutting head, wherein the target support member is the support member located within an influence range of the current position of the laser cutting head; and a driving module, configured to control the movement of the support member to avoid the laser cutting head; wherein the laser cutting machine includes a power mechanism, the laser cutting head is connected to the power mechanism, and the power mechanism is configured to drive the laser cutting head to move relative to the support member; the determining module is specifically configured to: determine the initial coordinates and movement amount of the power mechanism in a plane coordinate system; determine the current position coordinates of the power mechanism in the plane coordinate system based on the initial coordinates and the movement amount, and convert the current position coordinates of the power mechanism into the current position coordinates of the laser cutting head, wherein the plane coordinate system is a coordinate system perpendicular to the height direction; The selection module is specifically used to: determine the position coordinates of each support member in the plane coordinate system; if the distance between the position coordinates of the support member and the current position coordinates of the laser cutting head is less than a safety radius, then the support member is determined as the target support member, and the safety radius is used to characterize the influence range of the laser cutting head at the current position.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the control method of the laser cutting machine according to any one of claims 1 to 4 is implemented.

7. A laser cutting machine, characterized in that: The laser cutting machine comprises: A plurality of support members for supporting the workpiece to be cut; a laser cutting head capable of moving relative to the support member to cut the workpiece; and At least one of the control device for a laser cutting machine according to claim 5 and the computer-readable storage medium according to claim 6.

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