Profile cutting machining point laser deviation correction method and system and storage medium
By using a robot-driven point laser sensor to detect and correct the cutting path in real time, the problems of error and offset in the profile cutting process are solved, achieving high-precision adaptive cutting and improving production efficiency and equipment safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-06
- Publication Date
- 2026-03-13
AI Technical Summary
Existing intelligent profile cutting production lines are prone to errors, deformation, and misalignment when processing slender marine profiles, resulting in poor processing accuracy and equipment damage.
The robot drives a point laser sensor to detect the profile, monitors and corrects the cutting path in real time, and uses the point laser sensor and robot system for adaptive cutting, including calibration, scanning detection, deviation calculation and path correction.
It improves cutting accuracy and material utilization, reduces equipment wear and tear, and enhances production efficiency and safety.
Smart Images
Figure CN121649979A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of profile cutting technology, and in particular to a laser correction method, system and storage medium for profile cutting processing points. Background Technology
[0002] Industrial robots are characterized by high positioning accuracy, flexibility, and high adaptability. Intelligent profile cutting production lines based on industrial robots are gradually replacing traditional manual cutting, reducing the labor intensity of workers while improving safety, production efficiency, and processing quality. However, since marine profiles are usually slender, with common base materials typically having a width of no more than 0.5 meters and a length of more than 12 meters, uncontrollable errors such as inaccuracies, deformation, and placement misalignments can easily occur during production, handling, and processing.
[0003] Most existing intelligent profile cutting production lines reduce errors by mechanical pressing and pre-processing straightening. However, when the material deformation or strength is too great, pressing and straightening may not be in place, directly leading to poor processing accuracy, product scrap, and damage to processing equipment.
[0004] Therefore, it is necessary to develop a method that can monitor the differences between the profile to be cut and the standard profile in real time and correct the cutting path. Summary of the Invention
[0005] To address the problems existing in current technologies, this invention provides a laser-guided cutting method, system, and storage medium for profile cutting. The method involves a robot-driven point laser sensor detecting the area of the profile to be processed, and correcting the robot's theoretical cutting path based on the detection results, thus achieving adaptive cutting. To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A laser correction method for profile cutting points includes the following steps: Step S1) Based on the robot TCP calibration principle, calibrate the cutting tool and the point laser sensor to determine their relative relationship; Step S2) Obtain the specification data and theoretical cutting path of the profile to be processed; Step S3) Generate a point laser scanning detection path based on the theoretical structural characteristics of the profile; Step S4) During the laser scanning detection process, monitor the measurement values of the point laser sensor in real time and record the robot pose and point laser measurement values; Step S5) After the laser scanning inspection is completed, identify whether the specifications of the profile to be cut are correct based on the measurement results, and calculate the profile deviation value; Step S6) Correct the theoretical cutting path based on the profile deviation value; Step S7) Execute the corrected cutting path.
[0006] Furthermore, in the initial state, the cutting tool and the point laser sensor remain relatively fixed; when the relative position between the cutting tool and the point laser sensor changes, recalibration is performed.
[0007] Further, in step S3, a standard profile feature library is established. The profile specifications obtained in step S2 are matched with the corresponding standard profile features in the feature library, and a point laser scanning detection path is planned based on these features.
[0008] Furthermore, in step S4, the point laser scanning detection path is sent to the robot, and the robot drives the point laser sensor to continuously measure distances along the scanning path. The scanning path is located on a plane at a height H above the theoretical position of the profile web surface. When the result measured by the sensor exceeds the set threshold Hmax, there is no profile below the point laser sensor. When the result measured by the sensor is less than or equal to the set threshold Hmax, there is a profile below the point laser sensor.
[0009] Furthermore, in step S4, when there is a profile below the point laser sensor, the position and attitude of the end of the point laser sensor are determined. The pose of the current point is calculated using the laser ranging value h. , The spatial location of this point is [ The above method is used to collect information on the actual surface locations of the profile.
[0010] Furthermore, in step S5, points at the edge of the profile are collected to calculate the actual width of the profile. If the threshold is exceeded, the profile is determined to be abnormal, the process exits, and the operator is notified that the profile is abnormal. If the threshold is not exceeded, the offset rotation calculation of the profile is performed. The boundary points and several intermediate points all satisfy Ax+By+Cz+D=0. By using the least squares method, the rotation and offset values from the theoretical position of the profile to the actual position are obtained, and the corresponding transformation matrix is obtained.
[0011] Furthermore, using the transformation matrix obtained in step S5, matrix transformation is performed on the poses of all points in the theoretical cutting path, and finally the result is converted into points that can be executed by the robot.
[0012] A laser correction system for profile cutting points, which is applied to the aforementioned laser correction method for profile cutting points, includes a plasma power supply, a point laser sensor, an industrial six-axis robot, a signal processor, a computing unit, a controller, and a robot tooling fixture. The plasma power source provides a plasma arc for the cutting operation; The point laser sensor measures in real time whether there is a profile below and collects point information on the actual profile surface in real time; The industrial six-axis robot performs cutting operations and carries a point laser sensor to detect and scan the profile in real time; The signal processor receives the raw profile data collected by the point laser sensor and transmits the processed data to the arithmetic unit. The arithmetic unit receives the actual position of the profile transmitted by the signal processor, compares it with the standard part, calculates the rotation and offset values of the theoretical position and the actual position, forms all points on the corrected cutting path, and transmits them to the controller. The controller receives the corrected cutting points and can perform cutting command distribution, process control, and anomaly handling. The robot tooling fixture is used to fix the relative position of the point laser sensor and the cutting tool, providing a stable reference coordinate system for the point laser sensor.
[0013] A computer-readable storage medium comprising: Memory containing computer programs; A processor is used to execute the program in the memory to implement the laser correction method for profile cutting points.
[0014] Compared with the prior art, the present invention has the following technical effects: This invention detects the differences between the profile to be cut and the standard part in real time, corrects the cutting path, and achieves adaptive cutting. This not only improves cutting accuracy, material utilization and production efficiency, but also effectively reduces abnormal equipment wear and tear. Attached Figure Description
[0015] Figure 1 This is a flowchart of the laser correction method for profile cutting points according to the present invention; Figure 2 This is a schematic diagram of the dot laser scanning path of the present invention; Figure 3 This is a schematic diagram illustrating the correction of the actual cutting path of the present invention; Figure 4 This is a system schematic diagram according to an embodiment of the present invention.
[0016] Figure label: 1. Profile, 2. Robot, 3. Laser sensor, 4. Controller. Detailed Implementation
[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0018] This embodiment discloses a laser correction system for profile cutting, including a plasma power supply, a point laser sensor 3, an industrial six-axis robot 2, a signal processor, an arithmetic unit, a controller 4, and a robot tooling fixture; The plasma power supply provides a plasma arc for the cutting operation; The point laser sensor 3 measures in real time whether there is profile 1 below and collects point information on the surface of the actual profile 1 in real time; The industrial six-axis robot 2 performs cutting operations and carries a point laser sensor 3 to detect and scan the profile 1 in real time; The signal processor receives the raw data of the profile 1 collected by the point laser sensor 3 and transmits the processed data to the arithmetic unit. The arithmetic unit receives the actual position of profile 1 transmitted by the signal processor, compares it with the standard part, calculates the rotation and offset values of the theoretical position and the actual position, forms all points on the corrected cutting path, and transmits them to the controller 4. Controller 4 receives the corrected cutting point and can perform cutting instruction distribution, process control, and exception handling. The robot tooling fixture is used to fix the relative position of the point laser sensor 3 and the cutting tool, providing a stable reference coordinate system for the point laser sensor 3.
[0019] This embodiment discloses a laser correction method for profile cutting points, applied to angle steel profiles, such as... Figure 1 As shown, it includes the following steps: Step S1) Based on the TCP calibration principle of robot 2, determine whether the relative relationship between the cutting tool and the point laser sensor 3 has been determined. If calibrated, proceed to step S2. If not calibrated, perform calibration on the cutting tool and the point laser sensor 3. Initially, the cutting tool and the point laser sensor 3 remain relatively fixed; when the relative position between the cutting tool and the point laser sensor 3 changes, recalibration is performed.
[0020] Step S2) Determine whether the profile feature library contains profile 1. If so, obtain the specification data and theoretical cutting path of the profile 1 to be processed, and proceed to step S3; If not, prompt the user to check the specifications of profile 1 or improve the feature library, and end the process.
[0021] Step S3) Generate a point laser scanning detection path based on the theoretical structural characteristics of profile 1; In step S3, referring to GB / T9945—2025 and GB / T706-2016, and taking into account the commonly used profile 1 specifications and types in the industry, a standard profile 1 feature library is established and stored in the controller 4. The profile 1 specifications obtained in step S2 are matched with the corresponding standard profile 1 features in the feature library, and the point laser scanning detection path is planned according to these features.
[0022] Step S4) Perform the point laser scanning task. During the laser scanning detection process, monitor the measurement value of the point laser sensor 3 in real time and record the pose of the robot 2 and the point laser measurement value. In step S4, the scanning detection path is sent to robot 2 via controller 4. Robot 2 drives point laser sensor 3 to continuously measure distances along the scanning path. The scanning path is located on a plane at a height H above the theoretical position of the web surface of profile 1. When the result measured by the sensor is greater than the set threshold Hmax, there is no profile 1 below the point laser sensor 3. When the result measured by the sensor is less than or equal to the set threshold Hmax, there is a profile 1 below the point laser sensor 3; In step S4, when there is a profile 1 below the point laser sensor 3, the position and attitude of the end of the point laser sensor 3 are measured. The pose of the current point is calculated using the laser ranging value h. , Ignoring the direction of the point, the spatial location of the point is [ The actual surface location information of profile 1 was collected using the above method; See point laser scanning detection path Figure 2 The arrow indicates a point laser beam, and the × indicates a sudden change point in point laser ranging.
[0023] Step S5) After the laser scanning inspection is completed, the specifications of the profile 1 to be cut are identified based on the measurement results. The calculation of profile deviation values includes collecting data at points along the edge of profile 1 and calculating the actual width of profile 1. If the threshold is exceeded, profile 1 is determined to be abnormal, the process exits and the operator is prompted that profile 1 is abnormal. If the threshold is not exceeded, perform the offset rotation calculation for profile 1. The boundary points and several intermediate points all satisfy Ax+By+Cz+D=0. Using the least squares method, obtain the rotation and offset values from the theoretical position to the actual position of profile 1, obtain the corresponding transformation matrix Trans, and jump to step S6.
[0024] Step S6) Correct the theoretical cutting path according to the profile deviation value, and adjust the cutting path according to step S5. Transformation matrix offset, see Figure 3 ; Using the transformation matrix Trans, the poses of all points in the theoretical cutting path are transformed into points that can be executed by Robot 2, typically in Cartesian coordinates and Euler angles.
[0025] Step S7) Execute the corrected cutting path and end the process.
[0026] A computer-readable storage medium comprising: Memory containing computer programs; A processor is used to execute the program in the memory to implement the laser correction method for the cutting points of profile 1.
[0027] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure made using the contents of the present invention specification and drawings, or directly or indirectly applied to other related technical fields, are similarly included within the patent protection scope of the present invention.
Claims
1. A laser correction method for profile cutting points, characterized in that, Includes the following steps: Step S1) Based on the robot TCP calibration principle, calibrate the cutting tool and the point laser sensor to determine their relative relationship; Step S2) Obtain the specification data and theoretical cutting path of the profile to be processed; Step S3) Generate a point laser scanning detection path based on the theoretical structural characteristics of the profile; Step S4) During the laser scanning detection process, monitor the measurement values of the point laser sensor in real time and record the robot pose and point laser measurement values; Step S5) After the laser scanning inspection is completed, identify whether the specifications of the profile to be cut are correct based on the measurement results, and calculate the profile deviation value; Step S6) Correct the theoretical cutting path based on the profile deviation value; Step S7) Execute the corrected cutting path.
2. The laser correction method for profile cutting points according to claim 1, characterized in that, Initially, the cutting tool and the point laser sensor remain relatively fixed; when the relative position between the cutting tool and the point laser sensor changes, recalibration is performed.
3. The laser correction method for profile cutting points according to claim 1, characterized in that, In step S3, a standard profile feature library is established. The profile specifications obtained in step S2 are matched with the corresponding standard profile features in the feature library, and a point laser scanning detection path is planned based on these features.
4. The laser correction method for profile cutting points according to claim 1, characterized in that, In step S4, the point laser scanning detection path is sent to the robot. The robot drives the point laser sensor to continuously measure distances along the scanning path. The scanning path is located on a plane at a height H above the theoretical position of the profile web surface. When the result measured by the sensor exceeds the set threshold Hmax, there is no profile below the point laser sensor. When the result measured by the sensor is less than or equal to the set threshold Hmax, there is a profile below the point laser sensor.
5. The laser correction method for profile cutting points according to claim 4, characterized in that, In step S4, when there is a profile below the point laser sensor, the position and attitude of the end of the point laser sensor are measured. The pose of the current point is calculated using the laser ranging value h. ， The spatial location of this point is [ The above method is used to collect information on the actual surface locations of the profile.
6. The laser correction method for profile cutting points according to claim 1, characterized in that, In step S5, points are collected at the edge of the profile to calculate the actual width of the profile. If the threshold is exceeded, the profile is determined to be abnormal, the process exits, and the operator is notified that the profile is abnormal. If the threshold is not exceeded, the offset rotation calculation of the profile is performed. The boundary points and several intermediate points all satisfy Ax+By+Cz+D=0. By using the least squares method, the rotation and offset values from the theoretical position of the profile to the actual position are obtained, and the corresponding transformation matrix is obtained.
7. The laser correction method for profile cutting points according to claim 6, characterized in that, Using the transformation matrix obtained in step S5, perform matrix transformation on the poses of all points in the theoretical cutting path, and finally convert the result into points that the robot can execute.
8. A laser correction system for profile cutting points applied to the laser correction method for profile cutting points as described in claim 1, characterized in that, This includes plasma power supplies, point laser sensors, industrial six-axis robots, signal processors, arithmetic units, controllers, and robot tooling fixtures; The plasma power source provides a plasma arc for the cutting operation; The point laser sensor measures in real time whether there is a profile below and collects point information on the actual profile surface in real time; The industrial six-axis robot performs cutting operations and carries a point laser sensor to detect and scan the profile in real time; The signal processor receives the raw profile data collected by the point laser sensor and transmits the processed data to the arithmetic unit. The arithmetic unit receives the actual position of the profile transmitted by the signal processor, compares it with the standard part, calculates the rotation and offset values of the theoretical position and the actual position, forms all points on the corrected cutting path, and transmits them to the controller. The controller receives the corrected cutting points and can perform cutting command distribution, process control, and anomaly handling. The robot tooling fixture is used to fix the relative position of the point laser sensor and the cutting tool, providing a stable reference coordinate system for the point laser sensor.
9. A computer-readable storage medium, characterized in that, include: Memory containing computer programs; A processor for executing the program in the memory to implement the laser correction method for profile cutting points as described in any one of claims 1 to 7.