Cutting system, longitudinal cutting method and storage medium

Abstract

The invention relates to the technical field of cutting, and discloses a cutting system, a longitudinal cutting method and a storage medium, the method comprises the following steps: in response to a cutting instruction, controlling a cutting head of a target cutting unit to move to an area above a corresponding cutting identification point, when it is detected that deviation exists between the cutting heads and the positions of the corresponding cutting identification points, fine adjustment operation is conducted on each cutting head so that each cutting head can be located over the corresponding cutting identification point; and in the process of controlling the cutting heads to descend, if it is detected that the to-be-cut material deviates, the liner below the to-be-cut material is adjusted so that each cutting head can be located over the corresponding cutting recognition point all the time. Through real-time fine adjustment and deviation correction, it can be ensured that the cutting head is accurately aligned with the cutting point, and the cutting accuracy is improved.

Description

Technical Field

[0001] The present application relates to the technical field of cutting, and particularly to a cutting system, a longitudinal cutting method and a storage medium. Background Art

[0002] Traditional cutting equipment has the following significant defects in terms of technical performance: First, in terms of positioning accuracy, traditional equipment uses an open-loop control system, which is prone to positioning deviation during the cutting process and difficult to meet the requirements of high-precision machining. Second, there are potential safety hazards in the operation of the equipment. When multiple cutting heads operate simultaneously, due to the lack of an effective anti-collision mechanism, mechanical collision accidents are extremely likely to occur, which not only affects the service life of the equipment, but also results in the comprehensive utilization rate of the equipment being less than 50%. Finally, in terms of system integration, the vision compensation system and the motion control system operate independently and lack a necessary coordination mechanism. This architectural defect leads to a delay in the secondary positioning response, and then causes an error accumulation effect, seriously affecting the machining accuracy. These technical bottlenecks severely restrict the performance improvement of traditional cutting equipment and urgently need to be solved through technological innovation. Summary of the Invention

[0003] In view of this, in order to solve one of the above technical problems, embodiments of the present application provide a cutting system, a longitudinal cutting method and a storage medium.

[0004] In a first aspect, the present invention provides a cutting system, including: a control device and a cutting device; the cutting device includes a plurality of cutting units and a gasket for supporting the material to be cut; the cutting units are arranged above the gasket; the control device is connected to the cutting units; the cutting units include cutting heads.

[0005] The control device is configured to, in response to a cutting instruction, control the cutting head of the target cutting unit to move to the area above the corresponding cutting identification point, and perform a fine-tuning operation on each cutting head when there is a deviation between the position of the cutting head and the corresponding cutting identification point, so that each cutting head is directly above the corresponding cutting identification point.

[0006] The control device is further configured to, during the process of controlling the cutting head to descend, if the material to be cut is offset, adjust the gasket under the material to be cut, so that each cutting head is always directly above the corresponding cutting identification point.

[0007] In an optional embodiment, the cutting device further includes a support beam; a plurality of the cutting units are arranged on the support beam.

[0008] The cutting unit further includes: an image acquisition device, a horizontal driving motor, a rotary driving motor and a vertical driving motor which are fixedly arranged at a relative position to the cutting head.

[0009] The image acquisition device is configured to, before performing fine-tuning operations on each of the cutting heads, acquire an image of the corresponding cutting identification point area on the material to be cut and send it to the control device, so that the control device determines a first offset of each cutting head relative to the corresponding cutting identification point according to the image of the cutting identification point area and in combination with the relative position information of the corresponding cutting head and the image acquisition device;

[0010] The control device is further configured to control the horizontal direction drive motor to drive the corresponding cutting head to move on the support cross beam based on the first offset, and control the rotation drive motor to drive the corresponding cutting head to rotate based on the first offset, so that the cutting head is directly above the corresponding cutting identification point;

[0011] The control device is further configured to control the vertical direction drive motor to drive the corresponding cutting head to move vertically up and down.

[0012] In an alternative embodiment, the cutting device further includes a first gasket drive motor, a second gasket drive motor, and a third gasket drive motor connected to the control device;

[0013] The control device is further configured to control the first gasket drive motor to drive the gasket to move in a first direction;

[0014] The control device is further configured to control the second gasket drive motor to drive the gasket to move in a second direction; wherein, the first direction is a direction parallel to the support cross beam, and the second direction is a direction perpendicular to the second direction on a horizontal plane;

[0015] The control device is further configured to control the third gasket drive motor to drive the gasket to rotate.

[0016] In a second aspect, the present invention provides a longitudinal cutting method for a cutting device, which is applied to the control device in the foregoing embodiment, and includes:

[0017] In response to a cutting instruction, control the cutting head of the target cutting unit to move to an area above the corresponding cutting identification point, and when there is a deviation between the position of the cutting head and the corresponding cutting identification point, perform fine-tuning operations on each cutting head so that each cutting head is directly above the corresponding cutting identification point;

[0018] During the process of controlling the cutting head to descend, if the material to be cut is displaced, adjust the gasket below the material to be cut so that each cutting head is always directly above the corresponding cutting identification point.

[0019] In an alternative embodiment, the cutting unit further includes an image acquisition device fixedly arranged at a relative position to the cutting head;

[0020] Before performing a fine-tuning operation on each of the cutting heads, it further includes:

[0021] Collecting, through the image acquisition device of each target cutting unit, the image of the corresponding cutting identification point area on the material to be cut, and performing identification and analysis to obtain the first position information of each cutting identification point relative to the corresponding image acquisition device;

[0022] Based on the first position information and in combination with the relative position information between the corresponding cutting head and the image acquisition device, determining the first offset of each cutting head relative to the corresponding cutting identification point.

[0023] In an alternative embodiment, the first offset includes a first displacement offset and a first angular offset;

[0024] Performing a fine-tuning operation on each of the cutting heads includes:

[0025] Controlling the cutting head to move horizontally based on the first displacement offset so that the center point of the cutting head is directly above the center point of the corresponding cutting identification point;

[0026] Controlling the rotation angle of the cutting head based on the first angular offset so that the direction of the cutting head is consistent with the direction of the corresponding cutting identification point.

[0027] In an alternative embodiment, before the material to be cut is offset, it further includes:

[0028] Obtaining in real time the image of the material to be cut collected by at least one of the image acquisition devices, and performing analysis and identification to obtain the second position information of the corresponding cutting identification point relative to the corresponding image acquisition device;

[0029] Determining the second offset of the material to be cut based on the deviation between the second position information and the initial position information; wherein, the initial position information is the first position information of the cutting identification point.

[0030] In an alternative embodiment, the second offset includes a second displacement offset and a second angular offset;

[0031] If the material to be cut is offset, then adjusting the pad under the material to be cut according to the second offset of the material to be cut, includes:

[0032] Control the movement of the gasket horizontally based on the second displacement offset, and control the rotation angle of the gasket based on the second angle offset.

[0033] In an alternative embodiment, during the knife-out process before cutting the material to be cut in response to a cutting instruction, and during the knife-return process after the cutting of the material to be cut is completed, the method further includes:

[0034] Calculate the distance between two adjacent cutting heads in real time;

[0035] When the distance is less than a preset distance, adjust the moving speed of the subsequent cutting head according to a preset speed adjustment method so that the distance between two adjacent cutting heads is greater than the preset distance.

[0036] In a third aspect, the present invention provides a computer-readable storage medium storing a computer program, which when executed on a control device, implements the longitudinal cutting method of the cutting device according to the foregoing embodiments.

[0037] The embodiments of the present application have the following beneficial effects: After each required cutting head reaches the area above the corresponding cutting recognition point, the present application fine-tunes each cutting head again so that each cutting head is accurately located above the corresponding cutting recognition point; in addition, during the process of controlling the cutting head to descend, if it is detected that the material to be cut is offset, the position of the gasket is adjusted based on the offset amount so that the cutting head is always directly above the corresponding cutting recognition point. Through this real-time deviation correction method, the present embodiment can ensure that the cutting head always aligns with the correct cutting point, thereby ensuring the accuracy of cutting and avoiding cutting errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 Shows a first structural schematic diagram of the cutting device according to an embodiment of the present application;

[0040] Figure 2 Shows a second structural schematic diagram of the cutting device according to an embodiment of the present application;

[0041] Figure 3 Shows a first flowchart of the longitudinal cutting method of the cutting device according to an embodiment of the present application;

[0042] Figure 4 Shows the second process schematic diagram of the longitudinal cutting method of the cutting device according to the embodiment of the present application;

[0043] Figure 5 Shows the third process schematic diagram of the longitudinal cutting method of the cutting device according to the embodiment of the present application;

[0044] Figure 6 Shows the fourth process schematic diagram of the longitudinal cutting method of the cutting device according to the embodiment of the present application;

[0045] Figure 7 Shows the fifth process schematic diagram of the longitudinal cutting method of the cutting device according to the embodiment of the present application.

[0046] Main element symbol description: 100 - cutting unit; 200 - gasket; 300 - support crossbeam; 400 - image acquisition device; 500 - drive mechanism. Detailed implementation manners

[0047] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0048] Generally, the components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0049] Hereinafter, the terms "including", "having" and their cognates that can be used in various embodiments of the present application are only intended to represent specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be construed as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or increasing the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0050] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present application pertain. The terms (such as those defined in a commonly used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in various embodiments of the present application.

[0051] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0052] Based on the problems of inaccurate positioning, high risk of cutting head collision, and positioning delay caused by the separation of vision compensation and motion control in the cutting device in the prior art, the present application proposes a cutting device, a longitudinal cutting method, and a storage medium. After receiving a cutting instruction, the cutting heads of the corresponding number of target cutting units 100 are first moved to the areas above each cutting identification point, and then fine-tuning operations are performed on each cutting head separately to make each cutting head in the area directly above the corresponding cutting identification point; then, during the process of the cutting head descending to cut the material to be cut, it is judged in real time whether the material to be cut has shifted, and when it has shifted, correction is made in a timely manner, so as to ensure that the target cutting unit 100 is always aligned with the correct position and avoid cutting errors.

[0053] The following will describe the cutting system with reference to some specific embodiments.

[0054] Figure 1 and Figure 2 FIG. shows a schematic structural diagram of a cutting system according to an embodiment of the present application. Exemplarily, the cutting system includes: a control device (not shown in the figure), a cutting device; the cutting device includes a plurality of cutting units 100, a pad 200 for supporting the material to be cut; the control device is connected to the cutting unit 100; the cutting unit 100 is arranged above the pad 200. Among them, the main function of the pad 200 is to provide a stable support platform for the material to be cut (such as cardboard, pictorials, etc.) to ensure that the material to be cut remains flat during the cutting process and avoid deformation caused by the softness or uneven thickness of the material itself; in addition, the pad 200 can also play a buffering and protective role. In some cases, the cutting head may contact the cutting table, and the presence of the pad 200 can reduce the risk of damage caused by direct contact.

[0055] In this embodiment, the cutting device is a device for cutting cardboard, pictorials, etc. A plurality of cutting units 100 are arranged on a support crossbeam 300. Among them, the support crossbeam 300 can be made of high-rigidity aluminum horizontally. The cutting unit 100 can move on the support crossbeam 300.

[0056] In some embodiments, the cutting unit 100 includes a cutting head (not shown in the figure, the cutting head is in...), an image acquisition device 400 fixedly arranged at a position opposite to the cutting head, and a driving mechanism 500 (the driving mechanism 500 includes a horizontal driving motor, a vertical driving motor, and a rotational driving motor) horizontal driving motor rotational driving motor. It can be understood that an image acquisition device 400 is correspondingly arranged for each cutting head, and the image acquisition device 400 can be a camera, such as an industrial camera, a line array camera, an optical zoom camera, an infrared camera, or a binocular stereo camera, etc. In this application, by fixedly arranging the image acquisition device 400 at a position opposite to the corresponding cutting head, it is convenient for subsequent calculation of deviations, and further makes the position of the cutting head more accurate. Among them, the cutting head can be a circular cutting head. When cutting the material to be cut, the cutting task is completed by combining rotational movement and vertical downward pressure, that is, the circular cutting head rotates at a high speed, and the cutting force is applied to the material to be cut by using the sharpness of the cutting edge. While the cutting head is rotating, it gradually presses downward in the vertical direction to form a continuous cutting trajectory.

[0057] Among them, the control device can be a controller integrated on the cutting device, or a separate control device, such as a host computer.

[0058] Among them, the horizontal driving motor is used to drive the corresponding cutting head to move on the support crossbeam 300. The horizontal driving motor drives the corresponding cutting head to move according to the control instruction of the control device. Usually, the cutting head moves on the support crossbeam 300 in the following situations: First, after the control device receives the cutting instruction, based on the cutting instruction, the number of required cutting heads is determined, and then the corresponding number of cutting heads are controlled to cut; Second, when the cutting task is completed and each cutting head needs to be stored in the warehouse, that is, when each cutting head moves to the initial position; Third, when the cutting head is not directly above the corresponding cutting recognition point, it is necessary to control the horizontal driving motor to drive the corresponding cutting head to move.

[0059] Among them, the vertical driving motor is used to drive the corresponding cutting head to move vertically up and down. The vertical driving motor drives the corresponding cutting head to move up and down according to the control instruction of the control device. Usually, the cutting head is driven to move up and down in the following situations: First, after the cutting head is adjusted directly above the corresponding cutting recognition point and the material to be cut can be cut, it is necessary to control the cutting head to move downward so that the cutting head cuts the material to be cut; Second, when the cutting task is completed and the cutting head needs to be raised to the initial position, the cutting head is driven to move upward.

[0060] Among them, the rotation drive motor is used to drive the corresponding cutting head to perform a rotational motion. When the cutting head is not directly above the corresponding cutting recognition point and there is a certain angular deviation, the control device can control the rotation drive motor to drive the corresponding cutting head to perform a rotational motion so that the angle of the cutting head is consistent with the angular direction of the cutting recognition point.

[0061] In some embodiments, the cutting device further includes a first gasket drive motor, a second gasket drive motor, and a third gasket drive motor connected to the control device.

[0062] Among them, the first gasket drive motor is used to drive the gasket 200 to move in the first direction, the second gasket drive motor is used to drive the gasket 200 to move in the second direction, and the third gasket drive motor drives the gasket 200 to rotate. The first direction is the direction parallel to the support cross beam 300, and the second direction is the direction perpendicular to the support cross beam 300. During the process of the control device controlling the target cutting unit 100 to descend, if it is determined that the material to be cut is offset, it may be caused by inconsistent moving speeds on both sides during the movement of the material to be cut, or it may be due to the collision of foreign objects causing the offset of the material to be cut. At this time, according to the detected deviation amount, the control device can control the first gasket drive motor to drive the gasket 200 to move in the first direction, control the second gasket drive motor to drive the gasket 200 to move in the second direction, and / or control the third gasket drive motor to drive the gasket 200 to rotate a certain angle, so that the gasket 200 under the cutting material restores the material to be cut, that is, the cutting unit 100 is always directly above the corresponding cutting recognition point, thereby avoiding deviation in cutting.

[0063] The following will describe the longitudinal cutting method of the cutting device in combination with some specific embodiments. This longitudinal cutting method is applied to the above control device. Exemplarily, as Figure 3 shown, the longitudinal cutting method of the cutting device includes steps S310 - step S320:

[0064] S310, in response to a cutting instruction, control the cutting head of the target cutting unit 100 to move to the area above the corresponding cutting recognition point, and when there is a deviation between the position of the cutting head and the corresponding cutting recognition point, perform a fine-tuning operation on each cutting head so that each cutting head is directly above the corresponding cutting recognition point.

[0065] Before performing step S310, it is first necessary to place the material to be cut on the cutting table. When placing the material to be cut, it can be done manually or automatically. Among them, manual feeding means that the operator manually places the product to be cut on the cutting table. When placing, it is necessary to align the reference marks (such as the scale lines or fixed jigs on the cutting table) to ensure that the position of the material to be cut generally meets the cutting requirements. Automatic feeding can be to use a conveyor belt or a reel to automatically transport the material to be cut to the cutting table. In this embodiment, the feeding method is not limited, and the specific feeding method can be determined according to needs.

[0066] After the feeding is completed, a cutting instruction is issued. The cutting instruction can be issued through the button on the cutting device, or remotely issued to the control device of the cutting device through the terminal device, or the cutting instruction can be directly generated by the control device. Since in the design stage, the product designer will clarify the size of the product, the area to be cut, and the position of the cutting recognition points (the cutting recognition points can be recognition points in the form of a cursor or in the form of an identifier, such as preset symbols like "+", "*", "#", "o", etc.). During the printing process, the printer will print the actual product content and cutting recognition points on the material according to the design file. At the same time, the printing system will record the following key information: product size (for example, the width is 300 mm and the height is 200 mm), cutting recognition point coordinates (for example, identifier A is located at (50, 60), and identifier B is located at (150, 180)), etc. After printing is completed, the printing system will send the above information to the control device of the cutting device in a standardized data format. The data usually includes: product size (such as width and height), cutting recognition point coordinates (the specific position of each cutting recognition point on the product), other parameters (such as material thickness, cutting speed, etc.). After receiving the information transmitted by the printing system, the control device of the cutting device performs the following processing: First, determine the coordinates of the material to be cut on the cutting board according to the size of the material to be cut and the layout of the cutting table. For example, if the lower left corner of the cutting table is the origin (0, 0) and the product is placed at the position of (10, 20), then the coordinates of all identifiers and cutting areas need to be added with the offset (10, 20) to finally obtain the global coordinate information of the material to be cut on the cutting board. Second, determine the number of cutting heads required according to the number and distribution of the cutting recognition points. For example, if there are 4 cutting recognition points distributed in different areas on the material to be cut, the cutting device may choose to use 4 cutting heads for parallel cutting at the same time to improve efficiency.

[0067] After the control device receives the cutting instruction, based on the determined number of cutting heads and the position coordinates of the cutting recognition points, the control device controls the required number of target cutting units 100 to cut simultaneously. When cutting, the control device controls the horizontal driving motors corresponding to each cutting head to drive the corresponding cutting head to move horizontally to the area above the corresponding cutting recognition point respectively. Since the movement of the cutting head in the target cutting unit 100 is achieved by driving mechanical components such as crossbeams and slide rails through driving motors, mechanical transmission errors (such as gear clearances and rail friction) will inevitably occur. In addition, problems such as the inertia and delay of the cutting head will also cause errors in the movement of the target cutting unit 100. Therefore, when the cutting head initially moves towards the position of the cutting recognition point, it may not be very accurate. Based on this, when the cutting head reaches the area above the corresponding cutting recognition point, in order to ensure the quality of cutting, it is necessary to adjust the position of each cutting head so that each cutting head is directly above the corresponding cutting recognition point, mainly to make the cutting head in the target cutting unit 100 directly above the cutting recognition point.

[0068] S320, during the process of controlling the cutting head to descend, if the material to be cut is offset, adjust the pad 200 under the material to be cut so that each cutting head is always directly above the corresponding cutting recognition point.

[0069] After adjusting the positions of all the required cutting heads, start controlling the cutting head to descend. When controlling the cutting head to descend, the control device controls the vertical driving motor corresponding to the cutting head to drive the cutting head to descend so that the cutting head performs a cutting operation on the material to be cut. During the process of the cutting head descending, the cutting head adopted in this embodiment is a circular cutting head. During the descending process, it is also necessary to simultaneously control the rotation driving motor of the corresponding cutting head through the control device to control the cutting head to start rotating so that when the cutting head reaches the surface of the material to be cut, its rotation speed can reach the rotation speed required for cutting the material.

[0070] In addition, during the process of the cutting head descending, due to the influence of the external environment, the position of the material to be cut may be offset. The reasons for the offset may include but are not limited to the following: First, vibration sources in the external environment (such as vibrations generated by equipment operation and ground vibrations) may affect the cutting table and the material to be cut, resulting in a slight offset of the material position; Second, during the rapid descent of the cutting head, air flow disturbances may be generated, especially when the distance between the cutting head and the material to be cut is relatively close, and the air flow may affect light materials (such as cardboard, canvas, etc.). If the material to be cut is offset relative to the initial position, in order to avoid deviation in the cutting position and affect the cutting quality, it is necessary to judge in real time whether the material to be cut is offset; if it is offset, it is necessary to adjust the position of the pad 200 so that the cutting recognition point of the material to be cut is directly below the corresponding cutting head.

[0071] In this embodiment, after each required cutting head reaches the area above the corresponding cutting recognition point, fine adjustment is performed on each cutting head again so that each cutting head is accurately located above the corresponding cutting recognition point. Additionally, during the process of controlling the cutting head to descend, images of the material to be cut below are collected in real time, and then the collected images are analyzed to determine the second offset of the material to be cut, and then the position of the gasket 200 is adjusted based on the second offset so that the cutting head is always directly above the corresponding cutting recognition point. Through this real-time deviation correction method, this embodiment can ensure that the cutting head always aligns with the correct cutting point, thereby ensuring the accuracy of cutting.

[0072] In an alternative embodiment, the cutting unit 100 further includes an image acquisition device 400 fixedly arranged at a relative position to the cutting head. As Figure 4 shown, before performing the fine adjustment operation on each cutting head, it further includes steps S410 - S420:

[0073] S410, collect images of the area of the corresponding cutting recognition point on the material to be cut through the image acquisition device 400 of each target cutting unit 100, and perform recognition and analysis to obtain the first position information of each cutting recognition point relative to the corresponding image acquisition device 400.

[0074] S420, based on the first position information and in combination with the relative position information between the corresponding cutting head and the image acquisition device 400, determine the first offset of each cutting head relative to the corresponding cutting recognition point.

[0075] Exemplarily, an image acquisition device 400 fixedly arranged at a relative position to each cutting head is provided. After the cutting head reaches the area above the corresponding cutting recognition point, images of the area of the corresponding cutting recognition point of each cutting head are collected through the image acquisition device 400, and then the area images of the cutting recognition point are analyzed and recognized through image recognition technology to obtain the central position coordinates of each cutting recognition point. For example, in this embodiment, the central point position coordinates of the cutting recognition point can be extracted through sub-pixel image analysis technology.

[0076] In addition, since the cutting direction also needs to be determined, the cutting identification points in this embodiment are identification points that can represent the direction. For example, they can be symmetrically arranged identification points, such as symbols like "*" or "#", which have a clear directionality, or the direction is marked on the cutting identification points. After obtaining the image of the cutting identification point area, the main axis direction, symmetry axis direction or marked direction of the cutting identification point can be extracted through image processing algorithms (such as Hough transform, edge detection and other image processing algorithms) to determine the cutting direction. It can be understood that after processing each cutting identification point area image, the obtained first position information includes the first position coordinates and the first direction information. Among them, the first position coordinates are the central point position coordinates of the cutting identification point, and the first direction information is the required cutting direction.

[0077] After determining the first position information, the first offset of the cutting head relative to the cutting identification point can be calculated by combining the relative position information between the image acquisition device 400 and the corresponding cutting head. Since this embodiment only involves longitudinal cutting, the offset between the cutting head and the cutting identification point only involves the first displacement offset and the first angle offset. The first displacement offset refers to the deviation in the direction of the support beam 300, and the first angle offset refers to the angular deviation between the cutting head and the cutting identification point.

[0078] In some embodiments, as Figure 5 shown, a fine-tuning operation is performed on each cutting head, including step S510 - step S520:

[0079] S510, controlling the cutting head to move horizontally based on the first displacement offset so that the center point of the cutting head is directly above the center point of the corresponding cutting identification point.

[0080] S520, controlling the rotation angle of the cutting head based on the first angle offset so that the direction of the cutting head is consistent with the direction of the corresponding cutting identification point.

[0081] Exemplarily, after determining the first displacement offset and the first angle offset in the above embodiment, the position and angle of the corresponding cutting head need to be adjusted. During the adjustment, the control device sends a control command to the corresponding horizontal direction drive motor of the cutting head to make the horizontal direction drive motor drive the cutting head to move on the support beam 300 so that the center point of the cutting head is directly above the center point of the corresponding cutting identification point. For the angular deviation, the control device sends a control command to the corresponding rotation drive motor of the cutting head to make the direction of the cutting head consistent with the direction of the corresponding cutting identification point.

[0082] It should be understood that after fine-tuning the cutting head, it is also possible to obtain the image of the cutting recognition point area again through the image acquisition device, and then analyze and process the acquired image of the cutting recognition point area again through the image processing algorithm to verify the effect of the fine-tuning. If there is still a deviation or the deviation is not within the preset deviation range, the corresponding cutting head is fine-tuned again.

[0083] In some embodiments, as Figure 6 shown, before the material to be cut is offset, it further includes steps S610 - S620:

[0084] S610, obtaining the image of the material to be cut collected by at least one image acquisition device in real time, and analyzing and identifying it to obtain the second position information of the corresponding cutting recognition point relative to the corresponding image acquisition device.

[0085] S620, determining the second offset amount of the material to be cut based on the deviation between the second position information and the initial position information.

[0086] Exemplarily, the control device controls during the descent of the cutting head. Through at least one image acquisition device, an image of the material to be cut is acquired in real time, and the acquired image of the material to be cut needs to include cutting identification points. In this embodiment, the image of the material to be cut is also analyzed and identified through image processing technology to obtain the central position coordinates of each cutting identification point; and the current main axis direction, symmetry axis direction or marked direction of the cutting identification point is extracted through an image processing algorithm. The currently obtained central position coordinates and direction information of the cutting identification point are defined as the second position information. Then, the second position information is compared with the initial position information (the first position information of the cutting identification point) to determine the second offset of the material to be cut. Among them, the second offset includes a second displacement offset and a second angle offset. In an alternative embodiment, after determining the second offset, in order to ensure the accuracy of cutting, it is necessary to control the movement of the gasket 200 horizontally based on the second displacement offset and control the rotation angle of the gasket 200 based on the second angle offset. It can be understood that after determining the second offset, if the second displacement offset is only an offset in the direction parallel to the support beam 300, the control device can drive the gasket 200 to move in the first direction (the direction parallel to the support beam 300) by controlling the first gasket drive motor; if the second displacement offset exists in both the direction parallel to the support beam 300 and the direction perpendicular to the direction parallel to the support beam 300, the control device not only needs to drive the gasket 200 to move in the first direction (the direction parallel to the support beam 300) by controlling the first gasket drive motor, but also needs to control the second gasket drive motor to drive the gasket 200 to move in the second direction (the direction perpendicular to the direction parallel to the support beam 300); if there is a second angle offset, the control device controls the third gasket drive motor to drive the gasket 200 to rotate. In this embodiment, through the real-time deviation correction method, the cutting head is always directly above the cutting identification point.

[0087] The above deviation correction process is usually completed once within 5 milliseconds. In this embodiment, the closed-loop control mechanism continuously monitors the position change of the material to be cut and makes real-time adjustments. This dynamic compensation mechanism can effectively cope with the small displacements that may occur to the material to be cut during the cutting process. In addition, through the above real-time deviation correction mechanism, it can be ensured that the cutting head always aligns with the correct cutting position. Even in a complex dynamic cutting process, high precision can be maintained, and cutting errors caused by the offset of the material to be cut can be avoided.

[0088] It should be noted that if the second offsets obtained by separately analyzing the images of the material to be cut acquired by multiple image acquisition devices 400 at the same time are inconsistent, it indicates that there may be a bulge at a certain position of the material to be cut. At this time, the control device can issue an alarm indication to enable the operator to adjust the bulge in a timely manner.

[0089] In some embodiments, such as Figure 7 shown, during the tool - out process before cutting the material to be cut in response to a cutting instruction, and during the tool - back process after the material to be cut is completely cut, the method further includes steps S710 - S720:

[0090] S710, calculate the distance between two adjacent target cutting units 100 in real - time.

[0091] S720, when the distance is less than a preset distance, adjust the moving speed of a target cutting unit 100 located behind according to a preset speed adjustment method, so that the distance between two adjacent target cutting units 100 is greater than the preset distance.

[0092] Exemplarily, the tool - out process is the process of moving the corresponding number of cutting heads from the initial position (usually at both ends of the support cross - beam 300) to the corresponding positions after determining the number of required cutting heads before formal cutting. The tool - back process refers to the process of moving the cutting heads to the initial position after the cutting work is completed. Since both the tool - out process and the tool - back process involve the movement of at least two cutting heads, in order to avoid collisions between adjacent cutting heads, this embodiment will monitor the position of each cutting head in real - time and calculate the distance between adjacent cutting heads. The position of each cutting head can be obtained through a scale on the cutting device, and the scale is arranged parallel to the support cross - beam 300. If it is monitored that the distance between two adjacent cutting heads is less than the preset distance, it is necessary to start the speed adjustment mechanism, that is, adopt a speed gradient adjustment method for the cutting head located behind to adjust its speed. The speed adjustment formula is: V adj = V0×(1 - e -k×Δd ) ; In the formula, V0 is the current speed of the cutting head whose speed is adjusted; k = 0.15 is a preset value (which can be set according to experience) used to control the rate of speed decrease. Δd = D min - D, which is the difference between the current distance and the preset distance. Among them, D min is the preset distance, and D is the current distance. When adjusting the speed of the cutting head through this formula, it can be known that when the current distance D approaches or is equal to the safety distance threshold D min , Δd approaches 0, and the exponential term e -k×Δd tends to 1. Therefore, V adj gradually approaches 0, which means that the speed of the cutting head will be greatly reduced. As the current distance D increases, Δd becomes smaller, and the value of the exponential term e -k×Δd decreases, so that V adj returns to a level close to V0, which indicates that when the current distance is large enough, the cutting head can resume its normal speed.

[0093] It should be understood that when cutting the material to be cut by the cutting head, the depth of the cutting head's descent needs to be determined according to the thickness of the material to be cut, so as to ensure normal cutting of the material to be cut and avoid damaging the gasket 200.

[0094] In this application, before the cutting head descends, a fine-tuning operation is first performed on each cutting head so that each cutting head is directly above the corresponding cutting recognition point; then during the descent of the cutting head, the image acquisition device 400 takes real-time images of the material to be cut, and then analyzes and processes the taken images of the material to be cut through an image processing algorithm to determine whether the material to be cut has shifted. If a shift is detected, the position of the gasket 200 under the material to be cut will be quickly adjusted, so as to ensure that the cutting head is always directly above the corresponding cutting recognition point, that is, always aligned with the correct cutting point. In this way, this application can ensure that the cutting head is directly above the cutting recognition point at any stage of cutting, and thus can ensure the accuracy of cutting.

[0095] This application also provides a control device. Exemplarily, the control device includes a processor and a memory. Among them, the memory stores a computer program, and the processor runs the computer program to enable the control device to execute the above-mentioned longitudinal cutting method of the cutting device.

[0096] Among them, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0097] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Among them, the memory is used to store a computer program, and after receiving an execution instruction, the processor can execute the computer program accordingly.

[0098] This application also provides a computer-readable storage medium for storing the computer program used in the above control device. For example, the computer-readable storage medium can include, but is not limited to: various media such as USB flash drives, external hard drives, Read-Only Memory (ROM), Random Access Memory (RAM), magnetic disks, or optical discs that can store program codes.

[0099] In several embodiments provided by this application, it should be understood that the disclosed device and method can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architectures, functions, and operations of the device, method, and computer program product according to multiple embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, program segment, or part of the code, and the module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the blocks can occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the structure diagram and / or flowchart, as well as the combination of blocks in the structure diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0100] In addition, each functional module or unit in various embodiments of this application can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0101] When the above-mentioned function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a smart phone, 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 application.

[0102] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application.

Claims

1. A cutting system, characterized in that, Including: A control device and a cutting device; The cutting device includes a plurality of cutting units and a pad for supporting the material to be cut; The cutting units are arranged above the pad; the control device is connected to the cutting units; the cutting units include cutting heads; The control device is configured to, in response to a cutting instruction, control the cutting head of a target cutting unit to move to an area above a corresponding cutting identification point, and perform a fine-tuning operation on each cutting head when it is detected that there is a deviation in the position of the cutting head from the corresponding cutting identification point, so that each cutting head is directly above the corresponding cutting identification point; The control device is further configured to, during the process of controlling the cutting head to descend, if it is detected that the material to be cut has shifted, adjust the pad below the material to be cut, so that each cutting head is always directly above the corresponding cutting identification point.

2. The cutting system according to claim 1, characterized in that The cutting device further includes a support crossbeam; a plurality of the cutting units are arranged on the support crossbeam; Each cutting unit further includes: an image acquisition device fixedly arranged at a relative position to the cutting head, a horizontal driving motor, a rotary driving motor, and a vertical driving motor; The image acquisition device is configured to, before performing a fine-tuning operation on each cutting head, acquire an image of the area of the corresponding cutting identification point on the material to be cut and send it to the control device, so that the control device determines a first offset amount of each cutting head relative to the corresponding cutting identification point based on the image of the cutting identification point area and in combination with the relative position information of the corresponding cutting head and the image acquisition device; The control device is further configured to control the horizontal driving motor to drive the corresponding cutting head to move on the support crossbeam based on the first offset amount, and control the rotary driving motor to drive the corresponding cutting head to rotate based on the first offset amount, so that the cutting head is directly above the corresponding cutting identification point; The control device is further configured to control the vertical driving motor to drive the corresponding cutting head to move vertically up and down.

3. The cutting system according to claim 2, wherein The cutting device further includes a first pad driving motor, a second pad driving motor, and a third pad driving motor connected to the control device; The control device is further configured to control the first pad driving motor to drive the pad to move in a first direction; The control device is further configured to control the second pad driving motor to drive the pad to move in a second direction; wherein, the first direction is a direction parallel to the support crossbeam, and the second direction is a direction perpendicular to the second direction on a horizontal plane; The control device is further configured to control the third pad driving motor to drive the pad to rotate.

4. A longitudinal cutting method for a cutting device, characterized in that, Applied to the control device according to any one of claims 1-3, including: In response to a cutting instruction, controlling the cutting head of a target cutting unit to move to an area above a corresponding cutting identification point, and performing a fine-tuning operation on each cutting head when it is detected that there is a deviation in the position of the cutting head from the corresponding cutting identification point, so that each cutting head is directly above the corresponding cutting identification point; During the process of controlling the cutting head to descend, if it is detected that the material to be cut is offset, the cushion under the material to be cut is adjusted so that each cutting head is always directly above the corresponding cutting identification point.

5. The longitudinal cutting method of the cutting device according to claim 4, characterized in that, The cutting unit further includes an image acquisition device fixedly arranged at a relative position to the cutting head; Before performing a fine adjustment operation on each cutting head, it further includes: Collecting the image of the corresponding cutting identification point area on the material to be cut through the image acquisition device of each target cutting unit, and performing identification and analysis to obtain the first position information of each cutting identification point relative to the corresponding image acquisition device; Based on the first position information and in combination with the relative position information between the corresponding cutting head and the image acquisition device, determining the first offset amount of each cutting head relative to the corresponding cutting identification point.

6. The longitudinal cutting method of the cutting device according to claim 5, characterized in that The first offset amount includes a first displacement offset amount and a first angle offset amount; Performing a fine adjustment operation on each cutting head includes: Controlling the cutting head to move horizontally based on the first displacement offset amount so that the center point of the cutting head is directly above the center point of the corresponding cutting identification point; Controlling the rotation angle of the cutting head based on the first angle offset amount so that the direction of the cutting head is consistent with the direction of the corresponding cutting identification point.

7. The longitudinal cutting method of the cutting device according to claim 5, characterized in that, Before it is detected that the material to be cut is offset, it further includes: Real-time acquiring the image of the material to be cut collected by at least one image acquisition device, and performing analysis and identification to obtain the second position information of the corresponding cutting identification point relative to the corresponding image acquisition device; Determining the second offset amount of the material to be cut based on the deviation between the second position information and the initial position information; wherein, the initial position information is the first position information of the cutting identification point.

8. The longitudinal cutting method of the cutting device according to claim 7, characterized in that, The second offset amount includes a second displacement offset amount and a second angle offset amount; Adjusting the cushion under the material to be cut according to the second offset amount of the material to be cut includes: Controlling the horizontal movement of the cushion based on the second displacement offset amount and controlling the rotation angle of the cushion based on the second angle offset amount.

9. The longitudinal cutting method of the cutting device according to claim 4, characterized in that During the knife-out process before cutting the material to be cut in response to a cutting instruction and during the knife-return process after cutting the material to be cut is completed, the method further includes: Real-time calculating the distance between two adjacent cutting heads; When the distance is less than a preset distance, adjusting the moving speed of the cutting head located behind according to a preset speed adjustment method so that the distance between two adjacent cutting heads is greater than the preset distance.

10. A computer-readable storage medium, characterized in that, It stores a computer program, and when the computer program is executed on a control device, it implements the longitudinal cutting method of the cutting device according to any one of claims 4-9.

Images