Anti-collision method, device, equipment and medium for double-beam laser processing equipment, and product

Abstract

The application discloses a double-beam laser processing equipment anti-collision method and device, a computer device, a storage medium and a program product. The method comprises the following steps: a first control system and a second control system respectively acquire position data of a first beam and a second beam; the first control system and the second control system synchronize the position data; the first control system and the second control system perform parallel calculation on the real-time distance between the two beams based on the synchronized data; and in response to the real-time distance calculated by any one of the control systems reaching an anti-collision threshold, the first beam and / or the second beam is controlled to perform an anti-collision action. The method can realize real-time anti-collision control of the double-beam under high-speed running conditions and reduce the collision risk.

Description

Technical Field

[0001] This application belongs to the field of laser processing technology, and more specifically, relates to a collision prevention method, device, computer equipment, storage medium and program product for a double beam laser processing equipment. Background Technology

[0002] In the field of laser processing equipment, laser processing machine tools with a double beam structure have been widely used to improve processing efficiency and equipment utilization.

[0003] Dual-beam laser processing equipment typically features two independent processing channels. The two beams share the same bed and electrical cabinet, but are driven by independent control systems. The two beams can operate synchronously or independently on the same guide rail, thus significantly improving overall processing capacity.

[0004] However, when two crossbeams operate simultaneously, interference zones can form due to the overlap in their movement trajectories and processing ranges. When the two crossbeams need to process adjacent or close areas of sheet metal, their movement paths may intersect, leading to a potential collision risk. Existing anti-collision measures mainly rely on limit switches, travel switches, or photoelectric switches for protection. When the equipment operates at high speeds, these switches may not react in time, easily causing overshoot collisions and equipment shutdown. Therefore, how to achieve real-time anti-collision control of dual crossbeams under high-speed operating conditions is a pressing problem that needs to be solved in current technology. Summary of the Invention

[0005] Therefore, it is necessary to provide a collision prevention method, device, computer equipment, computer-readable storage medium, and computer program product for dual-beam laser processing equipment that can reduce the collision risk during simultaneous processing by the aforementioned technical problems.

[0006] This application provides a collision avoidance method for a double-beam laser processing equipment, including:

[0007] The first control system and the second control system respectively acquire the position data of the first crossbeam and the second crossbeam; The first control system synchronizes the position data with the second control system; The first control system and the second control system calculate the real-time distance between the two crossbeams in parallel based on the synchronized data. In response to any one of the control systems calculating that the real-time distance reaches the collision avoidance threshold, the first crossbeam and / or the second crossbeam are controlled to perform a collision avoidance action.

[0008] Furthermore, each of the control systems records the operating parameters of the servo drive device through the encoder of its respective servo drive device, and calculates the position data of the corresponding crossbeam based on the operating parameters.

[0009] Furthermore, each of the control systems normalizes the corresponding beam position data relative to the beam travel to obtain a normalized value; the beam travel is the distance between the zero-return starting point and the end limit of the beam.

[0010] Furthermore, the normalized value is mapped to an analog value based on the number of bits in the analog-to-digital conversion module.

[0011] Furthermore, the analog value is converted into a voltage signal within a preset voltage range for transmission; the upper and lower limits of the preset voltage range deviate from the limit values ​​of the range of the analog-to-digital conversion module, and the deviation is not less than 3% of the range.

[0012] Furthermore, each of the control systems receives an analog voltage signal sent by the other control system; converts the analog voltage signal into a normalized value; and calculates the displacement data of the other beam based on the normalized value.

[0013] Furthermore, before the anti-collision action is executed, the current position coordinates and current processing parameters of the first and second crossbeams are saved so that the processing state can be restored after the anti-collision action is completed.

[0014] This application embodiment also provides an anti-collision device for a double-beam laser processing equipment, including: The position acquisition module is used to acquire the position information of the first crossbeam and the second crossbeam respectively; The data interaction module is used to synchronize position information between the first control system and the second control system; The distance calculation module is used to calculate the real-time distance between the two crossbeams based on the synchronized position information; The collision avoidance execution module is used to output a collision avoidance command when the real-time distance reaches the collision avoidance condition.

[0015] This application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method.

[0016] This application also provides a computer-readable storage medium storing a computer program thereon, characterized in that the computer program, when executed by a processor, implements the steps of the method.

[0017] This application also provides a computer program product, including a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method.

[0018] The aforementioned anti-collision method, device, computer equipment, computer-readable storage medium, and computer program product for dual-beam laser processing equipment, since the first control system and the second control system respectively acquire the position data of their respective beams and realize the position information interaction between the two systems through synchronized position data, each control system calculates the real-time distance between the two beams in parallel based on the synchronized data, and actively executes the collision avoidance action when the distance reaches the collision avoidance threshold, can effectively avoid beam collisions and realize real-time anti-collision control under high-speed operation conditions. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a double-beam laser processing device in one embodiment; Figure 2 This is a flowchart illustrating a collision prevention method for a dual-beam laser processing equipment in one embodiment. Figure 3 A schematic diagram of the position data synchronization process for a collision avoidance method of a dual-beam laser processing equipment in one embodiment; Figure 4 A schematic diagram illustrating the calculation of beam spacing for a collision avoidance method of a double-beam laser processing equipment in one embodiment; Figure 5 A flowchart illustrating the reverse conversion of a collision avoidance method for a dual-beam laser processing apparatus in one embodiment. Figure 6 This is a structural block diagram of the anti-collision device for a double-beam laser processing equipment in one embodiment. Figure 7 This is a diagram of the internal structure of a computer device in one embodiment. Detailed Implementation

[0021] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0022] It should be noted that the terms "first," "second," etc., used in this application may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0023] The anti-collision method for double-beam laser processing equipment provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the device includes a bed 10, a second crossbeam 20 and a second crossbeam 30 mounted on the bed 10, a first control system connected to the second crossbeam 20, and a second control system connected to the second crossbeam 30. The second crossbeam 20 and the second crossbeam 30 are arranged parallel to each other on the guide rails 40 of the bed 10 and can reciprocate independently along the X-axis. The first control system and the second control system are independent CNC systems, each equipped with a servo drive and an encoder. A data communication connection is established between the two control systems to achieve the exchange of position data.

[0024] In one exemplary embodiment, see Figure 2 This paper provides a collision prevention method for a double-beam laser processing equipment. Taking the application of this method to the aforementioned laser processing equipment as an example, the method includes the following steps: S10, the first control system and the second control system respectively acquire the position data of the second crossbeam 20 and the second crossbeam 30.

[0025] In this system, the second crossbeam 20 refers to the first crossbeam assembly controlled by the first control system in the dual-crossbeam laser processing equipment, used to mount and drive the first cutting head to reciprocate in the X-axis direction. The second crossbeam 30 refers to the second crossbeam assembly controlled by the second control system in the dual-crossbeam laser processing equipment. Its structure is independent of the second crossbeam 20, and it can independently perform cutting tasks. The first and second control systems are independent CNC systems, each containing a servo drive device for controlling the movement of its corresponding crossbeam. Position data refers to the current coordinate values ​​of the crossbeam in the machine tool coordinate system, used to describe the displacement of the crossbeam relative to its respective reference point.

[0026] When the dual-beam laser processing equipment starts processing, the first control system acquires the position data of the second beam 20 in real time, and the second control system acquires the position data of the second beam 30 in real time. The two control systems independently collect the position information of their respective beams to provide basic data for subsequent data synchronization and distance calculation.

[0027] S20, the first control system and the second control system synchronize the position data.

[0028] Synchronization refers to the mutual transmission of position data between the two control systems, enabling each control system to know the current position of the other's crossbeam. The first control system sends the position data of the second crossbeam 20 to the second control system, and simultaneously receives the position data of the second crossbeam 30 sent by the second control system; the second control system performs symmetrical data transmission and reception operations. Through data synchronization, each control system has mastered the position information of its own crossbeam and the other's crossbeam. S30, the first control system and the second control system calculate the real-time distance between the two crossbeams in parallel based on the synchronized data.

[0029] The real-time distance refers to the actual distance between the second crossbeam 20 and the second crossbeam 30 at the same moment. Parallel computing means that the two control systems independently perform distance calculations, without depending on each other, and can obtain the calculation results synchronously. Parallel computing improves the real-time performance and reliability of detection; even if the calculation of one control system fails, the calculation result of the other control system can still be used for collision avoidance judgment.

[0030] S40, in response to any one of the control systems calculating that the real-time distance reaches the collision avoidance threshold, control the second crossbeam 20 and / or the second crossbeam 30 to perform a collision avoidance action.

[0031] The collision avoidance threshold is a pre-set distance threshold used to determine whether a collision avoidance maneuver is necessary. When the calculated real-time distance reaches or falls below this threshold, it indicates that the relative distance between the two crossbeams is too close, posing a collision risk. Collision avoidance actions may include, but are not limited to: emergency stop of crossbeam movement, deceleration of crossbeam movement, and changing the direction of crossbeam movement. The purpose of executing collision avoidance actions is to prevent physical collisions between the two crossbeams, protecting the machine tool and the workpiece.

[0032] In this embodiment, two control systems continuously monitor the calculated real-time distance and compare it with a preset collision avoidance threshold. When either the first or second control system detects that the real-time distance is less than the collision avoidance threshold, it indicates that the distance between the two crossbeams is less than the safe distance, posing a collision risk. At this time, the control system immediately outputs an anti-collision command, controlling the corresponding crossbeam to perform an anti-collision action. Since the two control systems calculate the real-time distance in parallel, the anti-collision action can be triggered as soon as either system detects a collision risk, thus achieving a rapid response. Furthermore, it avoids the collision overshoot problem caused by the untimely response of traditional mechanical limit switches or photoelectric switches, thereby improving the operational safety of the double-beam laser processing equipment under high-speed processing conditions.

[0033] In an exemplary embodiment, the specific methods by which each control system acquires the beam position data in step S10 include: Each control system records the operating parameters of its servo drive device through the encoder of its respective servo drive device, and calculates the position data of its corresponding crossbeam based on the operating parameters.

[0034] The servo drive unit is the power unit used to drive the movement of the crossbeam, and it integrates an encoder. An encoder is an angle or position sensor used to detect the rotational angle or linear displacement of the servo motor and output the detection result as a pulse signal. The operating parameters of the servo drive unit include, but are not limited to: the number of pulses output by the encoder, the pulse frequency, and the rotation direction signal.

[0035] In this embodiment, when the servo motor drives the crossbeam to move, the rotation of the motor shaft causes the encoder to rotate synchronously, and the encoder outputs a pulse signal proportional to the rotation angle. The control system counts the pulse signals and converts the number of pulses into the linear displacement of the crossbeam based on parameters such as the transmission ratio of the transmission mechanism and the lead screw pitch. For example, when the encoder outputs a certain number of pulses per revolution and the lead screw pitch is known, the current position X of the corresponding crossbeam can be calculated based on the accumulated number of pulses. local , .

[0036] This embodiment utilizes the encoder built into the servo drive device to acquire position data, eliminating the need for additional position sensors, thus simplifying the system structure and reducing costs. At the same time, the high-resolution characteristics of the encoder ensure the accuracy and response speed of position detection.

[0037] In one exemplary embodiment, see Figure 3 The location data synchronization process specifically includes the following sub-steps: S11, each control system normalizes the corresponding beam position data relative to the beam travel to obtain a normalized value; the beam travel is the distance between the zero-return start point and the end limit of the beam.

[0038] Normalization refers to the process of converting physical quantities with different dimensions and value ranges into a unified standardized numerical range. The normalized value represents the proportion of the beam's current position relative to its maximum travel.

[0039] In this embodiment, the normalization calculation formula is as follows: N loacl =(X local -X0) / D, where N loacl Here, X0 is the normalized value for this side, and D is the stroke starting point for this side. Assuming the starting point of the second crossbeam 20 corresponds to a coordinate value of 0mm, the end limit corresponds to a coordinate value of 4000mm, and the current position of the second crossbeam 20 is at a coordinate value of 1200mm, then the normalized value is (1200-0) / 4000=0.3.

[0040] Normalized values ​​can retain multiple decimal places to ensure precision, such as retaining six decimal places.

[0041] This embodiment normalizes the location data into values ​​within a unified range, facilitating data comparison and unified processing between different control systems, and also providing standardized input data for subsequent analog-to-digital conversion mapping.

[0042] S12 maps the normalized value to the analog value according to the conversion bit of the analog-to-digital conversion module.

[0043] The analog-to-digital converter (ADC) is an electronic device that converts digital signals into analog signals. The number of bits used in the conversion determines the accuracy of the output signal. The analog value is the digital result corresponding to the normalized value after analog-to-digital conversion.

[0044] In this embodiment, if the analog-to-digital converter (ADC) has a conversion bit width of 16 bits, its output range is -32768 to 32767, and the actual usable positive value range is 0 to 32767. A linear mapping is performed between the normalized value and the output range of the ADC; the conversion formula is as follows: M loacl =N local ×2 n-1 , where M loacl Here, n represents the analog value on this side, and n is the number of bits used in the analog-to-digital converter module. For example, when the normalization value is 0.5 and the analog-to-digital converter module has a conversion bit depth of 16 bits, the analog value is approximately 0.5 × 32767 = 16384. When the normalization value is 1.0, the analog value is 32767.

[0045] Understandably, if a 12-bit analog-to-digital converter module is used, the analog value range is 0 to 4095, and the conversion formula between the normalized value and the analog value is adjusted accordingly: analog value = normalized value × 4095.

[0046] In this embodiment, the analog value is obtained by mapping the normalized value according to the conversion bit of the analog-to-digital conversion module, which provides a digital basis for subsequent voltage signal conversion and transmission.

[0047] S13 converts the analog value into a voltage signal within a preset voltage range for transmission; wherein the upper and lower limits of the preset voltage range deviate from the limit values ​​of the analog-to-digital conversion module's range, and the deviation is not less than 3% of the range.

[0048] The preset voltage range is the voltage range used to transmit position signals. The range of the analog-to-digital converter module refers to its standard voltage range during normal operation, such as 0 to 10V or -10V to +10V. Deviation refers to the proportion of the difference between the boundary of the preset voltage range and the limit value of the range to the range itself.

[0049] In this embodiment, it is assumed that the range of the analog-to-digital conversion module is 0 to 10V, and the preset voltage range is set to 0.4V to 9.6V, both of which meet the requirement of not less than 3%.

[0050] The conversion formula for mapping analog values ​​to voltage signals within a preset voltage range is as follows: V=(M local / M max )×(V hi - V lo )+ V lo V represents the transmitted voltage signal, and M represents the voltage signal. max V is the maximum analog value. hi V is the preset upper voltage limit. lo This is the preset lower voltage limit.

[0051] Taking a 16-bit analog-to-digital converter module as an example, when the analog value is 16384, the voltage signal = (16384 / 32767) × (9.6 - 0.4) + 0.4 ≈ 5.0V. When the analog value is 32767, the voltage signal is 9.6V. When the analog value is 0, the voltage signal is 0.4V.

[0052] The design of setting a voltage range deviating from the range limit is primarily to avoid the zero-drift dead zone and saturation region of the analog-to-digital converter (ADC). In practical engineering, ADCs often exhibit nonlinear errors when approaching 0V or full-scale voltage, leading to inaccurate output signals. The above embodiment, by setting a voltage range of 0.4V to 9.6V, retains a 0.4V margin, effectively avoiding the impact of the zero-drift dead zone on position signal accuracy and improving the reliability and stability of data transmission.

[0053] It should be noted that in other optional embodiments, the deviation range can also be set to specific values ​​such as 3%, 5% or 6%, as long as the requirement of not less than 3% is met, the technical effect of avoiding zero drift and dead zone can be achieved.

[0054] In one exemplary embodiment, see Figure 5 The reverse processing method of the analog voltage signal by the receiving control system specifically includes the following sub-steps: S31, each control system receives the analog voltage signal sent by the other control system and converts the analog voltage signal into a normalized value in reverse.

[0055] The reverse conversion refers to parsing the received voltage signal using the opposite calculation logic to that used at the transmitting end, restoring the original normalized value and position data. Based on the mapping relationship between a preset voltage range and analog values, the received voltage signal is inversely converted into a normalized value. The conversion formula is: N remote =(VV low ) / (V high -V low ), where N remote Normalized value of the opposite side S32, the displacement data of the opposite beam is obtained by reverse calculation based on the normalized value.

[0056] Based on the normalized value obtained in step S31, and the known beam travel and homing start position, calculate in reverse according to the following formula: X remote = N remote ×D, where X remote The current position of the opposite crossbeam. S33, calculate the real-time distance between the two beams based on the position data of the beam on your side and the displacement data of the beam on the other side.

[0057] Specifically, see Figure 4 Since the zero-return points of the two crossbeams are located at opposite ends of their travel, and the second crossbeam 20 moves from the left end to the right while the second crossbeam 30 moves from the right end to the left, the real-time distance is calculated using the following formula: X gap =DX local -X remote , where X gap The real-time distance between the two beams The position data of the crossbeam is acquired in real time by the control system through the encoder, and the displacement data of the opposite crossbeam is obtained by the reverse calculation of steps one and two above. The total stroke is the distance between the zeroing start point and the end limit of the crossbeam.

[0058] In one example, assuming the first control system receives a voltage signal of 5.0V from the second crossbeam 30, with a preset voltage range of 0.4V to 9.6V, and the crossbeam travel is 4000mm, then the normalized value = (5.0-0.4) / (9.6-0.4) = 4.6 / 9.2 = 0.5, and the displacement data = 0.5 × 4000 = 2000mm. If the position data of the second crossbeam 2011 at this time is 1000mm, then the real-time distance = 4000 - 1000 - 2000 = 1000mm.

[0059] In one exemplary embodiment, the method for saving the state before the collision avoidance action is executed specifically includes: Before the anti-collision action is executed, the current position coordinates and current machining parameters of the second crossbeam 20 and the second crossbeam 30 are saved so that the machining state can be restored after the anti-collision action is completed.

[0060] The processing parameters refer to various process parameters involved in laser cutting, including but not limited to laser power, cutting speed, gas pressure, focal point position, and processing path data. Saving the current position coordinates and processing parameters is necessary to restore the beam and processing state to their pre-collision state after the collision avoidance action is completed, ensuring the continuity and consistency of the processing process.

[0061] In this embodiment, when any control system detects that the spacing has reached the collision avoidance threshold, a state saving procedure is first triggered before executing the collision avoidance action. The state saving procedure reads and records the following data: the current position coordinates of the second beam 20, the current position coordinates of the second beam 30, the current power setting of the laser, the current pressure value of the cutting gas, the current processing path point number, and other parameters related to the current processing task.

[0062] In one example, the aforementioned status data is stored in the non-volatile memory of the control system, ensuring that the data is not lost after a power outage. The status data can be organized according to a preset data format and includes a timestamp for subsequent traceability.

[0063] After the anti-collision action is completed, the system executes a recovery procedure based on the saved status data: controlling the crossbeam to return to the saved position coordinates, restoring the laser power and gas pressure to the saved values, and continuing the processing task from the saved processing path point number, thus achieving a smooth connection of the processing process.

[0064] This embodiment effectively solves the problem of how to restore the processing state after the collision avoidance action is performed by saving the position of the crossbeam and the processing parameters before collision avoidance. It avoids processing interruption and workpiece scrap caused by collision avoidance and improves the automation level and processing efficiency of the double crossbeam laser processing equipment.

[0065] Based on the same inventive concept, this invention also provides an anti-collision device for a double-beam laser processing equipment. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in the anti-collision device embodiments provided below can be found in the limitations of the anti-collision method described above, and will not be repeated here.

[0066] In one exemplary embodiment, see Figure 6 A collision avoidance device for a double-beam laser processing equipment is provided, the collision avoidance device comprising: The position acquisition module M10 is used to acquire the position information of the second crossbeam 20 and the second crossbeam 30 respectively. The data interaction module M20 is used to synchronize position information between the first control system and the second control system; The distance calculation module M30 is used by the first control system and the second control system to calculate the real-time distance between the two crossbeams in parallel based on the synchronized data. The collision avoidance execution module M40 is used to control the second crossbeam 20 and / or the second crossbeam 30 to perform collision avoidance actions in response to the real-time distance calculated by any control system reaching the collision avoidance threshold.

[0067] In one embodiment, the position acquisition module is also used to record operating parameters through the encoder of each servo drive device, and to calculate the position data of the corresponding crossbeam based on the operating parameters.

[0068] In one embodiment, the position acquisition module is further configured to normalize the corresponding beam position data relative to the beam travel to obtain a normalized value.

[0069] In one embodiment, the data interaction module is further configured to map the normalized value to an analog value according to the conversion bit of the analog-to-digital conversion module, and convert the analog value into a voltage signal within a preset voltage range for transmission.

[0070] In one embodiment, the data interaction module is further configured to receive analog voltage signals sent by the other party's control system, convert the analog voltage signals inversely into normalized values, and calculate the displacement data of the other party's crossbeam inversely based on the normalized values.

[0071] In one embodiment, the anti-collision execution module is further configured to save the current position coordinates and current processing parameters of the second crossbeam 20 and the second crossbeam 30 before the anti-collision action is executed, so as to restore the processing state after the anti-collision action is completed.

[0072] Each module in the aforementioned collision avoidance device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0073] In one exemplary embodiment, a computer device is provided, which may be an industrial control computer or a server. The computer device includes a processor, a memory, an input / output interface, and a communication interface. The processor, memory, and input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface.

[0074] The computer device's processor provides computational and control capabilities. Its memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs in the non-volatile storage media to run. The database stores configuration data such as beam travel parameters and collision avoidance thresholds. The computer device's input / output interface allows the processor to exchange information with external devices (such as servo drives and sensors). The computer device's communication interface allows communication with external terminals via a network. When executed by the processor, the computer program implements a collision avoidance method for a double-beam laser processing device.

[0075] Those skilled in the art will understand that the structure shown in the figure is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the computer device to which the present invention is applied. A specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0076] In one exemplary embodiment, see Figure 7 A computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described embodiment of the anti-collision method for a double-beam laser processing device.

[0077] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the anti-collision method for a double-beam laser processing equipment as described above.

[0078] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods.

[0079] In the embodiments provided by this invention, any references to memory, database, or other media may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric memory (FRAM), phase-change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. The processors involved in the embodiments provided by this invention may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, artificial intelligence (AI) processors, etc., and are not limited thereto.

[0080] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the anti-collision method for a double-beam laser processing equipment as described in Embodiment 1.

[0081] Those skilled in the art will understand that the computer program product includes a non-transitory computer-readable storage medium carrying a computer program that, when executed by one or more processors, causes the one or more processors to perform the methods of the embodiments of the present invention.

[0082] The computer program product may employ a portable compact disc read-only memory (CD-ROM) and include a computer program, which can be read from a readable storage medium, and at least one instance of the computer program may be stored on the hard disk of the device via the storage medium. Alternatively or additionally, the computer program product may include a computer program customized as firmware or hard-coded into a chip, or it may employ a computer program stored in a programmable readable device.

[0083] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A collision prevention method for a double-beam laser processing equipment, characterized in that, include: The first control system and the second control system respectively acquire the position data of the first crossbeam and the second crossbeam; The first control system synchronizes the position data with the second control system; The first control system and the second control system calculate the real-time distance between the two crossbeams in parallel based on the synchronized data. In response to any one of the control systems calculating that the real-time distance reaches the collision avoidance threshold, the first crossbeam and / or the second crossbeam are controlled to perform a collision avoidance action.

2. The anti-collision method for a double-beam laser processing equipment according to claim 1, characterized in that, The first control system and the second control system respectively acquire the position data of the first crossbeam and the second crossbeam, including: Each control system records the operating parameters of its respective servo drive device through the encoder of its servo drive device, and calculates the position data of its corresponding crossbeam based on the operating parameters.

3. The anti-collision method for a double-beam laser processing equipment according to claim 1, characterized in that, Each of the control systems normalizes the corresponding beam position data relative to the beam travel to obtain a normalized value; the beam travel is the distance between the zero-return start point and the end limit of the beam.

4. The anti-collision method for a double-beam laser processing equipment according to claim 3, characterized in that, The normalized value is mapped to the analog value according to the conversion bit of the analog-to-digital conversion module.

5. The anti-collision method for a double-beam laser processing equipment according to claim 3, characterized in that, The analog value is converted into a voltage signal within a preset voltage range for transmission; the upper and lower limits of the preset voltage range deviate from the limit values ​​of the range of the analog-to-digital conversion module, and the deviation is not less than 3% of the range.

6. The anti-collision method for a double-beam laser processing equipment according to claim 4, characterized in that, Each of the aforementioned control systems receives analog voltage signals sent by the other's control system; The analog voltage signal is converted into a normalized value in reverse order; The displacement data of the opposite beam is obtained by reverse calculation based on the normalized value.

7. The anti-collision method for a double-beam laser processing equipment according to claim 1, characterized in that, Before the anti-collision action is executed, the current position coordinates and current processing parameters of the first and second crossbeams are saved so that the processing state can be restored after the anti-collision action is completed.

8. A double-beam laser-cut crossbeam anti-collision device, characterized in that, include: The position acquisition module is used to acquire the position information of the first crossbeam and the second crossbeam respectively; The data interaction module is used to synchronize position information between the first control system and the second control system; The distance calculation module is used to calculate the real-time distance between the two crossbeams based on the synchronized position information; The collision avoidance execution module is used to output a collision avoidance command when the real-time distance reaches the collision avoidance condition.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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