Galvanometer engraving machine control method and device, electronic equipment and storage medium

Abstract

The invention provides a galvanometer engraving machine control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining engraving path full-amount coordinate data corresponding to an engraving material based on an engraving instruction, and carrying out trajectory analysis based on the engraving path full-amount coordinate data to obtain a first trajectory feature parameter of an engraving path; dividing the engraving path into a plurality of feature adaptation sections based on the first track feature parameters; on the basis of the position information of each feature adaptation section, material actual material parameters are collected, control parameter matching is carried out on the basis of the material actual material parameters of each feature adaptation section and the second track feature parameters, and target control parameters of each feature adaptation section are obtained; and on the basis of the arrangement sequence of each feature adaptive section and the corresponding target control parameters, a subsection control instruction is generated to control and drive the galvanometer module and the laser module to carry out the engraving action. The precision of engraving of the galvanometer engraving machine on different materials and complex paths and the quality stability of finished products are improved.

Description

Technical Field

[0001] This invention relates to the field of galvanometer engraving machine control technology, and in particular to a galvanometer engraving machine control method, device, electronic equipment and storage medium. Background Technology

[0002] In the field of galvanometer engraving machine control technology, the current mainstream control method is the engraving path and parameter pre-binding control method. That is, the operator first selects the engraving material, and then the host computer calls the pre-stored fixed engraving parameters (including laser power, galvanometer deflection speed, and laser pulse width) according to the preset category of the selected engraving material, and binds the fixed parameters with the preset engraving path data to generate a single control command stream. After receiving the control command stream, the control unit directly drives the galvanometer module and laser module to continuously perform engraving actions along the engraving path according to the fixed parameters, without any parameter adjustment steps throughout the process.

[0003] However, simply binding the carving parameters to the type of carving material without considering the uneven material density and texture differences within the same carving material, and without adjusting the parameters in conjunction with the dynamic trajectory characteristics of the carving path (such as corners, arcs, and other complex trajectory segments), results in problems such as substandard carving, edge burrs, or material ablation in areas with high material density or at path corners due to insufficient or excessive energy input under fixed parameters. This seriously affects the carving accuracy and the quality of the finished product. Summary of the Invention

[0004] This invention provides a control method, device, electronic equipment, and storage medium for a galvanometer engraving machine, which improves the accuracy and stability of finished product quality when engraving different materials and complex paths.

[0005] In a first aspect, the present invention provides a control method for a galvanometer engraving machine, comprising:

[0006] Based on the carving instructions, the full coordinate data of the carving path corresponding to the carving material is obtained, and trajectory analysis is performed based on the full coordinate data of the carving path to obtain the first trajectory feature parameters of the carving path; the trajectory feature parameters include the path curvature value, path segment length and path segment connection angle of each path segment;

[0007] Based on the first trajectory feature parameters, the carving path is divided into multiple feature adaptation segments; each feature adaptation segment corresponds to a set of continuous path segments with consistent trajectory features.

[0008] The actual material parameters of the material are collected based on the location information of each feature adaptation segment, and the control parameters are matched based on the actual material parameters and the second trajectory feature parameters of each feature adaptation segment to obtain the target control parameters of each feature adaptation segment.

[0009] Based on the arrangement order of each feature adaptation segment and its corresponding target control parameters, segmented control instructions are generated, and the galvanometer module and laser module are controlled to perform engraving actions based on the segmented control instructions.

[0010] In a second aspect, the present invention also provides a galvanometer engraving machine control device, applied to the galvanometer engraving machine control method as described in the first aspect; the galvanometer engraving machine control device includes:

[0011] The trajectory analysis module is used to obtain the full coordinate data of the carving path corresponding to the carving material based on the carving instructions, and to perform trajectory analysis based on the full coordinate data of the carving path to obtain the first trajectory feature parameters of the carving path; the trajectory feature parameters include the path curvature value, path segment length and path segment connection angle of each path segment;

[0012] The path segmentation module is used to divide the carving path into multiple feature adaptation segments based on the first trajectory feature parameters; each feature adaptation segment corresponds to a set of continuous path segments with consistent trajectory features;

[0013] The control parameter matching module is used to collect the actual material parameters of the material based on the location information of each feature adaptation segment, and to perform control parameter matching based on the actual material parameters and the second trajectory feature parameters of each feature adaptation segment to obtain the target control parameters of each feature adaptation segment.

[0014] The engraving machine control module is used to generate segmented control instructions based on the arrangement order of each feature adaptation segment and its corresponding target control parameters, and to control the drive galvanometer module and laser module to perform engraving actions based on the segmented control instructions.

[0015] Thirdly, the present invention also provides an electronic device, comprising: a memory for storing computer software programs; and a processor for reading and executing the computer software programs, thereby realizing the galvanometer engraving machine control method described above.

[0016] Fourthly, the present invention also provides a non-transitory computer-readable storage medium storing a computer software program, which, when executed by a processor, implements the galvanometer engraving machine control method described above.

[0017] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the galvanometer engraving machine control method described above.

[0018] The galvanometer engraving machine control method provided in this invention divides the engraving path into multiple continuous feature-matching segments with consistent trajectory features based on a first trajectory feature parameter. This achieves refined segmentation of the engraving path, enabling the originally monolithic path to be accurately distinguished based on differences in trajectory features. Based on the position information of each feature-matching segment, the actual material parameters of the corresponding area are collected, and combined with the second trajectory feature parameter to match control parameters, obtaining the target control parameters for each segment. By deeply integrating the trajectory feature data of the segment with the actual material data of the corresponding location, precise matching of control parameters with the segment trajectory features and local material conditions is achieved. This solves the problem of binding parameters to material categories while ignoring material inhomogeneity within the same material, ensuring that the control parameters of each segment can match its specific material and trajectory requirements. Based on the arrangement order of each feature adaptation segment and its target control parameters, segmented control commands are generated. These segmented control commands then drive the galvanometer module and laser module to perform engraving actions. This allows the galvanometer module and laser module to automatically adapt to the corresponding target control parameters in different segments, enabling them to dynamically adapt parameters along the engraving path. This avoids the problem of insufficient or excessive energy input under fixed parameters, and solves the problems of substandard engraving, edge burrs, or material ablation caused by not considering trajectory features and material unevenness. This improves the accuracy and product quality stability of the galvanometer engraving machine for engraving different materials and complex paths. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating the control method for a galvanometer engraving machine provided in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the galvanometer engraving machine control device provided in an embodiment of the present invention;

[0021] Figure 3 An embodiment diagram of the electronic device provided in this invention;

[0022] Figure 4 An embodiment diagram of a computer-readable storage medium provided in accordance with the present invention. Detailed Implementation

[0023] 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.

[0024] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In the description of this invention, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this invention is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed herein.

[0026] Optionally, see Figure 1 , Figure 1 This is a flowchart illustrating the galvanometer engraving machine control method provided by the present invention. In this embodiment, the executing entity of the galvanometer engraving machine control method is an engraving machine control device. Therefore, the galvanometer engraving machine control method includes:

[0027] Step 10: Obtain the full coordinate data of the carving path corresponding to the carving material based on the carving instructions, and perform trajectory analysis based on the full coordinate data of the carving path to obtain the first trajectory feature parameter of the carving path.

[0028] Optionally, after receiving the engraving command, the engraving machine control device extracts the full coordinate data of the engraving path corresponding to the engraving material from the engraving command. The full coordinate data of the engraving path refers to the set of all coordinate points that can completely describe the engraving trajectory of the engraving material. Each coordinate point contains positional information in two dimensions: horizontal and vertical, and the coordinate values ​​are in millimeters. For example, if the engraving material is a simple square, its full coordinate data of the engraving path may include the coordinates of the four vertices and several intermediate coordinate points on the continuous path between each vertex. Assuming the coordinates of the top left vertex of the square are (10, 10), the top right vertex is (30, 10), the bottom right vertex is (30, 30), and the bottom left vertex is (10, 30), intermediate coordinate points are taken at uniform intervals between each side, with an interval of 0.1 millimeters between adjacent intermediate coordinate points, thus forming the full coordinate data of the engraving path of the square.

[0029] Furthermore, the engraving machine control device divides the entire coordinate data into multiple continuous path segments according to the order of the coordinate data. A path segment refers to the straight or curved section between two adjacent coordinate points. The selection of adjacent coordinate points must ensure that the path segment accurately reflects the changes in the engraving trajectory. The division principle is that the trajectory between two adjacent coordinate points has no obvious abrupt change in direction, and the distance does not exceed 0.5 mm. If it exceeds this distance, additional coordinate points need to be added in the middle before further division. Taking a square engraving path as an example, the path from the top left vertex (10, 10) to the top right vertex (30, 10), divided with adjacent coordinate points at 0.1 mm intervals, yields 200 path segments. The starting and ending points of each path segment are two consecutive coordinate points.

[0030] Optionally, the path curvature value refers to the degree of curvature of the path segment. The curvature value of a straight path segment is 0, while the curvature value of a curved path segment is calculated based on the curvature of the curve. For a straight path segment, since its trajectory has no curvature, its curvature value is directly determined to be 0. For a curved path segment, the engraving machine control device determines the curvature value by calculating the angle formed between the two endpoints of the path segment and a certain feature point in the middle. The calculation method is as follows: select three coordinate points—the start point, the midpoint, and the end point—of the curved path segment, calculate the vector from the start point to the midpoint and the vector from the midpoint to the end point, and then calculate the angle between the two vectors. The tangent of the angle is the curvature value of the curved path segment, and the unit of the curvature value is radians per millimeter. For example, given a curved path segment with starting point coordinates (5, 5), midpoint coordinates (6, 6.5), and ending point coordinates (7, 5), first calculate the vector from the starting point to the midpoint as (1, 1.5) and the vector from the midpoint to the ending point as (1, -1.5). Then calculate the angle between the two vectors. The calculated tangent of the angle is 0.8, which means the curvature of the curved path segment is 0.8 radians per millimeter.

[0031] Optionally, the length of a path segment refers to the straight-line distance or the length of a curve between the starting and ending points of the path segment. Straight-line path segments are calculated using the straight-line distance formula, while curved path segments are calculated by summing the lengths of individual segments. The method for calculating the length of a straight-line path segment is as follows: Based on the coordinates of the starting and ending points of the path segment, calculate the straight-line distance between the two points. The formula is the square of the difference between the x-coordinates of the starting and ending points, plus the square of the difference between the y-coordinates of the starting and ending points, and then take the square root of the sum. For example, for a straight-line path segment with starting coordinates (2, 3) and ending coordinates (5, 7), the difference in x-coordinates is 3 mm, and the difference in y-coordinates is 4 mm. The sum of the squares is 9 + 16 = 25, and the square root is 5 mm, meaning the length of the straight-line path segment is 5 mm. The method for calculating the length of a curved path segment is as follows: Divide the curved path segment into several smaller segments at 0.05 mm intervals. Each segment is approximated as a straight line. Calculate the length of each segment and then sum them up. The sum is the length of the curved path segment.

[0032] For example, a curved path segment is divided into 100 smaller segments at intervals, with each segment having a length between 0.048 mm and 0.052 mm. After being accumulated, the length of the curved path segment is 4.980 mm.

[0033] Optionally, the path segment connection angle refers to the angle between the endpoint of one path segment and the starting point of the next, where they connect. First, calculate the direction vectors of the first and second path segments respectively. The direction vectors are calculated by subtracting the starting point coordinates from the endpoint coordinates. Then, calculate the angle between the two direction vectors. This angle is the path segment connection angle, measured in degrees, and ranges from 0 to 180 degrees. For example, if the starting point coordinates of the first path segment are (1, 2) and the ending point coordinates are (4, 6), its direction vector is (3, 4); if the starting point coordinates of the second path segment are (4, 6) and the ending point coordinates are (6, 3), its direction vector is (2, -3). Using the formula for calculating the vector angle, the angle between the two direction vectors is calculated to be 105 degrees, meaning the path segment connection angle is 105 degrees.

[0034] In one embodiment, the engraving material is an equilateral triangle with a side length of 20 mm. The full coordinate data of the engraving path includes the coordinates of the three vertices of the triangle (10, 10), (30, 10), and (20, 27.32), as well as the intermediate coordinate points selected at 0.1 mm intervals between each side.

[0035] Path segmentation: The three sides of the equilateral triangle are all straight lines. Each side is divided at 0.1 mm intervals between adjacent coordinate points. The first side runs from (10, 10) to (30, 10), with a length of 20 mm, resulting in 200 path segments; the second side runs from (30, 10) to (20, 27.32), with a length of 20 mm, resulting in 200 path segments; the third side runs from (20, 27.32) to (10, 10), with a length of 20 mm, resulting in 200 path segments, for a total of 600 path segments.

[0036] Calculate path curvature: Since all three sides of the equilateral triangle are straight path segments, the curvature value of all 600 path segments is 0. Calculate path segment length: Each path segment is a straight line, and the interval between adjacent coordinate points is 0.1 mm, therefore the length of each path segment is 0.1 mm.

[0037] Calculate the connection angle of the path segments: The direction vector of the last path segment of the first edge is (0.1, 0), and the direction vector of the first path segment of the second edge is (-0.087, 0.05). The angle between them is calculated to be 120 degrees. The direction vector of the last path segment of the second edge is (-0.087, -0.05), and the direction vector of the first path segment of the third edge is (-0.087, -0.05). The angle between them is calculated to be 120 degrees. The direction vector of the last path segment of the third edge is (0.1, -0), and the direction vector of the first path segment of the first edge is (0.1, 0). The angle between them is calculated to be 120 degrees.

[0038] Step 20: Divide the carving path into multiple feature adaptation segments based on the first trajectory feature parameters. Each feature adaptation segment corresponds to a set of continuous path segments with consistent trajectory features.

[0039] Optionally, the engraving machine control device divides the engraving path into multiple feature adaptation segments according to the first trajectory feature parameters, as in steps 201 to 203, wherein each feature adaptation segment corresponds to a set of continuous path segments with consistent trajectory features.

[0040] Step 30: Collect the actual material parameters of the material based on the location information of each feature adaptation segment, and perform control parameter matching based on the actual material parameters and second trajectory feature parameters of each feature adaptation segment to obtain the target control parameters of each feature adaptation segment.

[0041] Optionally, the engraving machine control device collects the actual material parameters of the material generated by each feature adaptation segment through the corresponding detection module based on the position information of each feature adaptation segment. The actual material parameters include thermal conductivity, melting point temperature and thermal diffusion rate.

[0042] Furthermore, the engraving machine control device matches the control parameters according to the actual material parameters and second trajectory feature parameters of each feature adaptation segment to obtain the target control parameters for each feature adaptation segment, as described in steps 301 to 304.

[0043] Step 40: Based on the arrangement order of each feature adaptation segment and its corresponding target control parameters, generate segmented control instructions, and control the drive galvanometer module and laser module to perform engraving actions based on the segmented control instructions.

[0044] Optionally, the engraving machine control device sorts the multiple feature adaptation segments obtained according to the sequence of the engraving path. The sorting result is consistent with the execution order of the engraving path, ensuring that the execution of the segmented control commands accurately corresponds to the sequence of the engraving trajectory. For example, if three feature adaptation segments are obtained, corresponding to the beginning, middle, and end of the engraving path respectively, their arrangement order is the beginning segment, middle segment, and end segment.

[0045] Furthermore, for each feature-adapted segment, the engraving machine control device combines its corresponding target control parameters with the path coordinate data of that segment to generate segmented control instructions for each segment. These segmented control instructions include information such as the segment's start and end coordinates, target laser power, target engraving speed, and target laser source type. The instruction format conforms to the engraving machine's control protocol, ensuring accurate identification and execution by the engraving machine. For example, if the target control parameters for a feature-adapted segment are a laser power of 60%, an engraving speed of 5 mm / s, and a blue laser source, with corresponding path start coordinates of (10, 10) and end coordinates of (30, 10), the generated segmented control instructions will include this information, clearly informing the engraving machine of the engraving operation requirements for that segment.

[0046] Furthermore, the engraving machine control device sends segmented control commands sequentially to the drive galvanometer module and the laser module according to the arrangement of the feature adaptation segments. Real-time communication is used during the transmission process to ensure the timeliness and accuracy of command transmission, avoiding command delays or loss. Before sending the control command for the next segment, it is confirmed that the control command for the previous segment has been received and started by the engraving machine, ensuring the continuity of the engraving process.

[0047] Furthermore, after receiving the segmented control command, the driving galvanometer module adjusts the deflection angle and deflection speed of the galvanometer according to the coordinate information and speed parameters in the command, so as to drive the laser beam to move along the engraving path of that segment, ensuring that the laser beam can accurately cover each coordinate point on the path.

[0048] Furthermore, after receiving the segmented control commands, the laser module adjusts the laser output power and light source type according to the laser power and light source type parameters in the commands, and engraves the material in cooperation with the galvanometer module. During the engraving process, the engraving machine control device receives feedback signals from the driving galvanometer module and laser module in real time, monitors the execution of the engraving action, and if a deviation is found between the actual execution and the control commands, the control commands are adjusted in a timely manner to ensure that the engraving effect meets the requirements.

[0049] In one embodiment, it is assumed that the carving path corresponding to the carving material is divided into three feature adaptation segments, arranged in the order of segment one, segment two, and segment three.

[0050] Section 1 related information: starting coordinates (10, 10), ending coordinates (30, 10), target control parameters are laser power 50%, engraving speed 8 mm / s, and laser light source is red light.

[0051] The engraving machine control device generates segment control instructions for section one, including the above information, and sends them to the drive galvanometer module and the laser module. The drive galvanometer module adjusts the galvanometer according to the instructions, driving the laser beam to move from (10, 10) to (30, 10) at a speed of 8 mm per second; the laser module adjusts its output power to 50%, turns on the red light source, and engraves the material in this section.

[0052] Information for Section Two: Starting coordinates (30, 10), ending coordinates (20, 27, 32), target control parameters are laser power 65%, engraving speed 6 mm / s, and red laser light source. After the engraving action in Section One is completed, the engraving machine control device sends the segment control command for Section Two.

[0053] The drive galvanometer module adjusts the galvanometer deflection, causing the laser beam to move from (30, 10) to (20, 27.32) at a speed of 6 mm per second; the laser module adjusts the output power to 65%, keeps the red light source unchanged, and continues engraving.

[0054] Information for section 3: starting coordinates (20, 27.32), ending coordinates (10, 10), target control parameters are laser power 55%, engraving speed 7 mm / s, and laser light source is red light.

[0055] After section two is engraved, the engraving machine control device sends a segment control command for section three. The drive galvanometer module moves the laser beam along the specified path and speed, and the laser module adjusts its power to 55% until the engraving of this section is completed, ending the entire engraving process.

[0056] The embodiments of the present invention can control the galvanometer module and the laser module to perform engraving actions according to the segmented adaptive parameters along the engraving path, avoiding the problem of insufficient or excessive energy input under fixed parameters, and solving the problems of substandard engraving, edge burrs or material ablation caused by not considering trajectory characteristics and material unevenness, thus improving the accuracy and product quality stability of the galvanometer engraving machine for engraving different materials and complex paths.

[0057] Optionally, steps 201 to 203 include:

[0058] Step 201: Based on the curvature values ​​of each path segment in the first trajectory feature parameters, obtain the curvature change between adjacent path segments, and identify the curvature abrupt change location based on the curvature change. The curvature abrupt change location is the position where the absolute value of the difference between the curvature values ​​of adjacent path segments is greater than a preset curvature change threshold.

[0059] Optionally, the engraving machine control device calculates the curvature change between two adjacent path segments sequentially according to the arrangement order of the path segments in the engraving path. The curvature change refers to the absolute value of the difference between the curvature value of the later path segment and the curvature value of the earlier path segment. The calculation method is to subtract the curvature value of the earlier path segment from the curvature value of the later path segment, and then take the absolute value of the difference.

[0060] Optionally, the engraving machine control device has a preset curvature change threshold, used to determine whether it is a critical value for a curvature abrupt change. This threshold is determined based on the engraving precision requirements of the engraving machine, the performance of the compatible model, and the trajectory characteristics of common engraving materials, and the unit is consistent with the curvature value unit (radians per millimeter). Therefore, the engraving machine control device compares the calculated curvature change of each adjacent path segment with the preset curvature change threshold. If the curvature change of a certain adjacent path segment is greater than the preset curvature change threshold, the connection point of that adjacent path segment is determined to be a curvature abrupt change location. A curvature abrupt change location refers to the connection point where the curvature value of adjacent path segments changes significantly.

[0061] Step 202: Based on the connection angles of each path segment in the first trajectory feature parameters, obtain the directional deflection angle of adjacent path segments at the connection point, and identify the directional turning position based on the directional deflection angle. The directional turning position is the position where the absolute value of the connection angle of adjacent path segments is greater than a preset angle turning threshold.

[0062] Optionally, the engraving machine control device determines the directional deflection angle of adjacent path segments at the connection point. The directional deflection angle is the path segment connection angle corresponding to the connection point, because the path segment connection angle itself reflects the degree of directional deflection of the two adjacent path segments at the connection point.

[0063] Optionally, the engraving machine control device has a preset angle turning threshold, used to determine whether it is a critical angle value for directional turning. This threshold is determined based on the motion control accuracy and smoothness requirements of the engraving machine's engraving trajectory, and is measured in degrees. Therefore, the engraving machine control device compares the absolute value of the connection angle of each path segment with the preset angle turning threshold. If the absolute value of the connection angle of a certain path segment is greater than the preset angle turning threshold, then the connection position of that path segment is determined to be a directional turning position. A directional turning position refers to the connection point where the extension direction of adjacent path segments changes significantly.

[0064] Step 203: Based on the curvature change position, direction change position, and the length of each path segment in the first trajectory feature parameters, the carving path is divided into multiple feature adaptation segments.

[0065] Optionally, the engraving machine control device uses the identified curvature change position and direction change position as the initial division node, and combines the length of each path segment in the first trajectory feature parameter to comprehensively judge the continuity of the path segment and the consistency of trajectory features, and divides the engraving path into multiple feature adaptation segments, as in steps 2031 to 2034.

[0066] This invention, through precise identification of curvature abrupt changes and directional turning points in the carving path, combined with the path segment length characteristics for comprehensive division, achieves the splitting of the carving path into multiple feature-adapting segments based on the consistency of trajectory features. This enables the fine-grained splitting of the carving path, allowing the originally integral path to be accurately distinguished based on differences in trajectory features, thus improving the accuracy of carving complex paths.

[0067] Optionally, the process of steps 2031 to 2034 includes:

[0068] Step 2031: Based on the locations of curvature abrupt changes and directional inflection points, identify path structure anomalies, and preliminarily divide the carving path into multiple continuous sub-path segments based on these anomalies. Each continuous sub-path segment has two ends: either a path structure anomaly point or the start and end point of the carving path.

[0069] Optionally, the engraving machine control device identifies the locations of sudden curvature changes and directional turning points as path structure anomalies. Therefore, path structure anomalies refer to key locations in the engraving path where the trajectory characteristics change significantly, including connection points where curvature changes abruptly and connection points where the path direction changes significantly.

[0070] Furthermore, the engraving machine control device uses all path structure anomalies as segmentation markers, combined with the start and end points of the engraving path, to initially segment the complete engraving path. The segmentation rule is: the start and end points of each segmented continuous sub-path segment are either path structure anomalies, or the start point of the engraving path (only the start point of the first continuous sub-path segment can be the start point of the engraving path) or the end point of the engraving path (only the end point of the last continuous sub-path segment can be the end point of the engraving path), ensuring that each continuous sub-path segment after the initial segmentation is a complete continuous trajectory segment without other path structure anomalies.

[0071] Step 2032: Determine the sum of the lengths of all path segments contained in each continuous sub-path segment based on the length of each path segment, and determine whether each continuous sub-path segment satisfies the minimum effective segment length condition based on the sum of the path segment lengths. The minimum effective segment length condition is that the sum of the path segment lengths is not less than a preset minimum length threshold.

[0072] Optionally, for each continuous sub-path segment obtained from the initial segmentation, the engraving machine control device extracts the length of all individual path segments contained in the continuous sub-path segment (i.e., the length of each path segment in the first trajectory feature parameters), and calculates the sum of these individual path segment lengths, which is the sum of the path segment lengths of each continuous sub-path segment.

[0073] Furthermore, the engraving machine control device has a preset minimum length threshold to ensure that the feature-matching section has a minimum length standard that is meaningful for actual engraving control. This threshold is determined based on the control precision of the engraving machine and the processing requirements of the engraving material, and the unit is consistent with the path segment length unit (millimeters). Therefore, the engraving machine control device compares the sum of the path segment lengths of each continuous sub-path segment with the preset minimum length threshold to determine whether the continuous sub-path segment meets the minimum effective segment length condition. Specifically, the minimum effective segment length condition means that the sum of the path segment lengths of the continuous sub-path segments is greater than or equal to the preset minimum length threshold.

[0074] Step 2033: Based on the continuous sub-path segments that do not meet the minimum effective segment length condition and their adjacent continuous sub-path segments, determine the sub-path combinations to be merged, and perform a path segment merging operation based on the sub-path combinations to be merged to obtain the merged continuous sub-path segments.

[0075] Optionally, the engraving machine control device filters out all continuous sub-path segments that are determined in step 2032 to not meet the minimum effective segment length condition. For each continuous sub-path segment that does not meet the condition, the engraving machine control device finds its adjacent continuous sub-path segments (adjacent continuous sub-path segments refer to the preceding or following continuous sub-path segments that are directly connected to the sub-path segment that does not meet the condition in the engraving path sequence), and combines the continuous sub-path segment that does not meet the condition with its adjacent continuous sub-path segments to form a sub-path combination to be merged. The sub-path combination to be merged refers to a combination that includes a continuous sub-path segment that does not meet the minimum effective segment length condition and at least one of its adjacent continuous sub-path segments. Further, the engraving machine control device calculates the curvature feature similarity between the continuous sub-path segment that does not meet the condition and each adjacent continuous sub-path segment in the sub-path combination to be merged. The curvature feature similarity refers to the overall degree of agreement of the curvature values ​​of all path segments contained in both, and is calculated by taking the average of the absolute values ​​of the differences in the curvature values ​​of the corresponding path segments of the two. The smaller the average value, the higher the similarity. Finally, the engraving machine control device will splice the continuous sub-path segments that do not meet the conditions with the adjacent continuous sub-path segments whose curvature characteristics are closest. This splicing operation is called the path segment merging operation. After splicing, a new continuous sub-path segment is formed, namely the merged continuous sub-path segment.

[0076] Step 2034: Based on the merged continuous sub-path segments and the continuous sub-path segments that meet the minimum effective segment length condition, the carving path is divided into multiple feature adaptation segments.

[0077] Optionally, the engraving machine control device divides the engraving path into multiple feature-adapting segments based on the merged continuous sub-path segments and the continuous sub-path segments that meet the minimum effective segment length condition, as in steps 20341 to 20344.

[0078] This invention, through a process of initial segmentation based on path structure anomalies, followed by length filtering and finally merging of short path segments, obtains feature-fitting segments with consistent trajectory characteristics and effective length. This achieves refined segmentation of the carving path, enabling the originally integrated path to be accurately distinguished based on differences in trajectory characteristics, thereby improving the accuracy of carving complex paths.

[0079] Optionally, the process of steps 20341 to 20344 includes:

[0080] Step 20341: Based on the curvature values ​​of each sub-path segment in the merged continuous sub-path segments and the continuous sub-path segments that meet the minimum effective segment length condition, determine the curvature consistency within each sub-path segment. Curvature consistency indicates that the absolute value of the difference between the curvature values ​​of any two path segments within a sub-path segment does not exceed a preset curvature consistency threshold.

[0081] Optionally, the engraving machine control device extracts the merged continuous sub-path segments and the continuous sub-path segments that meet the minimum effective segment length condition, wherein each sub-path segment contains the path segment curvature value corresponding to all individual path segments.

[0082] Furthermore, the engraving machine control device has a preset curvature consistency threshold, which is a critical value used to determine whether the curvature within a sub-path segment is consistent. This threshold is determined based on the engraving machine's engraving precision requirements and the sensitivity of trajectory feature recognition, and the unit is consistent with the curvature value unit (radians per millimeter). Therefore, for each sub-path segment, the engraving machine control device compares the curvature values ​​of any two path segments within it, calculates the absolute value of the difference between these two curvature values, and then determines whether this absolute value exceeds the preset curvature consistency threshold. If the absolute value of the difference between the curvature values ​​of any two path segments within a given sub-path segment does not exceed the preset curvature consistency threshold, then the sub-path segment is determined to meet curvature consistency; otherwise, it is determined that the sub-path segment does not meet curvature consistency. Curvature consistency indicates that the degree of curvature of all path segments within a sub-path segment is not significantly different, and the trajectory is smooth and uniform.

[0083] Step 20342: Determine the curvature consistent sub-path segments and curvature inconsistent sub-path segments based on the curvature consistency judgment results.

[0084] Optionally, the engraving machine control device classifies all merged continuous sub-path segments and continuous sub-path segments that meet the minimum effective segment length condition based on the curvature consistency judgment result in step 20341. Sub-path segments judged to meet curvature consistency are defined as curvature-consistent sub-path segments, where the curvature value difference of all internal path segments is within a preset curvature consistency threshold. Sub-path segments judged not to meet curvature consistency are defined as curvature-inconsistent sub-path segments, where at least two internal path segments have curvature value differences exceeding a preset curvature consistency threshold. After classification, the engraving machine control device records the position information and path segment details of the two types of sub-path segments respectively.

[0085] Step 20343: Based on the local extrema of the curvature values ​​within each non-uniform curvature sub-path segment, sub-path segments are divided to obtain locally uniform curvature sub-path segments. Local extrema are the points within a sub-path segment where the curvature value changes from monotonically increasing to monotonically decreasing or vice versa.

[0086] Optionally, for each sub-path segment with inconsistent curvature, the engraving machine control device extracts the curvature values ​​of all individual path segments within it and analyzes the trend of curvature value changes according to the order of these path segments within the sub-path segment. The trend includes three cases: monotonically increasing, monotonically decreasing, and alternating increases and decreases. Subsequently, local extrema of the curvature values ​​are identified. These local extrema are points in the sub-path segment where the curvature value trend changes from monotonically increasing to monotonically decreasing, or vice versa. These points correspond to the connection points of two adjacent path segments and are key nodes where the curvature trend changes. Next, the engraving machine control device uses the identified local extrema as segmentation markers to further segment the sub-path segment with inconsistent curvature. The segmentation rules are as follows: the starting and ending points of each segmented sub-path segment are local extrema, the starting or ending points of the original non-uniform curvature sub-path segment, ensuring that the curvature value within each segment remains monotonically changing (monotonically increasing or monotonically decreasing), and that the absolute value of the difference in curvature values ​​between any two internal path segments does not exceed a preset curvature consistency threshold. These segmented sub-path segments are locally uniform curvature sub-path segments. Therefore, a locally uniform curvature sub-path segment refers to a sub-path segment whose internal curvature change trend is monotonous and whose curvature value difference meets the preset standard.

[0087] Step 20344: Combine the curvature-consistent sub-path segments and the curvature-locally-consistent sub-path segments to obtain multiple feature-adapting segments.

[0088] Optionally, the engraving machine control device arranges all sub-path segments with consistent curvature and all sub-path segments with locally consistent curvature sequentially according to their order in the original engraving path. During the arrangement process, the continuity and integrity of each sub-path segment are maintained, without changing the order and structure of its internal path segments. Finally, each independent sub-path segment after arrangement is determined as a feature fitting segment, ensuring that the internal trajectory features (curvature) of each feature fitting segment are consistent and meet the length validity requirements.

[0089] The embodiments of the present invention divide the carving path into multiple feature-adapting segments according to the consistency of trajectory features, thereby realizing the fine division of the carving path and enabling the originally integral path to be accurately distinguished according to the differences in trajectory features, thus improving the accuracy of carving complex paths.

[0090] Optionally, the processes of steps 301 to 304 include:

[0091] Step 301: For each feature adaptation segment, determine the laser scanning passage time based on the path segment length and preset engraving speed in the second trajectory feature parameters.

[0092] Optionally, the engraving machine control device extracts the path segment length from the second trajectory feature parameters corresponding to each feature adaptation segment. Then, a preset engraving travel speed is established, a laser scanning reference speed determined based on the engraving machine's performance and common engraving requirements, measured in millimeters per second. This speed ensures a balance between engraving efficiency and basic engraving quality. Therefore, the engraving machine control device calculates the laser scanning passage time by dividing the path segment length of the feature adaptation segment by the preset engraving travel speed. The result is the laser scanning passage time, which is the theoretical time required for the laser beam to move from the starting point to the ending point of the feature adaptation segment, measured in seconds.

[0093] Step 302: Based on the thermal conductivity coefficient and the path segment curvature value in the second trajectory characteristic parameters, determine the degree of energy accumulation risk caused by the coupling of beam focusing effect and thermal diffusion capability in the high curvature region, and determine the laser power parameter based on the upper limit value of laser power corresponding to the degree of energy accumulation risk.

[0094] Optionally, the engraving machine control device acquires the thermal conductivity coefficient from the actual material parameters of each feature-fitting segment. The thermal conductivity coefficient refers to the amount of heat transferred through a unit area per unit time under a unit temperature gradient, measured in watts per meter Kelvin. This parameter directly reflects the heat dissipation capacity of the material. A higher thermal conductivity coefficient indicates a faster heat dissipation rate and less heat accumulation in localized areas; a lower thermal conductivity coefficient indicates a slower heat dissipation rate and easier heat accumulation in localized areas. Simultaneously, the path curvature value is extracted from the second trajectory feature parameters of the feature-fitting segment. A higher curvature value indicates a more significant path curvature, a more concentrated scanning path for the laser beam in that area, and a higher degree of overlap of the beam focal points.

[0095] Subsequently, the engraving machine control device initiates the energy accumulation risk level assessment process, the specific process of which is as follows:

[0096] Establish a mapping relationship between thermal conductivity coefficient and heat dissipation capacity level: Preset multiple heat dissipation capacity levels (such as high heat dissipation level, medium heat dissipation level, and low heat dissipation level), each level corresponding to a specific range of thermal conductivity coefficient values. For example, a thermal conductivity coefficient greater than or equal to 100 watts per meter Kelvin is a high heat dissipation level, 10 watts per meter Kelvin to 100 watts per meter Kelvin is a medium heat dissipation level, and less than 10 watts per meter Kelvin is a low heat dissipation level. This value range is set based on the measured data of thermal conductivity coefficient of common carving materials (wood, small metal parts, etc.) to ensure the accuracy of the mapping relationship.

[0097] Establish a mapping relationship between the curvature value of the path segment and the degree of beam focusing: preset multiple focusing levels (such as high focusing level, medium focusing level, and low focusing level), each level corresponds to a specific range of path segment curvature values. For example, a curvature value greater than or equal to 0.5 radians per millimeter is a high focusing level, between 0.1 radians per millimeter and 0.5 radians per millimeter is a medium focusing level, and less than 0.1 radians per millimeter is a low focusing level. This range is determined based on the beam focusing characteristic test results of the galvanometer engraving machine. The higher the curvature value, the greater the scanning density of the beam in the unit area, and the easier it is to concentrate energy.

[0098] Construct an energy accumulation risk level determination matrix: With heat dissipation capacity level as the vertical axis and focusing level as the horizontal axis, establish a two-dimensional determination matrix. Each intersection point in the matrix corresponds to a unique energy accumulation risk level (such as extremely high risk, high risk, medium risk, low risk, and extremely low risk).

[0099] The judgment logic is as follows: the weaker the heat dissipation capacity and the more concentrated the beam focus, the higher the risk of energy accumulation; conversely, the lower the risk. For example, the intersection of low heat dissipation level and high concentration level corresponds to extremely high risk, and the intersection of high heat dissipation level and low concentration level corresponds to extremely low risk. This matrix has been verified through a large amount of carving experimental data to ensure the reliability of risk judgment.

[0100] Determine the target energy accumulation risk level: Based on the heat dissipation capacity level corresponding to the thermal conductivity coefficient of the current feature adaptation section and the focusing concentration level corresponding to the curvature value of the path segment, find the corresponding intersection point in the judgment matrix. The risk level corresponding to the intersection point is the energy accumulation risk level of the feature adaptation section. The energy accumulation risk level refers to the probability level that during the laser engraving process, due to the coupling between the beam focusing and the heat dissipation characteristics of the material, heat will accumulate locally in this section, which may cause material damage (such as scorching or over-melting) or abnormal engraving effect (such as uneven depth).

[0101] Furthermore, the engraving machine control device invokes a preset table corresponding to the energy accumulation risk level and the upper limit of laser power. This table sets a specific upper limit of laser power for each energy accumulation risk level. The upper limit of laser power refers to the maximum laser output power threshold that, under that risk level, prevents the material from overheating and being damaged or resulting in abnormal engraving effects. The unit is a percentage (corresponding to the total power output range of the laser module, such as 0%-100%). The setting logic is: the higher the energy accumulation risk level, the lower the upper limit of laser power. For example, extremely high risk corresponds to a 30% upper limit of power, high risk corresponds to a 50% upper limit of power, medium risk corresponds to a 70% upper limit of power, low risk corresponds to a 90% upper limit of power, and extremely low risk corresponds to a 100% upper limit of power. This correspondence is determined based on the material tolerance test data under different risk levels, ensuring that the engraving energy requirements are met while controlling the risk.

[0102] Furthermore, the engraving machine control device, considering the engraving depth requirements of the corresponding feature adaptation section (implicit in the material processing requirements of the engraving instruction), determines the laser power parameters within the upper limit of laser power. If the engraving instruction requires a shallower engraving depth, the power can be appropriately reduced below the upper limit; if a deeper engraving depth is required, the power is increased as much as possible without exceeding the upper limit, ensuring that the laser power parameters meet the engraving effect requirements while effectively avoiding the risk of energy accumulation. The laser power parameter refers to the percentage of the actual output power of the laser module to the total power during engraving of the corresponding feature adaptation section.

[0103] Step 303: Determine the galvanometer direction switching amplitude at the path turning point based on the path segment connection angle in the second trajectory feature parameters, and determine the galvanometer scanning acceleration parameters based on the minimum acceleration time corresponding to the completion of the galvanometer direction switching amplitude switching.

[0104] Optionally, the engraving machine control device extracts the path segment connection angle from the second trajectory feature parameters of each feature adaptation segment. The value of the angle directly reflects the degree of change in the path direction. The larger the connection angle, the more obvious the change in path direction, and the greater the deflection direction adjustment of the galvanometer.

[0105] Furthermore, the galvanometer direction switching amplitude is determined based on the path segment connection angle. The galvanometer direction switching amplitude refers to the range of angles that the galvanometer needs to cover to accurately follow the path turn, adjusting from the deflection angle of the current path to the deflection angle of the next path. The unit is radians. The calculation method is to convert the path segment connection angle (degrees) into radians (the conversion rule is that 1 degree equals π divided by 180 radians). The path segment connection angle is positively correlated with the galvanometer direction switching amplitude, that is, the larger the connection angle, the larger the galvanometer direction switching amplitude.

[0106] Furthermore, the engraving machine control device calls upon a preset galvanometer mechanical performance parameter library. This library stores core performance parameters of the galvanometer for the compatible models (SCULPFUNG9 series, SCULPFUNV5 series galvanometer engraving machines), such as the maximum permissible angular velocity, maximum permissible angular acceleration, and response delay time. These parameters are determined based on the galvanometer's factory test data and long-term usage verification results, ensuring their accuracy and reliability. Combining the determined galvanometer direction switching amplitude, the engraving machine control device calculates the minimum acceleration time required to complete this switching amplitude. The minimum acceleration time refers to the shortest time, measured in seconds, required for the galvanometer to smoothly accelerate from a stationary state (or current motion state) to the target deflection speed without exceeding its maximum permissible angular velocity and maximum permissible angular acceleration, thus completing the direction switch. The calculation logic is as follows: first, based on the galvanometer's maximum permissible angular acceleration and the galvanometer direction switching amplitude, the acceleration time required to reach the target deflection speed is calculated; then, the galvanometer response delay time is adjusted to obtain the final minimum acceleration time. This ensures that the galvanometer switching process is both fast and smooth, avoiding galvanometer vibration or trajectory deviation due to excessive acceleration.

[0107] Furthermore, the engraving machine control device needs to consider the engraving accuracy requirements at the path segment junctions. If the engraving command has high accuracy requirements at the path turning points (such as corner engraving of fine patterns), the minimum acceleration time needs to be appropriately extended when calculating the minimum acceleration time to reduce the inertial influence during the galvanometer switching process and ensure accurate restoration of the corner trajectory. If it is for ordinary precision engraving needs, the minimum acceleration time is calculated according to the upper limit of the mechanical performance of the galvanometer, taking into account both efficiency and accuracy.

[0108] Furthermore, the engraving machine control device determines the galvanometer scanning acceleration parameters based on the minimum acceleration time and the galvanometer direction switching amplitude. The galvanometer scanning acceleration parameters refer to the magnitude of the angular acceleration of the galvanometer during the direction switching process, measured in radians per second squared. The calculation method is to divide the galvanometer direction switching amplitude by the square of the minimum acceleration time, ensuring that the galvanometer accelerates uniformly within the minimum acceleration time and smoothly completes the direction switching. This satisfies the following requirements for path turning and avoids distortion of the engraving trajectory caused by abnormal acceleration, thus ensuring the motion accuracy of the entire engraving process.

[0109] Step 304: Based on the laser scanning time, laser power parameters, galvanometer scanning acceleration parameters, melting point temperature, and thermal diffusion rate, control parameters are matched to obtain the target control parameters for each feature adaptation segment.

[0110] Optionally, the engraving machine control device matches control parameters based on laser scanning time, laser power parameters, galvanometer scanning acceleration parameters, melting point temperature, and thermal diffusion rate to obtain target control parameters for each feature adaptation segment, as described in steps 3041 to 3045.

[0111] This invention, through the trajectory features of the feature-adapted section and the actual material parameters of the material, accurately calculates and matches the laser scanning time, laser power, and galvanometer acceleration to obtain highly adaptable target control parameters, ensuring precise energy control and smooth action switching during the engraving process, thereby improving engraving quality and efficiency.

[0112] Optionally, the process of steps 3041 to 3045 includes:

[0113] Step 3041: For each feature adaptation segment, determine the energy input per unit area based on the laser power adjustment parameter and the laser pulse duration parameter.

[0114] Optionally, the engraving machine control device calculates the laser energy output per unit time. The calculation method is to multiply the total laser power (the rated total power of the laser module of the compatible model, in watts) by the laser power parameter (converted to a decimal as a percentage), and then multiply by the laser pulse duration parameter to obtain the energy output of a single pulse. Then, combining the path length and engraving width of the feature-adapted section (the engraving width refers to the effective width of the laser beam acting on the surface of the material, in millimeters, pre-set based on the focusing characteristics of the laser module), the engraving area of ​​the feature-adapted section is calculated by multiplying the path length by the engraving width. Finally, the total energy output per unit time is obtained by multiplying the energy output of a single pulse by the number of pulses emitted per unit time (preset parameter, unit is times per second). Then, the total energy output per unit time is divided by the laser scanning time (determined in step 301) to obtain the total energy input of the feature adaptation section. Finally, the total energy input is divided by the engraving area to obtain the energy input per unit area. The energy input per unit area refers to the total laser energy received by the surface of the material per unit area, and the unit is joules per square millimeter. It is used to evaluate whether the energy input meets the material tolerance requirements.

[0115] Step 3042: Based on the energy input per unit area and the melting point temperature, determine whether the material thermal damage threshold is exceeded, and based on the laser pulse duration parameter requirement for the laser on-time period and the galvanometer scanning acceleration parameter requirement for the acceleration or deceleration period, determine whether there is a timing misalignment conflict.

[0116] Optionally, the engraving machine control device pre-stores a preset material thermal damage threshold mapping table. This mapping table stores the maximum allowable energy input per unit area corresponding to different melting point temperatures, i.e., the material thermal damage threshold, measured in joules per square millimeter. The mapping relationship is established based on a large amount of experimental data. The principle is that the lower the melting point temperature of the material, the smaller the maximum energy input it can withstand. Exceeding this threshold will cause thermal damage such as melting and scorching. The engraving machine control device compares the energy input per unit area calculated in step 3041 with the material thermal damage threshold. If the energy input per unit area is greater than the material thermal damage threshold, it is determined that the feature adaptation segment exceeds the material thermal damage threshold; otherwise, it is determined that it does not exceed it.

[0117] Simultaneously, the engraving machine control device extracts the laser activation period required by the laser pulse duration parameter. The laser activation period refers to the time interval from the start of each laser pulse emission to its end, measured in microseconds. It then extracts the acceleration or deceleration period required by the galvanometer scanning acceleration parameter. The acceleration or deceleration period refers to the time interval during which the galvanometer accelerates or decelerates to complete direction switching or speed adjustment, also measured in microseconds. This period is calculated based on the galvanometer scanning acceleration parameter and the galvanometer direction switching amplitude. The engraving machine control device compares the overlap between the laser activation period and the acceleration or deceleration period. If the two periods partially or completely overlap, meaning the galvanometer is accelerating or decelerating during laser emission, a timing misalignment conflict is identified. This conflict may cause a mismatch between the laser energy's application position and the galvanometer's trajectory, leading to engraving deviations. If the two periods do not overlap, meaning the galvanometer is moving at a constant speed during laser emission, no timing misalignment conflict is identified.

[0118] Step 3043: For the first feature adaptation segment with parameter conflicts, determine the maximum allowable energy input window of the first feature adaptation segment based on the melting point temperature and thermal diffusion rate, and adjust at least one of the maximum energy input window, laser power parameter, laser pulse duration parameter or galvanometer scanning acceleration parameter of the first feature adaptation segment based on the conflict type of the parameter conflict to obtain the coordinated control parameters.

[0119] Optionally, the engraving machine control device defines the feature adaptation segment determined to have parameter conflicts (exceeding the material thermal damage threshold or having a timing misalignment conflict) as the first feature adaptation segment. For each first feature adaptation segment, the melting point temperature and thermal diffusion rate are extracted from the actual material parameters of the material. The thermal diffusion rate refers to the speed at which heat spreads inside the material, measured in square meters per second, reflecting the speed at which the material dissipates heat. Based on the melting point temperature and thermal diffusion rate, the maximum allowable energy input window is determined. The maximum energy input window refers to the range of energy that can be input to the material per unit time without causing thermal damage. The calculation logic is: the lower the melting point temperature and the smaller the thermal diffusion rate, the lower the upper limit of the maximum energy input window. The specific value is obtained by querying a preset energy input window calculation model, which integrates the quantitative relationship between melting point temperature, thermal diffusion rate, and the upper limit of energy input.

[0120] Furthermore, the engraving machine control device analyzes the conflict types of parameter conflicts, categorizing them into three types: exceeding only the material's thermal damage threshold, existence of only timing misalignment conflicts, and both. Corresponding adjustment strategies are adopted for different conflict types:

[0121] Only exceeding the material thermal damage threshold: Within the upper limit of the maximum energy input window, reduce the laser power parameter or shorten the laser pulse duration parameter, recalculate the energy input per unit area until it does not exceed the material thermal damage threshold, and obtain the adjusted laser power parameter or laser pulse duration parameter.

[0122] Only timing misalignment conflict exists: Adjust the galvanometer scanning acceleration parameter, extend or shorten the acceleration or deceleration period, so that the acceleration or deceleration period of the galvanometer is staggered from the laser activation period to avoid time overlap. During the adjustment process, it is necessary to ensure that the galvanometer scanning acceleration parameter does not exceed the maximum allowable angular acceleration of the galvanometer of the compatible model.

[0123] Both exist: First, adjust the laser power parameters and laser pulse duration parameters based on the maximum energy input window to make the energy input per unit area meet the thermal damage requirements. Then, adjust the galvanometer scanning acceleration parameters to resolve timing misalignment conflicts. If conflicts still exist after adjustment, further optimize the range of the maximum energy input window (within the material's tolerance limit), or adjust the time interval between the laser on-time and acceleration or deceleration times until all conflicts are eliminated.

[0124] The above adjustment operations yield the coordinated control parameters for the first feature adaptation segment. The coordinated control parameters refer to the set of control parameters that eliminate parameter conflicts and meet the material characteristics and engraving requirements, including the adjusted laser power parameters, laser pulse duration parameters, and galvanometer scanning acceleration parameters.

[0125] Step 3044: For the second feature adaptation segment where there is no parameter conflict, the laser scanning passage time, laser power parameters, and galvanometer scanning acceleration parameters of the second feature adaptation segment are determined as the coordinated control parameters.

[0126] Optionally, the engraving machine control device defines the feature adaptation segment that is determined to have no parameter conflicts (neither exceeding the material thermal damage threshold nor having timing misalignment conflicts) as the second feature adaptation segment. For each second feature adaptation segment, its determined laser scanning passage time, laser power parameters, and galvanometer scanning acceleration parameters all meet the material tolerance requirements and motion coordination requirements, and no parameter adjustment is required. Therefore, these parameters are directly determined as the coordinated control parameters of the second feature adaptation segment to ensure the stability of engraving efficiency and effect.

[0127] Step 3045: Based on the coordinated control parameters of each feature adaptation segment, perform control parameter matching to obtain the target control parameters for each feature adaptation segment.

[0128] Optionally, the engraving machine control device performs control parameter matching based on the coordinated control parameters of each feature adaptation segment to obtain the target control parameters for each feature adaptation segment, as described in steps 30451 to 30454.

[0129] This invention, through the energy input per unit area, thermal damage, and timing conflicts, and by specifically adjusting parameters, ultimately obtains conflict-free target control parameters that are adapted to the characteristics and trajectory features of the material. This ensures precise coordination between energy input and motion during the carving process, balancing carving quality, efficiency, and material safety.

[0130] Optionally, the processes of steps 30451 to 30454 include:

[0131] Step 30451: For each feature adaptation segment, determine the laser output control parameters for the laser module and the initial galvanometer motion control parameters for driving the galvanometer module based on the coordinated control parameters.

[0132] Optionally, the engraving machine control device extracts the parameters for controlling the laser module from the coordinated control parameters to obtain laser output control parameters. Laser output control parameters refer to the core parameters directly used to drive the laser module, including laser power parameters (the percentage of the laser module's actual output power to the total power), laser pulse duration parameters (the duration of each laser pulse emission, in microseconds), and laser source type parameters (blue or red light, switchable only when compatible with the SCULPHUNG9 series). These parameters collectively determine the form and intensity of the laser energy output, ensuring that the laser energy is precisely matched to the engraving requirements.

[0133] Optionally, the engraving machine control device extracts the parameters for controlling the drive galvanometer module from the coordinated control parameters to obtain the initial galvanometer motion control parameters. The initial galvanometer motion control parameters refer to the basic parameters for driving the galvanometer module to follow the trajectory, including the galvanometer scanning acceleration parameters (the magnitude of the angular acceleration during the galvanometer direction switching process, in radians per square second) and the galvanometer uniform motion speed parameters corresponding to the preset engraving travel speed (the stable motion speed of the galvanometer during the non-direction switching phase, in radians per second), ensuring that the galvanometer can initially follow the engraving path.

[0134] Step 30452: Based on the path segment connection angle in the initial galvanometer motion control parameters and the second trajectory feature parameters, determine the maximum angular velocity requirement of the galvanometer in the feature adaptation section, and verify whether the maximum angular velocity requirement exceeds the physical angular velocity limit of the driving galvanometer module.

[0135] Optionally, the engraving machine control device extracts the galvanometer scanning acceleration parameter from the initial galvanometer motion control parameters of each feature adaptation segment, and the path segment connection angle from the second trajectory feature parameters.

[0136] Furthermore, the engraving machine control device calculates the maximum angular velocity requirement of the galvanometer within the feature adaptation section. The maximum angular velocity requirement refers to the maximum angular velocity that the galvanometer can achieve under the action of the galvanometer scanning acceleration parameter in order to complete the directional switch corresponding to the path segment connection angle, and the unit is radians per second. The calculation logic is as follows: based on the law of uniform acceleration motion, the maximum angular velocity requirement is equal to the galvanometer scanning acceleration parameter multiplied by the acceleration time (the acceleration time is the minimum acceleration time required to complete the path segment connection angle switch, which has been determined in step 303). If there are multiple path segment connection angles, the maximum value among all calculation results is taken as the maximum angular velocity requirement for that feature adaptation section.

[0137] Furthermore, the engraving machine control device calls the physical angular velocity limit parameter of the driving galvanometer module. The physical angular velocity limit parameter refers to the maximum safe angular motion speed that the driving galvanometer module of the compatible model (SCULPFUNG9 series, SCULPFUNV5 series galvanometer engraving machine) can achieve under the limitations of mechanical structure and motor performance. The unit is radians per second. This parameter is determined based on the factory technical specifications and reliability test data of the galvanometer module and is a critical value to ensure the stable operation of the galvanometer module and avoid mechanical damage.

[0138] Furthermore, the engraving machine control device compares the calculated maximum angular velocity requirement with the physical angular velocity limit parameter to verify whether the maximum angular velocity requirement exceeds the physical angular velocity limit parameter. If the maximum angular velocity requirement is less than or equal to the physical angular velocity limit parameter, it is determined that it has not exceeded the limit; if the maximum angular velocity requirement is greater than the physical angular velocity limit parameter, it is determined that it has exceeded the limit.

[0139] Step 30453: If the parameters are not exceeded, combine the laser output control parameters and the initial galvanometer motion control parameters to obtain the target control parameters for each feature adaptation segment.

[0140] Optionally, if the verification result shows that the maximum angular velocity requirement does not exceed the physical angular velocity limit parameter of the driving galvanometer module, it indicates that the initial galvanometer motion control parameters are within the safe operating range of the galvanometer module, meet the path following requirements, and the laser output control parameters are adapted to the material characteristics and energy requirements without parameter conflicts. Therefore, the engraving machine control device directly combines the laser output control parameters and the initial galvanometer motion control parameters to form the target control parameters for each feature adaptation segment. The target control parameters refer to the final set of control parameters that can be directly sent to the laser module and the driving galvanometer module, and are fully adapted to the machine performance, trajectory characteristics, and material characteristics, ensuring accurate and stable execution of the engraving action.

[0141] Step 30454: If the limit is exceeded, the target galvanometer motion control parameters are obtained by inversely constraining the initial galvanometer motion control parameters based on the physical angular velocity limit. The laser output control parameters and the target galvanometer motion control parameters are then combined to obtain the target control parameters for each feature adaptation segment.

[0142] Optionally, if the verification result shows that the maximum angular velocity requirement exceeds the physical angular velocity limit parameter of the driving galvanometer module, it indicates that the galvanometer motion state corresponding to the initial galvanometer motion control parameters exceeds the safe working capability of the module. Direct execution may lead to galvanometer vibration, mechanical wear, or even damage. Therefore, the engraving machine control device uses the physical angular velocity limit parameter to inversely constrain the initial galvanometer motion control parameters.

[0143] The reverse constraint logic is as follows: using the physical angular velocity limit parameter as the maximum allowable angular velocity, combined with the path segment connection angle and minimum acceleration time, the galvanometer scanning acceleration parameter is recalculated. The new galvanometer scanning acceleration parameter is equal to the physical angular velocity limit parameter divided by the minimum acceleration time, ensuring that the maximum angular velocity corresponding to the adjusted galvanometer scanning acceleration parameter does not exceed the physical angular velocity limit parameter. If the adjusted galvanometer scanning acceleration parameter cannot meet the timing requirements of path switching (such as causing new timing conflicts with the laser activation period), the minimum acceleration time is further extended (within a reasonable range that does not affect the overall engraving efficiency), and the galvanometer scanning acceleration parameter is recalculated until the maximum angular velocity requirement meets the physical angular velocity limit requirement. The adjusted galvanometer motion control parameter is the target galvanometer motion control parameter.

[0144] Furthermore, the engraving machine control device combines the laser output control parameters with the adjusted target galvanometer motion control parameters to form the target control parameters for each feature adaptation segment. During the combination process, the timing coordination between the laser output control parameters and the target galvanometer motion control parameters needs to be verified again to ensure that there are no new timing misalignments or conflicts, and to guarantee the precise matching of energy input and motion during the engraving process.

[0145] This invention, through the breakdown of control parameters, verification of the galvanometer angular velocity limit, and targeted adjustments, ultimately obtains target control parameters that are compatible with the physical performance, trajectory characteristics, and material properties of the machine model. This ensures that the engraving action is safe, precise, and free of parameter conflicts, thereby guaranteeing the engraving quality and equipment stability.

[0146] Furthermore, the control device for the galvanometer engraving machine provided by the present invention will be described below. The control device for the galvanometer engraving machine described below can be referred to in correspondence with the control method for the galvanometer engraving machine described above.

[0147] Optional, refer to Figure 2 , Figure 2 This is a schematic diagram of the structure of the galvanometer engraving machine control device provided by the present invention. The galvanometer engraving machine control device includes:

[0148] The trajectory analysis module 210 is used to obtain the full coordinate data of the carving path corresponding to the carving material based on the carving instructions, and to perform trajectory analysis based on the full coordinate data of the carving path to obtain the first trajectory feature parameters of the carving path; the trajectory feature parameters include the path curvature value, path segment length and path segment connection angle of each path segment;

[0149] The path segmentation module 220 is used to divide the carving path into multiple feature adaptation segments based on the first trajectory feature parameters; each feature adaptation segment corresponds to a set of continuous path segments with consistent trajectory features;

[0150] The control parameter matching module 230 is used to collect the actual material parameters of the material based on the location information of each feature adaptation segment, and to perform control parameter matching based on the actual material parameters and the second trajectory feature parameters of each feature adaptation segment to obtain the target control parameters of each feature adaptation segment.

[0151] The engraving machine control module 240 is used to generate segmented control instructions based on the arrangement order of each feature adaptation segment and its corresponding target control parameters, and to control the drive galvanometer module and laser module to perform engraving actions based on the segmented control instructions.

[0152] The embodiments of the present invention can control the galvanometer module and the laser module to perform engraving actions according to the segmented adaptive parameters along the engraving path, avoiding the problem of insufficient or excessive energy input under fixed parameters, and solving the problems of substandard engraving, edge burrs or material ablation caused by not considering trajectory characteristics and material unevenness, thus improving the accuracy and product quality stability of the galvanometer engraving machine for engraving different materials and complex paths.

[0153] Please see Figure 3 , Figure 3 An embodiment diagram of an electronic device provided in accordance with the present invention. For example... Figure 3 As shown, an embodiment of the present invention provides an electronic device 300, including a memory 310, a processor 32, and a computer program 311 stored in the memory 310 and executable on the processor 32. When the processor 32 executes the computer program 311, it performs the following steps:

[0154] Based on the carving instructions, the full coordinate data of the carving path corresponding to the carving material is obtained, and trajectory analysis is performed based on the full coordinate data of the carving path to obtain the first trajectory feature parameters of the carving path; the trajectory feature parameters include the path curvature value, path segment length and path segment connection angle of each path segment;

[0155] The carving path is divided into multiple feature adaptation segments based on the first trajectory feature parameters; each feature adaptation segment corresponds to a set of continuous path segments with consistent trajectory features.

[0156] The actual material parameters of the material are collected based on the location information of each feature adaptation segment, and the control parameters are matched based on the actual material parameters and the second trajectory feature parameters of each feature adaptation segment to obtain the target control parameters of each feature adaptation segment.

[0157] Based on the arrangement order of each feature adaptation segment and its corresponding target control parameters, segmented control commands are generated, and the galvanometer module and laser module are controlled to perform engraving actions based on the segmented control commands.

[0158] Please see Figure 4 , Figure 4 An embodiment diagram of a computer-readable storage medium provided in accordance with an embodiment of the present invention is shown. Figure 4 As shown, this embodiment provides a computer-readable storage medium 400 on which a computer program 311 is stored. When the computer program 311 is executed by a processor, it performs the following steps:

[0159] Based on the carving instructions, the full coordinate data of the carving path corresponding to the carving material is obtained, and trajectory analysis is performed based on the full coordinate data of the carving path to obtain the first trajectory feature parameters of the carving path; the trajectory feature parameters include the path curvature value, path segment length and path segment connection angle of each path segment;

[0160] The carving path is divided into multiple feature adaptation segments based on the first trajectory feature parameters; each feature adaptation segment corresponds to a set of continuous path segments with consistent trajectory features.

[0161] The actual material parameters of the material are collected based on the location information of each feature adaptation segment, and the control parameters are matched based on the actual material parameters and the second trajectory feature parameters of each feature adaptation segment to obtain the target control parameters of each feature adaptation segment.

[0162] Based on the arrangement order of each feature adaptation segment and its corresponding target control parameters, segmented control commands are generated, and the galvanometer module and laser module are controlled to perform engraving actions based on the segmented control commands.

[0163] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the galvanometer engraving machine control method provided by the above methods, the method including:

[0164] Based on the carving instructions, the full coordinate data of the carving path corresponding to the carving material is obtained, and trajectory analysis is performed based on the full coordinate data of the carving path to obtain the first trajectory feature parameters of the carving path; the trajectory feature parameters include the path curvature value, path segment length and path segment connection angle of each path segment;

[0165] The carving path is divided into multiple feature adaptation segments based on the first trajectory feature parameters; each feature adaptation segment corresponds to a set of continuous path segments with consistent trajectory features.

[0166] The actual material parameters of the material are collected based on the location information of each feature adaptation segment, and the control parameters are matched based on the actual material parameters and the second trajectory feature parameters of each feature adaptation segment to obtain the target control parameters of each feature adaptation segment.

[0167] Based on the arrangement order of each feature adaptation segment and its corresponding target control parameters, segmented control commands are generated, and the galvanometer module and laser module are controlled to perform engraving actions based on the segmented control commands.

[0168] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0169] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0170] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a galvanometer engraving machine, characterized in that, include: Based on the carving instructions, the full coordinate data of the carving path corresponding to the carving material is obtained, and trajectory analysis is performed based on the full coordinate data of the carving path to obtain the first trajectory feature parameters of the carving path; the trajectory feature parameters include the path curvature value, path segment length and path segment connection angle of each path segment; Based on the first trajectory feature parameters, the carving path is divided into multiple feature adaptation segments; each feature adaptation segment corresponds to a set of continuous path segments with consistent trajectory features. The actual material parameters of the material are collected based on the location information of each feature adaptation segment, and the control parameters are matched based on the actual material parameters and the second trajectory feature parameters of each feature adaptation segment to obtain the target control parameters of each feature adaptation segment. Based on the arrangement order of each feature adaptation segment and its corresponding target control parameters, segmented control instructions are generated, and the galvanometer module and laser module are controlled to perform engraving actions based on the segmented control instructions.

2. The control method for a galvanometer engraving machine according to claim 1, characterized in that, The actual material parameters include thermal conductivity, melting point temperature, and thermal diffusivity; the steps for matching control parameters to obtain the target control parameters for each feature adaptation segment include: For each feature adaptation segment, the laser scanning time is determined based on the path segment length and preset engraving speed in the second trajectory feature parameters; Based on the thermal conductivity coefficient and the path segment curvature value in the second trajectory characteristic parameters, the degree of energy accumulation risk caused by the coupling of beam focusing effect and thermal diffusion capability in the high curvature region is determined, and the laser power parameter is determined based on the upper limit value of laser power corresponding to the degree of energy accumulation risk. The galvanometer direction switching amplitude at the path turning point is determined based on the path segment connection angle in the second trajectory feature parameters, and the galvanometer scanning acceleration parameter is determined based on the minimum acceleration time corresponding to the completion of the galvanometer direction switching amplitude switching. The target control parameters for each feature adaptation segment are obtained by matching control parameters based on laser scanning time, laser power parameters, galvanometer scanning acceleration parameters, melting point temperature, and thermal diffusion rate.

3. The control method for a galvanometer engraving machine according to claim 2, characterized in that, The control parameters are matched based on laser scanning time, laser power parameters, galvanometer scanning acceleration parameters, melting point temperature, and thermal diffusion rate to obtain the target control parameters for each feature adaptation segment, including: For each feature adaptation segment, the energy input per unit area is determined based on the laser power adjustment parameters and the laser pulse duration parameters. Based on the energy input per unit area and the melting point temperature, determine whether the material thermal damage threshold is exceeded, and based on the laser pulse duration parameter requirement for the laser on-time and the galvanometer scanning acceleration parameter requirement for the acceleration or deceleration time, determine whether there is a timing misalignment conflict. For the first feature adaptation section with parameter conflicts, the maximum allowable energy input window for the first feature adaptation section is determined based on the melting point temperature and thermal diffusion rate. Based on the conflict type of the parameter conflicts, at least one of the maximum energy input window, laser power parameter, laser pulse duration parameter, or galvanometer scanning acceleration parameter of the first feature adaptation section is adjusted to obtain the coordinated control parameters. The existence of parameter conflicts indicates that at least one of the following conditions is met: exceeding the material thermal damage threshold or having a timing misalignment conflict. For the second feature adaptation section where there is no parameter conflict, the laser scanning passage time, laser power parameters, and galvanometer scanning acceleration parameters of the second feature adaptation section are determined as the coordinated control parameters. Control parameters are matched based on the coordinated control parameters of each feature adaptation segment to obtain the target control parameters for each feature adaptation segment.

4. The control method for a galvanometer engraving machine according to claim 3, characterized in that, The control parameter matching based on the coordinated control parameters of each feature adaptation segment yields the target control parameters for each feature adaptation segment, including: For each feature adaptation segment, laser output control parameters for the laser module and initial galvanometer motion control parameters for driving the galvanometer module are determined based on the coordinated control parameters. Based on the path segment connection angle in the initial galvanometer motion control parameters and the second trajectory feature parameters, the maximum angular velocity requirement of the galvanometer in the feature adaptation section is determined, and it is verified whether the maximum angular velocity requirement exceeds the physical angular velocity limit of the driving galvanometer module. If the parameters are not exceeded, the laser output control parameters and the initial galvanometer motion control parameters are combined to obtain the target control parameters for each feature adaptation segment. If the limit is exceeded, the target galvanometer motion control parameters are obtained by inversely constraining the initial galvanometer motion control parameters based on the physical angular velocity limit. The laser output control parameters and the target galvanometer motion control parameters are then combined to obtain the target control parameters for each feature adaptation segment.

5. The control method for a galvanometer engraving machine according to claim 1, characterized in that, The step of dividing the carving path into multiple feature-adapting segments based on the first trajectory feature parameters includes: Based on the curvature values ​​of each path segment in the first trajectory feature parameters, the curvature change between adjacent path segments is obtained, and the curvature change location is identified based on the curvature change; the curvature change location is the location where the absolute value of the difference between the curvature values ​​of adjacent path segments is greater than a preset curvature change threshold. Based on the connection angles of each path segment in the first trajectory feature parameters, the directional deflection angle of adjacent path segments at the connection point is obtained, and the directional turning position is identified based on the directional deflection angle; the directional turning position is the position where the absolute value of the connection angle of adjacent path segments is greater than a preset angle turning threshold. Based on the curvature change position, the direction change position, and the length of each path segment in the first trajectory feature parameters, the carving path is divided into multiple feature adaptation segments.

6. The control method for a galvanometer engraving machine according to claim 5, characterized in that, Based on the curvature abrupt change location, the direction reversal location, and the length of each path segment in the first trajectory feature parameters, the carving path is divided into multiple feature adaptation segments, including: Based on the curvature abrupt change location and the direction turning point location, path structure anomaly points are determined, and the carving path is initially divided into multiple continuous sub-path segments based on the path structure anomaly points; both ends of each continuous sub-path segment are either path structure anomaly points or the start and end points of the carving path. The sum of the lengths of all path segments contained in each continuous sub-path segment is determined based on the length of each path segment, and each continuous sub-path segment is judged to meet the minimum effective segment length condition based on the sum of the path segment lengths; the minimum effective segment length condition is that the sum of the path segment lengths is not less than a preset minimum length threshold. Based on the continuous sub-path segments that do not meet the minimum effective segment length condition and their adjacent continuous sub-path segments, a combination of sub-path segments to be merged is determined, and a path segment merging operation is performed based on the combination of sub-path segments to be merged to obtain merged continuous sub-path segments; the path segment merging operation represents splicing the continuous sub-path segments that do not meet the minimum effective segment length condition with their adjacent continuous sub-path segments whose curvature characteristics are closest. Based on the merged continuous sub-path segments and the continuous sub-path segments that meet the minimum effective segment length condition, the carving path is divided into multiple feature adaptation segments.

7. The control method for a galvanometer engraving machine according to claim 6, characterized in that, Based on the merged continuous sub-path segments and the continuous sub-path segments that meet the minimum effective segment length condition, the carving path is divided into multiple feature-adapting segments, including: Based on the curvature value of each sub-path segment in the merged continuous sub-path segments and the continuous sub-path segments that meet the minimum effective segment length condition, the curvature consistency within each sub-path segment is determined; curvature consistency indicates that the absolute value of the difference between the curvature values ​​of any two path segments within a sub-path segment does not exceed a preset curvature consistency threshold. Based on the curvature consistency judgment results, determine the curvature consistent sub-path segments and the curvature inconsistent sub-path segments; Sub-path segments are divided based on the local extrema of curvature values ​​within each non-uniform curvature sub-path segment to obtain locally uniform curvature sub-path segments; local extrema are the points in the sub-path segment where the curvature value changes from monotonically increasing to monotonically decreasing or from monotonically decreasing to monotonically increasing. Multiple feature-fitting segments are obtained by combining the curvature-consistent sub-path segments and the curvature-locally-consistent sub-path segments.

8. A control device for a galvanometer engraving machine, characterized in that, The method for controlling a galvanometer engraving machine as described in any one of claims 1 to 7; the galvanometer engraving machine control device includes: The trajectory analysis module is used to obtain the full coordinate data of the carving path corresponding to the carving material based on the carving instructions, and to perform trajectory analysis based on the full coordinate data of the carving path to obtain the first trajectory feature parameters of the carving path; the trajectory feature parameters include the path curvature value, path segment length and path segment connection angle of each path segment; The path segmentation module is used to divide the carving path into multiple feature adaptation segments based on the first trajectory feature parameters; each feature adaptation segment corresponds to a set of continuous path segments with consistent trajectory features; The control parameter matching module is used to collect the actual material parameters of the material based on the location information of each feature adaptation segment, and to perform control parameter matching based on the actual material parameters and the second trajectory feature parameters of each feature adaptation segment to obtain the target control parameters of each feature adaptation segment. The engraving machine control module is used to generate segmented control instructions based on the arrangement order of each feature adaptation segment and its corresponding target control parameters, and to control the drive galvanometer module and laser module to perform engraving actions based on the segmented control instructions.

9. An electronic device, comprising: Memory, used to store computer software programs; A processor for reading and executing the computer software program, characterized in that, when the processor executes the computer software program, it implements the galvanometer engraving machine control method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, wherein a computer software program is stored therein, characterized in that, When the computer software program is executed by the processor, it implements the galvanometer engraving machine control method as described in any one of claims 1 to 7.

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