Control method and device based on laser galvanometer scanning track adjustment

Abstract

The embodiment of the invention provides a control method and device based on laser galvanometer scanning track adjustment. The control method comprises the following steps: carrying out graphic processing on a to-be-processed overall graph, and determining a marking path, a jumping path and an actual initial processing point of the motion of the galvanometer; the galvanometer is controlled to move to the actual initial machining point; using a trajectory planning algorithm to calculate a target motion trajectory for the jump path, the target motion trajectory being physically constrained; and controlling a galvanometer and a laser to cooperatively carry out galvanometer processing according to the planned jump path and the preset fixedly-arranged marking path. According to the embodiment of the invention, through intelligent path planning and dynamic initial point positioning, a large amount of idle stroke motion time generated by returning a reference zero point in a traditional method is effectively eliminated, and the machining efficiency is remarkably improved. And a jump track is planned to apply physical constraints, so that the smoothness and the stability of the movement of the galvanometer in a complex path are ensured, and the consistency and the reliability of the processing quality are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser galvanometer system, in particular to a control method and device based on laser galvanometer scanning trajectory adjustment. BACKGROUND

[0002] The laser galvanometer scanning system realizes the directional irradiation of the laser beam by controlling the deflection of the two-axis mirror, and has become the core technology in the fields of laser marking, precision welding and micro-machining.

[0003] In the related art, the laser galvanometer scanning system requires the galvanometer to return to the reference zero point before and after executing each processing task. When the processing pattern contains multiple discrete elements, the repeated idle motion increases the additional motion trajectory of the galvanometer and a large amount of non-productive time. Secondly, the motion performance of the galvanometer is affected by multiple factors such as environmental conditions (e.g. temperature changes), mechanical performance, control methods, etc. It is difficult to maintain a constant scanning speed on a complex trajectory. The change of the curvature of the trajectory will inevitably cause speed fluctuations, and further cause uneven processing depth and inconsistent surface quality. Conventional trajectory planning does not adequately consider the physical constraints of the galvanometer system, especially at the trajectory turning points, which are prone to vibration and overshoot phenomena, seriously affecting the contour accuracy and processing stability. SUMMARY

[0004] The embodiments of the present application provide a control method based on laser galvanometer scanning trajectory adjustment, aiming to eliminate unnecessary idle motion, realize accurate constant speed control on complex trajectories, and ensure the smoothness and stability of the whole motion, so as to comprehensively improve the overall performance of laser processing.

[0005] The control method based on laser galvanometer scanning trajectory adjustment provided by the embodiments of the present application comprises: performing graph processing on the overall pattern to be processed to determine the marking path and the jump path of the galvanometer motion; mapping the image coordinate system of the processed image to the galvanometer processing coordinate system to obtain the position of the overall pattern in the galvanometer processing coordinate system; determining the actual initial processing point according to the positional relationship between the current position of the galvanometer and the position of the overall pattern; controlling the galvanometer to move to the actual initial processing point; using a trajectory planning algorithm to calculate a target motion trajectory for the jump path, the target motion trajectory being subjected to physical constraints; and controlling the galvanometer and the laser to cooperatively perform galvanometer processing according to the jump path obtained by planning and the marking path set in advance.

[0006] In some embodiments, the processing the whole pattern to be processed to determine the marking path and the jump path of the galvanometer motion comprises: dividing the whole pattern to be processed into a plurality of independent sub-patterns with continuous marking paths; identifying the end points of each of the independent sub-patterns; defining the paths between different end points of the independent sub-patterns as the jump paths; and defining the paths within the same independent sub-pattern as the marking paths.

[0007] In some embodiments, the mapping the image coordinate system of the processed image to the galvanometer processing coordinate system to obtain the position of the whole pattern in the galvanometer processing coordinate system comprises: the processed image is a plurality of independent sub-images, and the end points of each of the independent sub-patterns are identified to define the edge curve of each of the independent sub-patterns; and the image coordinate system of the edge curve of each of the independent sub-patterns is mapped to the galvanometer processing coordinate system to define the position of the edge of the whole pattern in the galvanometer processing coordinate system, thereby obtaining the position of the whole pattern in the galvanometer processing coordinate system.

[0008] In some embodiments, the determining the actual initial processing point according to the relationship between the current position of the galvanometer and the position of the whole pattern comprises: in the case that the current position of the galvanometer is located outside the whole pattern, finding the shortest distance point between the current position of the galvanometer and the edge of the whole pattern; in the case that the shortest distance point is a marking point on the marking path, finding the shortest distance point between the shortest distance point and the jump path as the actual initial processing point; in the case that the shortest distance point is a jump point on the jump path, determining the shortest distance point as the actual initial processing point; and in the case that the current position of the galvanometer is located inside the whole pattern, finding the shortest distance point between the current position of the galvanometer and the jump path as the actual initial processing point.

[0009] In some embodiments, the calculating the target motion trajectory for the jump path by using a trajectory planning algorithm, the target motion trajectory being subjected to physical constraints comprises: setting the position of the jump start point and the position of the jump end point on the jump path; and calculating the target motion trajectory for the jump path by using a real-time trajectory algorithm to determine the time-optimal trajectory from the jump start point to the jump end point within the range of physical condition limitations, so that the plurality of degrees of freedom of the galvanometer synchronously reach the jump end point at the same time point.

[0010] In some embodiments, the real-time trajectory algorithm is used to calculate the target motion trajectory of the jump path to determine the time-optimal trajectory from the jump start point to the jump end point within the physical condition limit range, so that the multiple degrees of freedom of the galvanometer reach the jump end point at the same time point, including: according to the distance from the jump start point to the jump end point, the physical constraints of the segmented setting include speed constraint, acceleration constraint and jerk constraint; according to the speed constraint, acceleration constraint and jerk constraint of each segment of the path, the real-time trajectory algorithm is used to calculate the corresponding segment of the target motion trajectory of the jump path, and the multiple segments of the target motion trajectory constitute the jump path.

[0011] In some embodiments, the real-time trajectory algorithm is used to calculate the target motion trajectory of the jump path according to the speed constraint, acceleration constraint and jerk constraint of each segment of the path, and each segment of the target motion trajectory constitutes the jump path, including: determining the start state and end state of the jump trajectory as boundary conditions; according to the boundary conditions and the speed constraint, acceleration constraint and jerk constraint corresponding to each segment of the target motion trajectory, setting the target speed, target acceleration and target jerk of the galvanometer at the jump end point, wherein the target speed, the target acceleration and the target jerk are all expected values.

[0012] In some embodiments, the galvanometer and the laser are controlled to cooperatively perform galvanometer processing according to the planned jump path and the preset fixed setting of the marking path, including: turning off the laser, performing trajectory planning according to the current position of the galvanometer and the actual initial processing point to control the galvanometer to move to the actual initial processing point; after the galvanometer moves to the actual initial processing point, checking the trajectory point of the galvanometer in real time; in the case that the trajectory point of the galvanometer is located in the jump path, calculating and determining the time delay from the current trajectory point to the marking start point, and setting the laser delay off light control according to the time delay from the current trajectory point to the marking start point; in the case that the trajectory point of the galvanometer is located in the marking path, calculating and determining the time delay from the current trajectory point to the jump start point, and setting the laser delay on light control according to the time delay from the current trajectory point to the jump start point.

[0013] In some embodiments, the galvanometer and the laser are controlled to cooperatively perform galvanometer processing according to the planned jump path and the preset fixed setting of the marking path, and the method further includes: the galvanometer performs forward or reverse processing along the marking path; in the end stage of the galvanometer processing, calculating and saving the forward trajectory for forward processing or the reverse trajectory for reverse processing.

[0014] The control device provided in the embodiments of the present application comprises a memory and a processor, the memory stores a computer program, and the processor is configured to execute the control method described above through the computer program.

[0015] The control method based on laser galvanometer scanning trajectory adjustment provided in the embodiments of the present application comprises: performing graph processing on a whole pattern to be processed to determine an engraved path and a jump path of the galvanometer motion; mapping an image coordinate system of the processed image to a galvanometer processing coordinate system to obtain a position of the whole pattern in the galvanometer processing coordinate system; determining an actual initial processing point according to a position relationship between a current position of the galvanometer and the position of the whole pattern; controlling the galvanometer to move to the actual initial processing point; using a trajectory planning algorithm to calculate a target motion trajectory for the jump path, the target motion trajectory being subjected to physical constraints; and controlling the galvanometer and the laser to cooperatively perform galvanometer processing according to the jump path obtained through planning and the engraved path set in advance.

[0016] The embodiments of the present application effectively eliminate a large amount of idle motion time caused by returning to a reference zero point in the traditional method through intelligent path planning and dynamic initial point positioning, and significantly improve the processing efficiency. Meanwhile, the jump trajectory is planned using a time optimal algorithm and subjected to physical constraints, which ensures the smoothness and stability of the galvanometer motion in a complex path, solves the problems of uneven processing depth and contour accuracy caused by speed fluctuation, and greatly improves the consistency and reliability of the processing quality. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0018] Figure 1 The working step schematic diagram of the control method based on laser galvanometer scanning trajectory adjustment provided in the embodiments of the present application.

[0019] Figure 2 The flowchart of the whole pattern segmentation provided in the embodiments of the present application.

[0020] Figure 3 The schematic diagram of the engraved path and the jump path provided in the embodiments of the present application.

[0021] Figure 4 The flowchart of the actual initial processing point provided in the embodiments of the present application.

[0022] Figure 5A flowchart of a process of planning a jump path is provided for an embodiment of the present application.

[0023] Figure 6 A flowchart of a process of mirror machining is provided for an embodiment of the present application.

[0024] Figure 7 An experimental graph of mirror machining is provided for an embodiment of the present application.

[0025] Figure 8 A first schematic diagram of mirror starting position point planning is provided for an embodiment of the present application.

[0026] Figure 9 A second schematic diagram of mirror starting position point planning is provided for an embodiment of the present application.

[0027] Figure 10 A third schematic diagram of mirror starting position point planning is provided for an embodiment of the present application.

[0028] Figure 11 A schematic diagram of marking experimental graphs based on the same starting point is provided for an embodiment of the present application.

[0029] Figure 12 A schematic diagram of marking experimental graphs based on different starting points is provided for an embodiment of the present application.

[0030] Figure 13 A simulation schematic diagram for different target speed requirements is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0031] A laser mirror scanning system realizes directional irradiation of a laser beam by controlling the deflection of a two-axis mirror, and has become a core technology in the fields of laser marking, precision welding, and micro-machining.

[0032] In related technologies, the laser mirror scanning system requires the mirror to return to the reference zero point before and after executing each machining task. When the machining graph contains multiple discrete elements, the repeated idle motion increases the additional motion trajectory of the mirror and a large amount of non-productive time. Secondly, the motion performance of the mirror is affected by multiple factors such as environmental conditions (e.g., temperature changes), mechanical performance, control methods, etc., and it is difficult to maintain a constant scanning speed on a complex trajectory. Changes in the curvature of the trajectory will inevitably cause speed fluctuations, which in turn cause uneven machining depth and inconsistent surface quality. Conventional trajectory planning does not adequately consider the physical constraints of the mirror system, and vibration and overshoot phenomena often occur at trajectory turning points, which seriously affects the contour accuracy and machining stability.

[0033] To solve the above technical problems, the embodiment of the present application provides a control method and a control device based on laser galvanometer scanning trajectory adjustment, aiming to eliminate unnecessary idle motion and ensure the smoothness and stability of full motion, so as to comprehensively improve the comprehensive performance of laser processing.

[0034] The embodiment of the present application can be applied to the application scenarios of laser galvanometer system, such as the industrial field of laser processing such as marking, welding, cleaning and additive manufacturing.

[0035] The control method based on laser galvanometer scanning trajectory adjustment provided by the exemplary embodiment of the present application will be described below in combination with the above-described application scenarios, with reference to the accompanying drawings. It should be noted that the above-described application scenarios are only shown for the purpose of facilitating the understanding of the principles of the present application, and the embodiments of the present application are not limited in this respect.

[0036] Figure 1 The working steps of the control method based on laser galvanometer scanning trajectory adjustment provided by the embodiment of the present application are shown in the figure. Figure 1 As shown in the figure, the control method based on laser galvanometer scanning trajectory adjustment provided by the embodiment of the present application comprises: Step 01: performing graphic processing on the overall pattern to be processed to determine the marking path and the jump path of the galvanometer motion; Step 02: mapping the image coordinate system of the processed image to the galvanometer processing coordinate system to obtain the position of the overall pattern in the galvanometer processing coordinate system; Step 03: determining the actual initial processing point according to the position relationship between the current position of the galvanometer and the overall pattern; Step 04: controlling the galvanometer to move to the actual initial processing point; Step 05: using a trajectory planning algorithm to calculate the target motion trajectory for the jump path, and the target motion trajectory is subjected to physical constraints; Step 06: controlling the galvanometer and the laser to cooperatively perform galvanometer processing according to the jump path obtained by planning and the marking path set in advance.

[0037] Specifically, first, the overall pattern to be processed is processed to identify and segment the continuous marking path and the jump path connecting different path segments, and the graphic coordinates are accurately mapped to the galvanometer processing coordinate system. Then, the system dynamically determines the best actual initial processing point according to the position relationship between the current position of the galvanometer and the pattern, and controls the galvanometer to move to the actual initial processing point. On this basis, a real-time trajectory algorithm is used to calculate the optimal motion trajectory under physical constraints for the jump path, while the marking path is run according to the preset trajectory, and finally the cooperative processing control of the galvanometer and the laser is realized.

[0038] Therefore, the embodiment of the application effectively eliminates the large amount of idle movement time caused by returning to the reference zero point in the traditional method through intelligent path planning and dynamic initial point positioning, and significantly improves the processing efficiency. At the same time, the time-optimal algorithm is used to plan the jump trajectory and apply physical constraints to ensure the smoothness and stability of the movement of the galvanometer in the complex path, solve the problem of uneven processing depth and contour precision caused by speed fluctuation, and greatly improve the consistency and reliability of the processing quality.

[0039] In some embodiments, the above step 01 comprises: segmenting the whole pattern to be processed into a plurality of independent sub-patterns with continuous marking paths; identifying the end points of each independent sub-pattern; defining the paths between the end points of different independent sub-patterns as jump paths; defining the paths within the same independent sub-pattern as marking paths.

[0040] Specifically, Figure 2 the flowchart of the segmentation process of the whole pattern by the embodiment of the application.

[0041] As Figure 2 shown, the whole pattern is segmented into independent sub-patterns with continuous marking paths. The end points of each sub-pattern are identified, and the paths between the end points of different sub-patterns are jump paths.

[0042] Intelligent analysis and path classification are performed on the whole pattern to be processed. First, the pattern is segmented into a plurality of independent sub-patterns with continuous marking paths according to the geometric characteristics of the pattern, and each sub-pattern represents a continuous trajectory unit that can be completed without interruption. Then the system accurately identifies the key end points of each independent sub-pattern, which constitute the key nodes of the path connection.

[0043] It can be understood that it generally takes longer to "start from the middle to both ends" than to "start from one end to the other end". For example, if a single pattern starts marking from the middle position, there will be repeated trajectories or unnecessary jump paths. The non-processing movement paths between the end points of different sub-patterns are defined as jump paths, and the continuous trajectories within the same sub-pattern that need to be laser etched or welded are the core marking paths.

[0044] Figure 3 The schematic diagram of the marking path and the jump path provided by the embodiment of the application is shown in Figure 3 As shown, the solid arrow is the marking path, and the dashed arrow is the jump path. Assuming that the pattern is marked from b, the "marking path" b->a->b->c or the "marking path" b->a, the "jump path" a->c, the "marking path" c->b or the "marking path" b->a, the "jump path" a->b, and the "marking path" b->c.

[0045] In some embodiments, the step 02 comprises: The processed image is a plurality of independent sub-images, and the end points of each independent sub-image are identified to define the edge curve of each independent sub-image. The image coordinate system of the edge curve of each independent sub-image is mapped to the galvanometer processing coordinate system to define the position of the edge of the overall image in the galvanometer processing coordinate system, and thus the position of the overall image in the galvanometer processing coordinate system is obtained.

[0046] Specifically, the processing image can start from any position point, and there are different path modes starting from different points. The arbitrary position point can be outside, inside or on the sub-image of the overall image.

[0047] As shown in the following figure, according to the edge curve of the sub-image, the edge of the overall image is defined. The image coordinate system needs to be mapped to the galvanometer processing coordinate system. Figure 2

[0048] The system identifies the end points of each independent sub-image one by one, which are usually located at the beginning, end or key turning point of the sub-image. By identifying these end points, the edge curve of each independent sub-image can be accurately defined, that is, the complete contour boundary of the sub-image is outlined.

[0049] The edge curve of each independent sub-image is mapped from its original image coordinate system to the galvanometer processing coordinate system. Through the mapping, the specific position of the edge of the overall image in the galvanometer processing coordinate system can be defined, including the collection of all sub-image edges, so as to finally obtain the accurate position information of the entire image to be processed in the galvanometer processing coordinate system.

[0050] In some embodiments, the step 03 comprises: In the case that the current position of the galvanometer is located outside the overall image, the shortest distance point between the current position of the galvanometer and the edge of the overall image is found; In the case that the shortest distance point is a marking point on the marking path, the shortest distance point and the shortest distance point of the jump path are found as the actual initial processing point; In the case that the shortest distance point is a jump point on the jump path, the shortest distance point is determined as the actual initial processing point; In the case that the current position of the galvanometer is located inside the overall image, the shortest distance point between the current position of the galvanometer and the jump path is found as the actual initial processing point.

[0051] ​Specifically, during processing, the galvanometer is automatically adjusted to move to the actual initial processing point, rather than being reset to the "zero point" position each time it is started. According to the position of the initial position on the "overall pattern", the optimal actual initial processing point is found to ensure that the marking path is entered at a stable speed. The actual initial processing point is the jump path point.

[0052] Figure 4 A flowchart for querying the actual initial processing point is provided for the embodiments of the present application. As shown in Figure 4 When the current position of the galvanometer is outside the overall pattern, the system first calculates the shortest distance point between the current position and the edge of the overall pattern, aiming to minimize the idle movement time of the galvanometer and thus improve processing efficiency.

[0053] If the found shortest distance point happens to be on the marking path, i.e. the point is an actual trajectory point that needs to be processed by laser, the system will further find the shortest distance point between the marking point and the jump path, and determine this point as the actual initial processing point. This is done to avoid the problems of unstable speed or trajectory conflict that may be caused by directly starting processing from the marking path, and to ensure smooth transition of the galvanometer to the processing state. On the contrary, if the shortest distance point itself is a point on the jump path, the system will directly take this point as the actual initial processing point, because the jump path is usually designed as a transition trajectory connecting different sub-patterns, and starting from this point can quickly enter the processing flow and reduce unnecessary adjustments.

[0054] On the other hand, when the current position of the galvanometer is inside the overall pattern, the system will preferentially calculate the shortest distance point between the current position and the jump path, and take it as the actual initial processing point, because directly connecting the jump path inside the pattern can maximize the use of existing position advantages, avoid additional movement overhead, and at the same time ensure accurate positioning of the processing starting point.

[0055] In step 03 described above, the entire decision-making process is based on the consideration of optimizing the motion trajectory and reducing non-productive time. Through intelligent analysis of the position relationship, the system can dynamically adapt to different scenarios to ensure that the galvanometer is always in the best starting position before starting processing, thereby improving the overall processing accuracy and efficiency.

[0056] In some embodiments, step 05 described above includes: setting the position of the jump start on the jump path and the position of the jump end point; calculating the target motion trajectory for the jump path using a real-time trajectory algorithm to determine the time-optimal trajectory from the jump start point to the jump end point within the range of physical condition limitations, so that the multiple degrees of freedom of the galvanometer are synchronized to reach the jump end point at the same time point.

[0057] Specifically, the real-time trajectory algorithm can adopt the Ruckig algorithm, which is a real-time, jerk-limited, time-optimal trajectory generation algorithm that can calculate a trajectory from any initial state (position, velocity, acceleration) to the target state while satisfying the velocity, acceleration, and jerk constraints.

[0058] The system uses the Rucking algorithm to calculate the target motion trajectory for the jump path. The Rucking algorithm can intelligently calculate the absolute shortest motion trajectory from the jump starting point to the ending point while strictly following the inherent physical constraints of the galvanometer system, such as maximum speed, acceleration, and jerk. It also ensures that multiple degrees of freedom of the galvanometer can be accurately coordinated and controlled, thereby achieving synchronous arrival at the jump end position at the same time point. This synchronization avoids trajectory errors, mechanical vibrations, or pauses caused by different arrival times of multiple motion axes, ensuring the smoothest and most stable jump process and laying a solid foundation for subsequent high-precision marking processing.

[0059] In some embodiments, a real-time trajectory algorithm is used to calculate the target motion trajectory for the jump path to determine the time-optimal trajectory from the jump starting point to the jump ending point within the range of physical constraints, so that multiple degrees of freedom of the galvanometer can reach the jump ending point at the same time point, including: According to the distance from the jump starting point to the jump ending point, the physical constraints are set in segments, including velocity constraints, acceleration constraints, and jerk constraints; According to the velocity constraints, acceleration constraints, and jerk constraints of each segment of the path, a real-time trajectory algorithm is used to calculate the corresponding target motion trajectory for the jump path, and multiple target motion trajectories form the jump path.

[0060] Specifically, Figure 5 A flowchart for planning a jump path is provided for the embodiments of the present application. As shown in Figure 5 The jump path is divided into multiple consecutive segments, and the jump path segmentation constraint method can adapt to the complexity and dynamic requirements of the path. For example, in a long-distance jump, different segments may face different motion conditions, so customized constraints are needed to optimize performance.

[0061] Each segment has independent physical constraint conditions, including strict velocity constraints to control the maximum rate of motion, acceleration constraints to limit the speed of change, and jerk constraints to manage the smooth change of acceleration, thereby avoiding vibrations or stresses in the mechanical system due to sudden changes.

[0062] Based on the Ruckig algorithm, the corresponding target motion trajectory is calculated for each path segment. This algorithm takes into account the speed, acceleration and jerk constraints of the current segment, and solves the motion scheme with the shortest time within the physical condition limit through mathematical modeling, ensuring that the galvanometer moves in the optimal way on each path segment.

[0063] After planning a target motion trajectory for a segment, the system updates the current motion state of the galvanometer, including position, speed and acceleration, as the new starting state, which serves as the initial condition for the next path planning. Then the process is repeated to calculate the target motion trajectory for the subsequent segment. This iterative planning strategy allows the system to adapt to path changes in real time, improving the flexibility and accuracy of the planning. Ultimately, the target motion trajectories of all segments will be seamlessly connected to form a complete jump path.

[0064] In some embodiments, a real-time trajectory algorithm is used to calculate a target motion trajectory for each path segment based on the speed, acceleration and jerk constraints of each path segment. Each target motion trajectory constitutes a jump path, including: The starting state and ending state of the jump trajectory are determined as boundary conditions. According to the boundary conditions and the speed, acceleration and jerk constraints of each target motion trajectory, the target speed, target acceleration and target jerk of the galvanometer at the jump end point are set, where the target speed, target acceleration and target jerk are all expected values.

[0065] Specifically, the engraved trajectory is a fixed trajectory that must follow the specified trajectory. The jump trajectory is a variable trajectory that is calculated by the Ruckig algorithm to be the time-optimal trajectory from the jump start point to the jump end point within the physical condition limit, with the X and Y axes of the galvanometer reaching the jump end point simultaneously at the same time point.

[0066] The speed, acceleration and jerk of the galvanometer are limited by the scanning distance and mechanical performance. The Ruckig algorithm for the jump trajectory is set with speed, acceleration and jerk constraints. The range of each path segment, speed constraint, acceleration constraint and jerk constraint can be as shown in Table 1:

[0067] Table 1 Jump trajectory: Starting state Ending state The coefficient C* is obtained through the boundary conditions of the starting and ending states. The speed, acceleration and jerk constraints are processed by the table above.

[0068] Braking time:

[0069] In the case that the speed, acceleration and jerk meet the limit constraint conditions, the time cost is the shortest, the speed reaches the stable speed, and the speed, acceleration and jerk will not have mutations. The target speed, target acceleration and target jerk of the galvanometer at the jump end point are all expected values, so as to enter the engraved trajectory at the expected stable speed.

[0070] In some embodiments, the above step 06 comprises: The laser is turned off, and trajectory planning is performed according to the current position of the galvanometer and the actual initial machining point to control the movement of the galvanometer to the actual initial machining point. After the galvanometer moves to the actual initial machining point, the trajectory points of the galvanometer are checked in real time. In the case that the trajectory point of the galvanometer is located on the jump path, the time delay from the current trajectory point to the starting point of the engraving is calculated and determined, and the laser delay open light control is set according to the time delay from the current trajectory point to the starting point of the engraving. In the case that the trajectory point of the galvanometer is located on the engraved path, the time delay from the current trajectory point to the starting point of the jump is calculated and determined, and the laser delay off light control is set according to the time delay from the current trajectory point to the starting point of the jump.

[0071] Specifically, Figure 6 The flowchart of the galvanometer machining process provided by the embodiments of the present application is shown in FIG. 1. Figure 6 As shown in FIG. 1, the laser is in an off state, and then fine trajectory planning is performed according to the current position of the galvanometer and the pre-determined actual initial machining point to control the smooth movement of the galvanometer to the machining point. After the galvanometer successfully moves to the actual initial machining point, the system will monitor each trajectory point of the galvanometer in real time, and continuously check the position attribute thereof. If it is detected that the current trajectory point is located on the jump path, the system will immediately calculate the time delay from the point to the starting point of the engraving, which is dynamically determined based on the movement speed and distance, and accurately set the laser delay open light control according to the calculation result, so as to ensure that the laser is turned on at the appropriate time to avoid premature exposure. On the contrary, if the current trajectory point is located on the engraved path, the system will calculate the time delay from the point to the starting point of the jump, and set the laser delay off light control according to the calculation result, so as to ensure that the laser is turned off in time when needed to prevent over-machining.

[0072] In some embodiments, the above step 06 further comprises: The galvanometer performs forward or reverse machining along the engraved path. In the end stage of the galvanometer machining, the forward trajectory for forward machining or the reverse trajectory for reverse machining is calculated and saved.

[0073] Specifically, in the galvanometer processing process, the system controls the galvanometer to move forward or backward along the preset marking path to adapt to different processing requirements. In the stage when the processing is about to end, the system will calculate and save the corresponding motion trajectory in real time. If forward processing is adopted, the forward trajectory is saved, and if reverse processing is adopted, the reverse trajectory is saved. These trajectory data are used for subsequent path optimization or repeated processing tasks, to ensure the accuracy and repeatability of the processing process.

[0074] Figure 7 The experimental graph of the galvanometer processing provided by the embodiment of the present application is shown in FIG. 1. As shown in the figure, the boundary of the whole graph is L1-L2-L3-L4, and the sub-graphs are L, C, and S. In the following figures, the "thick solid line" is the jump path, and the "dotted line segment" is the marking path. Figure 7

[0075] Based on the control method of laser galvanometer scanning trajectory adjustment, the galvanometer is controlled to process the experimental graph and obtain corresponding experimental data to verify the technical effect.

[0076] In a first embodiment of the galvanometer processing the experimental graph, Figure 8 The first schematic diagram of the galvanometer starting position point planning provided by the embodiment of the present application is shown in FIG. 2. As shown in the figure, the galvanometer starting position point is A point, and the closest graph intersection point A1 to A is selected as the starting point for trajectory planning. For example, A->A1->a->b->c->d->e->f->g. Figure 8

[0077] The second schematic diagram of the galvanometer starting position point planning provided by the embodiment of the present application is shown in FIG. 3. As shown in the figure, the galvanometer starting position point is B point, and trajectory planning is started from B point. For example, B->d->e->f-g->c->b->a. Figure 9 Figure 9 The third schematic diagram of the galvanometer starting position point planning provided by the embodiment of the present application is shown in FIG. 4. The galvanometer starting position is C point, and trajectory planning is started from L1 point. For example, C->L1->a->b->c->d->e->f->g. Starting from L1, it is ensured to enter the marking point a at a constant speed.

[0078] Figure 10 In a second embodiment of the galvanometer processing the experimental graph, The schematic diagram of marking the experimental graph based on the same point provided by the embodiment of the present application is shown in FIG. 5. As shown in the figure, the marking sequence is:

[0079] Figure 11 Figure 11

[0080] ​​​​The text "LCS" was repeatedly marked 100 times, and the process was repeated 10 times. The average time was 3.3 seconds. The specific experimental data is shown in Table 2.

[0081] Table 2 The text "LCS" was repeatedly marked 1000 times, and the process was repeated 10 times. The average time was 35.4 seconds. The specific experimental data is shown in Table 3.

[0082] Table 3 Figure 12 This is a schematic diagram illustrating an experimental pattern based on marking starting from different points, as provided in an embodiment of this application. Figure 12 As shown, the marking order is as follows:

[0083] Repeat the rotation in the order described above.

[0084] Repeatedly marking the text "LCS" 100 times, executing 10 times, with an average time of 2.7 seconds. This saves an average of 0.6 seconds compared to (1). Experimental data are as follows: Figure 4 As shown:

[0085] Table 4 Repeatedly marking the text "LCS" 1000 times, executed 10 times, with an average time consumption of 26.1 seconds. This saves an average of 9.3 seconds compared to (1).

[0086]

[0087] Table 5 It should be noted that the above times are the results obtained by the host computer based on the working status feedback from the control card.

[0088] For different target speed requirements, with the same start and end points, trajectory algorithms can produce different trajectory results. For example, position is measured in urad, velocity in urad / us, and acceleration in urad / us².

[0089] In the third embodiment of processing the experimental pattern with a galvanometer, the initial state has a velocity of (0,0), an acceleration of (0,0), and a position coordinate of (-70000, -70000); the final state has velocities of (5,5), (10,10), (20,20), (30,30), an acceleration of (0.03,0.03), and a position coordinate of (70000, 56000).

[0090] Figure 13 The following are simulation diagrams illustrating different target speed requirements provided for embodiments of this application.Figure 13 As shown, based on the simulation software simulation can be obtained first degree of freedom (X axis) data, second degree of freedom (Y axis) data.

[0091] In summary, the control method based on laser galvanometer scanning trajectory adjustment provided by the embodiments of the application has at least the following technical effects: (1) The galvanometer can start action from any starting point, automatically adjust the trajectory, without additional jump "zero point" action, flexible operation and save additional processing time.

[0092] (2) The scanning trajectory can automatically reverse action, without processing from the same starting point each time, especially in large quantities, which can save processing time.

[0093] (3) The real-time trajectory algorithm is applied to the laser galvanometer system, so that the galvanometer motion process time is optimal while the trajectory is smooth, and the galvanometer action is also free of mutation.

[0094] (4) The real-time trajectory algorithm is applied to the laser galvanometer system, with any appropriate shape trajectory as "jump trajectory", not limited to processing of several predefined "pre-trajectory", which can adapt to changing galvanometer working conditions.

[0095] (5) The real-time trajectory algorithm is applied to the laser galvanometer system, which can enter the "marking trajectory" process at a stable expected speed, acceleration and jerk, so that the entire marking process is uniform motion, ensuring the quality of the marking trajectory and improving the processing effect.

[0096] The control device provided by the embodiments of the application includes a memory and a processor, the memory stores a computer program, and the processor is configured to execute the control method of the above-mentioned embodiments by the computer program. The embodiments of the control device include the control method based on laser galvanometer scanning trajectory adjustment of the above-mentioned embodiments, which will not be described here.

[0097] Exemplarily, the control method based on laser galvanometer scanning trajectory adjustment provided by the embodiments of the application can be executed by a computer device, which can be a terminal or a server and the like. The terminal can be a tablet computer, a notebook computer, a desktop computer, a personal computer (PC) device. The server can be a standalone physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, and basic cloud computing services such as big data and artificial intelligence platforms. But not limited to this. The terminal and the server can be connected directly or indirectly through wired or wireless communication, which is not limited in the embodiments of the application.

[0098] The laser galvanometer system provided by the embodiments of the present application comprises the control device provided by the embodiments of the present application. The embodiments of the laser galvanometer system comprise the control method and the control device based on the laser galvanometer scanning track adjustment in the above-described embodiments, which are not described herein again.

[0099] Those skilled in the art can clearly understand that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0100] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which are not described herein again.

[0101] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be realized by other ways. For example, the above-described device embodiments are only schematic, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0102] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the essential part or part of the technical solutions that make contributions to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server) to execute all or part of the steps of the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk and various program code storage media.

[0103] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method based on laser galvanometer scanning trajectory adjustment, characterized in that, Includes the following steps: Perform graphic processing on the overall graphic to be processed to determine the marking path and jump path of the galvanometer movement; The image coordinate system of the processed image is mapped to the galvanometer machining coordinate system to obtain the position of the overall graphic in the galvanometer machining coordinate system; The actual initial processing point is determined based on the current position of the galvanometer and its positional relationship with the overall graphic. Control the movement of the galvanometer to the actual initial processing point; A trajectory planning algorithm is used to calculate the target motion trajectory for the jump path, and the target motion trajectory is subject to physical constraints. Based on the planned jump path and the preset fixed marking path, the galvanometer and laser are controlled to work together to perform galvanometer processing.

2. The control method based on laser galvanometer scanning trajectory adjustment according to claim 1, wherein, The process of image processing of the overall graphic to be processed, determining the marking path and jump path of the galvanometer movement, includes: The overall graphic to be processed is divided into multiple independent sub-graphics with continuous marking paths; Identify the endpoints of each of the individual sub-graphs; The path between different independent sub-graphic endpoints is defined as the jump path; Paths within the same independent subgraph are defined as marked paths.

3. The control method based on laser galvanometer scanning trajectory adjustment according to claim 1, wherein, The step of mapping the image coordinate system of the processed image to the galvanometer processing coordinate system to obtain the position of the overall graphic in the galvanometer processing coordinate system includes: The processed image is divided into multiple independent sub-images. The endpoints of each independent sub-image are identified to define the edge curve of each independent sub-image. The image coordinate system of the edge curve of each independent sub-graphic is mapped to the galvanometer machining coordinate system to define the position of the edge of the overall graphic in the galvanometer machining coordinate system, thereby obtaining the position of the overall graphic in the galvanometer machining coordinate system.

4. The control method based on laser galvanometer scanning trajectory adjustment according to claim 1, wherein, Determining the actual initial processing point based on the positional relationship between the current position of the galvanometer and the overall graphic includes: If the current position of the galvanometer is outside the overall pattern, find the point where the current position of the galvanometer is the shortest distance from the edge of the overall pattern; If the shortest distance point is a mark point on the mark path, find the shortest distance point between the shortest distance point and the jump path as the actual initial processing point; If the shortest distance point is a jump point on the jump path, the shortest distance point is determined as the actual initial processing point; If the current position of the galvanometer is inside the overall pattern, find the point with the shortest distance between the current position of the galvanometer and the jump path as the actual initial processing point.

5. The control method based on laser galvanometer scanning trajectory adjustment according to claim 1, characterized in that, The trajectory planning algorithm is used to calculate the target motion trajectory for the jump path, and the target motion trajectory is subject to physical constraints, including: Set the starting position and ending position of the jump on the jump path; The target motion trajectory is calculated for the jump path using a real-time trajectory algorithm to determine the optimal trajectory from the jump start point to the jump end point within the physical constraints, so that the multiple degrees of freedom of the galvanometer reach the jump end point synchronously at the same time.

6. The control method based on laser galvanometer scanning trajectory adjustment according to claim 5, characterized in that, The step of using a real-time trajectory algorithm to calculate the target motion trajectory for the jump path, in order to determine the optimal time trajectory from the jump start point to the jump end point within the constraints of physical conditions, so that the multiple degrees of freedom of the galvanometer arrive at the jump end point synchronously at the same time point, includes: Based on the distance from the jump start point to the jump end point, the segmented physical constraints include velocity constraints, acceleration constraints, and jerk constraints; Based on the velocity constraints, acceleration constraints, and jerk constraints of each path segment, a corresponding target motion trajectory is calculated for the jump path using a real-time trajectory algorithm, and multiple target motion trajectories constitute the jump path.

7. The control method based on laser galvanometer scanning trajectory adjustment according to claim 6, characterized in that, The step involves calculating a target motion trajectory for each jump path using a real-time trajectory algorithm based on the velocity, acceleration, and jerk constraints of each path segment. Each of these target motion trajectories constitutes the jump path, including: The start and end states of the jump trajectory are defined as boundary conditions; Based on the boundary conditions and the velocity constraints, acceleration constraints, and jerk constraints corresponding to each segment of the target motion trajectory, the target velocity, target acceleration, and target jerk are set at the jump end point of the galvanometer, wherein the target velocity, the target acceleration, and the target jerk are all expected values.

8. The control method based on laser galvanometer scanning trajectory adjustment according to claim 1, characterized in that, The step of controlling the galvanometer and laser to perform galvanometer processing in coordination, based on the planned jump path and the preset fixed marking path, includes: The laser is turned off, and trajectory planning is performed based on the current position of the galvanometer and the actual initial processing point to control the galvanometer to move to the actual initial processing point; After the galvanometer moves to the actual initial processing point, the trajectory points of the galvanometer movement are checked in real time. When the trajectory point of the galvanometer movement is located on the jump path, the time delay from the current trajectory point to the starting point of the mark is calculated and determined, and the laser delay switching control is set according to the time delay from the current trajectory point to the starting point of the mark. When the trajectory point of the galvanometer movement is located on the marking path, the time delay from the current trajectory point to the jump start point is calculated and determined, and the laser delay shutdown control is set according to the time delay from the current trajectory point to the jump start point.

9. The control method based on laser galvanometer scanning trajectory adjustment according to any one of claims 1-8, characterized in that, The step of controlling the galvanometer and laser to perform galvanometer processing in coordination according to the planned jump path and the preset fixed marking path also includes: The galvanometer is processed in either the forward or reverse direction along the marking path; At the end of the galvanometer processing stage, the forward trajectory for forward processing or the reverse trajectory for reverse processing is calculated and saved.

10. A control device, characterized in that, The control device includes a memory and a processor. The memory stores a computer program, and the processor is configured to execute the control method based on laser galvanometer scanning trajectory adjustment as described in any one of claims 1 to 9 through the computer program.

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