Laser engraving method and device for three-dimensional metal letters

Abstract

The application relates to the technical field of laser engraving, and discloses a laser engraving method and device for three-dimensional metal characters, which comprises the following steps: processing surface decomposition is performed on a three-dimensional metal character to be processed to obtain a processing surface set; return angle data of processing surface conversion is calculated according to the processing surface set, and path optimization is performed based on the return angle data to obtain a target processing path; the target processing path is distributed to multiple laser heads to establish a collaborative processing task of each laser head; and the metal character engraving is performed by controlling each laser head according to the collaborative processing task to obtain a finished three-dimensional metal character. The application automatically selects the optimal processing sequence and conversion path, effectively reduces non-productive movement time, improves processing efficiency, automatically inserts a cooling waiting time at a large-angle return position, effectively prevents processing quality problems caused by overheating, and guarantees the stability of processing quality.

Description

Technical Field

[0001] This invention relates to the field of laser engraving technology, and in particular to a method and apparatus for laser engraving three-dimensional metal characters. Background Technology

[0002] Traditional laser engraving methods, when processing three-dimensional structures, rely on simple straight-line path planning and fixed parameter settings. They lack precise control and optimization of the angles between processing surfaces, resulting in a large amount of non-productive movement time when switching processing surfaces, which seriously affects processing efficiency. Furthermore, when working in a shared workspace, there is a lack of effective space occupancy management and collision prevention mechanisms, making it easy for laser heads to collide. This not only causes equipment damage and production interruptions but also poses safety hazards. Summary of the Invention

[0003] This invention provides a laser engraving method and apparatus for three-dimensional metal characters. This invention automatically selects the optimal processing sequence and conversion path, effectively reducing non-productive movement time and improving processing efficiency. It automatically inserts cooling waiting time at large-angle reversal positions, effectively preventing processing quality problems caused by overheating and ensuring the stability of processing quality.

[0004] In a first aspect, the present invention provides a laser engraving method for three-dimensional metal characters, the laser engraving method for three-dimensional metal characters comprising: The machining surfaces of the three-dimensional metal characters to be machined are decomposed to obtain a set of machining surfaces; The turning angle data of the machining surface transformation is calculated based on the set of machining surfaces, and the path is optimized based on the turning angle data to obtain the target machining path; The target processing path is assigned to multiple laser heads to establish a collaborative processing task for each laser head; Based on the collaborative processing task, each laser head is controlled to perform metal letter engraving to obtain finished three-dimensional metal letters.

[0005] In conjunction with the first aspect, in a first implementation of the first aspect of the present invention, the step of decomposing the three-dimensional metal character to be processed into a set of processing surfaces includes: The contour of the three-dimensional metal character to be processed is scanned to obtain three-dimensional contour coordinate data, and a geometric model of the metal character is constructed based on the three-dimensional contour coordinate data; Based on the geometric model of the metal letter, the boundary line of the surface normal vector change is identified, and the three-dimensional metal letter is divided into multiple processing surfaces along the boundary line; Calculate the unit normal vector and spatial coordinates of each machined surface, and calculate the connection boundary and relative position relationship between the machined surfaces to obtain the set of machined surfaces.

[0006] In conjunction with the first aspect, in a second implementation of the first aspect of the present invention, the step of calculating the turning angle data of the machining surface transformation based on the set of machining surfaces, and optimizing the path based on the turning angle data to obtain the target machining path, includes: Extract the connection boundaries and relative positional relationships of each machining surface from the set of machining surfaces, and identify machining surfaces with shared boundaries based on the connection boundaries and relative positional relationships to determine the pairing of adjacent machining surfaces; The unit normal vectors of each pair of adjacent machining surfaces are multiplied by a vector dot product to obtain the spatial angle between the pairs of adjacent machining surfaces. Based on the spatial angle superimposed, the laser head moves from one processing surface to an adjacent processing surface using the reversal angle data; The target processing path is obtained by optimizing the path based on the turning angle data.

[0007] In conjunction with the first aspect, in a third implementation of the first aspect of the present invention, the step of superimposing the reversal angle data of the laser head when it moves from one processing surface to an adjacent processing surface based on the spatial angle includes: Based on the joint motion range and spatial position constraints of the laser head, calculate the mechanical motion angle of the laser head when it moves from one processing surface to an adjacent processing surface; The spatial angle is superimposed with the mechanical motion angle to calculate the return angle value required for the laser head to complete the processing surface conversion; Based on the reversal angle values, an angle matrix indexed by the processing surface pairing is constructed, and reversal angle values ​​within a set feasible range are marked to generate reversal angle data.

[0008] In conjunction with the first aspect, in a fourth implementation of the first aspect of the present invention, the step of optimizing the path based on the turning angle data to obtain the target processing path includes: Extract the return angle values ​​of each pair of adjacent machining surfaces from the return angle data, and calculate the cumulative return angle and estimated machining time for each machining surface conversion path based on the return angle values; The optimal processing sequence is determined based on the cumulative turning angle and the estimated processing time. The processing surfaces in the optimal processing sequence are connected in series according to the selected conversion path and the corresponding turning angle to form the target processing path.

[0009] In conjunction with the first aspect, in a fifth implementation of the first aspect of the present invention, the step of allocating the target processing path to multiple laser heads and establishing a collaborative processing task for each laser head includes: Obtain the turning angle complexity and spatial position distribution information of each processing surface in the target processing path; Based on the complexity of the turning angle and the spatial location distribution information, the processing surfaces are assigned to the corresponding laser heads according to the proximity principle and the matching degree of the turning angle, thus obtaining the initial task allocation scheme; Based on the position coordinates of each laser head in the initial task allocation scheme, an ellipsoidal envelope model with the center of the laser head as the origin is established, and the semi-axis length parameters of the ellipsoid in the X-axis, Y-axis and Z-axis directions are set to obtain the ellipsoidal envelope of each laser head. The intersection of the ellipsoidal envelopes of each laser head within the workspace is detected in real time to obtain the collision risk assessment results; Based on the collision risk assessment results, the task allocation and processing sequence of each laser head are adjusted, and the processing order of laser heads with collision risks is rearranged to obtain collaborative processing tasks.

[0010] In conjunction with the first aspect, in the sixth implementation of the first aspect of the present invention, the step of performing intersection detection on the real-time positions of the ellipsoidal envelopes of each laser head within the workspace to obtain a collision risk assessment result includes: The real-time center coordinates and velocity vectors of the ellipsoidal envelope of each laser head are obtained to determine the real-time position of each laser head. Based on the real-time location, the spatial equations of any two ellipsoidal envelopes are solved simultaneously. The ellipsoidal intersection determination algorithm is used to calculate whether the two ellipsoidal envelopes have an intersection, and the ellipsoidal intersection detection result is obtained. For ellipsoidal envelope pairs that have an intersection risk in the ellipsoidal intersection detection results, the collision probability of each laser head pair is calculated, and a collision risk assessment result is generated based on the collision probability.

[0011] In conjunction with the first aspect, in the seventh implementation of the first aspect of the present invention, the step of controlling each laser head to perform metal letter engraving according to the collaborative processing task to obtain a finished three-dimensional metal letter includes: Extract the return angle value corresponding to each laser head from the collaborative processing task, substitute the return angle value into the power modulation function, and calculate the angle modulation coefficient; The base laser power of each laser head is adjusted based on the angle modulation coefficient to obtain the target laser power, and the corresponding feed rate adjustment coefficient is calculated based on the return angle value. The reversal angle value is substituted into the heat accumulation model to calculate the temperature rise in the reversal region, and heat balance compensation parameters are generated based on the temperature rise. The laser heads are controlled to perform engraving operations synchronously according to the target laser power, the feed speed adjustment coefficient, and the thermal balance compensation parameters to obtain finished three-dimensional metal characters.

[0012] In conjunction with the first aspect, in the eighth implementation of the first aspect of the present invention, the step of substituting the reversal angle value into the heat accumulation model to calculate the temperature rise in the reversal region, and generating heat balance compensation parameters based on the temperature rise, includes: Substitute the reversal angle value into the heat accumulation model to solve for the temperature rise in the reversal region; Based on the temperature rise value, it is determined whether it exceeds the preset temperature threshold, and the temperature judgment result is obtained. Based on the temperature judgment result, the large-angle turnback position is selected. Logarithmic calculation is performed on the reversal angle value at the large-angle reversal position to obtain the cooling waiting time; The cooling waiting times are arranged in order of return position and matched with the processing cycle time to form thermal balance compensation parameters.

[0013] Secondly, the present invention provides a laser engraving device for three-dimensional metal characters, the laser engraving device for three-dimensional metal characters comprising: The machining surface decomposition module is used to decompose the machining surfaces of the 3D metal characters to be machined, and obtain a set of machining surfaces; The path optimization module is used to calculate the turning angle data of the machining surface transformation based on the set of machining surfaces, and to optimize the path based on the turning angle data to obtain the target machining path; The allocation module is used to allocate the target processing path to multiple laser heads and establish a collaborative processing task for each laser head; The metal letter engraving module is used to control each laser head to perform metal letter engraving according to the collaborative processing task, so as to obtain the finished three-dimensional metal letter.

[0014] The technical solution provided by this invention achieves precise quantification and control of the rotation angle of the laser head when switching between different processing surfaces by establishing the return angle data for processing surface transitions. Compared with traditional empirical path planning, it can accurately calculate the angle cost of each transition. Path optimization is performed based on the return angle data. By comprehensively considering the cumulative return angle and processing time cost, the optimal processing sequence and transition path are automatically selected, effectively reducing non-productive movement time and improving processing efficiency. An ellipsoidal envelope model is used to establish the spatial occupancy representation of the laser head. Compared with traditional spherical or cubic models, it can more accurately describe the actual space occupied by the laser head. Real-time collision risk assessment is achieved through an ellipsoidal intersection detection algorithm, effectively preventing collision accidents between multiple laser heads. According to the complexity of the return angle and spatial distribution of the processing surface, the processing tasks of each laser head are intelligently allocated, ensuring a balanced workload while minimizing interference between laser heads, and achieving collaborative processing. The laser power and feed rate are dynamically adjusted based on the return angle value, providing personalized parameter settings for different angle transition requirements, ensuring consistent processing quality under various angle conditions. The temperature rise in the turnaround area is calculated by using a thermal accumulation model. Cooling waiting time is automatically inserted at large-angle turnaround positions to effectively prevent processing quality problems caused by overheating and ensure the stability of processing quality. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram illustrating the steps of the laser engraving method for three-dimensional metal characters in an embodiment of the present invention; Figure 2 This is a schematic diagram of the laser engraving device for three-dimensional metal characters in an embodiment of the present invention. Detailed Implementation

[0017] This invention provides a method and apparatus for laser engraving three-dimensional metal characters. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0018] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 One embodiment of the laser engraving method for three-dimensional metal characters in this invention includes: Step S1: Decompose the three-dimensional metal characters to be processed into a set of processing surfaces; Specifically, a contour scanning operation is performed on the structure of the metal letter to be processed. The scanning process employs high-precision sensing methods such as multi-point laser ranging arrays, structured light projection, or stereo vision to comprehensively capture the outline of the metal letter, obtaining three-dimensional contour coordinate data covering the entire surface of the letter. This coordinate data forms a point cloud in space, which is then processed for noise reduction and curvature reconstruction using surface fitting and boundary filtering methods. This reconstructs a three-dimensional geometric model of the metal letter with a continuous normal vector field and boundary description capabilities. Based on this three-dimensional geometric model, the distribution of normal vectors at each point on the model surface is calculated, and boundary regions with large rates of change of normal vectors in space are extracted. This identifies the transition lines between different geometric features, which are defined as the geometric switching boundaries between adjacent processing surfaces. The original geometric model is then segmented along these boundary lines, dividing the overall structure into multiple local processing surfaces with independent processing attributes. Each processing surface possesses a continuous normal vector direction and a relatively stable curvature distribution. For each machining surface, calculate its unit normal vector, which is the average normal vector with the current machining surface as the reference surface as the direction identifier. At the same time, record its spatial position coordinate center point in the global workspace coordinate system, as well as the connection boundary curves and topological dependencies with adjacent machining surfaces, and construct a set of machining surfaces with spatial topological information, normal feature information and geometric association information.

[0019] Step S2: Calculate the turning angle data of the machining surface transformation based on the machining surface set, and optimize the path based on the turning angle data to obtain the target machining path; Specifically, the connection boundary information and spatial relative positional relationship between each processing surface and its adjacent processing surfaces are extracted from the set of processing surfaces. The connection boundary is marked by the common edge curves or coplanar edges identified in the geometric model, and the relative positional relationship is quantified by the Euclidean distance between the center coordinates of the processing surfaces and the difference in three-dimensional spatial orientation. Based on the geometric information, processing surface combinations with shared boundaries are identified and determined as a pair of adjacent processing surfaces with the potential for processing path continuity. On this basis, the unit normal vector of each pair of paired processing surfaces is extracted, and the spatial angle between them is calculated using vector dot product. The spatial angle represents the change in direction required for the laser head to rotate when transitioning from the current processing surface to the adjacent processing surface during processing. The angle result is corrected by combining the motion characteristics of the laser head mechanism, and the constraint correction value of the robotic arm joint is superimposed to form the turning angle data. Using the turning angles between all processing surfaces as input, a processing path graph structure is constructed. The processing surfaces are treated as graph nodes, and the turning angles are used as edge weights. A multi-objective path optimization algorithm that minimizes the total turning angle and total travel distance is employed. Combining the current position of the laser head, processing priority, and energy consumption constraints, a target processing path that satisfies processing continuity, minimizes turning costs, and minimizes spatial conflicts is searched. Step S3: The target processing path is assigned to multiple laser heads, establishing a collaborative processing task for each laser head. Specifically, the turning angle complexity parameters and their positional distribution information in three-dimensional space for each processing surface are extracted from the target processing path. The turning angle complexity is measured based on the spatial angle between the processing surface and its adjacent surfaces, while the spatial distribution information comes from the center coordinates of each processing surface in the workspace coordinate system and its adjacency relationship. Based on the above two dimensions of information, a comprehensive scheduling strategy is adopted to allocate processing surfaces. The proximity principle is used to minimize the laser head's movement distance, while the turning angle matching degree is used to improve the continuity and stability of the processing path. The weights of the two are adjustable, resulting in an initial task allocation scheme. According to the processing surface assigned to each laser head in the task allocation scheme, the spatial operating range of each laser head in the current cycle is determined. With the geometric center of the laser head as the origin, an ellipsoidal motion envelope is constructed for each laser head in the three-dimensional coordinate system. The semi-axis lengths of the ellipsoid along the X, Y, and Z axes are set to 150mm, 150mm, and 200mm, respectively, describing the spatial volume occupied by the laser head during dynamic operation. The system monitors the relative motion trajectories of the ellipsoidal envelopes of each laser head in real time within the workspace. Based on an ellipsoidal intersection determination algorithm, it performs spatial intersection detection to identify combinations of envelopes with overlapping regions and outputs a potential collision risk assessment result for the current cycle. When the system detects a possibility of spatial overlap between two or more laser heads in their processing trajectories, it dynamically adjusts the processing order of conflicting laser heads based on the urgency of the collision and the importance weight of the tasks. This involves optimizing and rearranging the task plan using methods such as task swapping, time delays, or processing path rotation, generating an updated collaborative processing task scheme.

[0020] Step S4: According to the collaborative processing task, control each laser head to perform metal letter engraving to obtain the finished three-dimensional metal letter.

[0021] Specifically, the processing surface sequence corresponding to each laser head is extracted from the collaborative processing task, and the corresponding return angle value is identified for each processing surface. The return angle value represents the spatial attitude change amplitude that the laser head needs to undergo during path transformation. The return angle value is input into a preset power modulation function model, and the angle modulation coefficient is calculated through the power modulation function model to characterize the degree of dynamic compensation required for laser power due to angle changes. Starting from the basic laser power of each laser head, the basic laser power is adjusted in combination with the calculated angle modulation coefficient to obtain the target laser power applicable to the current task stage. At the same time, the feed rate adjustment coefficient is calculated according to each return angle value, so that the speed is appropriately reduced in the large angle region to ensure the stability of processing quality, and a high feed efficiency is maintained when the angle is small to improve the overall processing rhythm. The return angle value is input into the heat accumulation evaluation model to calculate the degree of temperature rise caused by the return angle, and heat balance compensation parameters are generated accordingly to guide the system to insert a cooling period, reduce power, or adjust the laser head dwell time during processing to avoid abnormal material melting or structural deformation due to heat accumulation. The target laser power, feed rate adjustment coefficient, and thermal balance compensation parameters are combined as the control basis and sent to the control modules of each laser head. This drives each laser head to perform the engraving operation synchronously with the parameters in a predetermined order, completing the face-by-face engraving task of the three-dimensional metal characters and forming the finished three-dimensional metal characters.

[0022] In one specific embodiment, the process of performing step S1 may specifically include the following steps: The contour of the three-dimensional metal character to be processed is scanned to obtain the three-dimensional contour coordinate data, and the geometric model of the metal character is constructed based on the three-dimensional contour coordinate data; Based on the geometric model of the metal letter, the boundary line of the surface normal vector change is identified, and the three-dimensional metal letter is divided into multiple processing surfaces along the boundary line; Calculate the unit normal vector and spatial coordinates of each machined surface, and calculate the connection boundary and relative position relationship between the machined surfaces to obtain the set of machined surfaces.

[0023] Specifically, the preprocessing module of the laser engraving equipment utilizes a high-precision 3D contour scanning system. This system employs imaging devices such as laser ranging arrays, structured light projection, time-of-flight cameras, or multi-baseline stereo vision to perform a comprehensive scan of the entire outer surface of the metal letter to be processed. This acquires 3D contour coordinate data covering all curved areas of the letter's shape. The 3D contour coordinate data represents the geometric form of the metal letter in space as a high-density point cloud. The 3D contour coordinate data is then input into the geometric modeling module. A surface reconstruction algorithm is used to filter and denoise the point cloud, remove outliers, and estimate normal vectors. Resampling and interpolation operations are performed based on the sampling density to obtain a surface fitting result with greater continuity and a more stable topological structure. A model partitioning strategy based on curvature changes and normal vector gradients is used to perform a preliminary analysis of the geometric model surface. Regions with abrupt changes in the normal vector distribution gradient are extracted from the surface. A spatial derivative function is constructed for these regions to determine continuous curves where the normal vector orientation changes abruptly. These curves are defined as the normal feature boundaries between different regions of the metal letter's surface. A topological segmentation operation is performed along the normal feature boundary line, cutting the original continuous surface model into multiple independent regions. Each region has a relatively consistent normal vector distribution and local curvature characteristics within it, and there are clear geometric boundaries between it and its adjacent regions, forming the processing surface segmentation result. Geometric features are extracted from each segmented processing surface unit, and its unit normal vector is calculated. The unit normal vector is the average direction of the normal vectors of all points on the processing surface, used to characterize the orientation of the current processing surface in space. Simultaneously, its spatial coordinates are calculated based on the geometric center and centroid of the processing surface boundary. To establish the organizational relationship between processing surfaces, the common edge information between each pair of adjacent processing surfaces is extracted, i.e., the actual connection boundary between processing surfaces. The spatial relative relationships between each processing surface are described, including geometric features such as included angle relationships, adjacent topological relationships, and boundary contact lengths, to construct a processing surface relationship matrix. The spatial position, normal features, boundary connection information, and relative topological relationships of each processing surface unit are uniformly encapsulated to form a processing surface set.

[0024] In one specific embodiment, the process of performing step S2 may specifically include the following steps: Extract the connection boundaries and relative positional relationships of each machining surface from the set of machining surfaces, and identify machining surfaces with shared boundaries based on the connection boundaries and relative positional relationships to determine the pairing of adjacent machining surfaces; The spatial angle between adjacent machined surfaces is obtained by performing a vector dot product operation on the unit normal vector of each pair of machined surfaces in the pairing of adjacent machined surfaces. Based on the spatial angle superposition of the laser head's reversal angle data when it moves from one processing surface to an adjacent processing surface; The target processing path is obtained by optimizing the path based on the turning angle data.

[0025] Specifically, the set of processed surfaces undergoes structured analysis. By traversing the boundary contour data of each processed surface unit in the set and comparing it with the boundary contours of the other processed surfaces in the set, boundary segments with geometric overlap are identified. When there are one or more overlapping boundaries between two processed surfaces, and the boundary length meets the set common edge determination threshold, the two processed surfaces are marked as shared boundary units, and the length, position, and direction vector of the common boundary are recorded. After identifying all processed surface combinations with shared boundaries, the spatial positioning module extracts the spatial position coordinate information of each pair of adjacent processed surfaces, including the three-dimensional Euclidean distance between the surface centers, the relative orientation, and the spatial distribution of the intersecting boundaries. Based on the above information, a processed surface connection graph is constructed, treating the processed surfaces as nodes in the graph and the shared boundaries as connecting edges, forming a graph structure with spatial topological characteristics. For each pair of identified adjacent processing surfaces, spatial angle calculations are performed. The unit normal vectors of each surface are extracted, and their dot product is calculated. The angle between the two normal vectors in three-dimensional space is obtained by combining their vector magnitudes. Based on this angle, the required attitude adjustment range for the laser head to perform the transition operation from the current processing surface to the next is determined. The spatial angles are then superimposed with angle correction values ​​related to factors such as laser head and robotic arm structural limitations, rotational inertia, and drive lag to form reversal angle data that more closely reflects actual motion behavior. After collecting the reversal angles between all adjacent processing surfaces, a path optimization model is constructed by combining the spatial position and task priority between the processing surfaces. A weighted path evaluation function is established with the optimization objective of minimizing the total reversal angle, processing time, and path conflicts. A graph search and optimization algorithm is used to solve the processing surface connection graph, searching for the path sequence with the shortest reversal cost and optimal continuity in a globally meaningful sense. During this process, the current starting position of the laser head, the distribution of priority processing areas, the impact of heat accumulation and the weight of collision risk are dynamically considered. The path scoring strategy is continuously adjusted through a multi-objective constraint integration mechanism to output a target processing path that satisfies path continuity, turnaround stability and spatial avoidance rationality.

[0026] In one specific embodiment, the process of performing the step of superimposing the reflection angle data of the laser head when it moves from one processing surface to an adjacent processing surface based on the spatial angle can specifically include the following steps: Based on the joint motion range and spatial position constraints of the laser head, calculate the mechanical motion angle of the laser head when it moves from one processing surface to an adjacent processing surface; The spatial angle is superimposed with the mechanical motion angle to calculate the turning angle value required for the laser head to complete the processing surface conversion; An angle matrix indexed by the processing surface pairing is constructed based on the return angle value, and the return angle values ​​within the set feasible range are marked to generate return angle data.

[0027] Specifically, during the modeling phase, the mechanical structural parameters of the laser head are documented. This includes the degree-of-freedom configuration of the multi-joint robotic arm to which the laser head is attached, the upper and lower limits of rotation for each joint, the coupling relationship between joints, the attitude change constraints of the end effector, and the reachable boundaries of the entire device in the three-dimensional workspace. After identifying any pair of adjacent processing surfaces, the spatial angle under ideal conditions is calculated by analyzing the spatial positional relationship and normal orientation change of the pair of processing surfaces. This represents the turning amplitude required for the laser head to transition from one processing surface to another at the theoretical geometric level. In actual operation, due to the motion limitations of each joint of the robotic arm to which the laser head belongs, as well as the inherent gravitational load, drive lag, and attitude control complexity of the structure itself, the spatial angle alone cannot fully represent the actual turning cost. Through the mechanical motion simulation module, the current end effector attitude and position of the laser head and the target attitude of the target processing surface are used as inputs. Based on forward kinematics and inverse kinematics algorithms, combined with the joint configuration parameters of the robotic arm, the actual rotation angle change of each joint when the laser head completes the current processing surface transition operation is calculated, and the weighted total of the rotation angle changes is obtained to form mechanical motion angle data. The mechanical motion angle and the spatial angle are superimposed to obtain a comprehensive reversal angle value that integrates spatial direction changes and mechanical execution load. All paired processing surfaces are used as matrix indexes, with the processing surface number as the row and column identifier. The comprehensive reversal angle value between each pair of processing surfaces is filled into the corresponding cell to construct a reversal angle matrix. A feasibility boundary threshold judgment mechanism for the reversal angle sets an upper and lower limit for the allowable range. When the reversal angle value in a matrix cell exceeds the allowable range, it indicates that it violates the laser head's motion range or causes processing instability; the current matrix cell is marked and its status is set as infeasible. Conversely, for angle values ​​within the set feasible range, the reversal angle is extracted and stored in the reversal angle data set, and associated with the processing surface relationship matrix and path priority matrix to form the basic input data for the path planning stage.

[0028] In one specific embodiment, the process of optimizing the path based on the turnaround angle data to obtain the target processing path can specifically include the following steps: Extract the return angle values ​​of each pair of adjacent machining surfaces from the return angle data, and calculate the cumulative return angle and estimated machining time for each machining surface conversion path based on the return angle values; The optimal processing sequence is determined based on the cumulative turning angle and the estimated processing time. The processing surfaces in the optimal processing sequence are connected in series according to the selected conversion path and the corresponding turnaround angle to form the target processing path.

[0029] Specifically, in the reversal angle matrix, all processing surface pairs with valid connections are filtered, and the reversal angle value between each pair of adjacent processing surfaces is extracted. A processing surface connection graph is then constructed based on the reversal angle value, where nodes represent processing surfaces, edges represent reversal channels between processing surfaces, and the weight of the edge is the corresponding reversal angle value. Path enumeration and analysis operations are performed for all possible processing path combinations. That is, in all feasible processing surface access sequences, each path traverses adjacent processing surface pairs, extracts the corresponding reversal angle value sequentially, and sums the reversal angle values ​​to obtain the cumulative reversal angle corresponding to the current path. Simultaneously, based on the motion estimation module, by simulating the speed adjustment, power compensation, and thermal equalization waiting behavior of the laser head during different angle switching processes, and combining the processing surface area and complexity parameters, the time required for each processing operation in the path is estimated, and the times are summarized to form the estimated processing time for each path. After obtaining the cumulative turnaround angles and estimated processing times for all paths, a multi-objective ranking function is constructed. The total turnaround angles and processing time are used as optimization objectives. A comprehensive evaluation index is built using weighted coefficients, and based on this, all path combinations are ranked and screened. Under the premise of ensuring processing continuity and spatial safety, paths with smaller cumulative turnaround angles and shorter processing times are prioritized as the candidate path set. Path quality scoring is performed on the candidate path set, and local perturbation analysis and pruning strategies are introduced to eliminate redundant turnaround paths or jump schemes with heat accumulation risks. The processing sequence with the optimal comprehensive index is then selected. Based on the connection order between processing surfaces, the directionality of turnaround angles, and the information of conversion paths, the processing surfaces in the optimal processing sequence are connected one by one to form a target processing path with execution rationality, dynamic stability, and resource coordination.

[0030] In one specific embodiment, the process of performing step S3 may specifically include the following steps: Obtain information on the turning angle complexity and spatial distribution of each processing surface in the target processing path; Based on the complexity of the turning angle and the spatial distribution information, the processing surfaces are assigned to the corresponding laser heads according to the proximity principle and the matching degree of the turning angle, thus obtaining the initial task allocation scheme; Based on the position coordinates of each laser head in the initial task allocation scheme, an ellipsoidal envelope model with the center of the laser head as the origin is established, and the semi-axis length parameters of the ellipsoid in the X-axis, Y-axis and Z-axis directions are set to obtain the ellipsoidal envelope of each laser head. The intersection of the ellipsoidal envelopes of each laser head within the workspace is detected in real time to obtain the collision risk assessment results; Based on the collision risk assessment results, the task allocation and processing sequence of each laser head are adjusted, and the processing order of laser heads with collision risks is rearranged to obtain collaborative processing tasks.

[0031] Specifically, during the path generation phase, the target processing path is traversed and analyzed, extracting the turnaround angle value corresponding to each processing surface. The turnaround angle complexity of the current processing surface is calculated by combining the surface's position within the path, the range of adjacent jump angles, and the amplitude of the robotic arm's posture changes. This turnaround angle complexity reflects the intensity of posture adjustment and control precision required by the laser head during processing surface switching. Simultaneously, the spatial distribution information of all processing surfaces is extracted from the processing path model, including the three-dimensional coordinates of the surface's geometric center, the degree of clustering of the distribution area, the distance to the workspace boundary, and the probability of local overlap in relatively dense areas. Based on the turnaround angle complexity and spatial distribution information, the task scheduling module prioritizes processing surfaces that are spatially close and within the same cluster to be assigned to the same laser head according to the proximity principle. A turnaround angle matching degree calculation mechanism is also introduced, which evaluates whether the turnaround angle between consecutive processing surfaces is within the laser head's operable range. If the angle change between two surfaces is smooth and does not constitute abrupt angle changes or extreme turning, the matching degree is considered high, and the two surfaces are preferentially assigned to the same laser head task set, thus forming the initial task allocation scheme. The initial task allocation scheme assigns a set of processing surface tasks to each laser head that are spatially relatively clustered and have good angular continuity. Based on the processing surface distribution characteristics of each laser head in the initial task scheme, the activity boundary of the laser head during task execution is calculated. A three-dimensional ellipsoidal envelope model is established with the geometric center of the laser head actuator as the origin. This model uses different axial length parameters to describe the laser head's motion extension capability in various spatial directions. The semi-axis lengths of the X, Y, and Z axes are set according to the equipment's structural characteristics to ensure that the ellipsoidal shape can accurately cover the dynamic influence range of the laser head. After all laser head ellipsoidal envelopes are established, a collision detection phase begins. At fixed time intervals, an intersection calculation is performed on the positions of each laser head ellipsoidal model in the current workspace. An analytical geometric method is used to determine whether two ellipsoids intersect. If an intersection region is detected between any two ellipsoids, a potential spatial overlap and motion conflict are identified. A collision risk assessment result is generated and quantified into a risk level and warning time, which is then transmitted to the task optimization module. Based on the evaluation results, the initial task allocation scheme is dynamically adjusted. Under the premise of ensuring that no processing surface is missed, the execution order of conflicting laser heads is adjusted first. The task structure is rearranged by inserting processing time delays, exchanging some task groups, or adjusting the starting position of the task execution phase. In particular, for high-risk intersection areas, the task density is reduced or they are assigned to backup laser heads far away from the risk area to reduce the probability of intersection. Finally, the collaborative processing task scheme after collision prediction and task reconstruction is output.

[0032] In one specific embodiment, the process of performing intersection detection on the real-time positions of the ellipsoidal envelopes of each laser head within the workspace to obtain the collision risk assessment result can specifically include the following steps: The real-time center coordinates and velocity vectors of the ellipsoidal envelope of each laser head are obtained to determine the real-time position of each laser head. Based on the real-time location, the spatial equations of any two ellipsoidal envelopes are solved simultaneously. The ellipsoidal intersection determination algorithm is used to calculate whether the two ellipsoidal envelopes have an intersection, and the ellipsoidal intersection detection result is obtained. For ellipsoidal envelope pairs that have an intersection risk in the ellipsoidal intersection detection results, the collision probability of each laser head pair is calculated, and a collision risk assessment result is generated based on the collision probability.

[0033] Specifically, during the laser engraving operation, the position and trajectory of each laser head are monitored in real time. Position sensors and speed encoders acquire the current spatial geometric center coordinates of each laser head and its velocity components along the three coordinate axes. The position coordinates are used as the spatial center point of the laser head's ellipsoidal envelope, while the velocity vectors are used to predict the ellipsoid's future displacement trend within a certain time window. Based on the structural dimensions and dynamic motion characteristics of each laser head, a three-dimensional ellipsoidal envelope model is pre-built. The spatial equation of the ellipsoid is defined by its center coordinates and the semi-axis lengths along the X, Y, and Z axes. These parameters are updated synchronously with the laser head's position during operation. Within each control cycle, the ellipsoidal envelopes corresponding to any two laser heads are selected. The spatial equations of the two ellipsoids are solved simultaneously using an ellipsoidal intersection detection module. An analytical geometric method is used to determine if a common solution region exists that satisfies the equations of the two ellipsoids. Specifically, an equivalent distance function or a minimum distance function of the ellipsoidal boundary is constructed to determine if there is an overlapping region at the boundary. If the detection results show that the spatial projections of the two ellipsoids intersect at the current moment, the pair of laser heads is considered to have a potential collision risk and is marked as a high-priority risk pair. Otherwise, if there is no intersection, the risk calculation process is skipped. For laser head combinations determined to have an intersection risk, a collision probability prediction model is used. Based on the motion velocity vectors, the angle between the motion directions, the velocity change trend, and the shape parameters and relative distance of the ellipsoids, the probability of them approaching or overlapping within a preset time window is probabilistically modeled. The collision probability calculation process considers the relative orientation between the velocity vectors and the acceleration change trend. If the two laser heads are facing each other and the relative velocity is large, the collision probability increases; if their trajectories are divergent or the velocity is small, the probability decreases. The collision probability results for each pair of laser head combinations at risk are normalized and combined with the current intersection volume between ellipsoids, the importance of the processing stage in which the intersection region is located, and the priority of the laser head's task execution to form a comprehensive collision risk level, which is then divided into three risk levels: high, medium, and low. The intersection detection results, collision probability values, and risk level labels of all ellipsoidal envelopes are written as structured data into the collision risk assessment result set.

[0034] In one specific embodiment, the process of performing step S4 may specifically include the following steps: Extract the return angle value corresponding to each laser head from the collaborative processing task, substitute the return angle value into the power modulation function, and calculate the angle modulation coefficient; The base laser power of each laser head is adjusted based on the angle modulation coefficient to obtain the target laser power. At the same time, the corresponding feed rate adjustment coefficient is calculated based on the return angle value. The return angle value is substituted into the heat accumulation model to calculate the temperature rise in the return region, and heat balance compensation parameters are generated based on the temperature rise. By controlling each laser head to synchronously perform engraving operations according to the target laser power, feed speed adjustment coefficient and thermal balance compensation parameters, a finished three-dimensional metal character is obtained.

[0035] Specifically, the collaborative task scheduling module analyzes the sequence of processing surfaces assigned to each laser head and extracts the turning angle value for the transition between each consecutive processing surface. The turning angle value reflects the attitude adjustment range required for the laser head to move from the current processing surface to the next processing surface in space. The turning angle values ​​are then substituted into the power modulation function model. The power modulation function considers the increasing energy demand of the laser head in the large-angle turning state and introduces the modulation effect of angle fluctuations on the laser output through a nonlinear factor, generating an angle modulation coefficient corresponding to each turning angle. The angle modulation coefficient is considered as a gain factor for laser power adjustment, used to correct the basic output power of the laser in different turning states. Using the basic laser power of each laser head as a benchmark value, dynamic adjustments are made in conjunction with the angle modulation coefficient to calculate the target laser power in real time. This target laser power is then used as the energy input basis for the laser head to execute the current processing surface task. Simultaneously, the feed rate adjustment function is invoked based on the reversal angle. This function proportionally decreases or exponentially corrects the feed rate according to the angle, maintaining a higher feed rate to improve processing efficiency when the reversal angle is small, and reducing the feed rate to ensure cutting quality and trajectory control stability when the reversal angle is large. This generates a matching feed rate adjustment coefficient for each processing segment, ensuring a dynamic coupling balance between laser energy and movement speed. The reversal angle value is input into the thermal accumulation model to estimate the temperature rise in the target processing area after the laser head performs the reversal operation. The model incorporates thermophysical characteristic parameters such as the square of the angle, the upper limit of temperature rise, and the thermal diffusion rate, allowing the thermal accumulation effect caused by different reversal angles to be continuously quantified. Based on the temperature rise output by the thermal accumulation model, thermal balance compensation parameters are derived to adjust whether to insert a cooling delay, reduce the peak laser power, or adjust the processing surface transition rhythm during the processing flow, effectively suppressing problems such as excessive material melting, edge ablation, or processing deformation caused by heat accumulation. The target laser power, feed speed adjustment coefficient and thermal balance compensation parameters are combined to form a set of dynamic control instructions, which are sent to each laser head controller module to drive each laser head to synchronously perform engraving operations according to the corresponding processing surface sequence. Throughout the process, the laser head status feedback is monitored in real time to correct the modulation accuracy, ensuring that the power output, speed advancement and thermal management of each processing segment are in a stable control state under different reversal scenarios, so as to obtain the finished three-dimensional metal lettering.

[0036] In one specific embodiment, the process of substituting the reversal angle value into the heat accumulation model to calculate the temperature rise in the reversal region and generating heat balance compensation parameters based on the temperature rise can specifically include the following steps: Substitute the reversal angle value into the heat accumulation model to solve for the temperature rise in the reversal region; Based on the temperature rise value, it is determined whether it exceeds the preset temperature threshold, and the temperature judgment result is obtained. Based on the temperature judgment result, the large-angle turn-off position is selected. Logarithmic calculations are performed on the reversal angle values ​​at large-angle reversal positions to obtain the cooling waiting time; The cooling waiting time is arranged in the order of the turnaround position and matched with the processing cycle time to form thermal balance compensation parameters.

[0037] Specifically, after the processing path planning is completed, each set of turnaround transition links between processing surfaces is traversed, all turnaround angle values ​​are extracted and input into the thermal accumulation model. The thermal accumulation model, during its construction, comprehensively considers the nonlinear relationship between heat conduction delay, laser dwell time, and turnaround angle, calculating the local temperature rise at the current position based on the angle amplitude corresponding to each turnaround action. The model incorporates the square of the angle and a temperature rise saturation factor to simulate the thermal superposition effect at high angles, and sets a base ambient temperature and a maximum temperature rise limit to regulate the range of output temperature rise values, ensuring that each turnaround angle can be mapped to a specific thermal response amplitude. A threshold judgment operation is performed on the temperature rise value, comparing it with a preset temperature threshold for the turnaround area. If the temperature rise value does not exceed the temperature threshold, the current turnaround operation is determined not to cause thermal stress or overheating to the material structure, and no cooling delay is inserted in the control cycle. If the temperature rise value exceeds the set threshold, the current turnaround angle is determined to be within the range of operations with heavy thermal load and is marked as a large-angle turnaround position. Large-angle turnaround positions are numbered and marked, and an index table containing their processing sequence, turnaround angle value, and heat sensitivity level is established. A logarithmic operation is performed on the turnaround angle value corresponding to each selected large-angle turnaround position. This logarithmic operation simulates the physical trend of cooling demand increasing non-linearly with increasing angle; that is, the larger the angle, the faster the cooling demand increases, but the rate of increase is not linearly amplified but tends to level off, consistent with the logarithmic growth law of actual heat diffusion behavior. After the logarithmic operation, all cooling waiting time results are sorted according to the original order of the turnaround positions in the processing path, and compared and matched with the cycle time sequence of each processing segment to ensure that the cooling waiting time does not disrupt the rhythm control of the overall processing flow. During the matching process, a time insertion window is set, and the collaborative time gap between multiple laser heads is considered to reasonably allocate cooling time without affecting adjacent processing tasks. The processing results are encapsulated into a set of thermal balance compensation parameters, which indicate which processing nodes need to insert cooling waiting operations, the specific waiting time length, the corresponding processing surface position, and the correspondence with the processing cycle. The thermal balance compensation parameters are transmitted to the real-time execution layer as temperature control commands, so that each laser head can automatically determine whether it has entered a high-heat section during the execution path, and pause laser output or implement airflow cooling, time waiting, etc. after detecting the compensation command, so as to achieve temperature rise control, stress relief and thermal field stability.

[0038] The laser engraving method for three-dimensional metal characters in the embodiments of the present invention has been described above. The laser engraving device for three-dimensional metal characters in the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 2 One embodiment of the laser engraving device for three-dimensional metal characters in this invention includes: The machining surface decomposition module is used to decompose the machining surfaces of the 3D metal characters to be machined, and obtain a set of machining surfaces; The path optimization module is used to calculate the turning angle data of the machining surface transformation based on the machining surface set, and to optimize the path based on the turning angle data to obtain the target machining path; The allocation module is used to assign the target processing path to multiple laser heads and establish a collaborative processing task for each laser head; The metal letter engraving module is used to control each laser head to perform metal letter engraving according to the collaborative processing task, so as to obtain the finished three-dimensional metal letter.

[0039] Through the collaborative efforts of the aforementioned components, and by establishing the reversal angle data for processing surface transitions, precise quantification and control of the laser head's rotation angle when switching between different processing surfaces are achieved. Compared to traditional empirical path planning, this method can accurately calculate the angular cost of each transition. Path optimization is performed based on the reversal angle data. By comprehensively considering the cumulative reversal angle and processing time cost, the optimal processing sequence and transition path are automatically selected, effectively reducing non-productive movement time and improving processing efficiency. An ellipsoidal envelope model is used to represent the spatial occupancy of the laser head. Compared to traditional spherical or cubic models, this method can more accurately describe the actual space occupied by the laser head. Real-time collision risk assessment is achieved through an ellipsoidal intersection detection algorithm, effectively preventing collisions between multiple laser heads. Based on the complexity of the reversal angles and the spatial distribution of the processing surfaces, the processing tasks of each laser head are intelligently allocated, ensuring a balanced workload while minimizing interference between laser heads, thus achieving collaborative processing. Based on the reversal angle values, the laser power and feed rate are dynamically adjusted, providing personalized parameter settings for different angle transition requirements, ensuring consistent processing quality under various angle conditions. The temperature rise in the turnaround area is calculated by using a thermal accumulation model. Cooling waiting time is automatically inserted at large-angle turnaround positions to effectively prevent processing quality problems caused by overheating and ensure the stability of processing quality.

[0040] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0041] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0042] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser engraving method for three-dimensional metal characters, characterized in that, include: The machining surfaces of the three-dimensional metal characters to be machined are decomposed to obtain a set of machining surfaces; The turning angle data of the machining surface transformation is calculated based on the set of machining surfaces, and the path is optimized based on the turning angle data to obtain the target machining path; The target processing path is assigned to multiple laser heads to establish a collaborative processing task for each laser head; Based on the collaborative processing task, each laser head is controlled to perform metal letter engraving to obtain finished three-dimensional metal letters.

2. The laser engraving method for three-dimensional metal characters according to claim 1, characterized in that, The process involves decomposing the three-dimensional metal characters to be processed into a set of processing surfaces, including: The contour of the three-dimensional metal character to be processed is scanned to obtain three-dimensional contour coordinate data, and a geometric model of the metal character is constructed based on the three-dimensional contour coordinate data; Based on the geometric model of the metal letter, the boundary line of the surface normal vector change is identified, and the three-dimensional metal letter is divided into multiple processing surfaces along the boundary line; Calculate the unit normal vector and spatial coordinates of each machined surface, and calculate the connection boundary and relative position relationship between the machined surfaces to obtain the set of machined surfaces.

3. The laser engraving method for three-dimensional metal characters according to claim 1, characterized in that, The step of calculating the turning angle data of the machining surface transformation based on the set of machining surfaces, and optimizing the path based on the turning angle data to obtain the target machining path includes: Extract the connection boundaries and relative positional relationships of each machining surface from the set of machining surfaces, and identify machining surfaces with shared boundaries based on the connection boundaries and relative positional relationships to determine the pairing of adjacent machining surfaces; The unit normal vectors of each pair of adjacent machining surfaces are multiplied by a vector dot product to obtain the spatial angle between the pairs of adjacent machining surfaces. Based on the spatial angle superimposed, the laser head moves from one processing surface to an adjacent processing surface using the reversal angle data; The target processing path is obtained by optimizing the path based on the turning angle data.

4. The laser engraving method for three-dimensional metal characters according to claim 3, characterized in that, The method of superimposing the laser head's reversal angle data when moving from one processing surface to an adjacent processing surface based on the spatial angle includes: Based on the joint motion range and spatial position constraints of the laser head, calculate the mechanical motion angle of the laser head when it moves from one processing surface to an adjacent processing surface; The spatial angle is superimposed with the mechanical motion angle to calculate the return angle value required for the laser head to complete the processing surface conversion; Based on the reversal angle values, an angle matrix indexed by the processing surface pairing is constructed, and reversal angle values ​​within a set feasible range are marked to generate reversal angle data.

5. The laser engraving method for three-dimensional metal characters according to claim 4, characterized in that, The path optimization based on the turning angle data to obtain the target processing path includes: Extract the return angle values ​​of each pair of adjacent machining surfaces from the return angle data, and calculate the cumulative return angle and estimated machining time for each machining surface conversion path based on the return angle values; The optimal processing sequence is determined based on the cumulative turning angle and the estimated processing time. The processing surfaces in the optimal processing sequence are connected in series according to the selected conversion path and the corresponding turning angle to form the target processing path.

6. The laser engraving method for three-dimensional metal characters according to claim 1, characterized in that, The step of assigning the target processing path to multiple laser heads and establishing a collaborative processing task for each laser head includes: Obtain the turning angle complexity and spatial position distribution information of each processing surface in the target processing path; Based on the complexity of the turning angle and the spatial location distribution information, the processing surfaces are assigned to the corresponding laser heads according to the proximity principle and the matching degree of the turning angle, thus obtaining the initial task allocation scheme; Based on the position coordinates of each laser head in the initial task allocation scheme, an ellipsoidal envelope model with the center of the laser head as the origin is established, and the semi-axis length parameters of the ellipsoid in the X-axis, Y-axis and Z-axis directions are set to obtain the ellipsoidal envelope of each laser head. The intersection of the ellipsoidal envelopes of each laser head within the workspace is detected in real time to obtain the collision risk assessment results. Based on the collision risk assessment results, the task allocation and processing sequence of each laser head are adjusted, and the processing order of laser heads with collision risks is rearranged to obtain collaborative processing tasks.

7. The laser engraving method for three-dimensional metal characters according to claim 6, characterized in that, The method of performing intersection detection on the real-time positions of the ellipsoidal envelopes of each laser head within the workspace to obtain collision risk assessment results includes: The real-time center coordinates and velocity vectors of the ellipsoidal envelope of each laser head are obtained to determine the real-time position of each laser head. Based on the real-time location, the spatial equations of any two ellipsoidal envelopes are solved simultaneously. The ellipsoidal intersection determination algorithm is used to calculate whether the two ellipsoidal envelopes have an intersection, and the ellipsoidal intersection detection result is obtained. For ellipsoidal envelope pairs that have an intersection risk in the ellipsoidal intersection detection results, the collision probability of each laser head pair is calculated, and a collision risk assessment result is generated based on the collision probability.

8. The laser engraving method for three-dimensional metal characters according to claim 1, characterized in that, The process of controlling each laser head to perform metal letter engraving according to the collaborative processing task to obtain finished three-dimensional metal letters includes: Extract the return angle value corresponding to each laser head from the collaborative processing task, substitute the return angle value into the power modulation function, and calculate the angle modulation coefficient; The base laser power of each laser head is adjusted based on the angle modulation coefficient to obtain the target laser power, and the corresponding feed rate adjustment coefficient is calculated based on the return angle value. The reversal angle value is substituted into the heat accumulation model to calculate the temperature rise in the reversal region, and heat balance compensation parameters are generated based on the temperature rise. The laser heads are controlled to perform engraving operations synchronously according to the target laser power, the feed speed adjustment coefficient, and the thermal balance compensation parameters to obtain finished three-dimensional metal characters.

9. The laser engraving method for three-dimensional metal characters according to claim 8, characterized in that, The step of substituting the reversal angle value into the heat accumulation model to calculate the temperature rise in the reversal region, and generating heat balance compensation parameters based on the temperature rise, includes: Substitute the reversal angle value into the heat accumulation model to solve for the temperature rise in the reversal region; Based on the temperature rise value, it is determined whether it exceeds the preset temperature threshold, and the temperature judgment result is obtained. Based on the temperature judgment result, the large-angle turnback position is selected. Logarithmic calculation is performed on the reversal angle value at the large-angle reversal position to obtain the cooling waiting time; The cooling waiting times are arranged in order of return position and matched with the processing cycle time to form thermal balance compensation parameters.

10. A laser engraving device for three-dimensional metal characters, characterized in that, A laser engraving method for performing three-dimensional metallic lettering as described in any one of claims 1-9 includes: The machining surface decomposition module is used to decompose the machining surfaces of the three-dimensional metal characters to be machined, and obtain a set of machining surfaces; The path optimization module is used to calculate the turning angle data of the machining surface transformation based on the set of machining surfaces, and to optimize the path based on the turning angle data to obtain the target machining path; The allocation module is used to allocate the target processing path to multiple laser heads and establish a collaborative processing task for each laser head; The metal letter engraving module is used to control each laser head to perform metal letter engraving according to the collaborative processing task, so as to obtain the finished three-dimensional metal letter.

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