Automatic idle stroke path planning method and device, computer program product and laser cutting equipment

Abstract

The invention discloses an idle stroke path automatic planning method and device, a computer program product and laser cutting equipment. The method comprises the steps that the current pose state of a cutting gun and the initial target pose state of a next machining section are obtained in real time; on the basis of the state information and preset safety parameters, automatically planning an idle stroke moving path comprising at least one intermediate point through an algorithm; and finally, the cutting gun is controlled to move along the planned path. By introducing an intelligently calculated middle point, the space position and the attitude angle of the cutting gun are forced to be synchronously and smoothly transited instead of directly jumping in the moving process. The motion smoothness is obviously improved, and the cutting efficiency is effectively improved.

Description

Technical Field

[0001] This application relates to the field of laser processing, and in particular to an automatic path planning method, apparatus, computer program product, and laser cutting equipment. Background Technology

[0002] With the increasing demands for processing efficiency and precision in the manufacturing industry, fiber laser beveling technology has been widely adopted due to its advantages. In five-axis laser beveling equipment, the control system (CAM) can precisely plan the processing trajectory itself. However, for the idle movement process between two processing trajectories—that is, the non-processing stage where the cutting torch moves from the end point of the previous trajectory to the beginning point of the next trajectory—the industry's conventional practice is to use a fixed and conservative idle movement pattern. The typical steps are: first, control the cutting torch to vertically lift (Z-axis upward movement); then, straighten the cutting torch (returning the A / B axes to zero); then continue lifting to a higher, safer height; next, control the cutting torch to translate horizontally above the target point; then, follow up by descending to the surface of the sheet metal; finally, pierce and sway to the required beveling angle before starting the next cutting segment. Due to the complexity of the mechanical structure and motion state, this process involves a large number of unnecessary vertical lifting, straightening, translation, and downward movements, resulting in a long idle path and frequent, disjointed action transitions. This not only significantly increases the time required for idle movement but also reduces overall cutting efficiency. Summary of the Invention

[0003] This application proposes an automatic empty path planning method, device, computer program product, and laser cutting equipment, which can automatically plan the empty path, solve the problem of long empty paths, and improve motion efficiency.

[0004] This application proposes an automatic empty route planning method, including the following steps: Obtain the current state information of the cutting torch at the current cutting stage, the current state information including the current spatial position and the current attitude angle; Obtain the target state information of the starting point of the next cutting stage, the target state information including the target spatial position and the target attitude angle; Based on the current state information, the target state information, and preset safety parameters, a flight path from the current state to the target state is determined. The idle travel path includes at least one intermediate point planned by the control system, which is used to ensure a smooth transition in the spatial position and attitude angle of the cutting torch during the movement process. The cutting torch is controlled to move along the idle travel path.

[0005] In some embodiments, determining the air travel path from the current state to the target state based on the current state information, the target state information, and preset safety parameters further includes the following steps: Calculate the distance the gun tip moves between the current spatial position and the target spatial position; Based on the relationship between the distance the gun tip moves and a preset distance threshold, the number of intermediate points in the air travel path and the planning strategy are determined.

[0006] In some embodiments, when the movement distance of the gun tip is less than a first preset distance threshold, it is determined to be a short-distance movement; The planning strategy is to insert an intermediate point between the current state point and the target state point, where the coordinate values ​​of each axis of the intermediate point are the arithmetic mean of the starting point coordinate value and the ending point coordinate value of the corresponding axis.

[0007] In some embodiments, when the movement distance of the gun tip is greater than or equal to a second preset distance threshold, it is determined to be a medium-to-long-distance movement; The planning strategy is to insert two intermediate points between the current state point and the target state point; wherein, the first intermediate point is determined by linear interpolation of the current state information and the target state information using a first proportional coefficient, and the first proportional coefficient is the ratio of a fixed distance value to the distance the gun tip moves; The second intermediate point is determined by linear interpolation of the current state information and the target state information using a second proportional coefficient, where the second proportional coefficient is the difference between 1 and the first proportional coefficient.

[0008] In some embodiments, determining the air travel path from the current state to the target state based on the current state information, the target state information, and preset safety parameters further includes the following steps: Based on the target spatial position and the target attitude angle, the target servo axis position is calculated by inverse kinematics, wherein the servo axis includes at least the X-axis, Y-axis, Z-axis, A-axis and B-axis; For each of the intermediate points, the cutting torch attitude angle of the intermediate point is calculated using forward kinematics based on the intermediate coordinates of each servo axis obtained by linear interpolation. The idle movement path is composed of linear interpolation instructions, each of which contains the spatial coordinates and attitude angle of a path point.

[0009] This application also proposes an automatic idle path planning device for use in a CNC system, the automatic idle path planning device comprising: The status acquisition module is used to acquire the current status information of the cutting torch and the target status information of the starting point of the next cutting stage. The current status information includes the current spatial position and the current attitude angle. The path planning module is used to plan the idle movement path based on the current state information, the target state information and preset safety parameters. The path planning module inserts at least one intermediate point so that the spatial position and attitude angle of the cutting torch can be smoothly transitioned synchronously. The motion control module is used to control the movement of the idle travel path.

[0010] In some embodiments, the route planning module includes: Distance calculation unit, used to calculate the distance the spear tip moves; The strategy selection unit is used to select the corresponding path planning strategy based on the movement distance of the gun tip, wherein different movement distances correspond to different numbers and methods of inserting intermediate points.

[0011] In some embodiments, the route planning module further includes: The interpolation calculation unit is used to calculate the coordinates of two intermediate points based on a linear interpolation algorithm when performing medium- to long-distance movement planning. The kinematic transformation unit is used to perform mutual conversion between the servo axis position and the cutting torch tip position and attitude angle.

[0012] In some embodiments, the automatic idle path planning is constructed as a macro program module within the CNC system; the macro program module is configured to rewrite the idle movement instructions and automatically call the path planning module when performing idle movement.

[0013] This application also proposes a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method.

[0014] This application also proposes a laser cutting device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above method.

[0015] This application proposes an automatic idle path planning method, apparatus, computer program product, and laser cutting equipment. It acquires the current pose state of the cutting torch and the initial target pose state of the next processing segment in real time. Based on this state information and preset safety parameters, an algorithm automatically plans an idle movement path containing at least one intermediate point. Finally, it controls the cutting torch to move along this planned path. By introducing intelligently calculated intermediate points, the spatial position and attitude angle of the cutting torch must transition synchronously and smoothly during movement, rather than jumping directly. This significantly improves motion smoothness and effectively enhances cutting efficiency. Attached Figure Description

[0016] Figure 1 This is a flowchart of an automatic empty-path planning method in one embodiment of this application; Figure 2 This is a schematic diagram of the attitude angle of the cutting torch in spatial coordinates in one embodiment of this application; Figure 3 This is a schematic diagram of the material support device in another embodiment of this application.

[0017] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] The solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0019] In this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Furthermore, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0020] This application proposes an automatic empty-course path planning method, referring to... Figures 1 to 3 The method includes the following steps: S1: Obtain the current state information of the cutting torch at the current cutting stage. The current state information includes the current spatial position and the current attitude angle. In this step, path planning must be based on an accurate initial state. The current state reflects the real-time position and attitude of the cutting torch after completing the previous cut. The attitude angle of the cutting torch is related to the angles of the A rotation axis and the B rotation axis.

[0021] Real-time reading is achieved by calling the application programming interface (API) functions of the numerical control system (CNC).

[0022] CUR_X=WCS("X"): Reads the current position of the X-axis in the workpiece coordinate system (WCS). WCS is the coordinate system used during programming.

[0023] CUR_Y=WCS("Y"): Reads the current position of the Y-axis in the workpiece coordinate system.

[0024] CUR_Z=APOS("Z"): Reads the current position of the Z-axis in the absolute coordinate system (APOS). APOS is the physical coordinate system of the machine tool.

[0025] CUR_A=APOS("A"): Reads the current angle of rotation axis A.

[0026] CUR_B=APOS("B"): Reads the current angle of the rotation axis B. The current status information of the cutting torch provides accurate and real-time starting point data for subsequent path calculation.

[0027] S2: Obtain the target state information of the starting point of the next cutting stage. The target state information includes the target spatial position and the target attitude angle. This step is to obtain the target state information. The goal of the idle movement is to safely and accurately reach the starting point of the next cutting segment and have the correct cutting attitude. The target attitude angle is related to the tip direction angle PHI and the bevel angle THETA. Therefore, the above target information comes from the NC code generated by the CAM software. In the macro program of the CNC system, these values ​​are usually passed through parameters, specifically in the following way: The endpoint gun tip command position X, CMD_X=@XVALUE: Assigns the value of the macro parameter @XVALUE to the variable CMD_X. @XVALUE is a parameter code. During execution, the CNC system will automatically assign the X coordinate value (e.g., X1000.0) of the next NC code segment to @XVALUE.

[0028] The endpoint gun tip command position Y, and CMD_Y=@YVALUE are similar.

[0029] The endpoint gun tip command position direction PHI, CMD_PHI=@DIRANGLE; the @DIRANGLE parameter receives the cutting gun direction angle defined in the next NC code segment.

[0030] The endpoint gun tip command position bevel angle THETA, CMD_THETA=@BEVANGLE; the @BEVANGLE parameter receives the bevel angle defined in the next NC code segment.

[0031] S3: Based on the current state information, the target state information, and preset safety parameters, determine the idle movement path from the current state to the target state, wherein the idle movement path includes at least one intermediate point planned by the control system, the intermediate point being used to ensure a smooth transition in the spatial position and attitude angle of the cutting torch during the movement process.

[0032] Safety parameters include CMD_Z. First, the table height ZT and sheet thickness T1 are obtained, and the height of the sheet's upper surface is calculated: ZO = ZT + T1. This is the reference plane to prevent collisions with the sheet. Then, a preset safety distance DZ (e.g., 20mm) is used to calculate the target safety height: CMD_Z = ZO + DZ. This step is crucial for resolving the upper limit alarm issue, ensuring the cutting torch remains above the safe height during its idle stroke. This step clarifies the endpoint of the idle movement and the target attitude, and introduces core safety constraints.

[0033] In this step, moving directly from the starting point to the ending point would cause abrupt changes in motion. By inserting one or more intermediate points, a complex motion can be decomposed into multiple simple, smooth linear motions, allowing control over the rate of change of position and attitude. In this embodiment, at least one intermediate point is inserted between the starting and ending points based on a certain algorithm (such as distance judgment). The position and attitude of this point represent a smooth transition between the starting and ending points. This enables a synchronous and smooth transition of the cutting torch's spatial position and attitude angle, fundamentally avoiding motion shocks.

[0034] S4: Control the cutting torch to move along the planned idle travel path. This step converts the planned mathematical path point sequence into instructions that the CNC system can recognize and execute, driving the servo motor to move in coordination. Specifically, the planned path points (such as start point, intermediate point 1, intermediate point 2, and end point) can be sequentially generated into a series of G01 (linear interpolation) instructions. For example: G01 X[X1] Y[Y1] Z[Z1] A[A1] B[B1] F[F1]. The system executes these instructions to control the cutting torch to move along the predetermined path. Thus, the optimization algorithm is transformed into precise movement of the equipment, completing the idle travel task.

[0035] In some embodiments, step S3 above may further include the following steps: calculating the gun tip movement distance between the current spatial position and the target spatial position; determining the number of intermediate points in the air travel path and the planning strategy based on the relationship between the gun tip movement distance and a preset distance threshold.

[0036] In this step, the distance traveled is the primary factor determining the complexity of the motion. Short-distance movements are more sensitive to the smoothness of attitude changes, while long-distance movements require a balance between efficiency and motion stability. Adopting a uniform strategy is uneconomical; adaptive selection is necessary.

[0037] The distance the gun tip moves is LENG. First, the servo axis position (NEXT_X, NEXT_Y) corresponding to the target point needs to be calculated. This can be done through inverse kinematics. Then, the projected movement distance of the gun tip on the XY plane is calculated: LENG = SQRT((NEXT_X - CUR_X)^2 + (NEXT_Y - CUR_Y)^2). SQRT represents the square root operation. This distance reflects the scale of the idle movement.

[0038] When the X-axis movement distance is large, MAXXY = ABS(NEXT_X - CUR_X); When the Y-axis shift distance is large, MAXXY = ABS(NEXT_Y - CUR_Y); When the A-axis moves a large distance, MAXAB = ABS(NEXT_A - CUR_A); When the B-axis moves a large distance, MAXAB = ABS(NEXT_B - CUR_B).

[0039] Based on a distance-based strategy, the length of motion (LENG) is compared with a preset distance threshold (e.g., 300mm). If LENG < 300mm, it is considered a short-distance movement, and an intermediate point can be inserted into the idle path. If LENG >= 300mm, it is considered a medium-to-long-distance movement, and two intermediate points can be inserted into the idle path. This achieves adaptive optimization of path planning. The most suitable strategy is adopted for different movement scenarios to maximize idle movement efficiency while ensuring stability.

[0040] When the movement distance of the gun tip is less than the first preset distance threshold, it is determined to be a short-distance movement. At this point, MAXAB and MAXXY are then evaluated. When MAXAB < 1 and MAXXY < 10, and both the AB, X, and Y axes have moved relatively short distances, no additional path planning is needed; the movement can proceed directly to the correct position. Control code: N2000 G01 X[CMD_X]Y[CMD_Y]Z[CMD_Z]PHI[CMD_PHI]THETA[CMD_THETA] When MAXAB > 1 or MAXXY > 10, the planning strategy is to insert an intermediate point between the current state point and the target state point. The coordinates of each axis of this intermediate point are the arithmetic mean of the starting and ending coordinates of the corresponding axis. For short-distance movements, inserting a point exactly midway between the starting and ending points most effectively decomposes a possible abrupt change in angle and position into two more gradual linear movements. The arithmetic mean is the most direct way to calculate the midpoint. P1X=(CUR_X+CMD_X) / 2; P1Y=(CUR_Y+CMD_Y) / 2; P1Z=CMD_Z / / The Z-axis is directly raised and maintained at a safe height; P1A = (CUR_A + NEXT_A) / 2; P1B=(CUR_B+NEXT_B) / 2; The planned path is then divided into two segments: from the starting point to point P1, and from point P1 to the ending point. This achieves extreme smoothness over short distances with minimal computation, effectively eliminating mechanical vibrations and impacts commonly experienced during small-scale movements.

[0041] Furthermore, when the movement distance of the gun tip is greater than or equal to the second preset distance threshold, it is determined to be a medium-to-long-distance movement. The planning strategy is as follows: insert two intermediate points; the first intermediate point P1 is determined by linear interpolation using a first proportional coefficient t1, where t1 is the ratio of a fixed distance value to the movement distance of the gun tip; the second intermediate point (P2) is determined by linear interpolation using a second proportional coefficient t2, where t2 = 1 - t1. The second preset distance threshold can also be 300mm. In addition, the target servo axis position needs to be obtained through inverse kinematics based on the target spatial position and attitude angle. For each intermediate point, the cutting torch attitude angle (PHI, THETA) of that intermediate point is calculated through forward kinematics based on the intermediate coordinates of the servo axis obtained by linear interpolation. The idle travel path consists of a series of G01 linear interpolation instructions. The NC program specifies the pose of the torch tip (TCP), but the CNC directly controls the X, Y, Z, A, and B servo axes. Inverse kinematics calculates the coordinate values ​​that each axis should reach based on the TCP pose. According to the five-axis machine tool motion control mechanism, the specific calculation formula is as follows: NEXT_A = -ATAN(TAN(CMD_THETA)*SIN(CMD_PHI)). This formula, based on the target bevel angle (THETA) and orientation angle (PHI), uses the principles of spherical trigonometry to inversely solve for the angle that the A-axis needs to rotate. ATAN is the arctangent function, TAN is the tangent function, and SIN is the sine function.

[0042] NEXT_B = ASIN(SIN(CMD_THETA)*COS(CMD_PHI)). Similarly, this formula can be used to solve for the angle along the B-axis. ASIN is the arcsine function, and COS is the cosine function.

[0043] NEXT_X = CMD_X + LENB0 - LENT0 * SIN(NEXT_B) - LENB0 * COS(NEXT_B). This formula is crucial for geometric compensation calculation. Since the tip (TCP) is not at the center of rotation on the B-axis, there are mechanical offsets LENB0 and LENT0. Therefore, to allow TCP to reach CMD_X, the actual position NEXT_X that the X-axis servo motor needs to move to must be compensated by adding a compensation amount to CMD_X: (LENB0 - LENT0 * SIN(NEXT_B) - LENB0 * COS(NEXT_B)). This compensation amount is a function of the B-axis angle NEXT_B. The calculation formulas for NEXT_Y and NEXT_Z are similar in principle. Alternatively, linear interpolation can be used to calculate the coordinates of intermediate points. A fixed distance value can be set, such as 100mm. The first scaling factor t1 = 100 / LENG is calculated. This means that point P1 is located at the 100 / LENG scale of the path from the starting point to the ending point. If LENG = 500mm, then t1 = 0.2, and P1 is at the 20% scale.

[0044] P1X = CUR_X + t1 * (CMD_X - CUR_X). This is the standard form of linear interpolation: Result = Starting point + Coefficient × (Ending point - Starting point). Similarly, calculate P1Y, P1Z, P1A, and P1B. Where P1Z = CMD_Z to ensure a safe height. Calculate the second proportional coefficient t2 = 1 - t1. Point P2 is located at the 80% mark (i.e., 100mm before the ending point). P2X = CUR_X + t2 * (CMD_X - CUR_X). The calculation method is the same as for P1.

[0045] In addition, the attitude angle of the midpoint needs to be calculated. Since the G01 command requires specifying the attitude angle of the gun tip (PHI, THETA), rather than the servo axis angle, the interpolated A and B axis angles (P1A, P1B) need to be converted back to attitude angles.

[0046] P1_THETA = ACOS(COS(P1A)*COS(P1B)). This formula calculates the actual muzzle bevel angle THETA from the angles along axes A and B. ACOS is an inverse cosine function.

[0047] P1_PHI=-ATAN(SIN(P1A) / TAN(P1B)). This formula calculates the muzzle direction angle PHI.

[0048] After completing the coordinate and attitude angle conversion, three G01 linear interpolation commands can be output: N2000 G01 X[P1X] Y[P1Y]Z[P1Z] PHI[P1_PHI]THETA[P1_THETA] F5000: Move synchronously and smoothly from the current position to the intermediate point P1 using linear interpolation at a speed of 5000 mm / min. During the movement, not only must the device reach the spatial position of point P1, but the attitude of the cutting torch must also be synchronously adjusted to the appropriate angle at point P1.

[0049] N2010 G01 X[P2X] Y[P2Y]Z[P2Z] PHI[P2_PHI]THETA[P2_THETA] F5000: Moves synchronously and smoothly from point P1 to point P2 at a high speed of 5000 mm / min. The attitude angle continues to smoothly change from the state at point P1 to the state at point P2.

[0050] N2020 G01 X[CMD_X] Y[CMD_Y]Z[CMD_Z] PHI[CMD_PHI]THETA[CMD_THETA]F2000: Completes the final movement, accurately reaches the processing starting point at a speed of 2000mm / min, and precisely sets the final bevel angle and direction angle required for cutting.

[0051] Furthermore, before executing the movement from the starting point P1, the CNC's look-ahead buffer has already read in multiple subsequent instruction segments. The system analyzes the angles between consecutive path segments. If the angle is small, the system will smoothly transition to the next segment without deceleration; if the angle is large, the system will calculate in advance that deceleration is needed at the end of the current segment to ensure a smooth turn and avoid impact. By inserting points P1 and P2, a large-angle movement is decomposed into multiple small-angle movements, greatly facilitating the smooth processing of the look-ahead algorithm. Additionally, the CNC utilizes S-curve acceleration and deceleration, allowing the servo driver to control the motor, making the speed, acceleration, and even jerk continuously change, forming a smooth S-shaped speed curve. The speed starts from 0, the acceleration gradually increases to its maximum value, then remains constant, and finally gradually decreases to 0, reaching the instruction value F5000. This process is smooth and impact-free. Approaching the target point P1, the system begins to decelerate, also following the S-curve pattern, smoothly reducing the speed to 0 and precisely stopping at point P1. During the movement from the starting point to point P1, the distances that the five axes X, Y, Z, A, and B need to move are all different. The CNC interpolator ensures that all axes start moving simultaneously, reach maximum speed simultaneously, begin deceleration simultaneously, and accurately reach the target point simultaneously. Each axis is assigned an independent velocity curve based on its required total movement, but the time axes of all these curves are strictly synchronized, ensuring synchronization of movement and oscillation, resulting in smoother motion. Coordinated position and attitude control completely solves the problem of mechanical shock, while maintaining a safe height throughout the entire process and reasonable path planning eliminate the possibility of upper limit alarms.

[0052] This application's embodiment decomposes a complex, long-distance, large-angle movement into three shorter, smoother linear movements. Within each segment, the G01 command links five axes (X, Y, Z, A, B) to ensure synchronized and coordinated changes in position and attitude, avoiding mechanical shocks caused by sudden movements on any single axis. Acceleration-uniformity-deceleration speed control is achieved using F5000 and F2000, resulting in smoother motion. The attitude angle changes gradually between the three points, rather than abruptly at the starting or ending point, resolving the problem of mechanical shocks caused by back-and-forth oscillations along the AB axis.

[0053] This embodiment proposes an automatic idle path planning device, including: a state acquisition module, a path planning module, and a motion control module. The path planning module includes a distance calculation unit and a strategy selection unit. The path planning module also includes an interpolation calculation unit and a kinematic transformation unit. This device is implemented in the form of a macro program of a CNC system and is configured to rewrite standard idle movement instructions and automatically call them.

[0054] The status acquisition module corresponds to steps S1 and S2. It is responsible for communicating with the CNC kernel, calling the system API to read the current position of each axis (CUR_X, etc.), and parsing the parameters of the next machining instruction (@XVALUE, etc.) from the NC program buffer, converting them into target status information (CMD_X, etc.). The path planning module is the core calculation engine, corresponding to step S3. The distance calculation unit receives the coordinate information from the status acquisition module and performs LENG calculation. The strategy selection unit receives the LENG value, compares it with the threshold, and decides whether to call a short-distance planning strategy or a medium-to-long-distance planning strategy. The kinematic transformation unit contains inverse and forward kinematics functions. It stores the machine tool's mechanical parameters (LENA0, etc.) and performs the conversion between servo axis coordinates and gun tip pose as needed. The interpolation calculation unit performs linear interpolation calculation based on the instructions from the strategy selection unit and the data provided by the kinematic transformation unit to generate the coordinates of intermediate points. The motion control module corresponds to step S4. It compiles the path point sequence generated by the path planning module into CNC executable G code blocks (such as N2000-N2020 instructions) and submits them to the CNC interpolator for execution.

[0055] To ensure seamless integration into existing CNC systems, this device is preferably implemented as a macro program. In the CNC system, the semantics of standard idle movement instructions (such as G00) are redirected to the macro program of this invention. When the NC code executes the G00 instruction, the system does not immediately execute the built-in rapid traverse, but automatically calls this macro program. The macro program then executes the functions of all the aforementioned modules, calculates and outputs the optimized G01 instruction sequence, thereby achieving transparent and automated idle path optimization.

[0056] This application also proposes a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method. This product can take various physical or digital forms, including but not limited to: non-transitory computer-readable storage media, such as optical discs, USB flash drives, portable hard drives, solid-state drives, etc. These media store executable computer program code. Embedded system firmware: This program can be burned into the read-only memory or flash memory of a CNC system as part of the device firmware. This program product can also be a digital file package downloaded via the Internet or a cloud storage server.

[0057] This computer program can be written in a high-level programming language or a macro language specific to CNC systems. Its code structure is highly modular, corresponding to the modules in the device claims, and typically includes the following core functions or modules: `Get CurrentState` function, corresponding to the state acquisition module, responsible for executing steps S1 and S2, reading the current and axis positions and target instructions; `Path Planning` function, corresponding to the path planning module, which is the core of the program. This function internally encapsulates the `CalculateDistance` function, corresponding to the distance calculation unit, which calculates the tip movement distance LENG; `Select Strategy` function, corresponding to the strategy selection unit, which selects a planning strategy based on LENG; `Kinematic Transform` function, corresponding to the kinematic transformation unit, which performs inverse and forward kinematics calculations; `Linear Interpolation` function, corresponding to the interpolation calculation unit, which calculates the coordinates of intermediate points; and `Motion Control` function, corresponding to the motion control module, responsible for generating and executing G-code instruction sequences. Taking the program integrated into the CNC system of a laser cutting equipment as an example, its execution process is as follows: Loading: When the CNC system starts up or receives a machining task, the computer program stored in the storage medium is loaded into the system memory.

[0058] Trigger: When the CNC system encounters a standard idle movement instruction (such as G00) during the execution of NC code, it automatically calls this program in the form of a macro program.

[0059] During execution, the system's processor begins to read and execute the instructions in the program one by one: calling functions such as Get CurrentState and Path Planning in sequence to complete all the steps in the above method (acquiring state, calculating distance, selecting strategy, inverse kinematics, linear interpolation, generating G-code, etc.).

[0060] Output and control: The program finally outputs the optimized G01 instruction block, which is then executed by the CNC system's interpolator and servo driver, thereby controlling the laser cutting machine to complete smooth, efficient, and safe idle movement.

[0061] This application also proposes a fiber laser beveling device, including a memory, a processor, and a computer program stored in the memory. When the processor executes the program, it implements the aforementioned automatic idle path planning method. The device can be a five-axis laser beveling machine integrating the control system described in this invention. Its memory stores a set of control software containing all the algorithmic flows for implementing the above method. When the device starts processing, the processor loads and runs the software, thereby automatically executing optimized path planning during idle movement.

[0062] This application's embodiments completely eliminate mechanical impact on the AB axes by inserting intermediate points and using five-axis linkage interpolation; reduce redundant actions and shorten non-machining time through adaptive path strategies; and avoid upper limit alarms through intelligent safety height planning and coordinated motion.

[0063] The above are only some or preferred embodiments of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. An automatic empty route planning method, characterized in that, Includes the following steps: Obtain the current state information of the cutting torch at the current cutting stage, the current state information including the current spatial position and the current attitude angle; Obtain the target state information of the starting point of the next cutting stage, the target state information including the target spatial position and the target attitude angle; Based on the current state information, the target state information, and preset safety parameters, a flight path from the current state to the target state is determined. The idle travel path includes at least one intermediate point planned by the control system, which is used to ensure a smooth transition in the spatial position and attitude angle of the cutting torch during the movement process. The cutting torch is controlled to move along the idle travel path.

2. The automatic empty route planning method according to claim 1, characterized in that, The step of determining the airway movement path from the current state to the target state based on the current state information, the target state information, and preset safety parameters further includes the following steps: Calculate the distance the gun tip moves between the current spatial position and the target spatial position; Based on the relationship between the distance the gun tip moves and a preset distance threshold, the number of intermediate points in the air travel path and the planning strategy are determined.

3. The automatic empty route planning method according to claim 2, characterized in that, When the movement distance of the gun tip is less than the first preset distance threshold, it is determined to be a short-distance movement; The planning strategy is to insert an intermediate point between the current state point and the target state point, where the coordinate values ​​of each axis of the intermediate point are the arithmetic mean of the starting point coordinate value and the ending point coordinate value of the corresponding axis.

4. The automatic empty route planning method according to claim 2, characterized in that, When the movement distance of the gun tip is greater than or equal to the second preset distance threshold, it is determined to be a medium-to-long distance movement; The planning strategy is to insert two intermediate points between the current state point and the target state point; wherein, the first intermediate point is determined by linear interpolation of the current state information and the target state information using a first proportional coefficient, and the first proportional coefficient is the ratio of a fixed distance value to the distance the gun tip moves; The second intermediate point is determined by linear interpolation of the current state information and the target state information using a second proportional coefficient, where the second proportional coefficient is the difference between 1 and the first proportional coefficient.

5. The automatic empty route planning method according to claim 4, characterized in that, The step of determining the airway movement path from the current state to the target state based on the current state information, the target state information, and preset safety parameters further includes the following steps: Based on the target spatial position and the target attitude angle, the target servo axis position is calculated by inverse kinematics, wherein the servo axis includes at least the X-axis, Y-axis, Z-axis, A-axis and B-axis; For each of the intermediate points, the cutting torch attitude angle of the intermediate point is calculated using forward kinematics based on the intermediate coordinates of each servo axis obtained by linear interpolation. The idle movement path is composed of linear interpolation instructions, each of which contains the spatial coordinates and attitude angle of a path point.

6. An automatic path planning device for idle travel, applied to a numerical control system, characterized in that, The automatic empty route planning device includes: The status acquisition module is used to acquire the current status information of the cutting torch and the target status information of the starting point of the next cutting stage. The current status information includes the current spatial position and the current attitude angle. The path planning module is used to plan the idle movement path based on the current state information, the target state information and preset safety parameters. The path planning module inserts at least one intermediate point so that the spatial position and attitude angle of the cutting torch can be smoothly transitioned synchronously. The motion control module is used to control the movement of the idle travel path.

7. The automatic empty route planning device according to claim 6, characterized in that, The path planning module includes: Distance calculation unit, used to calculate the distance the spear tip moves; The strategy selection unit is used to select the corresponding path planning strategy based on the movement distance of the gun tip, wherein different movement distances correspond to different numbers and methods of inserting intermediate points.

8. The automatic empty route planning device according to claim 7, characterized in that, The path planning module also includes: The interpolation calculation unit is used to calculate the coordinates of two intermediate points based on a linear interpolation algorithm when performing medium- to long-distance movement planning. The kinematic transformation unit is used to perform mutual conversion between the servo axis position and the cutting torch tip position and attitude angle.

9. The automatic empty route planning device according to claim 6, characterized in that, The automatic idle path planning is constructed as a macro program module within the CNC system; the macro program module is configured to rewrite the idle movement instructions and automatically call the path planning module when performing idle movement.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

11. A laser cutting device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method according to any one of claims 1 to 5.

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