Laser coaxial debugging method, device and equipment of laser cutting equipment

Abstract

The application discloses a laser coaxial debugging method, device and equipment of a laser cutting equipment, the method comprises the following steps: acquiring a first debugging image and a second debugging image; analyzing the first debugging image and the second debugging image to determine the physical distance between the light spot and the nozzle port end face center point; when the physical distance exceeds the set offset threshold, a debugging instruction is generated according to the physical distance, so that the driving equipment responds to the debugging instruction, controls the driving motor to rotate, drives the actuator to act, and drives the laser optical axis to move. The debugging method of the application can overcome the problem of limited precision in the traditional method which depends on the subjective experience of the operator, improve the accuracy of the coaxiality, avoid the complex operation of the manual verification method of the traditional method, and the automatic process avoids the individual differences caused by manual operation, so that the coaxial debugging standard and precision are consistent each time, finally guarantee the stability of the processing quality of the laser cutting equipment, and improve the product yield.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of optical axis adjustment of laser cutting equipment, and in particular to a laser coaxial debugging method, device and equipment for laser cutting equipment. BACKGROUND

[0002] Laser cutting is widely used in many high-end manufacturing fields such as automobile manufacturing, aerospace, electronic equipment production, etc. due to its high precision, high speed, non-contact processing and other advantages. In the cutting process, the laser beam and the high-pressure auxiliary gas need to act on the workpiece surface through the nozzle at the same time: the laser beam is responsible for rapidly heating the material to a molten or vaporized state, and the high-pressure auxiliary gas blows the molten material away from the cutting gap to ensure smooth cutting. In actual work process, it is necessary to ensure that the nozzle port and the laser beam meet the coaxial requirement. When the nozzle port and the laser are not coaxial, the laser action position and the jet direction of the auxiliary gas will deviate, resulting in uneven energy and gas scouring force on different parts of the cutting surface, causing inconsistent cutting surface effects, such as uneven cutting gap width, large surface roughness difference, etc., which seriously affects the appearance and dimensional accuracy of the product. When the coaxiality deviation is more serious, the laser beam will directly hit the inner wall of the nozzle. On the one hand, it will cause the nozzle to absorb a large amount of laser energy locally, causing the nozzle to heat up rapidly and reducing its service life; on the other hand, the continuous high temperature may cause the nozzle to burn out, not only increasing the maintenance cost of the equipment, but also possibly causing the cutting process to be interrupted and reducing the production efficiency.

[0003] At present, the debugging of the coaxiality of the nozzle port and the laser beam usually relies on the experience and skills of the operator, or transparent adhesive tape is pasted on the nozzle, a point power of 500W or less is set, and whether the laser point on the adhesive tape is located at the center point position of the nozzle port end face is observed.

[0004] The above laser coaxial debugging method relying on the operator is not only cumbersome to operate, but also difficult to ensure the accuracy; and the method of pasting transparent adhesive tape on the nozzle and observing the laser point on the adhesive tape is highly subjective and limited in accuracy, which is difficult to meet the growing demand for high-precision cutting. SUMMARY

[0005] The purpose of the present application is to provide a laser coaxial debugging method, device and equipment for laser cutting equipment, which realizes high-precision automatic debugging of the coaxiality of the laser beam and the nozzle port in the laser cutting equipment.

[0006] To achieve the above purpose, the present application provides the following solutions:

[0007] In a first aspect, the present application provides a laser coaxial debugging method for laser cutting equipment, which comprises:

[0008] acquire a first debugging image and a second debugging image, the first debugging image and the second debugging image being acquired by an image acquisition device to image an imaging plane of an optical device, the optical device being arranged at a front end of a nozzle opening of the laser cutting device, and being configured to project a spot of a debugging light coaxially emitted with a laser of the laser cutting device and a profile of an end face of the nozzle opening to the imaging plane, so that the first debugging image comprises the spot of the debugging light, and the second debugging image comprises the profile of the end face of the nozzle opening;

[0009] analyze the first debugging image and the second debugging image to determine a physical distance between the spot and a center point of the end face of the nozzle opening, the physical distance representing an offset to be debugged between a laser optical axis of the laser cutting device and a nozzle opening center axis;

[0010] when the physical distance exceeds a set offset threshold, generate a debugging instruction according to the physical distance, and send the debugging instruction to a driving device, so that the driving device controls a driving motor to rotate and drives an actuator to move the laser optical axis in response to the debugging instruction.

[0011] Optionally, in some implementations of the first aspect, the analyzing the first debugging image and the second debugging image to determine the physical distance between the spot and the center point of the end face of the nozzle opening comprises:

[0012] analyzing the first debugging image and the second debugging image to calculate a pixel distance between the spot and the center point of the end face of the nozzle opening;

[0013] calculating the physical distance between the spot and the center point of the end face of the nozzle opening according to the pixel distance and a conversion coefficient, the conversion coefficient being configured to represent a conversion relationship between the pixel distance and the physical distance.

[0014] Optionally, in some implementations of the first aspect, the analyzing the first debugging image and the second debugging image to calculate the pixel distance between the spot and the center point of the end face of the nozzle opening comprises:

[0015] determining pixel coordinates of the spot and the center point of the end face of the nozzle opening, the pixel coordinates comprising a coordinate value in a first coordinate direction and a coordinate value in a second coordinate direction;

[0016] calculating an absolute value of a difference between the coordinate value in the first coordinate direction of the spot and the coordinate value in the first coordinate direction of the center point as a pixel distance in the first coordinate direction;

[0017] calculating an absolute value of a difference between the coordinate value in the second coordinate direction of the spot and the coordinate value in the second coordinate direction of the center point as a pixel distance in the second coordinate direction.

[0018] Optionally, in some implementations of the first aspect, the calculating the physical distance between the spot and the center point of the nozzle end face according to the pixel distance and the conversion coefficient comprises:

[0019] calculating a product of the pixel distance and the conversion coefficient in the first coordinate direction as the physical distance in the first coordinate direction;

[0020] calculating a product of the pixel distance and the conversion coefficient in the second coordinate direction as the physical distance in the second coordinate direction.

[0021] Optionally, in some implementations of the first aspect, when the physical distance exceeds a set threshold, the generating the debugging instruction according to the physical distance comprises:

[0022] determining a rotation direction of the driving motor according to a positive or negative attribute of a coordinate value difference between the spot and the center point;

[0023] determining a rotation number of the driving motor according to the physical distance and a corresponding relationship configured, the corresponding relationship representing a relationship between an offset of a laser optical axis of the laser cutting equipment to be debugged and the rotation number of the driving motor;

[0024] generating the debugging instruction according to the rotation number and the rotation direction of the driving motor.

[0025] Optionally, in some implementations of the first aspect, the driving motor comprises a first driving motor, and the determining the rotation direction of the driving motor according to the positive or negative attribute of the coordinate value difference between the spot and the center point comprises:

[0026] when the coordinate value difference between the spot and the center point in the first coordinate direction is a positive number, determining that the first driving motor rotates counterclockwise;

[0027] when the coordinate value difference between the spot and the center point in the first coordinate direction is a negative number, determining that the first driving motor rotates clockwise by the coordinate value difference in the first coordinate direction and the coordinate value difference in the second coordinate direction.

[0028] Optionally, in some implementations of the first aspect, the driving motor further comprises a second driving motor, and the determining the rotation direction of the driving motor according to the positive or negative attribute of the coordinate value difference between the spot and the center point comprises:

[0029] when the coordinate value difference between the spot and the center point in the second coordinate direction is a positive number, determining that the first driving motor and the second driving motor rotate clockwise;

[0030] When the coordinate value difference of the spot and the center point in the second coordinate direction is negative, it is determined that the first driving motor and the second driving motor rotate counterclockwise.

[0031] Optionally, in some implementations of the first aspect, the determining the rotation number of the driving motor according to the physical distance and the corresponding relationship comprises:

[0032] determining the rotation number of the actuator according to the physical distance and a first corresponding relationship, the first corresponding relationship representing a corresponding relationship between the rotation number of the actuator of the laser cutting device and the movement distance of the laser optical axis;

[0033] calculating the rotation number of the driving motor according to the rotation number of the actuator and a second corresponding relationship, the second corresponding relationship representing a corresponding relationship between the rotation number of the actuator and the rotation number of the driving motor.

[0034] In the second aspect, the present application provides a laser coaxial adjustment device of a laser cutting device, which comprises:

[0035] an acquisition module, configured to acquire a first debugging image and a second debugging image, the first debugging image and the second debugging image being obtained by image acquisition equipment collecting images on an imaging plane of an optical device, the optical device being arranged at the front end of a nozzle port of the laser cutting device and used to project a spot of debugging light coaxially emitted with the laser of the laser cutting device and a profile of the end face of the nozzle port to the imaging plane, so that the first debugging image comprises the spot of the debugging light and the second debugging image comprises the profile of the end face of the nozzle port;

[0036] an analysis module, configured to analyze the first debugging image and the second debugging image, and determine a physical distance between the spot and a center point of the end face of the nozzle port, the physical distance representing an offset to be debugged between the laser optical axis of the laser cutting device and the center axis of the nozzle port;

[0037] a control module, configured to, when the physical distance exceeds a set offset threshold, generate a debugging instruction according to the physical distance, and send the debugging instruction to a driving device, so that the driving device controls the driving motor to rotate and drives the actuator to move in response to the debugging instruction.

[0038] In the third aspect, the present application provides a processing device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement the laser coaxial debugging method of the laser cutting device as described in the first aspect.

[0039] According to the specific embodiments provided by the present application, the following technical effects are disclosed:

[0040] The application provides a laser coaxial debugging method, device and equipment of a laser cutting equipment. An optical equipment is arranged in front of a nozzle port end face of the laser cutting equipment to form an imaging plane in front of the nozzle port, so that the light spot of debugging light coaxially emitted with the laser of the laser cutting equipment and the nozzle port end face are projected onto the imaging plane of the optical equipment. When the coaxial debugging of the laser cutting equipment is performed, the light spot imaging (first debugging image) and the nozzle port end face imaging (second debugging image) on the imaging plane are first acquired by an image acquisition device, then the acquired debugging images are analyzed, the physical distance between the light spot and the center point of the nozzle port end face on the same imaging plane is calculated, then the physical distance is taken as the offset to be debugged between the laser optical axis of the laser cutting equipment and the center point of the nozzle port end face, and is compared with the set offset threshold value. When the physical distance exceeds the offset threshold value, a debugging instruction is generated according to the determined physical distance, and is sent to the corresponding driving device, so that the driving device controls the driving motor to act to drive the actuator to rotate, and finally the movement of the laser optical axis of the laser cutting equipment is controlled to ensure that the final offset is less than the set offset threshold value, that is, within the allowable deviation range, thereby realizing the automatic and accurate debugging of the laser optical axis of the laser cutting equipment. The debugging method can accurately acquire the position information of the laser light spot and the nozzle port by means of the image acquisition device to acquire the debugging image, and then the driving mechanism drives the actuator to act to realize the direction debugging of the laser optical axis, so that the problem of limited precision caused by the subjective experience of the operator in the traditional method can be effectively overcome, the precision of the coaxiality is greatly improved, the complex operation of the traditional manual verification method is avoided, and the automatic process also avoids the individual differences caused by manual operation, so that the standard and precision of each coaxial debugging remain consistent, and finally the stability of the processing quality of the laser cutting equipment is ensured, and the product yield is improved. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 A structural schematic diagram of a laser coaxial debugging system of a laser cutting equipment is provided for some embodiments of the application.

[0042] Figure 2 A flowchart of a laser coaxial debugging method of a laser cutting equipment is provided for some embodiments of the application.

[0043] Figure 3 A schematic diagram of a first debugging image is provided for some embodiments of the application.

[0044] Figure 4 A schematic diagram of a second debugging image is provided for some embodiments of the application.

[0045] Figure 5A flowchart of a laser coaxial adjustment method of a laser cutting device according to some embodiments of the present application is shown in FIG. 1.

[0046] Figure 6 A schematic diagram of the relative position relationship between a light spot and a nozzle end face according to some embodiments of the present application is shown in FIG. 2.

[0047] Figure 7 A schematic diagram of the relative position relationship between a light spot and a nozzle end face according to some embodiments of the present application is shown in FIG. 3.

[0048] Figure 8 A schematic diagram of a laser coaxial adjustment interface of a laser cutting device according to some embodiments of the present application is shown in FIG. 4.

[0049] Figure 9 A schematic diagram of a processing device according to some embodiments of the present application is shown in FIG. 5. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0051] The above-mentioned purposes, features and advantages of the present application can be more apparent and easy to understand. The present application will be described in further detail below with reference to the drawings and specific embodiments.

[0052] It can be understood that in the field of laser cutting, cutting quality and device stability are key indicators for measuring processing effect, and the coaxiality of the nozzle port and the laser beam of the laser cutting device has a decisive influence on the two.

[0053] In the present application, in order to solve the defects of complex operation and limited precision in the related art when the laser and the nozzle port of the laser cutting device are coaxially adjusted by means of manual operation and subjective experience, a laser and nozzle port coaxial adjustment system for the laser cutting device is built. The imaging of the adjustment light (such as red light) emitted coaxially with the laser in the laser cutting device on the imaging plane of the optical device and the imaging of the nozzle port on the imaging plane of the optical device are collected by the image acquisition device in the system. Then the laser optical axis position is adjusted by controlling the rotating execution mechanism (adjusting screw set) on the laser device via the driving mechanism, so as to realize the coaxial adjustment of the laser optical axis and the nozzle port. The whole process is simple and efficient, and does not require too much manual intervention.

[0054] Figure 1 A schematic diagram of a laser coaxial adjustment system of a laser cutting device according to some embodiments of the present application is shown in FIG. 6.

[0055] As shown in Figure 1 The system can include processing devices, image acquisition devices, drive mechanisms, and execution mechanisms, etc. The processing devices are electrically connected with the image acquisition devices and the drive mechanisms, respectively.

[0056] The processing device serves as an upper computer, and an operation software is run thereon, so that an operator realizes man-machine interaction such as parameter input and debugging result display on the operation interface of the operation software. The processing device can be a computer, a tablet, or other electronic devices with data processing capability.

[0057] The optical device, which can be a reflecting prism, is arranged at the laser exit side of the laser cutting device, i.e., the front end of the nozzle port, and can project the light spot formed by the debugging light representing the direction of the laser optical axis and the end face of the nozzle port on the imaging plane, so that the light spot of the debugging light and the end face of the nozzle port are in the same imaging plane. That is, the optical device serves as an imaging device, which can project the light spot of the debugging light coaxially emitted with the laser and the end face of the nozzle port to the same imaging plane, so that the image acquisition device can capture the light spot and the nozzle port profile in real time, and provide high-definition image data for subsequent coaxial debugging.

[0058] The image acquisition device can be a high-resolution CCD camera, which can capture the light spot and the nozzle port profile in real time by means of the imaging result of the optical device, and upload the result to the upper computer.

[0059] The drive mechanism can include a drive device and a drive motor electrically coupled thereto. The drive device can be a servo driver, and the drive motor can be a servo motor. The drive device and the operation software end on the upper computer can be connected through a communication interface such as a serial port. The operation software end can generate accurate debugging instructions according to the debugging image fed back by the image acquisition device, which represents the deviation of the light spot of the debugging light and the center point of the nozzle port end face, and can send the debugging instructions to the drive device through the communication interface. After receiving the debugging instructions, the drive device drives the high-precision drive motor to rotate at a set direction and speed to control the action of the execution mechanism, so as to adjust the direction of the laser optical axis and realize accurate debugging of the laser exit light spot position of the laser cutting device.

[0060] The execution mechanism can be composed of precision adjustment screws on the laser cutting device, so that the adjustment screw set can realize micron-level accurate rotation under the control of the drive mechanism, thereby achieving the purpose of coaxial debugging.

[0061] In practice, the embodiment of the present application is based on Figure 1 As shown in the debugging system, when performing laser coaxial debugging of the laser cutting device, the debugging image (such as Figure 3 and Figure 4The relative position of the laser coaxial emitted commissioning light spot (as shown in FIG. 6) and the nozzle port end face profile (as shown in FIG. 7) is analyzed, and then the rotation of the adjusting screw set is used to adjust the commissioning light spot position, so that the deviation between the commissioning light spot and the nozzle port end face center point is within the allowable deviation range, thereby achieving the coaxial commissioning of the laser optical axis of the laser cutting equipment and the center axis of the nozzle port end face. Figure 6 and Figure 7 The relative position of the laser coaxial emitted commissioning light spot (as shown in FIG. 6) and the nozzle port end face profile (as shown in FIG. 7) is analyzed, and then the rotation of the adjusting screw set is used to adjust the commissioning light spot position, so that the deviation between the commissioning light spot and the nozzle port end face center point is within the allowable deviation range, thereby achieving the coaxial commissioning of the laser optical axis of the laser cutting equipment and the center axis of the nozzle port end face. Figure 6 and Figure 7 The relative position of the laser coaxial emitted commissioning light spot (as shown in FIG. 6) and the nozzle port end face profile (as shown in FIG. 7) is analyzed, and then the rotation of the adjusting screw set is used to adjust the commissioning light spot position, so that the deviation between the commissioning light spot and the nozzle port end face center point is within the allowable deviation range, thereby achieving the coaxial commissioning of the laser optical axis of the laser cutting equipment and the center axis of the nozzle port end face.

[0062] It can be understood that during the commissioning process, the driving motor is responsible for driving the adjusting screw set to rotate, and the number of rotations of the adjusting screw set is related to the movement amount of the optical axis, which can be determined by the actual distance between the light spot and the nozzle port end face center point in the collected commissioning image.

[0063] It can also be understood that in the image analysis and processing stage, the distance between the commissioning light spot and the nozzle port end face center point on the commissioning image can be calculated, which is measured in pixels, i.e. pixel distance. The pixel distance intuitively reflects the degree of deviation of the commissioning light spot relative to the nozzle port end face center point in the commissioning image, and is the basis for subsequent calculations. Moreover, the pixel distance can be converted into an actual distance, i.e. a physical distance, for controlling the number of rotations of the driving motor. In practice, a conversion coefficient between the pixel distance and the physical distance can be configured on the upper computer to convert the pixel distance and the actual distance.

[0064] For example, in some implementations, the conversion coefficient is determined by pre-calibration, i.e. the physical distance represented by each pixel in the image.

[0065] It can also be understood that in some implementations, the conversion between the pixel distance and the physical distance can also not use the above calibration method.

[0066] That is, in some embodiments, due to the limitations of setting a calibration plate in the imaging plane, in order to facilitate operation, the conversion coefficient can be directly determined by the size of the nozzle port end face.

[0067] For example, according to the experience of engineers, the pixel distance of the nozzle port end face radius (the actual physical distance is known) can be viewed under the condition that the camera position is fixed and the focal length is unchanged, thereby determining the conversion coefficient.

[0068] It can also be understood that the actuator, i.e. the adjusting screw set, will cause a certain displacement of the laser optical axis when it rotates one revolution, and when the physical distance is calculated by analyzing the commissioning image, the physical distance can be used as the displacement of the laser optical axis, i.e. the displacement of the laser optical axis during the commissioning process, which can be converted into the number of rotations of the adjusting screw set.

[0069] For example, in some implementations, the number of rotations of the adjustment screw set can be calculated according to the displacement corresponding to one rotation of the adjustment screw set, and then the number of rotations of the driving motor can be calculated according to the number of rotations of the adjustment screw set. That is, in this implementation, the corresponding relationship between the calculated offset and the number of rotations of the adjustment screw set, and the corresponding relationship between the number of rotations of the adjustment screw set and the number of rotations of the driving motor can be configured on the host computer.

[0070] In order to better understand the laser coaxial debugging method of the laser cutting device provided in the present application, the following will be described in detail with reference to the drawings.

[0071] As Figure 2 The laser coaxial debugging method of the laser cutting device provided by some embodiments of the present application is shown in the flowchart shown in Figure 2 The method specifically includes:

[0072] S110, a first debugging image and a second debugging image are obtained, the first debugging image and the second debugging image being obtained by an image acquisition device collecting images on an imaging plane of an optical device, the optical device being arranged at the front end of the nozzle port of the laser cutting device and being used to project the spot of the debugging light coaxially emitted with the laser of the laser cutting device and the profile of the nozzle port end face to the imaging plane, so that the first debugging image includes the spot of the debugging light and the second debugging image includes the profile of the nozzle port end face.

[0073] S120, the first debugging image and the second debugging image are analyzed to determine the physical distance between the spot and the center point of the nozzle port end face, the physical distance representing the offset to be debugged between the laser optical axis of the laser cutting device and the nozzle port center axis.

[0074] S130, when the physical distance exceeds the set offset threshold, a debugging instruction is generated according to the physical distance, and is sent to the driving device, so that the driving device controls the driving motor to rotate in response to the debugging instruction, and drives the actuator to move to drive the laser optical axis to move.

[0075] Specifically, in combination with Figure 2 and Figure 5 the flowchart, when the system framework shown in Figure 1 is built and each device is powered on and runs, the laser and the nozzle port are coaxially debugged, a start instruction can be input on the operation interface of the operation software, so that the host computer responds to the received start instruction and runs the coaxial debugging program.

[0076] For example, the operator can click the "automatic centering" icon on the operation software interface to input the start instruction to the host computer.

[0077] Further, when the host computer executes the start centering program, the host computer can first send a control instruction to the laser cutting device to control the illumination light source to be turned on, so that the end face of the nozzle port can be projected on the imaging plane of the optical device to form a profile image corresponding to the end face of the nozzle port on the optical device.

[0078] Correspondingly, the image acquisition device can acquire the imaging of the end face of the nozzle port on the optical device, that is, acquire the profile image of the end face of the nozzle port, and then send the acquired image as a second debugging image to the host computer. The second debugging image includes the profile of the edge of the end face of the nozzle port. As shown in Figure 4 The surrounding black lines represent the inner edge lines of the end face of the nozzle port.

[0079] Further, the operation software controls the illumination light source to be turned off, and then the debugging light coaxial with the laser is turned on to form a light spot on the imaging plane of the optical device.

[0080] Correspondingly, the image acquisition device can acquire the imaging of the light spot on the imaging plane of the optical device, and then send the acquired image as a first debugging image to the host computer.

[0081] The first debugging image can include the light spot of the debugging light coaxial with the laser. As shown in Figure 3 The central white dot in the debugging image is the position of the light spot of the debugging light.

[0082] It can be understood that by the optical device, the illumination light source and the debugging light, the light spot of the debugging light coaxial with the laser and the end face of the nozzle port are projected onto the same imaging plane, so that the distance between the light spot and the center point of the nozzle port can represent the offset between the laser optical axis of the laser cutting device and the central axis of the nozzle port, that is, it can be used as the displacement amount to be moved in the subsequent debugging process, to realize the laser coaxial debugging of the laser cutting device. The central axis of the nozzle port represents the jet direction of the auxiliary gas output from the nozzle port.

[0083] For example, as shown in Figure 6 and Figure 7 It can be seen from the position change of each light spot and the profile of the end face of the nozzle port, that is, the edge line, that the laser optical axis is not consistent with the central axis of the nozzle port, and needs to be debugged. When the light spot is at the center point of the circle corresponding to the nozzle edge, it means that they are coaxial.

[0084] Further, after the host computer acquires the acquired first debugging image and second debugging image, the host computer can analyze the position of the light spot in the first debugging image and the position of the center point of the end face of the nozzle port in the second debugging image to calculate the physical distance between the light spot and the center point of the end face of the nozzle port. The physical distance can represent the offset between the laser optical axis of the laser cutting device and the central axis of the nozzle port.

[0085] Finally, the driving device and the actuating mechanism can be controlled according to the physical distance calculated in the above steps, that is, a debugging instruction can be generated and sent to the driving device, so that the driving device responds to the debugging instruction to control the actuating mechanism to act to change the direction of the laser optical axis, so that the offset between the laser optical axis and the center axis of the nozzle end face is within the allowable deviation range.

[0086] It can be understood that the optical axis debugging method of the laser cutting device provided by the embodiments of the present application can form an imaging plane at the front end of the nozzle port of the laser cutting device by configuring an optical device at the front end of the nozzle port, so that the light spot of the debugging light coaxially emitted with the laser of the laser cutting device and the nozzle end face can be projected onto the imaging plane of the optical device, so that when the coaxial debugging of the laser cutting device is performed, the light spot imaging (first debugging image) and the nozzle end face imaging (second debugging image) on the imaging plane are first acquired by the image acquisition device, and then the acquired debugging images are analyzed to calculate the physical distance between the light spot and the center point of the nozzle end face on the same imaging plane, and then the physical distance is taken as the offset to be debugged between the laser optical axis of the laser cutting device and the center point of the nozzle end face, and compared with the set offset threshold value. When the physical distance exceeds the offset threshold value, a debugging instruction is generated according to the determined physical distance, and is sent to the corresponding driving device, so that the driving device controls the driving motor to act according to the debugging instruction to drive the actuating mechanism to rotate, and finally controls the movement of the laser optical axis of the laser cutting device to ensure that the final offset is less than the set offset threshold value, that is, within the allowable deviation range, thereby realizing the automatic and accurate debugging of the laser optical axis of the laser cutting device. The debugging method acquires the position information of the laser light spot and the nozzle port by means of the image acquisition device to acquire the position information of the laser light spot and the nozzle port, and then drives the actuating mechanism to act by the driving mechanism to realize the direction debugging of the laser optical axis, which can effectively overcome the limited precision caused by the subjective experience of the operator in the traditional method, greatly improve the precision of the coaxiality, and avoid the complex operation of the traditional manual verification method. The automatic process also avoids the individual differences caused by manual operation, so that the standard and precision of each coaxial debugging remain consistent, and finally ensures the stability of the processing quality of the laser cutting device, so that the product yield is improved.

[0087] Optionally, in some embodiments of the present application, when calculating the pixel distance between the light spot and the center point of the nozzle end face in the debugging image in S120, the following steps can be used:

[0088] S121, analyzing the first debugging image and the second debugging image to calculate the pixel distance between the light spot and the center point of the nozzle end face.

[0089] S122, calculate the physical distance between the light spot and the center point of the nozzle end face according to the pixel distance and a conversion coefficient, the conversion coefficient representing a conversion relationship between the pixel distance and the physical distance.

[0090] Specifically, in combination with Figure 3 As shown in the figure, after obtaining the debugging image for analysis, first, the pixel coordinate origin of the debugging image can be determined, and then on the basis of defining the pixel coordinate origin, the pixel coordinates of the light spot and the center point of the nozzle end face are calculated. The pixel coordinates include the coordinate value in the first coordinate direction and the coordinate value in the second coordinate direction, such as the pixel coordinates in the x direction and the pixel coordinates in the y direction.

[0091] For example, as Figure 3 and Figure 4 shown, the upper left corner of the debugging image can be defined as the coordinate origin, that is, the first pixel point in the first row and the first column of the debugging image, which is determined as the coordinate origin in the pixel coordinate system, and the right extension is defined as the positive direction of the first coordinate direction, and the downward extension is defined as the positive direction of the second coordinate direction.

[0092] Further, as Figure 3 shown, according to the first debugging image, first, the center of gravity position of the debugging light spot or the center position of the light spot corresponding circle can be determined, and then the pixel coordinates of the center of gravity position or the center position are determined as the pixel coordinate value of the light spot, such as determining the pixel coordinates of the light spot as (a1, b1).

[0093] Similarly, for the pixel coordinates of the center point of the nozzle end face, first, according to the second debugging image, the position of the edge line corresponding circle inside the nozzle end face can be determined, and then the center of the circle is determined as the center point of the nozzle end face. Finally, the pixel coordinates of the center of the circle are determined as the pixel coordinates of the center point of the nozzle end face, such as determining the pixel coordinates of the center point of the nozzle end face as (a0, b0).

[0094] As Figure 4 shown, the pixel coordinates of the center point of the nozzle end face are determined as (1206.747241, 1058.070372).

[0095] In some embodiments, the pixel coordinates of the center of gravity of the debugging light spot and the pixel coordinates of the center point of the nozzle end face can be realized by the following way:

[0096] For example, for the first debugging image as Figure 3 shown, first, the first debugging image can be binarized to obtain the corresponding binary image. Then, the contour points are found, that is, the contour points that meet the feature conditions are selected according to the width, height and roundness of the light spot, and the contour corresponding to the contour point is the light spot.

[0097] Further, the zeroth moment and the first moment (including the first x-moment and the first y-moment) of the contour can be calculated according to the contour points.

[0098] The zeroth moment is the sum of the gray values of all target pixels (pixels in the region surrounded by the determined contour points in the first debug image), and can also be understood as the area of the pixels in the region surrounded by the contour points. The first x-moment represents the distribution offset of the pixels in the x direction, and the greater the x direction pixel, the greater the contribution to the moment. The first y-moment is the same.

[0099] Finally, the pixel coordinates of the center of gravity of the light spot can be determined according to the following formula:

[0100] a1=m10 / m00;

[0101] b1= m01 / m00;

[0102] Wherein, a1 is the pixel coordinate value in the first coordinate direction, b1 is the pixel coordinate value in the second coordinate direction, m00 is the zeroth moment of the contour, m10 is the first x-moment of the contour, and m01 is the first y-moment of the contour.

[0103] Similarly, for the second debug image as shown in Figure 4 , first, the second debug image can be binarized to obtain the corresponding binary image, and then the contour points can be found, that is, the contour points meeting the conditions can be selected according to the width, height and roundness of the nozzle port end face. Then the minimum circumscribed circle of these contour points is calculated.

[0104] In the step of calculating the minimum circumscribed circle, the radius parameter and the center pixel coordinate parameter of the minimum circumscribed circle are calculated. Therefore, the center of the circle can be taken as the center point of the nozzle port end face, that is, the pixel coordinates of the center point of the nozzle port end face are obtained.

[0105] Further, after obtaining the pixel coordinates of the light spot and the pixel coordinates of the center point of the nozzle port end face, the absolute value of the difference between the coordinate values of the light spot and the center point in the first coordinate direction can be calculated as the pixel distance in the first coordinate direction. And the absolute value of the difference between the coordinate values of the light spot and the center point in the second coordinate direction can be calculated as the pixel distance in the second coordinate direction.

[0106] For example, the pixel distance in the first coordinate direction, such as the pixel distance in the x direction, can be calculated, that is, a2=|a1-a0|, as the first pixel distance.

[0107] Correspondingly, the pixel distance in the second coordinate direction, such as the pixel distance in the y direction, can be calculated, that is, b2=|b1-b0|, as the second pixel distance.

[0108] Finally, the physical distance in each coordinate direction can be calculated according to the configured conversion coefficient and the pixel distance in the two coordinate directions.

[0109] The conversion coefficient represents the conversion relationship between the pixel distance and the actual distance.

[0110] That is, during image analysis processing, the host computer calculates the distance between the light spot of the debugging light and the center point of the nozzle end face in the image, which is in units of pixels, that is, the pixel distance. The pixel distance can intuitively reflect the degree of offset of the light spot of the debugging light relative to the center point of the nozzle end face in the image, and is the basic data for subsequent calculation.

[0111] In practice, the pixel distance in the image cannot be directly used to control the number of rotations of the driving motor, and needs to be converted into the physical distance in the actual physical space.

[0112] Therefore, the conversion between the pixel distance and the physical distance can be performed through the configured conversion coefficient. That is, the conversion coefficient is pre-configured in the host computer to define the actual physical distance represented by each pixel in the debugging image.

[0113] For example, it is known through calibration that 1 pixel in the image corresponds to 0.01 mm in the actual physical space, and the corresponding conversion coefficient can be 0.01 mm. In this way, according to the calculated pixel distance, the offset distance of the light spot of the debugging light relative to the center point of the nozzle end face in the actual physical space, that is, the physical distance, can be accurately converted.

[0114] That is, in the embodiment of the present application, after the pixel distances in the two directions are calculated through the above steps, the product of the pixel distance in the first coordinate direction and the conversion coefficient is calculated as the physical distance in the first coordinate direction, and the product of the pixel distance in the second coordinate direction and the conversion coefficient is calculated as the physical distance in the second coordinate direction.

[0115] As shown in Figure 5 a3=a2*conversion coefficient, as the first physical distance, and b3=b2*conversion coefficient, as the second physical distance.

[0116] It is understood that, in this embodiment of the application, pixel analysis is performed on the acquired first and second debugging images. Specifically, the offset between the laser optical axis and the central axis of the nozzle end face of the laser cutting equipment is converted to the same plane. This ensures that the relative positions of the corresponding spot and the center point of the nozzle end face are in the same pixel coordinates. Then, the pixel coordinates of the center point of the spot and the nozzle end face are determined. The absolute value of the difference between the pixel coordinates in each direction is calculated as the pixel distance in the first coordinate direction and the second coordinate direction. Then, through the conversion coefficient between the pixel distance and the actual distance, the physical distance of the offset between the laser optical axis and the central axis of the nozzle of the laser cutting equipment on the plane is obtained. This provides a basis for subsequent debugging and control, and ultimately realizes automated and high-precision debugging of laser coaxiality.

[0117] Optionally, in some embodiments of this application, in step 130, after the physical distances in the first coordinate direction and the second coordinate direction are determined through the above steps, the physical distances in each coordinate direction can be compared with the set offset threshold.

[0118] When the physical distance exceeds the set offset threshold, a debugging command can be generated based on the physical distance to control the drive motor and achieve coaxial debugging of the laser beam of the laser cutting equipment.

[0119] The following steps can be taken:

[0120] S131, determine the rotation direction of the drive motor based on the positive or negative attribute of the difference between the coordinate values ​​of the light spot and the center point.

[0121] S132, Based on the physical distance and the corresponding relationship of the configuration, determine the number of rotations of the drive motor. This corresponding relationship represents the relationship between the offset of the laser optical axis of the laser cutting equipment to be adjusted and the number of rotations of the drive motor.

[0122] S133, the debugging command is generated based on the number of rotations and the direction of rotation of the drive motor.

[0123] Specifically, after the host computer calculates the physical distance in each coordinate direction, it can use this physical distance as the offset between the laser optical axis and the central axis of the nozzle end face, i.e. the displacement to be adjusted, and compare it with the set offset threshold to determine whether the calculated offset exceeds the allowable deviation range.

[0124] like Figure 5 As shown, when the physical distance in the first or second coordinate direction does not exceed the set offset threshold, it means that no debugging is required and the coaxial debugging method ends.

[0125] For example, if the offset threshold is set as 0.1mm, when the physical distance in the first coordinate direction is less than or equal to 0.1mm and the physical distance in the second coordinate direction is less than or equal to 0.1mm, it indicates that the laser optical axis does not need to be adjusted, and the method ends.

[0126] As shown in Figure 5 When the physical distance in the first coordinate direction or the second coordinate direction is greater than the set offset threshold, it indicates that adjustment is needed, and the following steps can be performed.

[0127] For example, if the offset threshold is set as 0.1mm, when the physical distance in the first coordinate direction is greater than 0.1mm and / or the physical distance in the second coordinate direction is greater than 0.1mm, it indicates that the laser optical axis needs to be adjusted.

[0128] In practice, the actuator can include two sets of adjusting screws, such as a first screw set and a second screw set, which together control the direction of the laser optical axis of the laser cutting device.

[0129] Correspondingly, the drive motor can include a first drive motor for controlling the rotation of the first screw set and a second drive motor for controlling the rotation of the second screw set.

[0130] In some embodiments of the present application, since the actuator in the laser cutting device, i.e. the first adjusting screw set and the second adjusting screw set together control the direction of the laser optical axis, when only one set of adjusting screws is rotated, the moving track of the laser optical axis is arc-shaped; when both sets of adjusting screws are rotated simultaneously, linear movement of the laser optical axis can be achieved.

[0131] Therefore, in order to facilitate control, after the physical distances in the two coordinate directions are determined, one of the drive motors can be first actuated to control the rotation of one of the sets of adjusting screws, and the above-mentioned steps of collecting and analyzing the adjustment images are repeatedly performed to provide real-time feedback on the adjustment results, so as to reduce the offset of the laser optical axis of the laser cutting device in one direction, so that the offset in that direction is less than the set offset threshold. Further, by simultaneously actuating both drive motors and repeatedly performing the above-mentioned steps of collecting and analyzing the adjustment images to provide real-time feedback on the adjustment results, the offset of the laser optical axis of the laser cutting device in the other direction is gradually reduced, and ultimately the offsets in both directions are less than the offset threshold, achieving coaxial adjustment.

[0132] It can be understood that the above-mentioned adjustment process is a feedback mechanism that gradually achieves coaxial adjustment by repeatedly collecting adjustment images and controlling the actuator to rotate a small amount of times.

[0133] It is also understood that during the debugging process, the correspondence between the rotation direction of the drive motor in the debugging system and the movement direction of the laser optical axis can be arbitrarily set by the program, and this application does not impose any restrictions on this.

[0134] For example, in some embodiments, when the difference between the coordinate values ​​of the light spot and the center point in the first coordinate direction is positive, the first drive motor is determined to rotate counterclockwise; when the difference between the coordinate values ​​of the light spot and the center point in the first coordinate direction is negative, the first drive motor is determined to rotate clockwise.

[0135] Combination Figure 5 to Figure 6 As shown, when the physical distance in the first coordinate direction is greater than the set offset threshold, and the difference between the pixel coordinates of the light spot and the center point of the nozzle orifice in the first coordinate direction is a positive number (e.g., a3 is greater than 0.1mm, and a1-a0 is positive), it means that the light spot is offset to the right relative to the center point of the nozzle orifice in the first coordinate direction. This indicates that the first drive motor needs to be controlled to rotate counterclockwise to drive the light spot to move to the left, reducing the deviation of the laser optical axis in the first coordinate direction.

[0136] In practice, by repeating the above steps and making multiple adjustments, the deviation of the light spot in the first coordinate direction can be gradually reduced or even eliminated, so that it moves directly above the center point of the nozzle end face, such as... Figure 6 As shown; or move it directly below the center point of the nozzle orifice end face, as shown. Figure 7 As shown.

[0137] For example, Figure 6 and Figure 7 As shown, when the physical distance in the first coordinate direction is greater than the offset threshold, and the difference between the pixel coordinates of the light spot and the center point of the nozzle orifice in the first coordinate direction is negative, such as a3 being greater than 0.1mm and a1-a0 being negative, it indicates that the light spot is offset to the left relative to the center point of the nozzle orifice in the first coordinate direction. In this case, it is necessary to control the first drive motor to rotate clockwise and drive the light spot to move to the right to reduce the deviation of the optical axis in the first coordinate direction.

[0138] Similarly, by repeating the above steps and making multiple adjustments, the deviation of the light spot in the first coordinate direction can be gradually eliminated, so that the light spot moves directly above the center point of the nozzle end face, such as... Figure 6 As shown; or move it directly below the center point of the nozzle orifice end face, as shown. Figure 7 As shown.

[0139] It is understandable that the above repeated steps and multiple adjustments are as follows: during the debugging process in the first coordinate direction, when the first drive motor stops rotating, the image acquisition and debugging can be performed again to recalculate the position of the light spot corresponding to the optical axis until the deviation between the position of the light spot and the position of the center point of the nozzle end face in the first coordinate direction is less than the deviation threshold, that is, within the allowable deviation range.

[0140] Furthermore, when the deviation of the laser optical axis in one direction is reduced to the allowable deviation range through the control operation of the first drive motor, that is, when the offset of the laser optical axis in the first coordinate direction is less than the set deviation threshold (such as when the spot of the debugging light moves directly above or below the center point of the nozzle end face), the final coaxial debugging can be achieved by synchronous adjustment of the two drive motors.

[0141] For example, such as Figure 6 As shown, when the difference between the coordinate values ​​of the light spot and the center point in the second coordinate direction is negative, it can be determined that the first drive motor and the second drive motor are rotating counterclockwise. If b3 is greater than 0.1mm and b1-b0 is negative, it indicates that the light spot is slightly higher than the center point of the nozzle end face in the second coordinate direction. At this time, it can be determined that the first drive motor and the second drive motor need to be controlled to rotate counterclockwise at the same time to drive the light spot to move downward.

[0142] That is, based on the physical distance in the second coordinate direction, by gradually controlling the operation of the first drive motor and the second drive motor, the two sets of screw groups are driven to rotate multiple times, so that the light spot slowly moves towards the center point of the nozzle end face, so that the deviation between the two is within the allowable deviation range.

[0143] For example, combining Figure 5 and Figure 7 As shown, when the physical distance in the second coordinate direction is greater than the set threshold, and when the difference between the coordinate values ​​of the light spot and the center point in the second coordinate direction is positive, it can be determined that the first drive motor and the second drive motor rotate clockwise, ultimately achieving the optical axis adjustment of the laser cutting equipment. For example, when b3 is greater than 0.1mm and b1-b0 is positive, it indicates that the light spot of the adjustment light is slightly lower than the center point of the nozzle end face in the second coordinate direction. The first drive motor and the second drive motor can be controlled to rotate clockwise simultaneously, driving the light spot to move upward, ultimately ensuring that the deviation between the two is within the allowable deviation range.

[0144] Similarly, in some embodiments of this application, during the debugging process, the debugging results can be used as feedback to make multiple attempts. That is, when the drive motor stops rotating each time, the debugging image can be acquired again and the spot position can be recalculated until the deviation between the spot position and the center point of the nozzle end face is within the allowable deviation range, then the coaxial debugging ends.

[0145] It can also be understood that in practice, a threshold of the number of entire cycles can be set, such as by recording the number of times of photographing of the image acquisition device, and the number of times of photographing is set to be less than 5, so that when the number of times of photographing reaches 4, the coaxial debugging method is terminated.

[0146] Optionally, in some embodiments of the present application, when adjusting the optical axis, a certain driving motor can be controlled to first adjust in the second coordinate direction to adjust the light spot of the debugging light to the positive left or positive right of the center point of the nozzle port end face, and then the first driving motor and the second driving motor are controlled to gradually adjust the light spot so that the deviation of the light spot from the center point of the nozzle port end face is within the allowable deviation range.

[0147] For example, the second driving motor can be controlled to rotate counterclockwise or clockwise to adjust the light spot to the positive left or positive right of the center point of the nozzle port end face, and then the first driving motor and the second driving motor are controlled to rotate through the two sets of screw groups to gradually drive the optical axis of the laser cutting equipment to move, and finally the distance between the light spot of the debugging light and the center point of the nozzle port end face is within the allowable deviation range.

[0148] Optionally, in some embodiments of the present application, after the rotation direction of the driving motor is determined through the above steps, in order to improve the debugging accuracy and efficiency, the number of rotations of the driving motor can also be calculated according to the physical distance and the corresponding relationship to achieve accurate control of each driving motor.

[0149] The corresponding relationship can include a first corresponding relationship and a second corresponding relationship, the first corresponding relationship representing the corresponding relationship between the number of rotations of the actuator of the laser cutting equipment and the movement distance of the laser optical axis, and the second corresponding relationship representing the corresponding relationship between the number of rotations of the actuator and the number of rotations of the driving motor.

[0150] That is, in practice, the rotating shaft of the driving motor is connected to the adjusting screw group of the laser cutting equipment through a mechanical structure, so that after the driving motor rotates one circle, the adjusting screw group can be controlled to rotate a corresponding angle to control the adjusting screw group to change the direction of the laser optical axis of the laser cutting equipment, that is, the adjusting screw group rotates one circle to cause a certain displacement of the laser optical axis.

[0151] When the displacement of the laser optical axis of the laser cutting equipment to be adjusted, i.e., the physical distance, is determined, the number of rotations of the actuator is first determined according to the physical distance and the first corresponding relationship.

[0152] Further, after the number of rotations of the actuator is determined, the number of rotations of the driving motor can be calculated according to the number of rotations of the actuator and the second corresponding relationship.

[0153] For example, it is known that adjusting the screw set to rotate one circle can make the laser optical axis move 0.1mm in a certain direction, and it is calculated that the actual offset distance of the light spot of the debugging light relative to the center point of the nozzle port end face in the direction is 0.5mm, so it can be determined that the driving motor needs to control the screw set to rotate 5 circles, so as to make the laser optical axis move to the appropriate position, and gradually eliminate the deviation from the center axis of the nozzle port.

[0154] In this embodiment, the determined number of rotation circles is the number of rotation circles of the two driving motors, that is, in the implementation manner of this embodiment, the movement of the laser optical axis is directly performed by simultaneously controlling the two driving motors.

[0155] Finally, after the number of rotation circles of the driving motor and the rotation direction are determined, corresponding debugging instructions can be generated according to the determined number of circles and direction, and sent to the driving device, so that the driving motor rotates according to the configured number of circles and direction, and then controls the number of rotation circles of the adjusting screw set to control the physical distance of the movement of the laser optical axis of the laser cutting equipment, that is, the offset distance.

[0156] As shown in FIG. 8, a schematic diagram of an interface after debugging is shown. Figure 8 As shown in FIG. 8, a schematic diagram of an interface after debugging is shown. Figure 8 As shown in FIG. 8, a schematic diagram of an interface after debugging is shown.

[0157] It can be understood that in the embodiments of the present application, the optical imaging device is arranged in front of the nozzle port end face of the laser cutting equipment to form an imaging plane in front of the nozzle port, so that the imaging of the nozzle port end face and the imaging of the light spot representing the laser optical axis of the laser cutting equipment are formed thereon, that is, the nozzle port end face and the light spot representing the laser optical axis are projected onto the same imaging plane, and then the light spot imaging and the nozzle port end face imaging on the imaging plane are collected by the image acquisition device to obtain corresponding first and second debugging images, and then the debugging images obtained are analyzed to calculate the physical distance between the light spot and the center point of the nozzle port end face on the same plane, and then the physical distance is taken as the offset to be debugged between the laser optical axis of the laser cutting equipment and the central axis of the nozzle port, and compared with the set offset threshold value. When the physical distance exceeds the threshold value, a debugging instruction is generated according to the determined physical distance, which is sent to the corresponding driving mechanism to make the driving mechanism act according to the debugging instruction to drive the actuator to rotate, and finally control the laser optical axis of the laser cutting equipment to move to make the final offset less than the set offset threshold value, that is, within the allowable deviation range, thereby realizing the automatic and accurate debugging of the laser optical axis of the laser cutting equipment. That is, the debugging method can accurately obtain the position information of the laser light spot and the nozzle port by collecting images with the image acquisition device, and then the direction of the laser optical axis is adjusted by driving the actuator with the motor, which can effectively overcome the problem of limited accuracy depending on subjective experience in the traditional method, greatly improve the accuracy of coaxiality, and avoid the complex operation of the traditional manual verification method. The automatic process also avoids the individual differences caused by manual operation, so that the standard and accuracy of each coaxial debugging remain consistent, and finally ensures the stability of the processing quality of the laser cutting equipment and improves the product yield.

[0158] In another aspect, the present application also provides a laser optical axis debugging device for a laser cutting equipment, which comprises:

[0159] An acquisition module is configured to acquire a first debugging image and a second debugging image, wherein the first debugging image and the second debugging image are obtained by an image acquisition device collecting the imaging on an imaging plane of an optical device, the optical device is arranged in front of a nozzle port of the laser cutting equipment, and is configured to project a light spot of debugging light coaxial with the laser of the laser cutting equipment and a nozzle port end face onto the imaging plane, so that the first debugging image includes the light spot of the debugging light, and the second debugging image includes the outline of the nozzle port end face;

[0160] an analysis module, configured to analyze the first debugging image and the second debugging image, and determine a physical distance between the light spot and a center point of the nozzle end face, the physical distance representing an offset to be debugged between a laser optical axis of the laser cutting device and a nozzle center axis;

[0161] a control module, configured to, when the physical distance exceeds a set offset threshold, generate a debugging instruction according to the physical distance, and send the debugging instruction to a driving device, so that the driving device controls a driving motor to rotate and drives an actuator to move the laser optical axis in response to the debugging instruction.

[0162] Optionally, the laser coaxial debugging device for the laser cutting device provided in the embodiment of the present application is configured to:

[0163] analyze the first debugging image and the second debugging image, and calculate a pixel distance between the light spot and the center point of the nozzle end face;

[0164] calculate a physical distance between the light spot and the center point of the nozzle end face according to the pixel distance and a conversion coefficient, the conversion coefficient being used to represent a conversion relationship between the pixel distance and the physical distance.

[0165] Optionally, the laser coaxial debugging device for the laser cutting device provided in the embodiment of the present application is configured to:

[0166] determine pixel coordinates of the light spot and the center point of the nozzle end face, the pixel coordinates including a coordinate value in a first coordinate direction and a coordinate value in a second coordinate direction;

[0167] calculate an absolute value of a coordinate value difference between the light spot and the center point in the first coordinate direction as a pixel distance in the first coordinate direction;

[0168] calculate an absolute value of a coordinate value difference between the light spot and the center point in the second coordinate direction as a pixel distance in the second coordinate direction.

[0169] Optionally, the laser coaxial debugging device for the laser cutting device provided in the embodiment of the present application is configured to:

[0170] calculate a product of the pixel distance in the first coordinate direction and the conversion coefficient as a physical distance in the first coordinate direction;

[0171] calculate a product of the pixel distance in the second coordinate direction and the conversion coefficient as a physical distance in the second coordinate direction.

[0172] Optionally, the laser coaxial debugging device for the laser cutting device provided in the embodiment of the present application is configured to, when the physical distance exceeds a set threshold, the control module is specifically configured to:

[0173] determining a rotation direction of the driving motor according to a positive or negative attribute of a coordinate value difference between the light spot and the center point;

[0174] determining a rotation number of the driving motor according to the physical distance and a corresponding relationship, the corresponding relationship representing a relationship between an offset amount of a laser optical axis of the laser cutting equipment to be debugged and the rotation number of the driving motor;

[0175] generating the debug instruction according to the rotation number and the rotation direction of the driving motor.

[0176] Optionally, the laser coaxial debugging device for the laser cutting equipment provided in the embodiments of the present application, the driving motor includes a first driving motor, and the control module is specifically configured to:

[0177] when the coordinate value difference between the light spot and the center point in the first coordinate direction is a positive number, determining that the first driving motor rotates counterclockwise;

[0178] when the coordinate value difference between the light spot and the center point in the first coordinate direction is a negative number, determining that the first driving motor rotates clockwise.

[0179] Optionally, the laser coaxial debugging device for the laser cutting equipment provided in the embodiments of the present application, the driving motor further includes a second driving motor, and the control module is specifically configured to:

[0180] when the coordinate value difference between the light spot and the center point in the second coordinate direction is a positive number, determining that the first driving motor and the second driving motor rotate clockwise;

[0181] when the coordinate value difference between the light spot and the center point in the second coordinate direction is a negative number, determining that the first driving motor and the second driving motor rotate counterclockwise.

[0182] Optionally, the laser coaxial debugging device for the laser cutting equipment provided in the embodiments of the present application, the control module is specifically configured to:

[0183] determining a rotation number of the driving motor according to the physical distance and a corresponding relationship, the corresponding relationship representing a relationship between an offset amount of a laser optical axis of the laser cutting equipment to be debugged and the rotation number of the driving motor;

[0184] determining a rotation number of the driving motor according to the physical distance and a corresponding relationship, the corresponding relationship representing a relationship between an offset amount of a laser optical axis of the laser cutting equipment to be debugged and the rotation number of the driving motor;

[0185] In an exemplary embodiment, a processing device, i.e., a data collection device, which can be a server or a terminal, has an internal structure diagram as shown in Figure 9 The processing device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the processing device is configured to provide computing and control capabilities. The memory of the processing device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the processing device is configured to store video tag processing data. The input / output interface of the processing device is configured to exchange information between the processor and external devices. The communication interface of the processing device is configured to communicate with external terminals through network connection. The computer program is executed by the processor to implement the laser coaxial debugging method of the laser cutting device.

[0186] Those skilled in the art can understand that Figure 9 The structure shown in the above embodiment is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the processing device to which the scheme of the present application is applied. The specific processing device can include more or fewer components than those shown in the diagram, or combine certain components, or have a different arrangement of components.

[0187] In an exemplary embodiment, a processing device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the above method embodiments.

[0188] In an exemplary embodiment, a computer readable storage medium is provided, storing a computer program, and the computer program is executed by a processor to implement the steps in the above method embodiments.

[0189] In an exemplary embodiment, a computer program product is provided, including a computer program, and the computer program is executed by a processor to implement the steps in the above method embodiments.

[0190] It can be understood that the embodiment of the present application provides a laser coaxial debugging method, device and equipment for a laser cutting device. By configuring an optical device in front of the nozzle port end face of the laser cutting device, an imaging plane is formed in front of the nozzle port, and the light spot of the debugging light coaxially emitted with the laser of the laser cutting device and the nozzle port end face are projected onto the same imaging plane of the optical device, so that when the coaxial debugging of the laser cutting device is performed, first, the light spot imaging (first debugging image) and the nozzle port end face imaging (second debugging image) on the imaging plane are collected by the collection device, then the acquired debugging image is analyzed, the physical distance between the light spot and the center point of the nozzle port end face on the same imaging plane is calculated, and then the physical distance is taken as the offset between the laser optical axis of the laser cutting device and the center point of the nozzle port end face to be debugged. The offset threshold is compared, when the physical distance exceeds the offset threshold, the debugging instruction is generated according to the determined physical distance, and the corresponding driving device is sent, so that the driving device controls the driving motor to act according to the debugging instruction, drives the actuator to rotate, and finally controls the movement of the laser optical axis of the laser cutting device. Ensure that the final offset is less than the set offset threshold, that is, within the allowable deviation range, so as to realize the automatic and accurate debugging of the laser optical axis of the laser cutting device. The debugging method can accurately acquire the position information of the laser spot and the nozzle port by means of the image collection device, and then the motor drives the actuator to act, realizes the direction debugging of the laser optical axis, can effectively overcome the limited precision caused by the subjective experience in the traditional method, greatly improves the precision of the coaxiality, avoids the complex operation of the manual verification method of the traditional method, and the automatic process also avoids the individual differences caused by manual operation. The standard and precision of each coaxial debugging are consistent, and finally the stability of the machining quality of the laser cutting device is ensured, and the product yield is improved.

[0191] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0192] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0193] The principles and implementation modes of the present application are described by using specific examples in this paper, and the above-mentioned embodiments are only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In conclusion, the content of the present application should not be understood as a limitation.

Claims

1. A laser coaxial adjustment method of a laser cutting apparatus, characterized by, The method comprises: acquiring a first debugging image and a second debugging image, the first debugging image and the second debugging image being obtained by image acquisition equipment collecting images on an imaging plane of an optical device, the optical device being arranged in front of a nozzle port of the laser cutting device, and being used for projecting a spot of debugging light coaxially emitted with a laser of the laser cutting device and a nozzle port end face to the imaging plane, so that the first debugging image comprises the spot of the debugging light, and the second debugging image comprises an outline of the nozzle port end face; analyzing the first debugging image and the second debugging image to determine a physical distance between the spot and a center point of the nozzle port end face, the physical distance representing an offset to be debugged between a laser axis of the laser cutting device and a center of the nozzle port end face; when the physical distance exceeds a set offset threshold, generating a debugging instruction according to the physical distance and sending the debugging instruction to a driving mechanism, so that the driving mechanism controls a driving motor to rotate and drives an actuating mechanism to move in response to the debugging instruction; wherein the analyzing the first debugging image and the second debugging image to determine the physical distance between the spot and the center point of the nozzle port end face comprises: analyzing the first debugging image and the second debugging image to calculate a pixel distance between the spot and the center point of the nozzle port end face; calculating the physical distance between the spot and the center point of the nozzle port end face according to the pixel distance and a conversion coefficient, the conversion coefficient being used to represent a conversion relationship between the pixel distance and the physical distance; the analyzing the first debugging image and the second debugging image to calculate the pixel distance between the spot and the center point of the nozzle port end face comprises: determining pixel coordinates of the spot and the center point of the nozzle port end face, the pixel coordinates comprising a coordinate value in a first coordinate direction and a coordinate value in a second coordinate direction; calculating an absolute value of a difference between the coordinate value in the first coordinate direction of the spot and the center point as a pixel distance in the first coordinate direction; calculating an absolute value of a difference between the coordinate value in the second coordinate direction of the spot and the center point as a pixel distance in the second coordinate direction; the calculating the physical distance between the spot and the center point of the nozzle port end face according to the pixel distance and the conversion coefficient comprises: calculating a product of the pixel distance in the first coordinate direction and the conversion coefficient as a physical distance in the first coordinate direction; calculating a product of the pixel distance in the second coordinate direction and the conversion coefficient as a physical distance in the second coordinate direction; the generating the debugging instruction according to the physical distance comprises: determining a rotation direction of the driving motor according to a positive or negative attribute of a difference between the coordinate values of the spot and the center point; determining a rotation number of the driving motor according to the physical distance and a configured corresponding relationship, the corresponding relationship representing a corresponding relationship between the offset to be debugged of the laser axis of the laser cutting device and the rotation number of the driving motor; generating the debugging instruction according to the rotation number and the rotation direction of the driving motor.

2. The laser coaxial adjustment method of a laser cutting apparatus according to claim 1, characterized by, The driving motor comprises a first driving motor, and the determining of the rotation direction of the driving motor according to the positive or negative attribute of the difference between the coordinate values of the light spot and the center point comprises: when the difference between the coordinate values of the light spot and the center point in the first coordinate direction is positive, determining that the first driving motor reverses; when the difference between the coordinate values of the light spot and the center point in the first coordinate direction is negative, determining that the first driving motor rotates forward.

3. The laser coaxial adjustment method of a laser cutting apparatus according to claim 2, characterized by, The driving motor further comprises a second driving motor, and the determining of the rotation direction of the driving motor according to the positive or negative attribute of the difference between the coordinate values of the light spot and the center point comprises: when the difference between the coordinate values of the light spot and the center point in the second coordinate direction is positive, determining that the first driving motor and the second driving motor rotate forward; when the difference between the coordinate values of the light spot and the center point in the second coordinate direction is negative, determining that the first driving motor and the second driving motor reverse.

4. The laser coaxial adjustment method of a laser cutting apparatus according to claim 3, characterized by, The determining of the rotation number of the driving motor according to the physical distance and the corresponding relationship comprises: determining the rotation number of the actuator according to the physical distance and a first corresponding relationship, the first corresponding relationship representing the corresponding relationship between the rotation number of the actuator of the laser cutting device and the movement distance of the laser optical axis; calculating the rotation number of the driving motor according to the rotation number of the actuator and a second corresponding relationship, the second corresponding relationship representing the corresponding relationship between the rotation number of the actuator and the rotation number of the driving motor.

5. A laser coaxial adjustment device of a laser cutting apparatus using the laser coaxial adjustment method of the laser cutting apparatus according to any one of claims 1 to 4, characterized by, The device comprises: an acquisition module, configured to acquire a first debugging image and a second debugging image, the first debugging image and the second debugging image being obtained by image acquisition equipment collecting images on an imaging plane of an optical device, the optical device being arranged in front of a nozzle end face of the laser cutting device, and being configured to project a light spot of debugging light coaxial with a laser of the laser cutting device and the nozzle end face to the imaging plane, so that the first debugging image comprises the light spot of the debugging light, and the second debugging image comprises an outline of the nozzle end face; an analysis module, configured to analyze the first debugging image and the second debugging image, and determine a physical distance between the light spot and a center point of the nozzle end face, the physical distance representing an offset to be debugged between a laser axis of the laser cutting device and the center of the nozzle end face; a control module, configured to, when the physical distance exceeds a set offset threshold, generate a debugging instruction according to the physical distance, and send the debugging instruction to a driving mechanism, so that the driving mechanism controls a driving motor to rotate in response to the debugging instruction, and drives an actuator to move to drive the laser axis to move.

6. A processing device, characterized by The processing device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the laser coaxial debugging method of the laser cutting device according to any one of claims 1-4.

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