Cutting height control method, control system, computer readable storage medium and computer program product

Abstract

The application discloses a cutting height control method, a control system, a computer readable storage medium and a computer program product, which discretizes a continuous plate surface into a plurality of small areas, and replaces the real curved surface with a fitted plane in each area. A digital model is established according to pre-acquired key point data, and in the cutting process, the model is queried and calculated in real time to predict and compensate the height change of the plate, realize the height automatic tracking and adjustment in the specific working condition of laser cutting, and ensure the cutting quality and equipment safety.

Description

Technical Field

[0001] This application relates to the field of laser processing, and in particular to a cutting height control method, control system, computer-readable storage medium, and computer program product. Background Technology

[0002] In sheet metal cutting, the distance between the cutting nozzle (such as a laser head or plasma torch) and the sheet surface (cutting height) must be kept strictly constant (typically 1–10 mm) to ensure cutting quality (such as perpendicularity of the cut, no slag buildup, and no ablation). Current mainstream technology uses a capacitive height sensor (CHS) to detect the sheet surface height in real time during cutting and dynamically adjusts the Z-axis position of the cutting head via a servo system. This solution uses a high-precision capacitive sensor, resulting in high equipment manufacturing costs. Furthermore, this type of sensor is highly sensitive to environmental conditions; high-temperature molten slag, metal dust, and electromagnetic interference can easily cause sensor signal drift or failure. Additionally, single-point sensors only reflect the local height of the cutting path, making it difficult to adapt to the overall warping or localized deformation of large-sized sheets. Summary of the Invention

[0003] This application proposes a cutting height control method, control system, computer-readable storage medium, and computer program product, which can adjust the cutting height in a timely manner according to the surface curvature of the board.

[0004] This application proposes a method for controlling cutting height, including the following steps:

[0005] The measurement process involves controlling the cutting head to move to multiple preset points on the surface of the board before cutting, and obtaining the three-dimensional coordinates of each preset point. The area division step divides the surface of the board into multiple areas, each area being defined by at least three preset points; The plane fitting step involves fitting a plane equation representing the surface morphology of the board material in each region based on the three-dimensional coordinates of preset points within that region. The real-time calculation step involves determining the area where the cutting head is located based on its current planar coordinates (Xc, Yc) during the cutting process, and then using the planar equation of that area to calculate the height value Zs of the board surface at that coordinate. In the height adjustment step, based on the calculated Zs and the preset height h of the cutting nozzle from the plate surface, the Z-axis coordinate Zt=Zs+h of the cutting head is calculated, and the cutting head is controlled to move to the Zt in real time.

[0006] In some embodiments, the number of the plurality of preset points is nine, and they are distributed on the surface of the board in a 3x3 matrix.

[0007] In some embodiments, the number of the plurality of regions is four.

[0008] In some embodiments, the plane equation is expressed as: Z = K·|X| + L·|Y| + M; Where |X| and |Y| are the absolute values ​​of the X-axis coordinate and the Y-axis coordinate, respectively, and K, L, and M are coefficients determined by substituting the coordinates of three preset boundary points within the region into the equation and solving the system of equations.

[0009] In some embodiments, the three boundary preset points are adjacent corner points that define the region.

[0010] In some embodiments, during the height adjustment step, Zs is a negative value and h is a positive value, and the calculation of Zt ensures that the actual distance between the cutting nozzle and the surface of the sheet is always equal to h.

[0011] In some embodiments, during the measurement step, the cutting head triggers coordinate recording at each preset point through its built-in sensing device to complete the digital modeling of the surface morphology of the sheet material.

[0012] In some embodiments, when the cutting path crosses a region boundary, the system automatically switches to the plane equation corresponding to the target region for Zs calculation, so as to achieve a smooth transition in the height of the cutting head.

[0013] This application also proposes a control system, including: A coordinate acquisition module is used to perform the measurement steps; The region management module is used to execute the region division step and the plane fitting step; The real-time calculation module is used to execute the real-time calculation step and the height adjustment step; The motion control module is used to drive the cutting head to move along the Z-axis according to Zt.

[0014] This application also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described cutting height control method.

[0015] This application also proposes a computer program product, including a computer program instruction module, which, when loaded and executed by a processor, causes the processor to perform the above-described cutting height control method.

[0016] This application's embodiments discretize the continuous surface of the sheet metal into multiple small regions, and approximate the actual curved surface within each region using a fitted plane. A digital model is established based on pre-collected key point data. During the cutting process, this model is queried and calculated in real time to predict and compensate for changes in the sheet metal's height. This achieves automatic height tracking and adjustment under the specific condition of laser cutting, ensuring cutting quality and equipment safety. Attached Figure Description

[0017] Figure 1 This is a flowchart of a cutting height control method in one embodiment of this application; Figure 2 This is a schematic diagram of the sampling points of the plate material in one embodiment of this application.

[0018] 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

[0019] This application provides a method for controlling cutting height, referring to... Figure 1 and Figure 2 Specifically, it includes the following steps: S101: Measurement step. Before the cutting program is executed, the control system controls the cutting head to move to multiple preset point positions on the surface of the board and obtains the three-dimensional coordinates of each preset point. Specifically, this embodiment preferably uses 9 preset points, which are distributed as follows: Figure 2 As shown, the components are arranged in a 3x3 matrix, covering the entire border area of ​​the cutting program. The cutting head performs a sensor probe operation at each preset point: when the cutting nozzle lightly touches the surface of the material, the machine coordinate system records the precise three-dimensional coordinate values ​​(X, Y, Z) at that moment, where the Z-axis coordinate value is negative (based on the machine coordinate system definition, the worktable facing downwards is the negative direction). The coordinates of these 9 points are stored in the control system's memory as: P1(x1, y1, z1), P2(x2, y2, z2)...P9(x9, y9, z9). This step completes the key point data acquisition for the potentially uneven surface of the material. The sensor probe utilizes the device's inherent contact detection capability (microswitch / current surge) to lightly touch 9 points on the material at ultra-low speed, accurately capturing the surface coordinates. The micro switch is standard equipment (used for zeroing and tool setting). The current surge detection utilizes the servo driver's inherent overload protection module. The current is stable when moving under no-load conditions. When the cutting nozzle contacts the workpiece, the resistance suddenly increases, and the current surge triggers the threshold judgment without the need for additional sensors.

[0020] S102: Region division step, dividing the surface of the board into multiple regions, each region defined by at least three preset points; to reduce calculation errors caused by large-area warping or deformation of the board during whole-board cutting, the board surface is divided into multiple smaller sub-regions. Based on 9 preset points, the board is divided into four rectangular sub-regions: Region 1, defined by P1, P2, P4, and P5; Region 2, defined by P2, P3, P5, and P6; Region 3, defined by P4, P5, P7, and P8; Region 4, defined by P5, P6, P8, and P9. This division ensures that the surface undulation of the board within each sub-region is relatively gentle, which is beneficial to the accuracy of subsequent plane fitting.

[0021] S103: Plane fitting step. For each region, based on the 3D coordinates of preset points within that region, a plane equation representing the surface morphology of the board in that region is fitted. For each sub-region, a spatial plane equation is fitted using three or more points on its boundary. The standard form of the equation is Z=K. X+L Y+M. Substituting the coordinates of three points into the equation yields a system of three linear equations in three variables. Solving this system of equations provides the coefficients K, L, and M that uniquely determine the plane of the region.

[0022] S104: Real-time calculation step. In laser cutting mode, the control system reads the current planar coordinates (Xc, Yc) of the cutting head in real time. The system determines which sub-region the cutting head falls into based on these coordinates. After determining the sub-region, the theoretical height value Zs of the board surface at the current coordinates (Xc, Yc) is calculated using the corresponding planar equation. The planar equation is obtained before cutting by fitting the coordinates of preset points within the region, and its form is Z = KX + LY + M. Substituting (Xc, Yc) into the equation yields Zs.

[0023] S104: Height Adjustment Step. Based on the calculated Zs and the preset height h of the cutting nozzle from the board surface, calculate the target Z-axis coordinate Zt of the cutting head. Since Zs is negative and h is positive, the formula for calculating the target coordinate is: Zt = -|Zs| + h. The significance of this formula is that the absolute value of the theoretical height Zs is first taken to obtain a positive height distance, then the preset height h is added, and finally converted to a negative value in the machine tool coordinate system. The control system then drives the Z-axis servo motor to precisely move the cutting head to the target coordinates (Xc, Yc, Zt), thereby ensuring that the distance between the cutting nozzle and the board surface remains constant at h.

[0024] This application's embodiments discretize the continuous sheet surface into multiple small regions, and approximate the actual curved surface within each region using a fitted plane. A digital model is established using pre-collected key point data. During the cutting process, this model is queried and calculated in real time to predict and compensate for changes in the sheet height, achieving automatic height tracking and adjustment under the specific condition of laser cutting, ensuring cutting quality and equipment safety. The greatest advantage lies in completely solving the problem of hardware sensing failure through innovative software algorithms, eliminating the need for any additional capacitive sensors, and significantly reducing equipment manufacturing costs and maintenance complexity.

[0025] It is worth noting that this method does not require the use of a height sensor (such as a capacitive height sensor) during the cutting process, thus avoiding drift in real-time height values ​​caused by the high temperatures during cutting. Of course, in some cutting equipment equipped with height sensors, the coordinate data of the acquisition points can also be obtained through the height sensor before cutting, and this method can then be used to complete subsequent steps such as region division, plane fitting, and real-time calculation.

[0026] In some embodiments, as Figure 2 shown, nine points are evenly distributed in a strict 3x3 matrix. These nine points include the four corner points (P1, P3, P7, P9) of the plate, the midpoints of the four sides (P2, P4, P6, P8), and the center point P5 of the plate. This distribution method can capture the overall morphological features of the plate in the X and Y directions, such as overall tilt, central bulge or depression, edge warping, etc., with the least number of sampling points, providing a sufficient and necessary data basis for subsequent precise calculation of sub-regions.

[0027] The division of the four sub-regions is not arbitrary, but follows the principle of forming a rectangular area by known points. Each region is bounded by four adjacent sampling points, forming a logical rectangular calculation unit. For example, Region 1 is composed of P1, P2, P4, and P5. The calculation of each region only depends on several points on its boundary, avoiding excessive influence on the local height calculation caused by data errors of sampling points far from the current cutting point. The four regions are seamlessly connected, completely covering the entire cutting area, ensuring that the cutting head can find the corresponding calculation model at any position. When the cutting head moves from one region to an adjacent region, due to the sharing of boundary points by adjacent regions, the calculation results on their boundaries are continuous or basically consistent, thus achieving a smooth transition of the cutting height and avoiding Z-axis jumps caused by region switching.

[0028] Based on the method of piecewise approximation in numerical analysis, the complex global surface fitting problem is decomposed into multiple simple local plane fitting problems. The 9-point matrix sampling is one of the optimal strategies to ensure sampling representativeness, and the four-region division is an effective means to achieve efficient and precise piecewise calculation. The refined 9-point distribution and region division scheme further improve the accuracy and reliability of height calculation. It effectively suppresses the problem of amplified fitting errors caused by过少 or unreasonable region division of sampling points, making the final height control more accurate and stable.

[0029] In some embodiments, the core of the specific algorithm for fitting the plane equation is as follows: When the current coordinates (Xc, Yc) of the cutting head are inside a certain sub-region (for example, Region 1, and the coordinates satisfy x1 < Xc < x4, y1 < Yc < y2), the plane equation fitting method is adopted. Taking Region 1 as an example, we select the coordinates of three points P1, P2, and P4 to fit the plane equation.

[0030] Let the plane equation be: Z = K X + L Y + M; Substitute the coordinates of P1, P2, and P4 into the equation to obtain a system of linear equations with three variables: Z1 = K X1 + L Y1 + M; Z2 = K X2 + L Y2 + M; Z4 = K X4 + L Y4 + M; By solving this system of equations, the values of the coefficients K, L, and M can be obtained. When the three points are not collinear, the equation has a unique solution: K = [(Y4 - Y2)(Z2 - Z1) - (Y2 - Y1)(Z4 - Z2)] / [(X2 - X1)(Y4 - Y2) - (X4 - X2)(Y2 - Y1)]; L = [(X4 - X2)(Z2 - Z1) - (X2 - X1)(Z4 - Z2)] / [(Y2 - Y1)(X4 - X2) - (Y4 - Y2)(X2 - X1)]; M = Z1 - K X1 - L Y1; After obtaining K, L, and M, the specific plane equation of Region 1 can be obtained. Substituting the current coordinates (Xc, Yc) into it, the theoretical Z-axis coordinate value Zs = K Xc + L Yc + M.

[0031] Through three non-collinear sampling points, a plane that fits the surface of the sheet material in this region in space can be uniquely determined. This plane is the best linear approximation of the true sheet material surface. The effect of the plane equation fitting method is that it can accurately predict the height of any point within the region, especially suitable for dealing with the inclination or smooth bending of the sheet material. Compared with simple linear interpolation, plane fitting is two-dimensional interpolation, which can consider the changes in both the X and Y directions simultaneously. Therefore, it has higher accuracy and stronger adaptability, and is the key algorithm guarantee for achieving high-precision height self-calibration.

[0032] In some embodiments, when the current coordinates (Xc, Yc) of the cutting head are within Region 2 (the coordinates satisfy x2 < Xc < x3, y2 < Yc < y6), the plane equation fitting method is adopted. The coordinates of three points, P2, P3, and P5, are selected to fit the plane equation.

[0033] Let the plane equation be: Z = K X + L Y + M; Substituting the coordinates of P2, P3, and P5 into the equation, a system of linear equations with three variables is obtained: Z2 = K X2 + L Y2 + M; Z3 = K X3 + L Y3 + M; Z5 = K X5 + L Y5 + M; By solving this set of equations, the values of coefficients K, L, and M can be obtained. Based on the determinant operation, the solution formula is: K = [(Y5 - Y3)(Z3 - Z2) - (Y3 - Y2)(Z5 - Z3)] / [(X3 - X2)(Y5 - Y3) - (X5 - X3)(Y3 - Y2)]; L = [(X5 - X3)(Z3 - Z2) - (X3 - X2)(Z5 - Z3)] / [(Y3 - Y2)(X5 - X3) - (Y5 - Y3)(X3 - X2)]; M = Z2 - K X2 - L Y2; After obtaining K, L, and M, the specific plane equation of Region 2 can be obtained. Substituting the current coordinates (Xc, Yc) into it, the theoretical Z-axis coordinate value Zs = K Xc + L Yc + M.

[0034] In some embodiments, when the current coordinates (Xc, Yc) of the cutting head are within Region 3 (the coordinates satisfy x4 < Xc < x7, y4 < Yc < y8), the plane equation fitting method is adopted. The coordinates of three points P4, P5, and P7 are selected to fit the plane equation.

[0035] Let the plane equation be: Z = K X + L Y + M; Substituting the coordinates of P4, P5, and P7 into the equation, a system of linear equations with three variables is obtained: Z4 = K X4 + L Y4 + M Z5 = K X5 + L Y5 + M Z7 = K X7 + L Y7 + M By solving this set of equations, the values of coefficients K, L, and M can be obtained. Based on the determinant operation, the solution formula is: K = [(Y7 - Y5)(Z5 - Z4) - (Y5 - Y4)(Z7 - Z5)] / [(X5 - X4)(Y7 - Y5) - (X7 - X5)(Y5 - Y4)]; L = [(X7 - X5)(Z5 - Z4) - (X5 - X4)(Z7 - Z5)] / [(Y5 - Y4)(X7 - X5) - (Y7 - Y5)(X5 - X4)]; M = Z4 - K X4 - L Y4 After obtaining K, L, and M, the specific plane equation for Region Three can be obtained. Substituting the current coordinates (Xc, Yc) into it, the theoretical Z-axis coordinate value Zs = K of this point can be calculated Xc + L Yc + M

[0036] In some embodiments, when the current coordinates of the cutting head are within Region Four (the coordinates satisfy x5 < Xc < x9, y5 < Yc < y9), the plane equation fitting method is adopted. The coordinates of three points P5, P6, and P8 are used to fit the plane equation

[0037] Let the plane equation be: Z = K X + L Y + M; Substituting the coordinates of P5, P6, and P8 into the equation, a system of linear equations with three variables is obtained Z5 = K X5 + L Y5 + M Z6 = K X6 + L Y6 + M Z8 = K X8 + L Y8 + M By solving this system of equations, the values of the coefficients K, L, and M can be obtained. Based on determinant operations, its solution formula is K = [(Y8 - Y6)(Z6 - Z5) - (Y6 - Y5)(Z8 - Z6)] / [(X6 - X5)(Y8 - Y6) - (X8 - X6)(Y6 - Y5)]; L = [(X8 - X6)(Z6 - Z5) - (X6 - X5)(Z8 - Z6)] / [(Y6 - Y5)(X8 - X6) - (Y8 - Y6)(X6 - X5)]; M = Z5 - K X5 - L Y5; After obtaining K, L, and M, the specific plane equation for Region Four can be obtained. Substituting the current coordinates (Xc, Yc) into it, the theoretical Z-axis coordinate value Zs = K of this point can be calculated Xc + L Yc + M

[0038] In some embodiments, the machine zero point (Z=0) in the machine coordinate system is typically set at the highest point of the cutting head or a fixed reference position. The surface of the sheet metal is located below the zero point, therefore the sampled Z-axis coordinates (Z1, Z2...Z9) are all negative values. The height h of the cutting nozzle from the sheet surface is a positive distance value.

[0039] The derivation of the calculation formula Zt=-|Zs|+h is as follows: |Zs|: Take the absolute value of the theoretical Z-axis coordinate Zs and convert it into a positive number, representing the actual physical distance from the zero point of the machine tool to the surface of the plate.

[0040] |Zs|+h: The cutting nozzle needs to be at a height of h from the surface of the material. Therefore, the total distance from the target position of the cutting nozzle tip to the zero point of the machine tool is |Zs|+h.

[0041] -(|Zs|+h): Since the machine coordinate system is negative downwards, this total distance needs to be negative to convert it to the correct machine Z-axis coordinate. The formula is equivalent to Zt=-(|Zs|+h). Since Zs itself is negative, -|Zs| equals Zs, so the formula can be simplified to Zt=Zs+h. These two expressions are mathematically equivalent, both clearly stating that the target Z-coordinate equals the surface Z-coordinate plus a positive height compensation.

[0042] The principle behind this formula is a fundamental application of coordinate system transformation and geometric relationships. It accurately establishes the mathematical relationship between the machine tool coordinate system Z-value, the actual position of the sheet metal surface, and the desired cutting height. This clear and unambiguous calculation formula ensures that the control system can precisely convert the required holding distance h from the physical world into drive commands in the machine tool coordinate system. This serves as the bridge between the algorithm's calculation results and the final mechanical action, guaranteeing control accuracy.

[0043] In some embodiments, the essence of measurement step S101 is to construct a digital model of the entire cutting area's plate surface using a limited number of sampling points. The sensing device built into the cutting head acts as a data acquisition device, and the memory and processing unit in the control system act as the model storage and calculation engine. Specifically, this embodiment constructs a digital elevation model based on piecewise plane approximation. The entire plate surface is modeled as four adjacent planar pieces. The mathematical expression of each planar piece and its spatial extent together constitute the model of that area. When height prediction is required, the system first performs a spatial query, then performs calculations, substituting the coordinates into the corresponding plane equations.

[0044] In some embodiments, the path of the cutting head may cross different sub-regions during the cutting process. For example, moving from region one (by points P1, P2, P4, P5) to region two (by points P2, P3, P5, P6). On the boundary line, such as the line connecting P2 and P5, the current coordinates (Xc, Yc) can be calculated by either the model of region one or the model of region two. This embodiment ensures the continuity of calculation by sharing boundary points. Since region one and region two share the two sampling points P2 and P5, and the fitting of the plane equation includes these shared points, the Zs values ​​calculated by the two regions are very close, or even equal (if the sheet material is smooth at that point), at the boundary. When the control system detects that the coordinates cross the region boundary, it immediately switches to the plane equation of the target region for calculation. Since the calculation results are continuous at the boundary, the calculated target Z-axis coordinate Zt will not change abruptly, thereby driving the cutting head to achieve a smooth Z-axis motion transition and avoiding the impact of height jumps on cutting quality and equipment stability. The principle is to ensure the continuity of the numerical approximation function at the segmentation boundary. By sharing node values, the continuity (function value continuity) between adjacent surface patches is ensured. This achieves a highly smooth transition when the cutting head traverses different computational regions, eliminating Z-axis jitter or abrupt changes that may be caused by model switching, and further improving the stability of the cutting process and the quality of the cut.

[0045] This embodiment provides a hardware control system for implementing the above method. This control system is integrated into the CNC unit of a laser cutting machine. Its core modules include: a coordinate acquisition module: used to control the cutting head to perform 9-point induction probe operation, receive feedback signals from the machine tool's grating ruler or encoder, and record and store the three-dimensional coordinates of each preset point; a region management module: used to execute region division logic (e.g., dividing into four regions) based on the stored coordinate points, and fit the corresponding plane equation for each region, storing the equation coefficients K, L, and M; a real-time calculation module: during the cutting process, this module continuously receives the current coordinates (Xc, Yc) of the cutting head. It calls the data from the region management module, determines the current region, and calculates the theoretical Zs and the target Zt; and a motion control module: receives the target coordinates (Xc, Yc, Zt) sent by the real-time calculation module, generates corresponding control commands, and drives the servo motors or other actuators of the X, Y, and Z axes to ensure the cutting head moves precisely into position. These modules can be dedicated software function blocks in the CNC system, or software programs running in a programmable logic controller (PLC) or industrial computer (IPC).

[0046] The system is based on a modular embedded control system or CNC system architecture. Each module is responsible for a specific function, and they work together through data flow to complete complex control tasks. This control system integrates the method of this invention into the core control unit of the equipment, making it a reliable and repeatable automated function. Users only need to select the composite cutting mode on the operating interface, and the system can automatically complete the entire process from data acquisition to real-time correction, greatly improving the automation level and ease of use of the equipment.

[0047] This embodiment protects the software carrier carrying the above-described method, specifically proposing a computer-readable storage medium (such as a hard disk, optical disk, USB flash drive, FLASH memory, server hard disk array, etc.) that stores a computer program (or software code). When the program is loaded and executed by the CNC system processor (such as a CPU) of the cutting machine, the processor can perform the method steps of the above embodiment.

[0048] This embodiment proposes a computer program product, which may exist in the form of a physical medium (such as an optical disc) or in the form of an electronic download. The computer program instruction module (i.e., software code) contained in this product, when loaded and executed by the processor of a CNC system, enables the processor to transform into a device for performing the specific functions of this invention, i.e., implementing the aforementioned cutting height control method. Its principle is a combination of software and hardware. The method itself is an abstract intellectual rule, but by writing it into executable program code and storing it on a physical medium, or distributing it as a product, it constitutes a specific technical solution protected by patent law. This implementation method ensures that the innovative algorithm of this invention can be deployed to existing laser cutting equipment with basic sensor plate functions through software upgrades, giving old equipment new capabilities and possessing high commercial value and flexibility for promotion.

[0049] 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. A method for controlling cutting height, characterized in that, Includes the following steps: The measurement process involves controlling the cutting head to move to multiple preset points on the surface of the board and obtaining the three-dimensional coordinates of each preset point. The area division step divides the surface of the board into multiple areas, each area being defined by at least three preset points; The plane fitting step involves fitting a plane equation representing the surface morphology of the board material in each region based on the three-dimensional coordinates of preset points within that region. The real-time calculation step involves determining the area where the cutting head is located based on its current planar coordinates (Xc, Yc) during the cutting process, and then using the planar equation of that area to calculate the height value Zs of the board surface at that coordinate. In the height adjustment step, based on the calculated Zs and the preset height h of the cutting nozzle from the plate surface, the Z-axis coordinate Zt=Zs+h of the cutting head is calculated, and the cutting head is controlled to move to the Zt in real time.

2. The cutting height control method according to claim 1, characterized in that, The number of preset points is 9, and they are distributed on the surface of the board in a 3x3 matrix.

3. The cutting height control method according to claim 2, characterized in that, The number of the multiple regions is four.

4. The cutting height control method according to claim 3, characterized in that, The plane equation is expressed as: Z = K·|X| + L·|Y| + M; Where |X| and |Y| are the absolute values ​​of the X-axis coordinate and the Y-axis coordinate, respectively, and K, L, and M are coefficients determined by substituting the coordinates of three preset boundary points within the region into the equation and solving the system of equations.

5. The cutting height control method according to claim 4, characterized in that, The three boundary preset points are the adjacent corner points that define the region.

6. The cutting height control method according to claim 1, characterized in that, In the height adjustment step, Zs is a negative value and h is a positive value. The calculation of Zt ensures that the actual distance between the cutting nozzle and the surface of the plate is always equal to h.

7. The cutting height control method according to claim 1, characterized in that, In the measurement step, the cutting head triggers coordinate recording at each preset point through its built-in sensing device, thereby completing the digital modeling of the surface morphology of the board.

8. The cutting height control method according to claim 1, characterized in that, When the cutting path crosses the boundary of a region, it automatically switches to the plane equation corresponding to the target region to calculate Zs, so as to make the height of the cutting head transition smoothly.

9. A control system, characterized in that, For performing the cutting height control method according to any one of claims 1 to 8, the control system comprises: A coordinate acquisition module is used to perform the measurement steps; The region management module is used to execute the region division step and the plane fitting step; The real-time calculation module is used to execute the real-time calculation step and the height adjustment step; The motion control module is used to drive the cutting head to move along the Z-axis according to Zt.

10. A computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the cutting height control method as described in any one of claims 1-8.

11. A computer program product comprising a computer program instruction module, wherein when loaded and executed by a processor, the computer program instruction module causes the processor to perform the cutting height control method as described in any one of claims 1 to 8.

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