Roll-to-roll laser cutting device online alignment and trajectory interpolation control method

Abstract

The application discloses a roll-to-roll laser cutting equipment online alignment and track interpolation control method, relates to the technical field of laser cutting alignment and track interpolation, and comprises the following steps: marking a reference point for a plastic film; monitoring the reference point on the surface of the plastic film through a linear array camera and recording reference data; analyzing deformation data and displacement data based on the reference data; compensating the alignment of a cutting head based on the deformation data and the displacement data, obtaining a compensated cutting point, and controlling the cutting head to start cutting from the compensated cutting point; obtaining a cutting shape, analyzing the interpolation track of the cutting head through an interpolation algorithm, and controlling the cutting head to cut the plastic film according to the interpolation track; and the application is used to solve the problems that the existing laser cutting alignment and track interpolation technology cannot pre-align products and lacks compensation for the deformation of products, thereby reducing the laser cutting efficiency and the size error of the cut products.

Description

Technical Field

[0001] This invention relates to the field of laser cutting alignment and trajectory interpolation technology, specifically to an online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment. Background Technology

[0002] Laser cutting alignment and trajectory interpolation technology refers to a technical system that uses vision, sensors, and control systems to enable laser cutting heads to precisely cut materials and eliminate errors generated during material movement.

[0003] Existing laser cutting alignment and trajectory interpolation technologies typically require the material to be cut to be aligned while stationary. Since the material is transported via rollers in roll-to-roll laser cutting equipment, factors such as roller traction speed and changes in material surface tension can easily cause deformation and displacement of the material. Therefore, it's impossible to cut the material according to the predetermined cutting points and trajectory. Alignment must be performed before cutting, significantly impacting efficiency. Furthermore, patent application CN114248024A discloses a "laser cutting positioning system," which requires the product to be stationary before displacement detection and alignment, failing to allow for pre-alignment and neglecting changes in the cutting trajectory caused by product deformation. Existing laser cutting alignment and trajectory interpolation technologies suffer from the inability to pre-align the product and the lack of compensation for deformation, resulting in low cutting efficiency and significant dimensional errors in the cut product. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in the prior art. It involves marking reference points on the adhesive film during the film production process, then installing a line scan camera within a roll-to-roll laser cutting device. The line scan camera monitors the reference points on the film surface and records the reference data. The deformation and displacement of the film during roll-to-roll transport are analyzed using the reference data, and named deformation data and displacement data respectively. Based on the displacement data, displacement compensation is performed on the initial cutting point of the cutting head to obtain a displacement compensation point. Based on the deformation data, deformation compensation is performed on the displacement compensation point to obtain a compensated cutting point. Then, based on the compensated cutting point, a stretching analysis is performed on the cutting shape to obtain a predicted cutting trajectory. Finally, an interpolation algorithm is used to analyze the predicted cutting trajectory to obtain an interpolated trajectory, and the cutting head is controlled to cut the film according to the interpolated trajectory. This solves the problems of existing laser cutting alignment and trajectory interpolation technologies, which cannot pre-align the product and lack compensation for product deformation, resulting in low laser cutting efficiency and large dimensional errors in the cut product.

[0005] To achieve the above objectives, this application provides an online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment, comprising the following steps:

[0006] Marking reference points for the adhesive film during the film production process;

[0007] A line scan camera is installed inside the roll-to-roll laser cutting equipment to monitor the reference points on the surface of the film and record the reference data.

[0008] The deformation and displacement of the film during roll-to-roll transport were analyzed using benchmark data, and were named deformation data and displacement data, respectively.

[0009] Based on deformation and displacement data, the cutting head is compensated and aligned to obtain the compensation cutting point, and the cutting head is controlled to start cutting from the compensation cutting point.

[0010] The cutting shape is obtained, the interpolation trajectory of the cutting head is analyzed by the interpolation algorithm, and the cutting head is controlled to cut the film according to the interpolation trajectory.

[0011] Furthermore, marking reference points for the adhesive film during the film production process includes the following sub-steps:

[0012] During the film production process, a solid dot is printed on the film surface at each first length interval, and is named the reference point.

[0013] The reference points are numbered in chronological order, using the symbol DP. n This indicates that n is a non-zero natural number and n is the index of DP, and all reference points are on the same straight line.

[0014] Furthermore, installing a line scan camera within the roll-to-roll laser cutting equipment, and monitoring and recording reference points on the film surface using the line scan camera, includes the following sub-steps:

[0015] The roll of adhesive film is named the material roll. The material roll will be placed in the unwinding area of ​​the roll-to-roll laser cutting equipment. There are different rollers in the roll-to-roll laser cutting equipment. The roller closest to the unwinding area is named the first moving roller. A line scan camera is installed directly above the first moving roller and named the initial state camera.

[0016] The roller closest to the cutting head is named the tail drive shaft, and a line scan camera is installed at any position between the cutting head and the tail drive shaft, named the final state camera.

[0017] The film is photographed by the initial and final cameras to obtain a linear array image. Pure black pixels in the linear array image are identified. If the identification is successful, the linear array image is saved. During the saving process, if consecutive adjacent linear array images are saved, the consecutive adjacent linear array images are merged into one image and named Linear Array. Otherwise, the linear array image is not saved.

[0018] The linear array images saved by the initial state camera and the final state camera are named the initial state image array and the final state image array, respectively. The initial state image array and the final state image array are the reference data.

[0019] Furthermore, by analyzing the deformation and displacement of the film during roll-to-roll transport using benchmark data, and naming them deformation data and displacement data respectively, the following sub-steps are included:

[0020] The initial state and final state diagrams are numbered according to the order in which they were saved, and are respectively identified by the symbol IP. m and FP m This indicates that m is a non-zero natural number and m is the index of IP and FP, where FP is the index of IP and FP. m That is, IP after being transported by roller m ;

[0021] The initial state graph and the final state graph are collectively referred to as the graph to be analyzed. For any graph to be analyzed, the pixels in the graph to be analyzed are numbered and represented by the symbol PX(i,j), where i and j are both non-zero natural numbers and (i,j) is the index of PX. PX(i,j) represents the pixel in the i-th row and j-th column of the graph to be analyzed. The gray value of PX(i,j) is obtained and the gray value of PX(i,j) is marked as GV(i,j).

[0022] Get the grayscale limit of the reference point, find PX(i,j) where GV(i,j) is less than the grayscale limit, name them as reference pixels, get the minimum and maximum values ​​of i in the reference pixels and mark them as Imin and Imax respectively, and at the same time get the minimum and maximum values ​​of j in the reference pixels and mark them as Jmin and Jmax respectively.

[0023] Extract IP m Imin, Imax, Jmin, and Jmax are labeled as IImin, IImax, IJmin, and IJmax, respectively, and FP is extracted. m Imin, Imax, Jmin, and Jmax are labeled as FImin, FImax, FJmin, and FJmax, respectively.

[0024] Calculate (FImax-FImin) / (IImax-IImin), and name the result as the deformation ratio. Calculate (FJmax-IJmax+FJmin-IJmin) / 2, and name the result as the displacement pixel count. The deformation ratio is the deformation data, and the displacement pixel count is the displacement data.

[0025] Furthermore, based on deformation and displacement data, the cutting head is compensated and aligned to obtain a compensated cutting point. Controlling the cutting head to start cutting from the compensated cutting point includes the following sub-steps:

[0026] Displacement compensation is performed on the initial cutting point of the cutting head based on displacement data to obtain the displacement compensation point;

[0027] Deformation compensation is performed on the displacement compensation points based on deformation data to obtain the compensation cutting points.

[0028] Furthermore, displacement compensation is performed on the initial cutting point of the cutting head based on the displacement data to obtain the displacement compensation point, including the following sub-steps:

[0029] Obtain the initial cutting point of the cutting head, and at the same time obtain the pixel width and physical width of the linear array image, which are labeled as Q1 and Q2 respectively;

[0030] Label the number of displacement pixels as W, and calculate |W×Q2 / Q1| to obtain the displacement distance;

[0031] The high-definition camera captures the film under the cutting head to obtain the image to be cut. The initial cutting point is marked on the image to be cut, and the pixels on the image to be cut are also marked. The pixel in the g-th row and h-th column is marked as DR(g,h), where g and h are both non-zero natural numbers and (g,h) is the index of DR.

[0032] If W is positive, the initial cutting point g is kept constant and moves in the direction of increasing h. The distance moved is the displacement distance, and the displacement compensation point is obtained. If W is negative, the initial cutting point g is kept constant and moves in the direction of decreasing h. The distance moved is the displacement distance, and the displacement compensation point is obtained. If W is 0, the initial cutting point is the displacement compensation point.

[0033] Furthermore, based on the deformation data, deformation compensation is performed on the displacement compensation points to obtain the compensation cutting points, including the following sub-steps:

[0034] The initial cutting point and displacement compensation point will not move with the movement of the adhesive film;

[0035] Obtain the cutting shape, mark the cutting shape in the image to be cut, and ensure that the cutting shape does not move with the movement of the adhesive film;

[0036] Name the pixels in the cut shape as cut region points, obtain the span of the pixels in the g dimension of the cut region points that are the same as the displacement compensation points h, and name it the required span, represented by the symbol KN;

[0037] Calculate KN×Q2 / Q1 to obtain the required length, which is represented by the symbol LN. Mark the deformation ratio as BD. Calculate LN×BD-LN and name the calculation result as the estimated stretch length.

[0038] With h remaining constant, the displacement compensation point is moved in the direction of decreasing g, and the distance moved is the estimated stretching length, thus obtaining the compensation cutting point.

[0039] Further, obtaining the cutting shape, analyzing the interpolation trajectory of the cutting head using an interpolation algorithm, and controlling the cutting head to cut the film according to the interpolation trajectory includes the following sub-steps:

[0040] Based on the compensation cutting point, a stretching analysis of the cutting shape is performed to obtain the predicted cutting trajectory.

[0041] The estimated cutting trajectory is analyzed by interpolation algorithm to obtain the interpolation trajectory, and the cutting head is controlled to cut the film according to the interpolation trajectory.

[0042] Furthermore, based on the compensation cutting points, a stretching analysis is performed on the cutting shape to obtain the predicted cutting trajectory, including the following sub-steps:

[0043] Mark the pixels on the cut shape as cut contour points. Starting from the compensation cut point, find consecutive adjacent cut contour points and continue searching until all cut contour points are found. Mark the cut contour points as LK in the order they were found. t , where t is a non-zero natural number and t is the index of LK;

[0044] For any LK t Perform analysis to obtain LK t The corresponding DR(g,h) is labeled as DLR t (g,h), obtain the DR(g,h) corresponding to the compensation cut point, mark it as SV(g,h), and obtain the DLR. t The minimum and maximum values ​​of g in (g,h) are denoted as Gmin and Gmax, respectively.

[0045] Label g and h in SV(g,h) as SG and SH respectively, and simultaneously label DLR t In (g,h), g and h are labeled as LG and LH, respectively;

[0046] Calculate (LG-SG)×BD+SG, name the result the stretch correction value, and represent it with the symbol LXG. Then, calculate DLR. t(LG,LG) should be changed to DLR t (LXG,LH) for all LK t Analysis was performed to obtain all DLRs t (LXG,LH);

[0047] DLR via a straight line t (LXG,LH) and DLR t+1 Connect (LXG,LH) to obtain the predicted cutting trajectory.

[0048] Furthermore, the estimated cutting trajectory is analyzed using an interpolation algorithm to obtain the interpolation trajectory, and the cutting head is controlled to cut the film according to the interpolation trajectory, including the following sub-steps:

[0049] The interpolation trajectory is obtained by performing interpolation analysis on each estimated cutting trajectory using the point-by-point comparison linear interpolation algorithm.

[0050] Starting from the compensation cutting point, the cutting head is controlled to move and cut along the corresponding interpolation trajectory in ascending order of t.

[0051] The beneficial effects of this invention are as follows: This invention marks reference points on the adhesive film during the film production process, and then installs a line scan camera in the roll-to-roll laser cutting equipment. The line scan camera monitors the reference points on the surface of the adhesive film and records the reference data. The deformation and displacement of the adhesive film during roll-to-roll transportation are analyzed using the reference data and named deformation data and displacement data, respectively. Then, displacement compensation is performed on the initial cutting point of the cutting head based on the displacement data to obtain the displacement compensation point. Deformation compensation is performed on the displacement compensation point based on the deformation data to obtain the compensation cutting point. The advantage is that the deformation and displacement of the adhesive film can be detected in advance during the film transportation process, and then the initial cutting point of the cutting head can be compensated to ensure that the cutting head can reach the accurate cutting starting point in advance and directly perform cutting, thereby improving the effectiveness and efficiency of laser cutting alignment.

[0052] This invention obtains a predicted cutting trajectory by performing a stretching analysis on the cutting shape based on the compensation cutting point. Finally, it analyzes the predicted cutting trajectory using an interpolation algorithm to obtain the interpolated trajectory and controls the cutting head to cut the film according to the interpolated trajectory. The advantage is that by performing a stretching analysis on the cutting shape starting from the compensation cutting point, the cutting shape can be adaptively changed to the shape of the film after deformation, i.e., the predicted cutting trajectory. The film cut by the predicted cutting trajectory will have the same size as expected after deformation rebound. Then, the predicted cutting trajectory is interpolated to improve the cutting accuracy, thereby improving the accuracy and effectiveness of laser cutting trajectory interpolation. Attached Figure Description

[0053] Figure 1 This is a flowchart of the steps of the method of the present invention;

[0054] Figure 2 This is a schematic diagram of the reference point of the present invention;

[0055] Figure 3 This is a schematic diagram showing the installation positions of the initial-state camera and the final-state camera of the present invention;

[0056] Figure 4 This is a schematic diagram illustrating the relationship between the linear array and the linear array image of the present invention;

[0057] Figure 5 This is a schematic diagram of the cutting shape according to the present invention. Detailed Implementation

[0058] 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.

[0059] Example 1, please refer to Figure 1 As shown, this application provides an online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment, including the following steps:

[0060] Step S1 involves marking reference points for the adhesive film during the film production process. Step S1 includes the following sub-steps:

[0061] Please see Figure 2 As shown, in step S101, during the film production process, a solid dot is printed on the surface of the film at each first length interval, and named as a reference point;

[0062] Step S102: Number the reference points according to chronological order, using the symbol DP. n This means that n is a non-zero natural number and n is the index of DP, and all reference points are on the same straight line;

[0063] In practice, the color of the reference point should have a high contrast with the surface of the adhesive film. Typically, the adhesive film surface is milky white, while the reference point is pure black. The initial length has no specific requirements and can be set by the manufacturer. In this embodiment, the initial length is set to 1m, meaning a reference point is printed on the adhesive film surface every 1m, and all reference points are on the same straight line. Typically, the reference point is printed at the midpoint of the perpendicular line between the two long sides of the adhesive film. Figure 2 As shown.

[0064] Step S2 involves installing a line scan camera inside the roll-to-roll laser cutting equipment, monitoring reference points on the surface of the adhesive film using the line scan camera, and recording reference data. Step S2 includes the following sub-steps:

[0065] Please see Figure 3 As shown, in step S201, the roll of adhesive film is named material roll. The material roll will be placed in the unwinding area of ​​the roll-to-roll laser cutting equipment. There are different rollers in the roll-to-roll laser cutting equipment. The roller closest to the unwinding area is named the first moving roller. A line scan camera is installed directly above the first moving roller and named the initial state camera.

[0066] Step S202: The roller closest to the cutting head is named the tail drive shaft, and a line scan camera is installed at any position between the cutting head and the tail drive shaft, named the final state camera;

[0067] In specific implementation, the installation locations of the initial-state camera and the final-state camera are as follows: Figure 3 As shown, Figure 3 The positional relationships between the initial and final cameras and other components have been detailed in the previous description, so they will not be described in detail in this embodiment. Meanwhile, the arrows below the initial and final cameras represent the shooting positions of the initial and final cameras. The line scan camera can shoot in units of each row of pixels. The line scan camera used in this embodiment is 2048 pixels, that is, each shot can obtain a line scan image of 1 row × 2048 columns.

[0068] Please see Figure 4 As shown, in step S203, the film is photographed by the initial state camera and the final state camera to obtain a linear array image. Pure black pixels in the linear array image are identified. If the identification is successful, the linear array image is saved. During the saving process, if consecutive adjacent linear array images are saved, the consecutive adjacent linear array images are merged into one image and named Linear Array. Otherwise, the linear array image is not saved.

[0069] Step S204: Name the linear array images saved by the initial state camera and the final state camera as the initial state image array and the final state image array, respectively. The initial state image array and the final state image array are the reference data.

[0070] In practice, because the film is milky white and the reference point is black, there is a high contrast between them, making them easy to distinguish. When a black pixel is present in the linear array image, it is saved. For example, if five linear array images are captured consecutively, they are labeled α1, α2, α3, α4, and α5 in the order of capture. Black pixels are detected in α2, α3, and α4, so α2, α3, and α4 are saved. Furthermore, α2, α3, and α4 are three consecutive linear array images, so they are merged into a single linear array sequence. The relationship between the linear array sequence and the linear array image is as follows: Figure 4As shown, Figure 4 In this system, one grid is equivalent to one pixel. Black pixels belong to the reference point. Since the reference point cannot be only one pixel in size during printing, if there are linear array images that need to be saved, they can be merged into a linear array pattern. The linear array patterns saved by the initial state camera and the final state camera are named the initial state pattern and the final state pattern, respectively, to obtain the reference data.

[0071] Step S3 involves analyzing the deformation and displacement of the film during roll-to-roll transport using benchmark data, naming these as deformation data and displacement data, respectively. Step S3 includes the following sub-steps:

[0072] Step S301: Number the initial state diagrams and final state diagrams according to the order in which they were saved, and use the symbol IP respectively. m and FP m This indicates that m is a non-zero natural number and m is the index of IP and FP, where FP is the index of IP and FP. m That is, IP after being transported by roller m ;

[0073] Step S302: The initial state graph and the final state graph are collectively referred to as the graph to be analyzed. Analyze any graph to be analyzed, and number the pixels in the graph to be analyzed by the symbol PX(i,j), where i and j are both non-zero natural numbers and (i,j) is the index of PX. PX(i,j) represents the pixel in the i-th row and j-th column of the graph to be analyzed. Obtain the gray value of PX(i,j) and mark the gray value of PX(i,j) as GV(i,j).

[0074] Step S303: Obtain the grayscale limit of the reference point, find PX(i,j) where GV(i,j) is less than the grayscale limit, name them as reference pixels, obtain the minimum and maximum values ​​of i in the reference pixels and mark them as Imin and Imax respectively, and at the same time obtain the minimum and maximum values ​​of j in the reference pixels and mark them as Jmin and Jmax respectively.

[0075] Step S304, extract IP m Imin, Imax, Jmin, and Jmax are labeled as IImin, IImax, IJmin, and IJmax, respectively, and FP is extracted. m Imin, Imax, Jmin, and Jmax are labeled as FImin, FImax, FJmin, and FJmax, respectively.

[0076] Step S305: Calculate (FImax-FImin) / (IImax-IImin), and name the calculation result as deformation ratio. Calculate (FJmax-IJmax+FJmin-IJmin) / 2, and name the calculation result as displacement pixel count. Deformation ratio is deformation data, and displacement pixel count is displacement data.

[0077] In practice, when m is the same, IP m and FP m In reality, these are linear array images captured by different linear scan cameras at the same reference point. Assuming the IP address is saved in this embodiment... m and FP m 1≤m≤5. Taking IP1 as an example, IP1 is used as the image to be analyzed. The pixels in IP1 are numbered to obtain PX(1,1) to PX(5,2048), and GV(1,1) to GV(5,2048). The grayscale limit is used to find the pixels belonging to the reference point. Since the reference point is pure black, its grayscale value is usually lower than 50, so the grayscale limit is set to 50. The specific value of the grayscale limit needs to be determined according to the color of the reference point. The reference pixel is obtained by finding PX(i,j) whose GV(i,j) is less than the grayscale limit. The reference pixel is the pixel belonging to the reference point. The obtained reference pixels include PX(1,1022), PX(2,1021), PX(2,1022), PX(2,1023), PX(3,1020), PX(3,1021), PX( PX(3,1022), PX(3,1023), PX(3,1024), PX(4,1021), PX(4,1022), PX(4,1023) and PX(5,1022) are obtained. Imin, Imax, Jmin and Jmax are 1, 5, 1020 and 1024 respectively. Since this data belongs to IP1, IImin, IImax, IJmin and IJmax are 1, 5, 1020 and 1024 respectively. Similarly, FImin, FImax, FJmin and FJmax of FP1 are extracted and are 1, 6, 1023 and 1027 respectively. Further calculation shows that the deformation ratio is (6-1) / (5-1)=1.25 and the number of displacement pixels is (1027-1024+1023-1020) / 2=3.

[0078] Step S4 involves aligning and compensating the cutting head based on deformation and displacement data to obtain a compensated cutting point, and then controlling the cutting head to start cutting from this compensated cutting point. Step S4 includes the following sub-steps:

[0079] Step S401: Based on the displacement data, perform displacement compensation on the initial cutting point of the cutting head to obtain the displacement compensation point;

[0080] Step S401 includes the following sub-steps:

[0081] Step S4011: Obtain the initial cutting point of the cutting head, and at the same time obtain the pixel width and physical width of the linear array image, which are marked as Q1 and Q2 respectively;

[0082] Step S4012: Mark the number of displacement pixels as W, calculate |W×Q2 / Q1|, and obtain the displacement distance;

[0083] Step S4013: Take a picture of the film under the cutting head with a high-definition camera to obtain an image to be cut. Mark the initial cutting point on the image to be cut and mark the pixels on the image to be cut. Mark the pixel in the g-th row and h-th column as DR(g,h), where g and h are both non-zero natural numbers and (g,h) is the index of DR.

[0084] Step S4014: If W is positive, the initial cutting point g is kept constant and moves in the direction of increasing h. The distance moved is the displacement distance, and the displacement compensation point is obtained. If W is negative, the initial cutting point g is kept constant and moves in the direction of decreasing h. The distance moved is the displacement distance, and the displacement compensation point is obtained. If W is 0, the initial cutting point is the displacement compensation point.

[0085] In practice, the pixel width Q1 of the acquired linear array image is 2048, representing 2048 pixels per row, and the physical width Q2 is 1m, representing the width of the area captured by the linear array camera is 1m. The initial cutting point is the preset waiting point for the cutting head while waiting for the film to be transported, usually set manually. Once the film arrives, cutting can begin directly from the initial cutting point. However, since the film usually undergoes elastic deformation during transport, the initial cutting point needs to be compensated and calibrated. The image to be cut is only used to determine the position of the cutting head and the cutting trajectory; there are no specific requirements for the installation position, only that the captured image to be cut is a top-down view. The image only needs to be large enough to accommodate the cutting shape. In this embodiment, the image to be cut is a 1024×2048 image, which is numbered as DR(g,h), where 1≤g≤1024 and 1≤h≤2048. The initial compensation point is set at DR(115,1024). Since W is 3, the calculated displacement distance is 0.00146484375m. Since W is positive, the initial cutting point g is kept constant and moved 0.00146484375m in the direction of increasing h. This is actually a movement of 3 pixels. The initial compensation point is moved from DR(115,1024) to DR(115,1027) to obtain the displacement compensation point.

[0086] Step S402: Perform deformation compensation on the displacement compensation point based on the deformation data to obtain the compensation cutting point;

[0087] Step S402 includes the following sub-steps:

[0088] In step S4021, the initial cutting point and displacement compensation point will not move with the movement of the adhesive film;

[0089] Please see Figure 5 As shown, in step S4022, the cutting shape is obtained and marked in the image to be cut, and the cutting shape will not move with the movement of the adhesive film.

[0090] Step S4023: Name the pixels in the cut shape as cut region points, obtain the span of the pixels in the g dimension of the cut region points that are the same as the displacement compensation points h, name them as the required span, and represent them by the symbol KN;

[0091] Step S4024: Calculate KN×Q2 / Q1 to obtain the required length, which is represented by the symbol LN. Mark the deformation ratio as BD, calculate LN×BD-LN, and name the calculation result as the estimated stretching length.

[0092] Step S4025: While keeping h constant, move the displacement compensation point in the direction of decreasing g. The distance moved is the estimated stretching length, thus obtaining the compensation cutting point.

[0093] In practice, the initial cutting point and displacement compensation point do not move with the movement of the adhesive film. That is, when the adhesive film moves, the displacement compensation point is always at DR(115,1027), and the cutting shape is obtained as shown. Figure 5 As shown, Figure 5The dashed lines represent the cutting shape, and the gray dots represent the displacement compensation points. Pixels within the rhombus enclosed by the dashed lines are named cutting region points, including pixels on the dashed lines. It's important to note that when moving the initial cutting point to the displacement compensation point, the cutting shape must move synchronously, i.e., the cutting shape must move 3 pixels in the direction of increasing h. The displacement compensation point is located at DR(115, 1027), where h is 1027. All cutting region points with h = 1027 are obtained. The minimum g value is 115, and the maximum is 909. Therefore, the required span KN is 909 - 115 = 794. Calculating KN × Q2 / Q1 yields the required length LN as 0.38769531. With a deformation ratio BD of 1.25, the estimated stretching length is calculated to be 0.096923828125m. The displacement compensation point is moved 0.096923828125m in the direction of decreasing g, while keeping h constant, to obtain the compensation cutting point. This compensation cutting point is located at DR(-84, 1027), where g = -84 indicates that the cutting head needs to move to a position 84 pixels away from the image to be cut. The negative value of g here only indicates that the area captured in the image to be cut is incomplete; the captured area can be expanded during subsequent analysis, and it has no impact on the analysis results. Simultaneously, the cutting shape moves synchronously when the compensation cutting point is moved.

[0094] Step S5: Obtain the cutting shape, analyze the interpolation trajectory of the cutting head using an interpolation algorithm, and control the cutting head to cut the adhesive film according to the interpolation trajectory; Step S5 includes the following sub-steps:

[0095] Step S501: Perform a stretching analysis on the cutting shape based on the compensation cutting point to obtain the estimated cutting trajectory;

[0096] Step S501 includes the following sub-steps:

[0097] Please see Figure 5 As shown, in step S5011, the pixels on the cut shape are marked as cutting contour points. Starting from the compensation cutting point, consecutive adjacent cutting contour points are searched, and the search continues until all cutting contour points are found. The cutting contour points are then marked as LK according to the order of the search. t , where t is a non-zero natural number and t is the index of LK;

[0098] In practice, the pixels on the cut shape are marked as cut contour points, which are actually located in... Figure 5 The pixels on the dashed line are the cutting contour points. Starting from the compensation cutting point, consecutive adjacent cutting contour points are searched. Assuming the search proceeds to the left, it will follow a counter-clockwise order, starting from the compensation cutting point and eventually finding the compensation cutting point again. A total of 5648 cutting contour points are found, numbered from LK1 to LK. 5648.

[0099] Step S5012, for any LK t Perform analysis to obtain LK t The corresponding DR(g,h) is labeled as DLR t (g,h), obtain the DR(g,h) corresponding to the compensation cut point, mark it as SV(g,h), and obtain the DLR. t The minimum and maximum values ​​of g in (g,h) are denoted as Gmin and Gmax, respectively.

[0100] Step S5013: Label g and h in SV(g,h) as SG and SH respectively, and simultaneously set DLR... t In (g,h), g and h are labeled as LG and LH, respectively;

[0101] Step S5014: Calculate (LG-SG)×BD+SG, name the calculation result the stretch correction value, and represent it with the symbol LXG. Then, convert the DLR... t (LG,LG) should be changed to DLR t (LXG,LH) for all LK t Analysis was performed to obtain all DLRs t (LXG,LH);

[0102] Step S5015, DLR is connected by a straight line t (LXG,LH) and DLR t+1 Connect (LXG,LH) to obtain the predicted cutting trajectory;

[0103] In practice, since g is negative, the shooting range of the image to be segmented needs to be expanded. The resolution after expanding the shooting range is 1500×2048, and DR(-84,1027) naturally changes to DR(154,1027), that is, SV(g,h) becomes SV(154,1027). Taking LK1 as an example, the DR(g,h) corresponding to LK1 is obtained as DLR1(155,1206), and DLR1(g,h) is obtained to DLR 5648In (g,h), the minimum value of g, Gmin, is 154, and the maximum value of g, Gmax, is 908. It's important to note that 908 is the value obtained after the original maximum g of 909 has moved with the compensation cut point, and then the resolution has been adjusted. From SV(154,1027), SG is 154 and SH is 1027. From DLR1(155,1206), LG is 155 and LH is 1026. The calculated stretch correction value LXG is (155-154)×1.25+154=155.25. The result is rounded to the nearest integer, meaning LXG remains 155. This is because DLR1(155,1206) is too close to the compensation cut point, resulting in a small stretch deformation that doesn't require compensation. The farther away from the compensation cut point, the greater the change in LXG compared to LG. Therefore, DLR1(155,1026) is modified to DLR... t (155,1026), for all LK t Analysis was performed to obtain all DLRs t (LXG,LH), through a straight line, DLR t (LXG,LH) and DLR t+1 Connecting (LXG, LH) will yield the estimated cutting trajectory.

[0104] Step S502: Analyze the estimated cutting trajectory using an interpolation algorithm to obtain the interpolation trajectory and control the cutting head to cut the film according to the interpolation trajectory;

[0105] Step S502 includes the following sub-steps:

[0106] Step S5021: Perform interpolation analysis on each estimated cutting trajectory using the point-by-point comparison linear interpolation algorithm to obtain the interpolation trajectory;

[0107] Step S5022: Starting from the compensation cutting point, control the cutting head to move and cut along the corresponding interpolation trajectory in ascending order of t;

[0108] In practice, the continuously connected predicted cutting trajectory is actually the travel trajectory of the cutting head during the cutting process. There are different corners on these trajectories. At these corners, we cannot accurately determine the position of each point. Therefore, we need to use an interpolation algorithm to fit its true shape as much as possible. The point-by-point comparison linear interpolation algorithm is an existing algorithm, so it will not be described in detail in this embodiment. The focus of this embodiment is to analyze the cutting trajectory after the film deformation to ensure that the size of the film after rebound is consistent with the required size.

[0109] Example 2: This application provides an electronic device, which may include a processor, a communication interface, a memory, and a communication bus. The processor, communication interface, and memory communicate with each other via the communication bus. The memory stores computer-readable instructions, and the processor can call these instructions. When the processor executes a computer-readable instruction, it performs steps such as those in the online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment to achieve the following functions: marking reference points for the adhesive film; monitoring the reference points on the adhesive film surface using a line scan camera and recording reference data; analyzing deformation and displacement data using the reference data; compensating and aligning the cutting head based on the deformation and displacement data to obtain a compensated cutting point; controlling the cutting head to start cutting from the compensated cutting point; acquiring the cutting shape; analyzing the interpolation trajectory of the cutting head using an interpolation algorithm; and controlling the cutting head to cut the adhesive film according to the interpolation trajectory.

[0110] Furthermore, when the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0111] Example 3: This application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment provided by the above methods. The method includes: marking reference points for the film; monitoring the reference points on the surface of the film using a line scan camera and recording reference data; analyzing deformation data and displacement data using the reference data; performing compensation alignment on the cutting head based on the deformation data and displacement data to obtain a compensation cutting point; controlling the cutting head to start cutting from the compensation cutting point; obtaining the cutting shape; analyzing the interpolation trajectory of the cutting head using an interpolation algorithm and controlling the cutting head to cut the film according to the interpolation trajectory.

[0112] Example 4: This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it performs the steps of the online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment described above to achieve the following functions: marking reference points for the film; monitoring reference points on the surface of the film using a line scan camera and recording reference data; analyzing deformation data and displacement data using the reference data; performing compensation alignment on the cutting head based on the deformation data and displacement data to obtain a compensation cutting point, and controlling the cutting head to start cutting from the compensation cutting point; acquiring the cutting shape, analyzing the interpolation trajectory of the cutting head using an interpolation algorithm, and controlling the cutting head to cut the film according to the interpolation trajectory.

[0113] Based on the above description of the embodiments, the embodiments of the present invention can be provided as methods, systems, or computer program products. Based on this understanding, the above technical solutions, in essence or in terms of their contribution 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 certain parts of the embodiments.

[0114] In the embodiments provided in this application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules or units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple modules or units may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces. The indirect coupling or communication connection between systems, modules, and units may be electrical, mechanical, or other forms.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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. Such 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 this application.

Claims

1. A method for online alignment and trajectory interpolation control of roll-to-roll laser cutting equipment, characterized in that, Includes the following steps: Marking reference points for the adhesive film during the film production process; A line scan camera is installed inside the roll-to-roll laser cutting equipment to monitor the reference points on the surface of the film and record the reference data. The deformation and displacement of the film during roll-to-roll transport were analyzed using benchmark data, and were named deformation data and displacement data, respectively. Based on deformation and displacement data, the cutting head is compensated and aligned to obtain the compensation cutting point, and the cutting head is controlled to start cutting from the compensation cutting point. Obtain the cutting shape, analyze the interpolation trajectory of the cutting head through the interpolation algorithm, and control the cutting head to cut the film according to the interpolation trajectory; Installing a line scan camera inside a roll-to-roll laser cutting machine, and monitoring and recording reference points on the surface of the adhesive film using the line scan camera, includes the following sub-steps: The roll of adhesive film is named the material roll. The material roll will be placed in the unwinding area of ​​the roll-to-roll laser cutting equipment. There are different rollers in the roll-to-roll laser cutting equipment. The roller closest to the unwinding area is named the first moving roller. A line scan camera is installed directly above the first moving roller and named the initial state camera. The roller closest to the cutting head is named the tail drive shaft, and a line scan camera is installed at any position between the cutting head and the tail drive shaft, named the final state camera. The film is photographed by the initial and final cameras to obtain a linear array image. Pure black pixels in the linear array image are identified. If the identification is successful, the linear array image is saved. During the saving process, if consecutive adjacent linear array images are saved, the consecutive adjacent linear array images are merged into one image and named Linear Array. Otherwise, the linear array image is not saved. The linear array images saved by the initial state camera and the final state camera are named the initial state image array and the final state image array, respectively. The initial state image array and the final state image array are the reference data. Analyzing the deformation and displacement of the film during roll-to-roll transport using baseline data, and naming them as deformation data and displacement data respectively, includes the following sub-steps: The initial state and final state diagrams are numbered according to the order in which they were saved, and are respectively identified by the symbol IP. m and FP m This indicates that m is a non-zero natural number and m is the index of IP and FP, where FP is the index of IP and FP. m That is, IP after being transported by roller m ; The initial state graph and the final state graph are collectively referred to as the graph to be analyzed. For any graph to be analyzed, the pixels in the graph to be analyzed are numbered and represented by the symbol PX(i,j), where i and j are both non-zero natural numbers and (i,j) is the index of PX. PX(i,j) represents the pixel in the i-th row and j-th column of the graph to be analyzed. The gray value of PX(i,j) is obtained and the gray value of PX(i,j) is marked as GV(i,j). Get the grayscale limit of the reference point, find PX(i,j) where GV(i,j) is less than the grayscale limit, name them as reference pixels, get the minimum and maximum values ​​of i in the reference pixels and mark them as Imin and Imax respectively, and at the same time get the minimum and maximum values ​​of j in the reference pixels and mark them as Jmin and Jmax respectively. Extract IP m Imin, Imax, Jmin, and Jmax are labeled as IImin, IImax, IJmin, and IJmax, respectively, and FP is extracted. m Imin, Imax, Jmin, and Jmax are labeled as FImin, FImax, FJmin, and FJmax, respectively. Calculate (FImax-FImin) / (IImax-IImin), and name the result as the deformation ratio. Calculate (FJmax-IJmax+FJmin-IJmin) / 2, and name the result as the displacement pixel count. The deformation ratio is the deformation data, and the displacement pixel count is the displacement data.

2. The online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment according to claim 1, characterized in that, Marking reference points for the adhesive film during the film production process includes the following sub-steps: During the film production process, a solid dot is printed on the film surface at each first length interval, and is named the reference point. The reference points are numbered chronologically, using the symbol DP. n This indicates that n is a non-zero natural number and n is the index of DP, and all reference points are on the same straight line.

3. The online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment according to claim 2, characterized in that, Based on deformation and displacement data, the cutting head is compensated and aligned to obtain the compensated cutting point. Controlling the cutting head to start cutting from the compensated cutting point includes the following sub-steps: Displacement compensation is performed on the initial cutting point of the cutting head based on displacement data to obtain the displacement compensation point; Deformation compensation is performed on the displacement compensation points based on deformation data to obtain the compensation cutting points.

4. The online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment according to claim 3, characterized in that, The displacement compensation of the initial cutting point of the cutting head based on displacement data, and the resulting displacement compensation point, includes the following sub-steps: Obtain the initial cutting point of the cutting head, and at the same time obtain the pixel width and physical width of the linear array image, which are labeled as Q1 and Q2 respectively; Label the number of displacement pixels as W, and calculate |W×Q2 / Q1| to obtain the displacement distance; The high-definition camera captures the film under the cutting head to obtain the image to be cut. The initial cutting point is marked on the image to be cut, and the pixels on the image to be cut are also marked. The pixel in the g-th row and h-th column is marked as DR(g,h), where g and h are both non-zero natural numbers and (g,h) is the index of DR. If W is positive, the initial cutting point g is kept constant and moves in the direction of increasing h. The distance moved is the displacement distance, and the displacement compensation point is obtained. If W is negative, the initial cutting point g is kept constant and moves in the direction of decreasing h. The distance moved is the displacement distance, and the displacement compensation point is obtained. If W is 0, the initial cutting point is the displacement compensation point.

5. The online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment according to claim 4, characterized in that, Deformation compensation is performed on displacement compensation points based on deformation data to obtain compensation cutting points, including the following sub-steps: The initial cutting point and displacement compensation point will not move with the movement of the adhesive film; Obtain the cutting shape, mark the cutting shape in the image to be cut, and ensure that the cutting shape does not move with the movement of the adhesive film; Name the pixels in the cut shape as cut region points, obtain the span of the pixels in the g dimension of the cut region points that are the same as the displacement compensation points h, and name it the required span, represented by the symbol KN; Calculate KN×Q2 / Q1 to obtain the required length, which is represented by the symbol LN. Mark the deformation ratio as BD. Calculate LN×BD-LN and name the calculation result as the estimated stretch length. With h remaining constant, the displacement compensation point is moved in the direction of decreasing g, and the distance moved is the estimated stretching length, thus obtaining the compensation cutting point.

6. The online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment according to claim 5, characterized in that, Obtaining the cutting shape, analyzing the interpolation trajectory of the cutting head using an interpolation algorithm, and controlling the cutting head to cut the film according to the interpolation trajectory includes the following sub-steps: Based on the compensation cutting point, a stretching analysis of the cutting shape is performed to obtain the predicted cutting trajectory. The estimated cutting trajectory is analyzed by interpolation algorithm to obtain the interpolation trajectory, and the cutting head is controlled to cut the film according to the interpolation trajectory.

7. The online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment according to claim 6, characterized in that, Based on the compensation cutting point, a stretching analysis of the cutting shape is performed to obtain the predicted cutting trajectory, which includes the following sub-steps: Mark the pixels on the cut shape as cut contour points. Starting from the compensation cut point, find consecutive adjacent cut contour points and continue searching until all cut contour points are found. Mark the cut contour points as LK in the order they were found. t , where t is a non-zero natural number and t is the index of LK; For any LK t Perform analysis to obtain LK t The corresponding DR(g,h) is labeled as DLR t (g,h), obtain the DR(g,h) corresponding to the compensation cut point, mark it as SV(g,h), and obtain the DLR. t The minimum and maximum values ​​of g in (g,h) are denoted as Gmin and Gmax, respectively. Label g and h in SV(g,h) as SG and SH respectively, and simultaneously label DLR t In (g,h), g and h are labeled as LG and LH, respectively; Calculate (LG-SG)×BD+SG, name the result the stretch correction value, and represent it with the symbol LXG. Then, calculate DLR. t (LG,LG) should be changed to DLR t (LXG,LH) for all LK t Analysis was performed to obtain all DLRs t (LXG,LH); DLR via a straight line t (LXG,LH) and DLR t+1 Connect (LXG,LH) to obtain the predicted cutting trajectory.

8. The online alignment and trajectory interpolation control method for roll-to-roll laser cutting equipment according to claim 7, characterized in that, The process of analyzing the estimated cutting trajectory using an interpolation algorithm to obtain the interpolation trajectory and controlling the cutting head to cut the film according to the interpolation trajectory includes the following sub-steps: The interpolation trajectory is obtained by performing interpolation analysis on each estimated cutting trajectory using the point-by-point comparison linear interpolation algorithm. Starting from the compensation cutting point, the cutting head is controlled to move and cut along the corresponding interpolation trajectory in ascending order of t.

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