Automatic obstacle avoidance laser cutting head equipment

Abstract

The invention discloses automatic obstacle avoidance laser cutting head equipment, and relates to the technical field of laser cutting equipment, the automatic obstacle avoidance laser cutting head equipment comprises a support, a laser cutting machine head, an annular structure light source, a structure light camera and a main controller, the laser cutting machine head is slidably connected with the support and is driven by a driving mechanism to lift; the annular structure light source is arranged on the outer side of the lifting base in a sleeving mode and fixedly connected with the support, the annular structure light source comprises a light source and a grating piece, the grating piece comprises at least three layers of transparent conducting films, a grating plate is arranged between every two adjacent layers of transparent conducting films, a plurality of strip-shaped holes are evenly distributed in the grating plate in the circumferential direction, and the strip-shaped holes are communicated with the light source. The positions of the strip-shaped holes in the grating plates correspond to each other, light-transmitting seams are formed, and the strip-shaped holes are sequentially filled with polymer liquid crystal filler in a staggered mode from top to bottom. The structured light camera is used for collecting structured light information. According to the automatic obstacle avoidance laser cutting head equipment, a structured light detection blind area can be eliminated, and the obstacle avoidance effect is improved.

Description

Technical Field

[0001] This invention relates to the field of laser cutting equipment technology, specifically to an automatic obstacle avoidance laser cutting head device. Background Technology

[0002] In laser cutting equipment, structured light obstacle avoidance technology is a method for ensuring the safe operation of the laser cutting head. It achieves real-time detection and avoidance of obstacles in the cutting path by projecting structured light and identifying reflected signals. However, the core component of existing structured light obstacle avoidance laser cutting heads, the grid structure, has significant technical limitations, restricting the improvement of obstacle avoidance performance. Traditional structured lights are limited by material properties and processing technology, making it difficult to increase the density of their grid light-transmitting slits. This is because light diffuses and widens after passing through the light-transmitting slits. If the light-transmitting slits are too dense, adjacent structured lights will interfere with each other due to the overlapping diffusion range, directly compromising recognition accuracy. If the gaps between the grid light-transmitting slits are too large, the areas not covered by light between two adjacent grid light-transmitting slits are prone to forming detection blind spots, making it impossible to fully capture obstacle information on the cutting path. This ultimately leads to delayed obstacle avoidance response or misjudgment, seriously threatening the safety and processing efficiency of laser cutting.

[0003] Therefore, it is necessary to propose an automatic obstacle avoidance laser cutting head device to solve the above problems. Summary of the Invention

[0004] (a) Technical problems to be solved The purpose of this invention is to provide an automatic obstacle avoidance laser cutting head device to solve the problem of blind spots in existing structured light obstacle avoidance technology mentioned in the background art.

[0005] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: an automatic obstacle avoidance laser cutting head device, comprising: support; A laser cutting head, wherein the laser cutting head is slidably connected to the bracket and is driven to rise and fall by a drive mechanism; A ring-shaped light source is sleeved on the outside of the lifting seat and fixedly connected to the bracket. The ring-shaped light source includes a light source and a grid plate. The grid plate includes at least three layers of transparent conductive film. A grid plate is provided between two adjacent layers of transparent conductive film. Multiple strip holes are evenly distributed along the circumference of the grid plate. The positions of the multiple strip holes on the grid plate are corresponding and form light-transmitting slits. The multiple strip holes are filled with polymeric liquid crystal filler in a staggered manner from top to bottom. A structured light camera, used to acquire structured light information; The main controller generates an obstacle distribution map of the detection area in real time based on the structured light information collected by the structured light camera; when the height of an obstacle exceeds a preset safety threshold, it generates a lifting control command.

[0006] Preferably, the transparent conductive film has three layers, including a transparent conductive upper film, a second transparent conductive middle film, and a first transparent conductive lower film. The transparent conductive upper film and the first transparent conductive lower film are connected to the negative terminal of the power supply, and the second transparent conductive middle film is connected to the positive terminal of the power supply.

[0007] Preferably, the grid sheet further includes two layers of transparent glass, and each side of the transparent glass is provided with a transparent inner film, with the transparent conductive film and the grid sheet located between the two transparent inner films.

[0008] Preferably, the pores that are not filled with the polymeric liquid crystal filler are filled with transparent filler.

[0009] Preferably, the annular structure light source further includes a lens, which is fixedly connected to the side of the grid plate away from the light source.

[0010] Preferably, there are multiple structured light cameras, and the multiple structured light cameras are arranged in an array with the laser cutting head as the axis.

[0011] Preferably, a lifting seat is slidably connected to the bracket via a slide rail, the laser cutting head is fixedly connected to the lifting seat, and a screw is threadedly connected to the middle of the lifting seat, the screw being driven to rotate by a servo motor.

[0012] (III) Beneficial Effects Compared with the prior art, the present invention provides an automatic obstacle avoidance laser cutting head device, which has the following beneficial effects: 1. This automatic obstacle avoidance laser cutting head equipment uses a grid sheet including a transparent conductive film, a grid plate and a polymer liquid crystal filler, which enables it to preset a denser light-transmitting slit. By controlling multiple light-transmitting slits to intermittently transmit light, it avoids the light from getting too close and affecting the structured light recognition effect, while increasing the structured light coverage area, eliminating detection blind spots and improving the obstacle avoidance effect.

[0013] 2. This automatic obstacle avoidance laser cutting head device uses lenses to diffuse light along its length, increasing its illumination area and thus obtaining a larger detection zone. Attached Figure Description

[0014] Figure 1 This is a three-dimensional schematic diagram of the structure of the present invention; Figure 2 This is a front view schematic diagram of the ring-shaped structure light source of the present invention; Figure 3 This is a cross-sectional schematic diagram of the annular structure light source of the present invention; Figure 4 This is a cross-sectional schematic diagram of the grid sheet of the present invention; Figure 5 This is a front view schematic diagram of the grating plate of the present invention.

[0015] In the diagram: 1. Servo motor; 2. Bracket; 3. Screw; 4. Lifting seat; 5. Laser cutting head; 6. Structured light camera; 7. Ring structured light source; 8. Lens; 9. Light source; 10. Grating plate; 11. Transparent conductive upper film; 12. Second transparent conductive middle film; 13. First transparent conductive lower film; 14. Transparent conductive film; 15. Transparent glass; 16. Transparent inner film; 17. Transparent filler; 18. Grating plate; 19. Polymer liquid crystal filler; 20. Strip hole. Detailed Implementation

[0016] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0017] Please see Figure 1-5 As shown, an automatic obstacle avoidance laser cutting head device includes a main controller, a support 2, a laser cutting head 5, a structured light camera 6, and a ring structured light source 7. The laser cutting head 5 is slidably connected to the support 2 and is driven to lift by a drive mechanism. The ring structured light source 7 is sleeved on the outside of the lifting seat 4 and fixedly connected to the support 2. The ring structured light source 7 includes a light source 9 and a grid plate 10. The grid plate 10 includes at least three layers of transparent conductive film 14. A grid plate 18 is provided between two adjacent layers of transparent conductive film 14. Multiple strip holes 20 are evenly distributed along the circumference of the grid plate 18. The positions of the strip holes 20 on the multiple grid plates 18 are corresponding and form light-transmitting slits. The multiple strip holes 20 are sequentially staggered from top to bottom and filled with polymeric liquid crystal filler 19. The structured light camera 6 is used to collect structured light information. The main controller generates an obstacle distribution map of the detection area in real time based on the structured light information collected by the structured light camera 6. When the height of an obstacle exceeds a preset safety threshold, a lifting control command is generated.

[0018] In its natural state, the liquid crystal molecules inside the polymeric liquid crystal filler 19 are randomly arranged, and the refractive index of the liquid crystal is lower than that of the outer polymer. Incident light is scattered in the polymer layer, resulting in an opaque state. After energization, the diffusely distributed liquid crystal molecules quickly change from a random arrangement to a directional and orderly arrangement, making the refractive index of the liquid crystal equal to that of the polymer, allowing incident light to pass through completely, resulting in a transparent state. By orderly and staggeredly filling the polymeric liquid crystal filler 19 in multiple strip holes 20, and by controlling the on / off state of the transparent conductive film 14 on both sides of the polymeric liquid crystal filler 19 with the power supply, the light transmission effect of the light-transmitting slits can be controlled. Based on the dynamic control of the light transmission effect of multiple light-transmitting slits, the spatial distribution position of the output light of the annular structure light source 7 is adjusted to achieve multi-dimensional coverage detection of the detection area and eliminate detection blind spots. The main controller generates an obstacle distribution map of the detection area in real time based on the structured light information collected by the structured light camera 6. When the height of an obstacle exceeds a preset safety threshold, a lifting control command is generated to control the lifting seat 4 to lift and lower to overcome the obstacle.

[0019] Specifically, the transparent conductive film 14 has three layers, including a transparent conductive upper film 11, a second transparent conductive middle film 12, and a first transparent conductive lower film 13. The transparent conductive upper film 11 and the first transparent conductive lower film 13 are connected to the negative terminal of the power supply, and the second transparent conductive middle film 12 is connected to the positive terminal of the power supply. In use, the second transparent conductive middle film 12 is connected to the positive terminal of the power supply, while the transparent conductive upper film 11 and the first transparent conductive lower film 13 are intermittently connected to the negative terminal of the power supply. When the transparent conductive upper film 11 and the second transparent conductive middle film 12 are powered on, the polymeric liquid crystal filler 19 between them is transparent, and light is emitted through the light-transmitting slit. At this time, the polymeric liquid crystal filler 19 between the second transparent conductive middle film 12 and the first transparent conductive lower film 13 is opaque, thus preventing the light from getting too close and affecting the structured light recognition effect. When the transparent conductive upper film 11 and the first transparent conductive lower film 13 are powered on, the polymeric liquid crystal filler 19 between them is transparent, and light is emitted through the light-transmitting slit, detecting the areas that were not detected when the transparent conductive upper film 11 and the second transparent conductive middle film 12 were powered on. This cycle is repeated to increase the structured light coverage area and eliminate detection blind spots.

[0020] Specifically, the grid plate 10 also includes two layers of transparent glass 15, and a transparent inner film 16 is provided on each adjacent side of the two transparent glass 15. The transparent conductive film 14 and the grid plate 18 are located between the two transparent inner films 16. By setting the transparent glass 15 and the transparent inner film 16, the transparent conductive film 14 is protected and damage to the transparent conductive film 14 is avoided.

[0021] To avoid affecting the light transmission effect, the strip-shaped holes 20 that are not filled with polymeric liquid crystal filler 19 are filled with transparent filler 17.

[0022] In some embodiments, the annular structure light source 7 further includes a lens 8, which is fixedly connected to the side of the grid plate 10 away from the light source 9. Specifically, the lens 8 is a concave lens, and its curvature direction is consistent with the direction of the strip aperture 20. The light passing through the annular radial structure light of the grid plate 10 is elongated by the lens 8, thereby increasing its illumination area to obtain a larger detection area.

[0023] Specifically, there are multiple structured light cameras 6, which are arranged in an array around the laser cutting head 5. Specifically, there are four structured light cameras 6, which are used to acquire structured light information from different positions around the laser cutting head 5.

[0024] In some embodiments, a lifting seat 4 is slidably connected to the support 2 via a slide rail, and the laser cutting head 5 is fixedly connected to the lifting seat 4. A screw 3 is threadedly connected to the middle of the lifting seat 4, and the screw 3 is driven to rotate by the servo motor 1. The main controller generates a PWM lifting command with direction encoding based on the real-time difference between the obstacle height and the safe distance; through the drive circuit parsing the command, it controls the servo motor 1 to perform forward / reverse rotation operation, driving the laser cutting head 5 to lift and lower along the guide rail, so that it maintains a dynamic safe distance from the obstacle.

[0025] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic obstacle avoidance laser cutting head device, characterized in that, include: Support (2); Laser cutting head (5), which is slidably connected to the bracket (2) and driven to rise and fall by a drive mechanism; A ring-shaped light source (7) is sleeved on the outside of the lifting seat (4) and fixedly connected to the bracket (2). The ring-shaped light source (7) includes a light source (9) and a grid plate (10). The grid plate (10) includes at least three layers of transparent conductive film (14). A grid plate (18) is provided between two adjacent layers of transparent conductive film (14). A plurality of strip holes (20) are evenly distributed on the grid plate (18) along its circumference. The positions of the strip holes (20) on the plurality of grid plates (18) correspond to each other and form a light-transmitting slit. The plurality of strip holes (20) are sequentially staggered from top to bottom and filled with polymeric liquid crystal filler (19). Structured light camera (6), the structured light camera (6) is used to collect structured light information; The main controller generates an obstacle distribution map of the detection area in real time based on the structured light information collected by the structured light camera (6); when the height of the obstacle exceeds the preset safety threshold, it generates a lifting control command.

2. The automatic obstacle avoidance laser cutting head device according to claim 1, characterized in that: The transparent conductive film (14) has three layers, including a transparent conductive upper film (11), a second transparent conductive middle film (12) and a first transparent conductive lower film (13). The transparent conductive upper film (11) and the first transparent conductive lower film (13) are connected to the negative terminal of the power supply, and the second transparent conductive middle film (12) is connected to the positive terminal of the power supply.

3. The automatic obstacle avoidance laser cutting head device according to claim 1, characterized in that: The grid plate (10) also includes two layers of transparent glass (15), and a transparent inner film (16) is provided on the adjacent side of the two transparent glass (15). The transparent conductive film (14) and the grid plate (18) are located between the two transparent inner films (16).

4. The automatic obstacle avoidance laser cutting head device according to claim 1, characterized in that: The strip-shaped holes (20) that are not filled with the polymeric liquid crystal filler (19) are filled with transparent filler (17).

5. The automatic obstacle avoidance laser cutting head device according to claim 1, characterized in that: The annular structure light source (7) also includes a lens (8), which is fixedly connected to the side of the grid plate (10) away from the light source (9).

6. The automatic obstacle avoidance laser cutting head device according to claim 1, characterized in that: There are multiple structured light cameras (6), and the multiple structured light cameras (6) are arranged in an array with the laser cutting head (5) as the axis.

7. The automatic obstacle avoidance laser cutting head device according to claim 1, characterized in that: The support (2) is slidably connected to the lifting seat (4) via a slide rail. The laser cutting head (5) is fixedly connected to the lifting seat (4). The middle part of the lifting seat (4) is threaded with a screw (3), which is driven to rotate by a servo motor (1).

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