Method and system for pattern formation of non-flat fabric based on dynamic control of laser energy

Abstract

The application relates to the technical field of textile laser processing, and particularly relates to a non-flat fabric pattern forming method and system based on dynamic laser energy control, which comprises the following steps: obtaining surface height topographic data and a target pattern of a non-flat fabric to be processed, and generating two-dimensional processing tracks; mapping the two-dimensional processing tracks to the surface of the fabric to obtain three-dimensional processing tracks, and determining residual defocusing amounts and scanning speed vectors of each processing point; determining a comprehensive energy compensation factor according to the surface height topographic data, the residual defocusing amounts and the scanning speed vectors, correcting reference laser processing parameters to obtain dynamic laser processing parameters; determining a dynamic light switch delay time according to a galvanometer motion state and a galvanometer acceleration / deceleration motion model; and based on the three-dimensional processing tracks, the dynamic laser processing parameters and the dynamic light switch delay time, three-dimensional dynamic focusing galvanometers and lasers are cooperatively controlled to complete pattern processing. The application can maintain the integrity of non-flat fabric surface pattern forming.

Description

Technical Field

[0001] This application relates to the field of textile laser processing technology, and in particular to a method and system for forming non-flat fabric patterns based on dynamic control of laser energy. Background Technology

[0002] With the development of laser processing technology and digital textile processing technology, the application of lasers for pattern transfer, marking, and color development on fabric surfaces is gradually increasing. In traditional embroidery techniques such as Suzhou embroidery, it is usually necessary to transfer the pattern to be embroidered onto the surface of a base material such as silk gauze in advance to form embroidery positioning and pattern reference. Silk gauze is a lightweight silk material, and its fibroin fibers are quite sensitive to the thermal effects of lasers. The energy changes received per unit area during laser processing will affect the color development degree and material state of the fabric. Excessive energy may also cause yellowing, shrinkage, or burn-through. Therefore, the state of laser treatment on the fabric surface has a significant impact on the quality of pattern formation.

[0003] Existing laser pattern processing for fabrics typically employs a laser generator and a galvanometer scanning system. The laser beam is controlled to move across the fabric surface according to a pre-generated processing trajectory, and the pattern is processed according to set laser power, scanning speed, and other process parameters. Two-dimensional laser galvanometer systems usually use a fixed working plane as the focal plane. When the surface to be processed is relatively flat, laser scanning can be completed by controlling the galvanometer deflection according to the two-dimensional processing trajectory. For processing surfaces with varying heights, existing technologies also employ three-dimensional dynamic focusing galvanometers. A Z-axis dynamic focusing mechanism changes the laser focal point position, adjusting it according to the height of the processing surface. During high-speed scanning, the galvanometer needs to complete movements such as starting, accelerating, maintaining constant speed, decelerating, and stopping according to the processing trajectory. The laser outputs laser light and stops outputting light according to corresponding processing commands. While the electro-optical or acousto-optic response speed of the laser is relatively fast, the galvanometer and dynamic focusing mechanism are affected by mechanical motion characteristics, and their position and speed changes require a certain response time.

[0004] However, the actual fabric to be processed is not always in an ideally flat state. Thin fabrics are prone to wavy undulations, and embroidered patterns, wrinkles, and other surface textures can further create local unevenness. Fabrics with natural undulations, pattern wrinkles, or other uneven shapes can be called non-flat fabrics. For non-flat fabrics, the laser beam will defocus to varying degrees at different positions on the processing trajectory, resulting in changes in the energy density actually acting on the fabric surface. When the local energy is too high, heat-sensitive fabrics are prone to yellowing, shrinkage, or even burn-through, while when the local energy is insufficient, the color is prone to being too light or the pattern is not fully formed. At the same time, when scanning the surface of non-flat fabrics at high speed, changes in surface morphology will cause frequent changes in the motion state of the galvanometer. There is a time difference between the mechanical response of the galvanometer and the laser output response, which makes it easy for transient energy accumulation or discontinuous processing trajectory to occur at the start and end positions of the trajectory, the connection positions, or the positions where the motion state changes abruptly. Therefore, existing technologies struggle to match the actual laser action state on the fabric surface with the surface morphology and scanning motion changes during high-speed laser pattern processing on non-flat fabrics, thus affecting the integrity of the pattern formation on the non-flat fabric surface. Summary of the Invention

[0005] This application provides a method and system for forming patterns on uneven fabrics based on dynamic laser energy control. During high-speed laser pattern processing of uneven fabrics, the actual laser action state on the fabric surface is matched with the changes in surface unevenness and scanning motion, thereby maintaining the integrity of the pattern formation on the uneven fabric surface. This application provides the following technical solution: In a first aspect, this application provides a method for forming non-flat fabric patterns based on dynamic control of laser energy, the method comprising: Acquire the surface height topology data and target pattern of the non-flat fabric to be processed, and generate a two-dimensional processing trajectory based on the target pattern; The two-dimensional processing trajectory is mapped to the fabric surface corresponding to the surface height topology data to obtain a three-dimensional processing trajectory containing the three-dimensional coordinates of each processing point, and the residual defocus amount and scanning speed vector corresponding to each processing point are determined according to the three-dimensional processing trajectory. Based on the surface height topology data, the residual defocus amount, and the scanning speed vector, the comprehensive energy compensation factor corresponding to each processing point is determined, and the reference laser processing parameters are corrected based on the comprehensive energy compensation factor to obtain the dynamic laser processing parameters corresponding to each processing point. Based on the galvanometer motion state corresponding to the three-dimensional processing trajectory and the pre-established galvanometer acceleration and deceleration motion model, the dynamic switching optical delay time is determined; Based on the three-dimensional processing trajectory, the dynamic laser processing parameters, and the dynamic switching light delay time, the three-dimensional dynamic focusing galvanometer is coordinated to perform scanning and dynamic focusing and control the laser output to form the target pattern on the surface of the non-flat fabric to be processed.

[0006] In one specific implementation, acquiring the surface height topology data and target pattern of the non-flat fabric to be processed, and generating a two-dimensional processing trajectory based on the target pattern, includes: Surface feature points are constructed in the area to be processed by speckle feature projection or ultraviolet fluorescence excitation and development. Image sequences containing the surface feature points are acquired by a binocular stereo vision camera array. The image sequences are subjected to voxel filtering and surface fitting to reconstruct the continuous height topology model of the non-flat fabric surface to be processed, and the three-dimensional coordinate set of each point on the surface is extracted as the surface height topology data. The bitmap corresponding to the target pattern is obtained, the bitmap is binarized by the Otsu algorithm, and the skeleton is extracted after morphological noise reduction. The connected skeleton lines are broken and separated into independent line segments at the intersection points. The local curvature and height gradient are determined based on the surface height topology data, and the local curvature and height gradient are used as dynamic penalty terms for the two-dimensional distance threshold in the Douglas-Peucker adaptive vector simplification algorithm; The two-dimensional distance threshold is increased where the fabric surface is smooth, and decreased where the morphology changes abruptly at folds or uneven patterns. Based on the adjusted two-dimensional distance threshold, the independent line segments are adaptively vectorized to obtain the two-dimensional processing trajectory with adaptive density.

[0007] In a specific feasible implementation, The step of mapping the two-dimensional processing trajectory to the fabric surface corresponding to the surface height topology data to obtain a three-dimensional processing trajectory containing the three-dimensional coordinates of each processing point, and determining the residual defocus amount and scanning speed vector corresponding to each processing point based on the three-dimensional processing trajectory, includes: The two-dimensional machining trajectory is vertically projected onto the continuous height topology model corresponding to the surface height topology data. The Z-axis height corresponding to each machining point is determined by spatial interpolation, and the three-dimensional machining trajectory is generated based on the two-dimensional coordinates of each machining point and the Z-axis height. Using the reference focal plane height of the laser galvanometer system as a reference, the reference defocus amount corresponding to each processing point is determined based on the difference between the Z-axis height corresponding to each processing point and the reference focal plane height. The macroscopic height profile of the Z-axis dynamic focusing lens is determined based on the Z-axis height change corresponding to each processing point. The height of the macroscopic height profile at each processing point is taken as the target focal height. The dynamic focal predicted height corresponding to each processing point is determined based on the target focal height and the mechanical response characteristics of the Z-axis dynamic focusing lens. The residual defocus amount corresponding to each processing point is determined based on the difference between the Z-axis height corresponding to each processing point and the dynamic focal predicted height. According to the scanning order of each processing point in the three-dimensional processing trajectory, the scanning direction of the corresponding trajectory segment is determined based on the coordinate changes of adjacent processing points in the X-axis and Y-axis directions, and the scanning speed vector corresponding to each processing point is determined in combination with the reference scanning speed.

[0008] In one specific implementation, determining the comprehensive energy compensation factor corresponding to each processing point based on the surface height topology data, the residual defocus amount, and the scanning speed vector includes: The height gradient and surface Laplacian amount corresponding to each processing point are determined based on the surface height topology data. Based on the residual defocus amount, the height gradient, the surface Laplacian amount, and the scanning speed vector, the first... The comprehensive energy compensation factor corresponding to each processing point: ; in, Indicates the first The comprehensive energy compensation factor corresponding to each processing point Indicates the first The residual decoking amount corresponding to each processing point This represents the Rayleigh length of the laser beam. Indicates the first The height gradient corresponding to each processing point Indicates the first The surface Laplacian mass corresponding to each processing point Indicates the thermal sensitivity coefficient of the material. Indicates the first The scanning speed vector corresponding to each processing point This represents the adjustment coefficient between the scan vector and the heat flow direction. This indicates the preset stable parameters.

[0009] In one specific implementation scheme, the step of correcting the reference laser processing parameters based on the comprehensive energy compensation factor to obtain the dynamic laser processing parameters corresponding to each processing point includes: Obtain the reference laser power and reference scanning speed corresponding to the reference energy density under the flat state of the fabric; The reference laser power is equivalently corrected based on the comprehensive energy compensation factor corresponding to each processing point, and the calculation is performed according to the following formula. Dynamic equivalent laser power corresponding to each processing point: ; in, Indicates the first The dynamic equivalent laser power corresponding to each processing point This indicates the reference laser power. Indicates the first The comprehensive energy compensation factor corresponding to each processing point; The dynamic equivalent laser power and the reference scanning speed are used as the first... Dynamic laser processing parameters corresponding to each processing point.

[0010] In one specific implementation scheme, determining the dynamic switching optical delay time based on the galvanometer motion state corresponding to the three-dimensional processing trajectory and a pre-established galvanometer acceleration / deceleration motion model includes: Obtain the current initial velocity and target processing velocity corresponding to the endpoints of the three-dimensional machining trajectory, and determine the velocity difference corresponding to the endpoints of the trajectory; Based on the speed difference and the pre-calibrated galvanometer acceleration and deceleration parameters, the galvanometer acceleration and deceleration motion model is invoked to determine the mechanical settling time required for the galvanometer to accelerate or decelerate from rest or the current initial velocity to the target processing speed. The dynamic on-time delay and dynamic off-time delay corresponding to the trajectory start point are determined based on the mechanical set time, and the endpoint processing length deviation caused by the acceleration or deceleration of the galvanometer is determined according to the following formula: ; in, This indicates the deviation in the processing length of the endpoint. This refers to the dynamic on / off delay time or the dynamic off / on delay time at the corresponding trajectory endpoint. This indicates the scanning speed of the galvanometer as a function of time within the corresponding dynamic switching optical delay period; The processing length deviation of the endpoint is used as the spatial compensation amount of the corresponding trajectory endpoint, and combined with the dynamic light-on delay time and the dynamic light-off delay time, the switching light control parameters of the corresponding trajectory endpoint are formed.

[0011] In one specific implementation scheme, the step of collaboratively controlling the three-dimensional dynamic focusing galvanometer to perform scanning and dynamic focusing and control the laser output based on the three-dimensional processing trajectory, the dynamic laser processing parameters, and the dynamic switching light delay time includes: The three-dimensional dynamic focusing galvanometer is controlled to perform scanning according to the three-dimensional processing trajectory, and the Z-axis dynamic focusing lens is controlled to track the macroscopic height fluctuations of the non-flat fabric to be processed according to the Z-axis height corresponding to each processing point. During the scanning and dynamic focusing process of the three-dimensional dynamic focusing galvanometer, the laser power is controlled according to the dynamic laser processing parameters corresponding to each processing point, and the residual defocus amount corresponding to the micro-slope is electrically corrected instantaneously. At the starting and ending points of the trajectory, switching light compensation is performed based on the dynamic switching light delay time and the end processing length deviation, so that the laser output time matches the mechanical displacement of the galvanometer, thereby forming the target pattern on the surface of the non-flat fabric to be processed.

[0012] Secondly, this application provides a non-flat fabric pattern forming system based on dynamic control of laser energy, employing the following technical solution: A non-flat fabric pattern forming system based on dynamic laser energy control includes: A two-dimensional trajectory generation module is used to acquire the surface height topology data and target pattern of the non-flat fabric to be processed, and to generate a two-dimensional processing trajectory based on the target pattern; The three-dimensional trajectory mapping module is used to map the two-dimensional processing trajectory to the fabric surface corresponding to the surface height topology data, to obtain a three-dimensional processing trajectory containing the three-dimensional coordinates of each processing point, and to determine the residual defocus amount and scanning speed vector corresponding to each processing point based on the three-dimensional processing trajectory. The dynamic parameter correction module is used to determine the comprehensive energy compensation factor corresponding to each processing point based on the surface height topology data, the residual defocus amount and the scanning speed vector, and to correct the reference laser processing parameters based on the comprehensive energy compensation factor to obtain the dynamic laser processing parameters corresponding to each processing point. The dynamic delay determination module is used to determine the dynamic switching light delay time based on the galvanometer motion state corresponding to the three-dimensional processing trajectory and the pre-established galvanometer acceleration and deceleration motion model. The pattern processing control module is used to coordinate the three-dimensional dynamic focusing galvanometer to perform scanning and dynamic focusing and control the laser output based on the three-dimensional processing trajectory, the dynamic laser processing parameters and the dynamic switching light delay time, so as to form the target pattern on the surface of the non-flat fabric to be processed.

[0013] Thirdly, this application provides an electronic device, the device including a processor and a memory; the memory stores a program, the program being loaded and executed by the processor to implement a method for forming non-flat fabric patterns based on dynamic control of laser energy as described in the first aspect.

[0014] Fourthly, this application provides a computer-readable storage medium storing a program that, when executed by a processor, is used to implement a method for forming non-flat fabric patterns based on dynamic control of laser energy as described in the first aspect.

[0015] A two-dimensional processing trajectory is generated by acquiring the surface height topology data and target pattern of the non-flat fabric to be processed. The two-dimensional processing trajectory is then mapped onto the actual fabric surface to form a three-dimensional processing trajectory containing the three-dimensional coordinates of each processing point. At the same time, the residual defocus amount and scanning speed vector corresponding to each processing point are determined. Furthermore, a comprehensive energy compensation factor is determined based on the surface height topology data, residual defocus amount, and scanning speed vector. The comprehensive energy compensation factor is used to correct the reference laser processing parameters to obtain the dynamic laser processing parameters corresponding to each processing point. The dynamic switching light delay time is determined based on the galvanometer motion state and galvanometer acceleration and deceleration motion model corresponding to the three-dimensional processing trajectory. Finally, the three-dimensional dynamic focusing galvanometer and laser are coordinated to perform pattern processing based on the three-dimensional processing trajectory, dynamic laser processing parameters, and dynamic switching light delay time. Therefore, on the one hand, the laser scanning trajectory can correspond to the actual surface height changes of the non-flat fabric, and the laser processing parameters of different processing points can be dynamically adjusted according to the corresponding surface state and scanning state, reducing the difference in laser action state between different processing positions caused by the undulation of the fabric surface; on the other hand, the laser switching timing can be adjusted according to the actual movement state of the galvanometer, improving the matching degree between the galvanometer scanning motion and the laser output, thereby enhancing the processing consistency and continuity of the processing trajectory between different processing positions of the non-flat fabric, and maintaining the integrity of the pattern formation on the surface of the non-flat fabric.

[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, the preferred embodiments of this application are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a schematic flowchart of the non-flat fabric pattern formation method based on dynamic control of laser energy in the embodiments of this application.

[0018] Figure 2 This is a schematic diagram illustrating the principle of mapping a two-dimensional machining trajectory to a three-dimensional concave-convex topological surface in an embodiment of this application.

[0019] Figure 3 This is a schematic diagram of the principle of the galvanometer acceleration and deceleration motion model in the embodiments of this application.

[0020] Figure 4 This is an overall schematic diagram of the non-flat fabric pattern formation method based on dynamic control of laser energy in the embodiments of this application.

[0021] Figure 5 This is a comparison diagram of the pattern formation effect between direct processing of non-flat fabrics and processing using the method of this application in the embodiments of this application.

[0022] Figure 6 This is a comparative schematic diagram showing the change in color difference with fabric surface height under different processing methods in the embodiments of this application.

[0023] Figure 7 This is a structural block diagram of a non-flat fabric pattern forming system based on dynamic control of laser energy in an embodiment of this application.

[0024] Figure 8 This is a block diagram of an electronic device formed by dynamic control of laser energy based on non-flat fabric patterns in an embodiment of this application. Detailed Implementation

[0025] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0026] Optionally, this application uses the non-flat fabric pattern forming method based on dynamic control of laser energy provided in various embodiments as an example for application in electronic devices. The electronic device is a terminal or server. The terminal can be a computer, tablet computer, etc. This embodiment does not limit the type of electronic device.

[0027] Reference Figure 1 This is a flowchart illustrating a method for forming non-flat fabric patterns based on dynamic laser energy control according to an embodiment of this application. The method includes at least the following steps: Step S100: Obtain the surface height topology data and target pattern of the non-flat fabric to be processed, and generate a two-dimensional processing trajectory based on the target pattern.

[0028] In step S100, the surface height topology data of the non-flat fabric to be processed is first obtained to characterize the continuous height change of the fabric surface in the processing area; then, the target pattern is binarized, denoised, extracted, and the trajectory is separated to obtain independent line segments for trajectory vectorization; further, the trajectory simplification degree is dynamically adjusted by combining the local curvature and height gradient of the fabric surface, so that the generated two-dimensional processing trajectory has different trajectory point densities according to the changes in the fabric surface morphology.

[0029] First, during the acquisition of surface height topology data, an active machine vision module is used to acquire images of the area to be processed. The active machine vision module employs a binocular stereo vision camera array, supplemented by speckle feature projection or ultraviolet fluorescence excitation and development. Ultraviolet fluorescence excitation and development utilizes the autofluorescence properties of silk fibroin to reduce the impact of the translucent reflectivity of silk fabric on surface feature acquisition, ensuring the area to be processed has surface features suitable for machine vision acquisition. The active machine vision module communicates with the main control computer via a high-speed data bus and transmits the acquired image sequences to the main control computer in real time.

[0030] Specifically, surface feature points are constructed in the area to be processed by speckle feature projection or ultraviolet fluorescence excitation and development. Image sequences containing surface feature points are acquired by a binocular stereo vision camera array. Voxel filtering and surface fitting are performed on the image sequences to reconstruct the continuous height topology model of the non-flat fabric surface to be processed, and the three-dimensional coordinate set of each point on the surface is extracted as surface height topology data.

[0031] In this process, surface feature points are formed through speckle feature projection or ultraviolet fluorescence excitation and development, enabling a binocular stereo vision camera array to acquire image sequences reflecting the uneven morphology of the fabric. After receiving the image sequences, the main control computer performs voxel filtering and surface fitting, reconstructing the acquired data into a continuous height topology model. This allows the originally discrete surface height information within the processing area to be expressed in a continuous topological form. Each point on the surface in the continuous height topology model has corresponding three-dimensional coordinates. By extracting the set of three-dimensional coordinates of each surface point, surface height topology data reflecting the actual surface undulation of the uneven fabric to be processed is obtained.

[0032] Secondly, while acquiring surface height topology data, the target pattern is obtained, and adaptive pattern processing is performed on the target pattern before vectorization. The bitmap corresponding to the target pattern is obtained, and the bitmap is binarized using the Otsu algorithm. After morphological noise reduction, the skeleton is extracted, and the connected skeleton lines are broken into independent line segments at the intersection points.

[0033] In one implementation, the target pattern is a Suzhou embroidery pattern, and the corresponding bitmap is a target Suzhou embroidery bitmap. First, binarization is performed using the Otsu algorithm to create a binary image suitable for skeleton extraction of the pattern region in the target pattern. Then, morphological denoising is applied to the binarized image, followed by skeleton extraction, converting the pattern region of a certain width into skeleton lines. When there are intersecting connections between skeleton lines, the connected skeleton lines are broken at the intersection points, separating them into multiple independent line segments, allowing each segment to be vectorized into its own trajectory.

[0034] After skeleton extraction and trajectory separation, the resulting independent line segments are processed using a Douglas-Peucker adaptive vector simplification method based on fabric curvature weights. The Douglas-Peucker algorithm controls the degree of trajectory thinning through a two-dimensional distance threshold, where the two-dimensional distance threshold represents the allowable distance deviation between the original trajectory points and the simplified line segments during trajectory simplification. Increasing the two-dimensional distance threshold increases the number of trajectory points that meet the simplification conditions, resulting in a decrease in the number of retained trajectory points; conversely, decreasing the two-dimensional distance threshold improves the preservation of trajectory shape changes, leading to an increase in the number of retained trajectory points.

[0035] For non-flat fabrics, the degree of surface undulation varies at different locations. If a fixed two-dimensional distance threshold is used for each region, unnecessary dense trajectory points may be retained in smooth areas, while trajectory distortion may occur in areas with abrupt changes in morphology, such as wrinkles and uneven textures, due to excessive thinning of trajectory points. Therefore, surface height topology data is further utilized to reflect the surface morphology changes in different regions, and the two-dimensional distance threshold is adjusted according to the degree of morphology change.

[0036] Specifically, local curvature and height gradient are determined based on surface height topology data, and these local curvature and height gradient are used as dynamic penalty terms for the two-dimensional distance threshold in the Douglas-Peucker adaptive vector simplification algorithm.

[0037] Among them, local curvature reflects the degree of curvature of a local area on the fabric surface, and height gradient reflects the degree of change of fabric surface height along spatial position. Local curvature and height gradient together reflect the degree of morphological change at corresponding positions on the fabric surface. Using these two as dynamic penalty terms for the two-dimensional distance threshold, the two-dimensional distance threshold is no longer fixed, but is adjusted according to the smoothness or abrupt change in morphology of the fabric surface.

[0038] Finally, the two-dimensional distance threshold is increased in areas where the fabric surface is smooth, and decreased in areas where the morphology changes abruptly with wrinkles or uneven patterns. Based on the adjusted two-dimensional distance threshold, the independent line segments are adaptively vectorized to obtain a two-dimensional processing trajectory with adaptive density.

[0039] In areas with gentle curves on the fabric surface, where local curvature and height gradients are relatively small, the trajectory thinning degree is increased by raising the 2D distance threshold, reducing the number of trajectory points retained in these areas. Conversely, in areas with abrupt changes in morphology, such as wrinkles or uneven textures, the trajectory thinning degree is reduced by decreasing the 2D distance threshold, forcibly retaining high-density trajectory point sequences. Thus, the 2D processing trajectory maintains a lower trajectory point density in areas with gentle curves and a higher density in areas with abrupt changes in morphology, reducing redundant trajectory points in gentle curves and minimizing trajectory distortion caused by oversimplification in areas with abrupt changes in morphology.

[0040] Step S200: Map the two-dimensional processing trajectory to the fabric surface corresponding to the surface height topology data to obtain a three-dimensional processing trajectory containing the three-dimensional coordinates of each processing point, and determine the residual defocus amount and scanning speed vector corresponding to each processing point based on the three-dimensional processing trajectory.

[0041] In step S200, firstly, the two-dimensional processing trajectory obtained in step S100 is mapped to the continuous height topology model of the non-flat fabric to be processed, so that each processing point in the two-dimensional processing trajectory obtains the Z-axis height corresponding to the actual fabric surface, and a three-dimensional processing trajectory is formed accordingly. Secondly, with the reference focal plane of the laser galvanometer system as a reference, the corresponding reference defocus amount is determined according to the Z-axis height of each processing point, and the corresponding residual defocus amount is determined according to the difference between the Z-axis height of each processing point and the predicted height of the dynamic focus. Finally, the scanning direction of each local trajectory segment is determined according to the scanning order of each processing point in the three-dimensional processing trajectory, and the scanning speed vector corresponding to each processing point is determined by combining the reference scanning speed under the flat state of the fabric. Thus, each processing point simultaneously has information on its actual spatial position, focus offset state, and velocity direction when moving along the processing trajectory.

[0042] First, the two-dimensional processing trajectory reflects the processing path of the target pattern in the XY plane. However, the non-flat fabric surface to be processed has continuous undulations along the Z-axis. Therefore, it is necessary to establish a spatial correspondence between each processing point in the two-dimensional processing trajectory and the actual height position of the fabric surface.

[0043] Specifically, the two-dimensional machining trajectory is vertically projected onto the continuous height topology model corresponding to the surface height topology data. The Z-axis height of each machining point is determined by spatial interpolation, and a three-dimensional machining trajectory is generated based on the two-dimensional coordinates and Z-axis height of each machining point.

[0044] Reference Figure 2 , Figure 2 This is a schematic diagram illustrating the principle of mapping a two-dimensional machining trajectory to a three-dimensional concave-convex topological surface. Figure 2 In this process, the target two-dimensional vector trajectory lies within a reference two-dimensional plane. Each processing point in the two-dimensional processing trajectory is mapped to a three-dimensional height topology surface represented by surface height topology data according to its corresponding planar position. A Z-axis height is assigned based on the surface height corresponding to each mapped position, thus transforming the original two-dimensional processing point into a three-dimensional processing point with X-axis coordinates, Y-axis coordinates, and Z-axis height. Multiple three-dimensional processing points are connected according to the scanning order of the original two-dimensional processing trajectory to form a three-dimensional processing trajectory. The three-dimensional processing trajectory undergoes corresponding height changes based on the uneven surface of the fabric to be processed, maintaining a spatial correspondence between the processing trajectory and the actual fabric surface.

[0045] Furthermore, Figure 2The diagram also illustrates the height relationship between the three-dimensional processing trajectory and the reference focal plane of the laser galvanometer system. For any processing point in the three-dimensional processing trajectory, the corresponding reference defocus amount ΔZ is determined based on the difference between the Z-axis height corresponding to that processing point and the height of the reference focal plane, thereby converting the height fluctuations at different positions on the fabric surface into the height offset state of each processing point relative to the reference focal plane.

[0046] In this process, for any processing point in the two-dimensional processing trajectory, its corresponding planar position in the continuous height topology model is determined based on its X-axis and Y-axis coordinates. Then, surface height data within the neighborhood of that position is used for spatial interpolation to obtain the actual Z-axis height of that processing point. Each processing point is expanded from its original two-dimensional coordinates to three-dimensional coordinates including X-axis, Y-axis, and Z-axis height, and arranged according to the original scanning order of the two-dimensional processing trajectory to form a three-dimensional processing trajectory. Through this mapping method, the processing path of the target pattern undergoes corresponding spatial changes according to the undulations of the fabric surface, ensuring that the position of each processing point in three-dimensional space corresponds to the actual fabric surface.

[0047] After obtaining the three-dimensional machining trajectory, the defocus state of each machining point relative to the reference focal plane of the laser galvanometer system is further determined. Specifically, using the height of the reference focal plane of the laser galvanometer system as a reference, the reference defocus amount corresponding to each machining point is determined based on the difference between the Z-axis height corresponding to each machining point and the height of the reference focal plane.

[0048] For example, the The reference defocusing amount corresponding to each processing point is determined according to the following formula: ; in, Indicates the first The reference defocus amount corresponding to each processing point Indicates the first Z-axis height corresponding to each machining point This indicates the height of the reference focal plane of the laser galvanometer system.

[0049] When the machining point is located on the reference focal plane, the Z-axis height is the same as the reference focal plane height, and the corresponding reference defocus is zero. When the machining point is located above or below the reference focal plane, the reference defocus varies with the height difference between the machining point and the reference focal plane. The reference defocus is used to characterize the overall height offset of each machining point relative to the reference focal plane of the laser galvanometer system.

[0050] Furthermore, the macroscopic height profile tracked by the Z-axis dynamic focusing lens is determined based on the Z-axis height changes corresponding to each machining point in the 3D machining trajectory, and the height of the macroscopic height profile at each machining point is taken as the target focal height. Considering the mechanical response process of the Z-axis dynamic focusing lens during scanning, the main control computer determines the predicted dynamic focal height corresponding to each machining point based on the target focal height and the mechanical response characteristics of the Z-axis dynamic focusing lens. The predicted dynamic focal height is used to characterize the focal height expected to be reached by the Z-axis dynamic focusing lens at the corresponding machining position.

[0051] Based on the difference between the Z-axis height corresponding to each processing point and the predicted height of the dynamic focus, the residual defocus amount corresponding to each processing point is determined. Among them, the reference defocus amount characterizes the overall height offset of the processing point relative to the reference focal plane, and the residual defocus amount characterizes the local defocus state that still exists between the actual surface position of the fabric and the predicted position of the dynamic focus after the Z-axis dynamic focusing lens performs macroscopic height tracking.

[0052] Furthermore, the scanning velocity vector corresponding to each processing point is determined based on the three-dimensional processing trajectory. The processing points in the three-dimensional processing trajectory are arranged according to the order of laser scanning, and the changes in the X-axis and Y-axis coordinates between adjacent processing points jointly reflect the direction of laser movement on the corresponding local trajectory segment. Therefore, the scanning velocity vector is determined by both the magnitude of the scanning velocity and the local scanning direction.

[0053] Specifically, according to the scanning order of each machining point in the three-dimensional machining trajectory, the scanning direction of the corresponding trajectory segment is determined based on the coordinate changes of adjacent machining points in the X-axis and Y-axis directions, and the scanning speed vector corresponding to each machining point is determined in combination with the reference scanning speed.

[0054] For the The first processing point, the main control computer reads the... The processing point and the first one arranged in the scanning sequence The X-axis and Y-axis coordinates of each processing point are determined, and the coordinate changes of two processing points in the X-axis and Y-axis directions are determined respectively. The coordinate changes in both directions are used together as the direction information of the current trajectory segment. The sign of the coordinate change distinguishes the direction of laser movement along the corresponding coordinate axis, and the proportional relationship between the two coordinate changes determines the specific orientation of the current trajectory segment in the XY plane. After obtaining the direction information of the current trajectory segment, the coordinate change relationship in the X-axis and Y-axis directions is normalized, retaining only the direction feature of the current trajectory segment, so that this direction feature is not affected by the actual distance between adjacent processing points. This determines the direction from the first... The processing point points to the first Local scanning direction of each processing point.

[0055] Then, the reference scanning speed corresponding to the fabric being in a flat state is read. The reference scanning speed is used to characterize the speed of the laser moving along the processing trajectory, and the local scanning direction is used to characterize the direction of the laser's movement in the XY plane. The reference scanning speed is used as the magnitude of the scanning speed vector, and the local scanning direction of the current trajectory segment is used as the direction of the scanning speed vector, thus obtaining the [missing value]. Each processing point has a corresponding scanning speed vector. The baseline process parameters include laser power and scanning speed, corresponding to the baseline energy state under flat fabric conditions. For an intermediate processing point in a continuous trajectory, the corresponding scanning speed vector is determined according to the trajectory direction from the current processing point to the next processing point; for the starting point of the trajectory, the scanning speed vector is determined according to the direction from the starting point to the second processing point; for the ending point of the trajectory, since there is no next processing point arranged in the scanning sequence, the scanning speed vector corresponding to the ending point is determined according to the direction from the penultimate processing point to the ending point. Therefore, each processing point in the three-dimensional processing trajectory has a defined scanning speed vector.

[0056] When adjacent processing points are continuously distributed along the same direction, the scanning velocity vectors corresponding to each processing point maintain the same direction. When the processing trajectory changes direction, the coordinate relationship between adjacent processing points in the X-axis and Y-axis directions changes accordingly, and the direction of the scanning velocity vector also changes synchronously with the trajectory change. For example, when the trajectory changes from moving along the positive X-axis to moving simultaneously along both the positive X-axis and the positive Y-axis, the scanning velocity vector changes from a single lateral direction to an oblique direction with both lateral and longitudinal components. This determined scanning velocity vector can reflect the actual local motion direction of the laser when passing through different trajectory positions.

[0057] It is important to note that this step determines a two-dimensional scanning velocity vector characterizing the scanning motion state, with its direction lying within the XY processing plane. The height gradient of the fabric surface also reflects the change in Z-axis height relative to the X and Y axes; therefore, the scanning velocity vector and the height gradient share a consistent planar directional reference. During subsequent energy compensation, their directional relationship reflects the change in the laser scanning direction relative to the fabric surface slope. When the laser traverses the same slope in different directions, even with the same scanning speed, the corresponding scanning velocity vector will differ, thus distinguishing between different scanning states: traversing with the slope, against the slope, and laterally. In the relevant energy compensation processing, the directional relationship between the two-dimensional scanning velocity vector and the surface gradient is used to characterize the heat flow guidance characteristics between the scanning vector and the fabric's undulating slope.

[0058] In one specific implementation, the mapping from the two-dimensional machining trajectory to the three-dimensional machining trajectory, spatial interpolation, defocus calculation, and scanning speed vector determination are all performed by the main control computer. The main control computer establishes a machining point index according to the scanning order of the machining points, and stores the three-dimensional coordinates, reference defocus, residual defocus, and scanning speed vector of each machining point in association, so that the spatial position, defocus state, and scanning motion direction of the same machining point form a corresponding data relationship.

[0059] Step S300: Determine the comprehensive energy compensation factor corresponding to each processing point based on the surface height topology data, residual defocus amount and scanning speed vector, and correct the reference laser processing parameters based on the comprehensive energy compensation factor to obtain the dynamic laser processing parameters corresponding to each processing point.

[0060] In step S300, the reference laser processing parameters corresponding to the flat state of the fabric to be processed are used as the energy adjustment reference. A comprehensive energy compensation factor is determined based on the defocusing state, local surface morphology, and scanning motion state of each processing point. Then, the reference laser processing parameters are corrected point-by-point using the comprehensive energy compensation factor. Thus, the uniform processing parameters determined under flat fabric conditions are converted into dynamic laser processing parameters that match the actual surface state of each processing point on the non-flat fabric.

[0061] Among them, the reference laser power and reference scanning speed corresponding to the reference energy density under the flat state of the fabric are obtained.

[0062] The reference laser power and reference scanning speed are process parameters that are pre-calibrated when the fabric to be processed is in a flat state, and are denoted as follows: and In a flat state, the fabric surface does not exhibit local defocusing, oblique projection, or curvature thermal response differences caused by obvious uneven morphology. Therefore, the reference laser power and reference scanning speed determined through material process calibration are used to characterize the reference energy conditions for the target color development state and the fabric strength state.

[0063] In one specific embodiment, the fabric to be processed is calibrated using a laser thermochemical color development process. The laser power, scanning speed, and scanning spacing are varied, and the color development results and breaking strength of the fabric corresponding to different combinations of process parameters are obtained. The color difference is used as the metric. Characterizing the degree of color development in the processed area, using fracture strength To characterize the mechanical properties retained by the fabric after laser treatment, a second-order polynomial response surface model is established based on the correspondence between laser power, scanning speed, scanning spacing, color difference, and breaking strength. This ensures that the selection of reference laser processing parameters is simultaneously constrained by both the color development effect and the fabric strength, rather than being determined solely by a single laser power or color development result.

[0064] The second-order polynomial response surface model is expressed as: ; in, Indicates the response quantity; , and These represent laser power. Scanning speed and scan spacing The encoded value; Represents the regression coefficient of the constant term. Represents the regression coefficient of the linear term. Represents the regression coefficient of the quadratic term. This represents the regression coefficients corresponding to the interactions between different laser processing parameters.

[0065] When calibrating the color development state of fabrics, the response quantity Using color difference Color difference Determine according to the following formula: ; in, , and These represent the lightness, red-green hue, and yellow-blue hue parameters of the fabric after laser processing, respectively. , and These represent the lightness, red-green, and yellow-blue parameters corresponding to the color reference state, respectively. The greater the chromaticity difference, the more significant the color change of the processed area relative to the color reference state.

[0066] When calibrating the mechanical properties of fabrics, the response quantity Using fracture strength By establishing the response relationships between chromaticity difference and breaking strength with laser power, scanning speed, and scanning spacing, the combination of process parameters that satisfies the target chromaticity difference and target breaking strength is determined. Furthermore, the reference laser power for a smooth fabric state is determined from the corresponding combination of process parameters. and baseline scan speed .thus, and This corresponds to a processing standard that achieves the desired color rendering of the pattern while maintaining the fabric strength within the target range in a flat state.

[0067] After determining the reference laser power and reference scanning speed, the reference laser processing parameters determined under flat conditions cannot directly reflect the actual laser action state at each processing point due to varying degrees of height undulation at different locations on the uneven fabric to be processed. For any processing point in the three-dimensional processing trajectory, the height change of the fabric surface relative to the reference focal plane will alter the focusing state of the laser beam, the local slope will change the actual action area of ​​the laser beam after it is projected onto the fabric surface, and local protrusions or depressions will cause changes in fiber stretching or compression, further altering the local thermal response. Simultaneously, the relationship between the scanning direction and the direction of surface height change when the laser passes through the slope in different directions will also affect the heat propagation state on the fabric surface. Therefore, it is necessary to convert all of the above factors into a comprehensive energy compensation amount corresponding to the current processing point.

[0068] Specifically, the height gradient and surface Laplacian amount corresponding to each processing point are determined based on the surface height topology data.

[0069] For the For each processing point, the corresponding surface position is determined in the continuous height topology model based on the X-axis and Y-axis coordinates of that processing point. Height data within a preset neighborhood is then selected centered on the surface position corresponding to the current processing point. The X-axis, Y-axis, and Z-axis heights in the continuous height topology model use the same unit of length, which in one specific embodiment is millimeters.

[0070] Before performing local differential calculations, the height data within a preset neighborhood is smoothed to reduce the impact of local measurement fluctuations in the surface height topology data on the calculation results of the height gradient and surface Laplacian quantity. The range of the preset neighborhood is determined based on the spatial sampling interval of the height topology data and the minimum fabric surface topography scale to be retained. The spatial scale corresponding to the smoothing process is no larger than the spatial scale of the preset neighborhood, so that the smoothing process reduces local measurement fluctuations while preserving the height variation characteristics corresponding to wrinkles and texture undulations.

[0071] The height gradient is determined based on the changes in smoothed height data along the X and Y axes. The height gradient characterizes the local slope of the fabric surface at the current processing point. The magnitude of the height gradient reflects the degree of inclination of the local surface, and the direction of the height gradient reflects the direction in which the fabric surface height increases. When the X, Y, and Z axis heights use the same unit of length, the height gradient is dimensionless.

[0072] The surface Laplacian quantity is further determined based on the curvature changes of height data along the X and Y axes within the same preset neighborhood. The surface Laplacian quantity reflects the local curvature characteristics of the surface height near the current machining point, and is used to distinguish between flat areas, convex peak areas, and concave trough areas. When the X-axis, Y-axis, and Z-axis heights are all measured in millimeters, the unit of the surface Laplacian quantity is the negative first power of millimeters.

[0073] After obtaining the height gradient and surface Laplacian amount, the comprehensive energy compensation factor is calculated by combining the residual defocus amount and scanning speed vector obtained in step S200. Specifically, based on the residual defocus amount, height gradient, surface Laplacian amount, and scanning speed vector, the following formula is used to calculate the... The comprehensive energy compensation factor corresponding to each processing point: ; in, Indicates the first The comprehensive energy compensation factor corresponding to each processing point Indicates the first The residual decoking amount corresponding to each processing point This represents the Rayleigh length of the laser beam. Indicates the first The height gradient corresponding to each processing point Indicates the first The surface Laplacian mass corresponding to each processing point Indicates the thermal sensitivity coefficient of the material. Indicates the first The scanning speed vector corresponding to each processing point This represents the adjustment coefficient between the scan vector and the heat flow direction. This indicates the preset stable parameters.

[0074] In one specific implementation, the material thermal sensitivity coefficient is taken as a positive value to adjust the influence of the local bending state of the fabric on the curvature-thermal mass variation compensation part. Since the surface Laplacian mass is measured in millimeters to the power of negative one, the material thermal sensitivity coefficient is also measured in millimeters to ensure that the parameter combination in the exponential calculation remains dimensionless. For different fabric materials, after determining the baseline laser processing parameters in a flat state, fabric areas with different degrees of protrusion and depression are further selected for calibration. The material thermal sensitivity coefficient is determined based on the laser power change required for the corresponding area to achieve the target color development state and meet the target breaking strength, and the determined material thermal sensitivity coefficient is used as the preset process parameter for the corresponding fabric material.

[0075] The adjustment coefficient is a dimensionless parameter used to control the influence of scanning direction on the scanning vector-heat flow guidance compensation component. In one specific embodiment, the adjustment coefficient is greater than 0 and less than 1. By selecting fabric areas with similar or identical slopes, and changing the laser scanning direction under the same scanning speed and other processing conditions, the adjustment coefficient is determined based on the degree of energy adjustment required to achieve the same target color development state under different scanning directions. By limiting the adjustment coefficient to between 0 and 1, the scanning vector-heat flow guidance compensation component remains positive under different scanning directions, avoiding the possibility that the comprehensive energy compensation factor may reach zero or negative values ​​due to the individual scanning direction factor.

[0076] The preset stabilization parameter is set to a value greater than 0 to suppress the amplification of minute height measurement fluctuations caused by normalization operations when the height gradient is close to zero. When the scanning speed is measured in millimeters per second and the height gradient is dimensionless, the preset stabilization parameter is also measured in millimeters per second. The preset stabilization parameter is calibrated based on the gradient fluctuation range formed by the height topology data within a gently sloping fabric region, ensuring that changes in the scanning direction do not cause significant abrupt changes in the compensation results when the height gradient is within the measurement fluctuation range.

[0077] The aforementioned comprehensive energy compensation factor comprises three parts: optical distortion compensation, curvature-thermal mass variation compensation, and scanning vector-heat flow guidance compensation. Each part describes the different effects of uneven fabrics on the laser's action state.

[0078] The first part constitutes the optical distortion compensation section. The residual defocus amount characterizes the deviation between the actual fabric surface position and the predicted dynamic focus position of the current processing point after the Z-axis dynamic focusing lens performs macroscopic height tracking. As the residual defocus amount increases, the spot state of the laser beam on the fabric surface changes relative to the focused state after dynamic focusing, causing a change in the actual laser energy per unit area. When there is an inclination between the fabric surface and the reference processing plane, the actual action area formed by the laser beam projected onto the fabric surface undergoes geometric stretching relative to the flat state. Therefore, this compensation section does not adjust solely based on the Z-axis height of the processing point, but simultaneously considers the residual longitudinal defocus and the local oblique projection, comprehensively characterizing the effective laser action area corresponding to the processing point. This processing corresponds to the effects of Gaussian beam longitudinal defocusing and the geometric stretching caused by the oblique surface of the fabric.

[0079] Furthermore, the second part constitutes the curvature-thermal mass variation compensation section. When uneven fabrics form wrinkles, bulges, and depressions, in addition to changes in macroscopic height, the local fiber arrangement also changes with surface curvature. Therefore, even if two processing points have similar residual defocusing amounts, their corresponding local thermal responses may still differ. Taking the direction perpendicular to the processing platform and away from it as the positive Z-axis, when the i-th processing point is in the convex peak region, the corresponding surface Laplacian amount is negative; when the i-th processing point is in the concave trough region, the corresponding surface Laplacian amount is positive. When the i-th processing point is in the convex peak region, the fabric fibers are stretched, the inter-fiber porosity increases, and the local thermal mass decreases, making it easier for the same laser input to cause a temperature rise. Therefore, the curvature-thermal mass variation compensation section reduces the energy compensation degree at the corresponding position. When the i-th processing point is in the concave trough region, the fabric fibers are compressed, the local thermal mass increases, and the corresponding energy compensation degree increases accordingly. A positive value is taken for the material's thermal sensitivity coefficient to adjust the effect of local curvature changes on the degree of thermal response compensation. This further transforms the geometric unevenness of the fabric surface into local thermal mass differences.

[0080] Furthermore, the third part constitutes the scanning vector-heat flow guidance compensation section. The scanning speed vector obtained in step S200 simultaneously includes the scanning speed magnitude and scanning direction of the current processing point, while the height gradient includes the slope direction of the fabric surface at the current processing point. The main control computer performs a dot product of the scanning speed vector and the height gradient, converting the relative directional relationship between the two into a corresponding numerical result. Then, it performs normalization processing using the magnitude of the scanning speed vector and the magnitude of the height gradient, thereby reducing the direct influence of the absolute magnitude of the scanning speed and the absolute magnitude of the slope on the direction judgment result. Thus, when the laser passes through the same local slope in different directions, the relative direction between the scanning speed vector and the height gradient changes, and the corresponding scanning vector-heat flow guidance compensation result also changes accordingly. For example, when the scanning motion creates a state that easily causes the heat flow propagation direction to superimpose with the scanning motion direction, local heat is more likely to accumulate along the scanning path. At this time, the energy output at the corresponding position is reduced through this compensation section; when the scanning direction changes and the degree of heat superposition is reduced, the corresponding compensation result also changes. The adjustment coefficient is set to a value greater than zero and less than one, used to control the degree of influence of the scanning direction factor in the overall energy compensation; the preset stability parameter is set to a positive value to avoid instability in the normalization calculation when the height gradient is close to zero. The dot product relationship between the two-dimensional scanning velocity vector and the surface gradient is used to reflect the heat flow guidance state between the high-speed scanning direction and the fabric undulation slope.

[0081] By multiplying the three compensation components mentioned above, the comprehensive energy compensation factor is simultaneously associated with the first... The residual defocus amount, surface slope, local unevenness, and scanning direction of each processing point are considered. Compared with adjusting the laser output solely based on the residual defocus amount, the comprehensive energy compensation factor further incorporates the thermal mass changes caused by the local morphology of the fabric and the heat flow orientation changes caused by the scanning motion into the same compensation result. This allows different processing points, even with the same or similar Z-axis height, to obtain different degrees of energy compensation based on their local surface conditions and scanning states.

[0082] After calculating the comprehensive energy compensation factor corresponding to each processing point, the reference laser processing parameters determined under the flat fabric state are used as the correction object, and the energy difference of each processing point relative to the flat reference state is converted into dynamic laser output.

[0083] Specifically, the reference laser power is equivalently corrected based on the comprehensive energy compensation factor corresponding to each processing point, and the calculation is performed according to the following formula. Dynamic equivalent laser power corresponding to each processing point: ; in, Indicates the first The dynamic equivalent laser power corresponding to each processing point Indicates the reference laser power. Indicates the first The comprehensive energy compensation factor corresponds to each processing point. Multiplying these two factors converts the fixed reference laser power into a dynamic equivalent laser power corresponding to each processing point. In actual processing, the allowable range of the dynamic equivalent laser power is determined based on the laser's rated output range and the safe processing power range of the fabric, thus limiting the range of the comprehensive energy compensation factor. When the calculated result exceeds the corresponding allowable range, restrictions are applied according to the corresponding boundary values; when the change in dynamic equivalent laser power corresponding to adjacent processing points exceeds the preset maximum power change, a smooth transition is performed on the power commands for adjacent processing points.

[0084] When residual defocus and surface tilt at the processing point increase the effective laser area, the optical distortion compensation section adjusts the dynamic equivalent laser power accordingly. When protrusions or depressions cause changes in the local thermal mass of the fabric, the curvature-thermal mass variation compensation section further corrects the power adjustment range. When the scanning direction changes the local heat flow propagation state, the scanning vector-heat flow guidance compensation section continues to correct the power. Therefore, these various influences do not generate independent laser control commands, but rather act together on the comprehensive energy compensation factor, which then uniformly acts on the reference laser power, ultimately resulting in a defined dynamic equivalent laser power for the same processing point.

[0085] Furthermore, the dynamic equivalent laser power and the reference scanning speed are used as the first... Dynamic laser processing parameters corresponding to each processing point.

[0086] Among them, dynamic equivalent laser power is used as the first The power control parameters for each processing point are defined by the reference scanning speed. Since the comprehensive energy compensation factor changes with the surface state and scanning state of each processing point in the three-dimensional processing trajectory, the dynamic equivalent laser power also changes point by point along the three-dimensional processing trajectory, thereby adjusting the power parameter in the dynamic laser processing parameters in real time according to the processing position.

[0087] In one specific implementation, the main control computer sequentially reads the residual defocus amount, scanning velocity vector, and corresponding height gradient and surface Laplacian amount for each processing point according to the processing sequence of the three-dimensional processing trajectory, and calculates the comprehensive energy compensation factor and dynamic equivalent laser power. Subsequently, the three-dimensional coordinates of each processing point are correlated with the corresponding dynamic equivalent laser power and reference scanning velocity, so that each processing point simultaneously has spatial position data and corresponding laser processing parameters.

[0088] After the main control computer completes the dynamic parameter calculation for each processing point, it converts the corresponding parameters into instantaneous laser control data consistent with the sequence of the three-dimensional processing trajectory. Dynamic equivalent laser power is used to control the transient output of the laser at different processing positions, ensuring that the actual laser action state at different processing points on the non-flat fabric surface is adjusted around the reference energy action state of the flat fabric, rather than using a uniform fixed power to cover the entire processing area. The main control computer performs high-speed calculation of the comprehensive compensation relationship and generates instantaneous control commands, thereby achieving point-to-point energy control along the three-dimensional processing trajectory.

[0089] Step S400: Determine the dynamic switching light delay time based on the galvanometer motion state corresponding to the three-dimensional processing trajectory and the pre-established galvanometer acceleration and deceleration motion model.

[0090] In step S400, based on the galvanometer motion states corresponding to the starting and ending points of the three-dimensional machining trajectory, the acceleration or deceleration process experienced by the galvanometer as it changes from its current motion state to the target machining speed is determined, and the corresponding mechanical settling time is determined using a pre-established galvanometer acceleration / deceleration motion model. Based on the mechanical settling time, the dynamic switching delay time at the starting point and the dynamic switching delay time at the ending point are determined respectively. Simultaneously, the endpoint machining length deviation caused by continuous motion during the corresponding delay time is calculated. The dynamic switching delay time characterizes the time compensation amount, and the endpoint machining length deviation characterizes the spatial compensation amount, ensuring that the laser output control at the trajectory endpoint matches the actual mechanical motion state of the galvanometer.

[0091] During high-speed scanning, the laser can rapidly change its output state after receiving electrical control commands, while the galvanometer, driven by a motor, deflects the lenses, and its actual mechanical motion requires corresponding acceleration or deceleration. Therefore, when the galvanometer begins its movement at the start of the trajectory or changes its motion state at the end of the trajectory, there is a time difference between the laser's electrical response and the galvanometer's mechanical response. If a fixed switching time, independent of the galvanometer's actual motion state, is used, the galvanometer may not have entered a stable target motion state when the laser output occurs, thus altering the laser's state per unit length in the trajectory's start and end regions.

[0092] Specifically, the current initial velocity and target processing velocity corresponding to the endpoints of the three-dimensional machining trajectory are obtained, and the velocity difference corresponding to the endpoints of the trajectory is determined.

[0093] The trajectory endpoints include the trajectory start point and the trajectory end point. The current initial velocity represents the velocity that the galvanometer possesses when it enters the corresponding trajectory endpoint during the velocity adjustment process, and the target processing speed represents the target speed that the current velocity adjustment process needs to achieve. When the galvanometer starts from a stationary state, the current initial velocity is the velocity corresponding to the stationary state; when the galvanometer continuously enters the current trajectory segment from the previous motion state, the actual velocity when entering the current trajectory segment is read as the current initial velocity.

[0094] The velocity difference corresponding to the trajectory endpoints is determined based on the difference between the current initial velocity and the target processing velocity. The velocity difference characterizes the magnitude of velocity adjustment that the galvanometer needs to make at the corresponding trajectory endpoints. Different trajectory endpoints have different initial motion states and target motion states, therefore the corresponding velocity differences also differ.

[0095] Furthermore, based on the speed difference and the pre-calibrated galvanometer acceleration and deceleration parameters, the galvanometer acceleration and deceleration motion model is invoked to determine the mechanical settling time required for the galvanometer to accelerate or decelerate from rest or its current initial velocity to the target processing speed.

[0096] The galvanometer acceleration and deceleration parameters are pre-calibrated based on the mechanical motion characteristics of the galvanometer motor and serve as known parameters for the galvanometer acceleration / deceleration motion model. In one specific embodiment, the galvanometer acceleration / deceleration motion model employs either a trapezoidal velocity planning model or an S-shaped velocity planning model. The trapezoidal velocity planning model describes the velocity changes of the galvanometer during the acceleration and deceleration phases according to the pre-calibrated acceleration and deceleration parameters; the S-shaped velocity planning model further develops a smooth acceleration / deceleration response process during velocity adjustment. Both motion models determine the time required for the galvanometer to complete the current velocity adjustment based on the current initial velocity, the target processing speed, and the corresponding motion parameters of the galvanometer.

[0097] Reference Figure 3 , Figure 3 This is a schematic diagram illustrating the principle of the galvanometer acceleration and deceleration motion model. Figure 3 Taking a trapezoidal velocity planning model as an example, the horizontal axis represents time, and the vertical axis represents the galvanometer scanning speed. The galvanometer enters the acceleration phase from its current motion state at point A. Between points A and B, the scanning speed gradually increases according to the galvanometer acceleration parameters, reaching the target processing speed at point B. From point B to point C, it is a uniform motion phase where the galvanometer maintains the target processing speed. After entering the trajectory termination phase, the galvanometer gradually decreases its scanning speed between points C and D according to the galvanometer deceleration parameters. Points A to B correspond to the acceleration process of the galvanometer adjusting from its current initial velocity to the target processing speed, while points C to D correspond to the deceleration process of the galvanometer adjusting from the target processing speed to the termination state. Based on the speed difference between the current initial velocity and the target processing speed, and the corresponding galvanometer acceleration or deceleration parameters, the mechanical settling time required for the galvanometer to complete the corresponding speed adjustment is determined, and this mechanical settling time is used as the basis for determining the dynamic switching optical delay time. Figure 3 It is known that the galvanometer needs to undergo a certain mechanical speed adjustment process at both the starting and ending points of the trajectory, and the corresponding adjustment time is related to the speed change state of the galvanometer. Therefore, for different trajectory endpoints, the mechanical tuning time is determined according to the corresponding speed difference and the acceleration / deceleration motion model of the galvanometer, so that the dynamic switching optical delay time corresponds to the galvanometer motion state at the current trajectory endpoint.

[0098] When the galvanometer needs to increase from a stationary state or a lower initial velocity to the target machining speed, the time required to reach the target machining speed is calculated based on the corresponding acceleration response process; when the galvanometer needs to decrease from a higher initial velocity to the target machining speed, the time required to complete the speed decrease is calculated based on the corresponding deceleration response process. The time taken to reach the target motion state from the current motion state through acceleration or deceleration is used as the mechanical settling time.

[0099] The mechanical settling time reflects the response time required for the galvanometer motor to complete the actual mechanical speed adjustment. When the speed difference corresponding to the trajectory endpoints changes, the mechanical settling time changes accordingly. Therefore, the switching optical delay corresponding to different trajectory endpoints no longer uses a uniform fixed value, but is determined based on the actual galvanometer motion state at the current endpoint.

[0100] Furthermore, the dynamic on-time delay and dynamic off-time delay corresponding to the trajectory start point are determined based on the mechanical setting time, and the endpoint processing length deviation caused by the acceleration or deceleration of the galvanometer is determined according to the following formula: ; in, This indicates the endpoint machining length deviation, which includes the starting point machining length deviation corresponding to the trajectory starting point. Deviation of the endpoint processing length corresponding to the endpoint of the trajectory ; This represents the dynamic switching-on delay time or dynamic switching-off delay time at the corresponding trajectory endpoint, where the dynamic switching-on delay time corresponding to the trajectory start point is denoted as... The dynamic off-light delay time corresponding to the trajectory endpoint is denoted as ; This represents the scanning speed of the galvanometer as a function of time within the corresponding dynamic switching optical delay time. The mechanical settling time serves as the basis for determining the dynamic switching optical delay time. For the trajectory starting point, the dynamic switching delay time is determined based on the mechanical settling time required for the galvanometer to move from rest or its current initial velocity to the target processing speed. This corresponds to Laser On Delay; for the trajectory endpoint, the dynamic light-off delay time is determined based on the mechanical settling time required for the galvanometer to enter the corresponding deceleration motion state, i.e. This corresponds to the Laser Off Delay. Therefore, the on and off delays are respectively correlated with the mechanical motion states of the galvanometer at the start and end points of the trajectory.

[0101] However, during the dynamic switching delay or dynamic turning-off delay, the galvanometer does not remain in a fixed position, but rather continues to generate mechanical displacement according to the corresponding acceleration or deceleration response curve. Therefore, obtaining only the dynamic switching delay in the time dimension is insufficient to fully describe the mechanical motion state at the trajectory endpoints; it is necessary to further determine the actual scanning length generated by the galvanometer within this time range.

[0102] For any trajectory endpoint, the scanning velocity change within the corresponding delay time range is obtained based on the galvanometer acceleration / deceleration motion model. The scanning speed is then integrated over time to obtain the endpoint machining length deviation. When a trapezoidal speed planning model is used... The acceleration or deceleration segment is determined according to the corresponding acceleration or deceleration segment in the trapezoidal velocity planning model; when using the S-shaped velocity planning model... The speed response curve is determined based on the S-shaped velocity response curve. The resulting end-point machining length deviation reflects the actual trajectory displacement of the galvanometer during the dynamic switching optical delay time.

[0103] Furthermore, the endpoint processing length deviation is used as the spatial compensation amount for the corresponding trajectory endpoint, and combined with the dynamic on-time delay and dynamic off-time delay to form the switching light control parameters for the corresponding trajectory endpoint. Specifically, for the trajectory start point, the start point processing length deviation is used as the length of the pre-scan segment before the nominal trajectory start point; for the trajectory end point, the galvanometer control position corresponding to the nominal trajectory end point is extended or corrected according to the end point processing length deviation.

[0104] The dynamic on-time delay and dynamic off-time delay describe the time compensation required for laser output at the trajectory endpoints, while the starting and ending processing length deviations describe the spatial displacement of the galvanometer during the corresponding time compensation periods. By linking these two to the same trajectory endpoint, the on / off control considers not only the mechanical response time required for the galvanometer to complete the speed change but also the actual trajectory displacement generated during the mechanical response, thus forming a time-space compensation relationship corresponding to the current trajectory endpoint motion state.

[0105] For the trajectory start point, the switching light control parameters include the dynamic on-time delay corresponding to the starting point's motion state and the corresponding starting point processing length deviation; for the trajectory end point, the switching light control parameters include the dynamic off-time delay corresponding to the ending point's motion state and the corresponding ending point processing length deviation. Different trajectory endpoints calculate their corresponding parameters based on their own velocity differences and the galvanometer's acceleration / deceleration response, thus enabling the switching light compensation at the trajectory start and end points to adapt to the actual motion states.

[0106] In one specific implementation, the main control computer identifies the starting and ending points of the trajectory according to the scanning sequence of the three-dimensional processing trajectory, and calculates the mechanical setting time, dynamic switching light delay time, and endpoint processing length deviation for each trajectory endpoint. Subsequently, the three-dimensional coordinates of the trajectory endpoint are correlated with the corresponding dynamic switching delay time, dynamic switching delay time, and endpoint processing length deviation to form switching light control parameters that match the corresponding trajectory endpoint.

[0107] After the main control computer completes the calculation of dynamic delay and endpoint processing length deviation, it sends control data, including three-dimensional coordinates, dynamic laser processing parameters, and switching light control parameters, to the electromechanical co-control board. The electromechanical co-control board uses an FPGA-based motion control card and is connected to the main control computer via a PCIe bus to receive control data containing three-dimensional coordinates, dynamic laser power, reference scanning speed, and switching light delay information.

[0108] Step S500: Based on the three-dimensional processing trajectory, dynamic laser processing parameters and dynamic switching light delay time, the three-dimensional dynamic focusing galvanometer is coordinated to perform scanning and dynamic focusing and control the laser output to form a target pattern on the surface of the non-flat fabric to be processed.

[0109] In step S500, the three-dimensional dynamic focusing galvanometer is controlled to perform a three-dimensional scan based on the three-dimensional processing trajectory obtained in step S200, causing the laser scanning position to vary along the height undulations of the non-flat fabric surface to be processed. During the scanning process, the laser power is dynamically adjusted according to the dynamic laser processing parameters corresponding to each processing point obtained in step S300, and local residual defocusing that exists during the Z-axis dynamic focusing process is quickly corrected. When the scan reaches the starting point and ending point of the trajectory, corresponding switching light compensation is performed based on the dynamic switching light delay time and endpoint processing length deviation obtained in step S400. Thus, the three-dimensional trajectory scanning, dynamic focusing, laser parameter adjustment, and switching light control of the trajectory start and end positions are integrated into the same processing process.

[0110] Specifically, the three-dimensional dynamic focusing galvanometer is controlled to perform scanning based on the three-dimensional processing trajectory, and the Z-axis dynamic focusing lens is controlled to track the macroscopic height fluctuations of the non-flat fabric to be processed based on the Z-axis height corresponding to each processing point.

[0111] The three-dimensional dynamic focusing galvanometer includes an X-axis deflector, a Y-axis deflector, and a Z-axis dynamic focusing lens. During processing, the X-axis and Y-axis deflectors are controlled to change the scanning position of the laser beam based on the X-axis and Y-axis coordinates of each processing point in the three-dimensional processing trajectory, causing the laser beam to move on the fabric surface according to the trajectory corresponding to the target pattern. Simultaneously, the Z-axis dynamic focusing lens is controlled to change the focal point position based on the Z-axis height corresponding to each processing point, so that the laser focus follows the height changes of the uneven fabric surface to be processed. The three-dimensional dynamic focusing galvanometer uses the X / Y-axis deflectors to complete the trajectory scanning and the Z-axis dynamic focusing lens to handle macroscopic height tracking.

[0112] Macroscopic height undulations refer to the continuous distribution of fabric surface height changes along the processing trajectory, which can be tracked by a Z-axis dynamic focusing lens through mechanical focusing. For example, when the fabric to be processed forms continuous wave-like undulations, the Z-axis height corresponding to each processing point changes continuously with the trajectory position. The Z-axis dynamic focusing lens adjusts the focal position according to the corresponding height changes, so that the laser focus moves with the overall undulating contour of the fabric surface.

[0113] However, during high-speed scanning, the Z-axis dynamic focusing lens itself has a mechanical response process. When the 3D machining trajectory passes through wrinkles, uneven textures, or local areas with rapid height changes, residual defocus may still exist between the actual focusing process of the Z-axis dynamic focusing lens and the Z-axis height changes in the 3D machining trajectory. Therefore, this step, while using the Z-axis dynamic focusing lens for macroscopic height tracking, also performs electrical adjustments based on the dynamic laser processing parameters corresponding to each processing point. The relevant processing uses the dynamic focusing axis to track the macroscopic height fluctuation contour and uses laser power commands to perform instantaneous electrical correction of the residual defocus on microscopic steep slopes.

[0114] Furthermore, during the scanning and dynamic focusing process of the three-dimensional dynamic focusing galvanometer, the laser power is controlled according to the dynamic laser processing parameters corresponding to each processing point, and the residual defocus amount corresponding to the microscopic steep slope is electrically corrected instantaneously.

[0115] In step S300, the dynamic laser processing parameters corresponding to each processing point are determined, including the dynamic equivalent laser power and the reference scanning speed corresponding to the current processing point. The main control computer associates the dynamic laser processing parameters corresponding to the current processing point with the current three-dimensional coordinates according to the processing point sequence in the three-dimensional processing trajectory. When the three-dimensional dynamic focusing galvanometer scans to the corresponding processing point, it controls the scanning motion according to the reference scanning speed and controls the laser output according to the corresponding dynamic equivalent laser power.

[0116] Here, the instantaneous electrical correction and Z-axis dynamic focusing perform different adjustment processes. The Z-axis dynamic focusing lens tracks the macroscopic height profile of the fabric surface by changing the focal point position; for residual defocus caused by rapid local height changes, it does not continue to rely solely on Z-axis mechanical focusing, but adjusts the laser power according to the dynamic laser processing parameters already determined at the current processing point.

[0117] Specifically, step S300 has already determined the comprehensive energy compensation factor based on the residual defocus amount corresponding to the processing point, the fabric surface morphology, and the scanning motion information, and obtained the dynamic laser processing parameters corresponding to the current processing point accordingly. Therefore, during processing, there is no need to recalculate the compensation relationship of the current processing point. Instead, the dynamic laser processing parameters corresponding to the current three-dimensional coordinates are directly called, so that when the galvanometer moves to the corresponding processing position, scanning is performed according to the reference scanning speed, and the corresponding dynamic equivalent laser power is used for processing.

[0118] In this way, the Z-axis dynamic focusing is responsible for following the continuous macroscopic height changes, while the laser power is adjusted according to the dynamic laser processing parameters corresponding to each processing point. This allows the mechanical focusing of the three-dimensional dynamic focusing galvanometer and the electrical adjustment of the laser power to work together in the processing of non-flat fabrics.

[0119] When the three-dimensional dynamic focusing galvanometer moves to the starting point or ending point of the trajectory, the switching light compensation determined in step S400 also needs to be executed.

[0120] Specifically, at the starting and ending points of the trajectory, switching light compensation is performed based on the dynamic switching light delay time and the end processing length deviation, so that the laser output time matches the mechanical displacement of the galvanometer, in order to form the target pattern on the surface of the non-flat fabric to be processed.

[0121] For the starting point of the trajectory, read the dynamic switching delay time corresponding to the starting point of the trajectory, and execute the switching delay according to the dynamic switching delay time, so that the actual switching process of the laser is matched with the mechanical movement process of the galvanometer from the current initial velocity to the target processing speed.

[0122] For the endpoint of the trajectory, the dynamic shutdown delay time corresponding to that endpoint is read, and the shutdown delay is executed according to the dynamic shutdown delay time, so that the actual shutdown process of the laser matches the deceleration motion process of the galvanometer at the trajectory termination position. The trajectory start point corresponds to Laser On Delay, and the trajectory end point corresponds to Laser Off Delay.

[0123] Simultaneously, step S400 has calculated the endpoint processing length deviation based on the scanning speed change of the galvanometer during the corresponding dynamic switching light delay time. This endpoint processing length deviation characterizes the actual mechanical displacement generated by the galvanometer during the on-off or off-off delay. Therefore, when performing switching light control at the trajectory start and end points, the endpoint processing length deviation and the corresponding dynamic switching light delay time are used together as the switching light compensation parameters for the current trajectory endpoint, so that the laser's switching light process corresponds both to the mechanical response time of the galvanometer and to the actual displacement generated by the galvanometer during this response process.

[0124] Therefore, for the starting point of the trajectory, a pre-scanning segment is set before the nominal starting point of the trajectory based on the starting point processing length deviation, and the laser is controlled to start output according to the corresponding dynamic on-time delay when the galvanometer reaches the nominal starting point of the trajectory; for the ending point of the trajectory, the laser is controlled to stop output according to the corresponding dynamic off-time delay and the ending point processing length deviation. In this way, the galvanometer control position corresponding to the nominal ending point of the trajectory is extended or corrected according to the ending point processing length deviation, so that the actual laser output process is matched with the mechanical movement process of the galvanometer when it passes through the starting and ending positions of the trajectory, thereby reducing the local energy accumulation at the starting and ending positions and the processing length deviation caused by the acceleration or deceleration of the galvanometer.

[0125] In one specific implementation, the main control computer sends the 3D coordinates of each processing point in the 3D machining trajectory, the dynamic laser processing parameters, and the switching light compensation parameters corresponding to the trajectory endpoints to the electromechanical co-control board. The electromechanical co-control board drives the 3D dynamic focusing galvanometer and the laser according to the corresponding control data, causing the 3D dynamic focusing galvanometer to perform scanning and dynamic focusing according to the 3D machining trajectory, and causing the laser to perform laser output control according to the dynamic laser processing parameters corresponding to each processing point and the switching light compensation parameters corresponding to the trajectory start and end positions. The electromechanical co-control board can receive 3D coordinates, dynamic laser power, reference scanning speed, and switching light delay information, and sends control signals to the laser generator and the 3D dynamic focusing galvanometer respectively.

[0126] Through the above processing, the three-dimensional dynamic focusing galvanometer completes the spatial scanning of the target pattern according to the three-dimensional processing trajectory, the Z-axis dynamic focusing lens tracks the macroscopic height fluctuations of the non-flat fabric to be processed, the dynamic laser processing parameters corresponding to each processing point perform electrical instantaneous correction of local residual defocus, and the trajectory start point and trajectory end point perform switching light compensation according to the dynamic switching light delay time and the end point processing length deviation, so that the laser output process is matched with the actual mechanical movement process of the galvanometer, and finally the target pattern is formed on the surface of the non-flat fabric to be processed.

[0127] In summary, combining Figure 4 By acquiring the surface height topology data of the non-flat fabric to be processed and generating a two-dimensional processing trajectory based on the target pattern, the two-dimensional processing trajectory is mapped onto the actual fabric surface to form a three-dimensional processing trajectory, thereby obtaining the spatial position, residual defocus amount, and scanning speed vector of each processing point. Furthermore, by combining the fabric surface height topology features, residual defocus amount, and scanning motion state, the comprehensive energy compensation factor corresponding to each processing point is determined, and the reference laser processing parameters are dynamically corrected accordingly, so that different processing points have dynamic laser processing parameters corresponding to the current surface morphology. Simultaneously, the dynamic switching light delay time is determined based on the galvanometer motion state and galvanometer acceleration / deceleration motion model corresponding to the three-dimensional processing trajectory. During actual processing, the three-dimensional dynamic focusing galvanometer performs scanning and dynamic focusing along the three-dimensional processing trajectory. Combined with the dynamic laser processing parameters and the dynamic switching light delay to control the laser output, a dynamic control relationship is formed between the fabric surface morphology, galvanometer scanning motion, and laser processing state.

[0128] Through the above methods, on the one hand, the three-dimensional processing trajectory allows the laser scanning path to vary with the actual height fluctuations of the fabric surface. Dynamic focusing and laser parameter correction based on a comprehensive energy compensation factor further ensure that the processing positions corresponding to different heights, slopes, curvatures, and scanning directions obtain appropriate laser action states. This reduces the variation in laser intensity caused by local surface morphology differences, resulting in more uniform color development in raised, recessed, and wrinkled areas, and reducing the impact of local overheating on the fabric material state. On the other hand, the switching delay time is dynamically determined based on the actual acceleration and deceleration process of the galvanometer, allowing the laser on / off process to be adjusted according to the trajectory start and end positions and galvanometer speed changes. This reduces local energy concentration and trajectory connection deviations caused by the mismatch between the galvanometer's mechanical movement and laser output during high-speed scanning. Therefore, it can improve the processing consistency of different surface positions on non-flat fabrics, ensuring that the formed target pattern remains stable in terms of continuity, color uniformity, and boundary integrity, thereby improving the integrity of the pattern formation on the non-flat fabric surface.

[0129] Reference Figure 5 , Figure 5 Comparison of pattern formation effects between direct processing of non-flat fabrics and processing using the method of this application. Figure 5 In this process, the first processed sample uses a fixed processing method to directly form the target pattern on the surface of the non-flat fabric. The second, identical processed sample uses the method of this application, generating a three-dimensional processing trajectory based on the height topology data of the non-flat fabric surface, and performing processing by combining the dynamic laser processing parameters corresponding to each processing point and the dynamic switching light delay time corresponding to the start and end positions of the trajectory. Figure 5 It is evident that in the directly processed samples, some lines of the target pattern exhibit significant discontinuities, and the continuity of local lines is affected by the undulations of the fabric surface and changes in scanning motion. After processing using the method of this application, the connections between the lines of the target pattern become more continuous, the significant discontinuities appearing in the directly processed samples are reduced, and the pattern outline remains more complete. This demonstrates that by making the three-dimensional processing trajectory correspond to the height changes of the uneven fabric surface, and by combining dynamic laser processing parameters and dynamic switching light delay time to control the actual processing process, the continuity and integrity of the target pattern on the uneven fabric surface can be improved.

[0130] Reference Figure 6 , Figure 6 This is a comparative diagram showing the variation of color difference with fabric surface height under different processing methods. Figure 6 In the diagram, the gray dashed line represents the change in the fabric surface topological height along the processing trajectory; the red dotted line represents the color difference corresponding to the use of fixed laser processing parameters; the green solid line represents the color difference corresponding to the use of the method of this application; and the blue dashed line represents the target color difference set according to the target color rendering effect. Figure 6 It is evident that when the fabric surface height continuously undulates along the processing trajectory, using fixed laser processing parameters results in significant fluctuations in color difference at different processing positions due to variations in surface height. The method described in this application determines a comprehensive energy compensation factor based on surface height topology data, residual defocusing at each processing point, and the scanning speed vector. This comprehensive energy compensation factor is then used to correct the baseline laser processing parameters, allowing the dynamic laser processing parameters at each processing point to adjust according to changes in the fabric surface condition. This keeps the color difference at different processing positions close to the target color difference, reduces color variations between processing positions caused by uneven fabric surfaces, and improves the consistency of pattern formation on non-flat fabric surfaces.

[0131] Figure 7 This is a structural block diagram of a non-flat fabric pattern forming system based on dynamic laser energy control according to an embodiment of this application. The system includes at least the following modules: The two-dimensional trajectory generation module is used to acquire the surface height topology data and target pattern of the non-flat fabric to be processed, and to generate a two-dimensional processing trajectory based on the target pattern. The 3D trajectory mapping module is used to map the 2D processing trajectory to the fabric surface corresponding to the surface height topology data, so as to obtain the 3D processing trajectory containing the 3D coordinates of each processing point, and determine the residual defocus amount and scanning speed vector corresponding to each processing point based on the 3D processing trajectory. The dynamic parameter correction module is used to determine the comprehensive energy compensation factor corresponding to each processing point based on the surface height topology data, residual defocus amount and scanning speed vector, and to correct the reference laser processing parameters based on the comprehensive energy compensation factor to obtain the dynamic laser processing parameters corresponding to each processing point. The dynamic delay determination module is used to determine the dynamic switching light delay time based on the galvanometer motion state corresponding to the three-dimensional processing trajectory and the pre-established galvanometer acceleration and deceleration motion model. The pattern processing control module is used to coordinate the three-dimensional dynamic focusing galvanometer to perform scanning and dynamic focusing and control the laser output based on the three-dimensional processing trajectory, dynamic laser processing parameters and dynamic switching light delay time, so as to form the target pattern on the surface of the non-flat fabric to be processed.

[0132] For relevant details, please refer to the above method implementation examples.

[0133] Figure 8 This is a block diagram of an electronic device provided in one embodiment of this application. The device includes at least a processor 801 and a memory 802.

[0134] The processor 801 includes one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 801 is implemented in at least one hardware form selected from CPU (Central Processing Unit), DSP (Digital Signal Processor), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). In one specific embodiment, the processor 801 is used to perform computational operations such as processing the surface height topology data of the non-flat fabric to be processed, generating a two-dimensional processing trajectory, mapping a three-dimensional processing trajectory, calculating a comprehensive energy compensation factor, determining dynamic laser processing parameters, and determining the dynamic switching light delay time. In some embodiments, the processor 801 also includes a GPU (Graphics Processing Unit), which is used to perform parallel processing operations on image data and trajectory data to improve the efficiency of related data processing and computation.

[0135] The memory 802 includes one or more computer-readable storage media, which are non-transitory storage media. The memory 802 also includes high-speed random access memory and non-volatile memory, including one or more disk storage devices, flash memory devices, etc. In one specific embodiment, the non-transitory computer-readable storage medium in the memory 802 stores at least one program instruction. When the at least one program instruction is executed by the processor 801, it implements the non-flat fabric pattern forming method based on dynamic laser energy control provided in the embodiments of this application.

[0136] Optionally, this application also provides a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the non-flat fabric pattern forming method based on dynamic control of laser energy in the above-described method embodiments.

[0137] Optionally, this application also provides a computer product including a computer-readable storage medium storing a program, which is loaded and executed by a processor to implement the non-flat fabric pattern forming method based on dynamic control of laser energy in the above method embodiments.

[0138] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0139] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for forming patterns on non-flat fabrics based on dynamic control of laser energy, characterized in that, The method includes: Acquire the surface height topology data and target pattern of the non-flat fabric to be processed, and generate a two-dimensional processing trajectory based on the target pattern; The two-dimensional processing trajectory is mapped to the fabric surface corresponding to the surface height topology data to obtain a three-dimensional processing trajectory containing the three-dimensional coordinates of each processing point, and the residual defocus amount and scanning speed vector corresponding to each processing point are determined according to the three-dimensional processing trajectory. Based on the surface height topology data, the residual defocus amount, and the scanning speed vector, the comprehensive energy compensation factor corresponding to each processing point is determined, and the reference laser processing parameters are corrected based on the comprehensive energy compensation factor to obtain the dynamic laser processing parameters corresponding to each processing point. Based on the galvanometer motion state corresponding to the three-dimensional processing trajectory and the pre-established galvanometer acceleration and deceleration motion model, the dynamic switching optical delay time is determined; Based on the three-dimensional processing trajectory, the dynamic laser processing parameters, and the dynamic switching light delay time, the three-dimensional dynamic focusing galvanometer is coordinated to perform scanning and dynamic focusing and control the laser output to form the target pattern on the surface of the non-flat fabric to be processed.

2. The method for forming non-flat fabric patterns based on dynamic laser energy control according to claim 1, characterized in that, The step of acquiring the surface height topology data and target pattern of the non-flat fabric to be processed, and generating a two-dimensional processing trajectory based on the target pattern, includes: Surface feature points are constructed in the area to be processed by speckle feature projection or ultraviolet fluorescence excitation and development. Image sequences containing the surface feature points are acquired by a binocular stereo vision camera array. The image sequences are subjected to voxel filtering and surface fitting to reconstruct the continuous height topology model of the non-flat fabric surface to be processed, and the three-dimensional coordinate set of each point on the surface is extracted as the surface height topology data. The bitmap corresponding to the target pattern is obtained, the bitmap is binarized by the Otsu algorithm, and the skeleton is extracted after morphological noise reduction. The connected skeleton lines are broken and separated into independent line segments at the intersection points. The local curvature and height gradient are determined based on the surface height topology data, and the local curvature and height gradient are used as dynamic penalty terms for the two-dimensional distance threshold in the Douglas-Peucker adaptive vector simplification algorithm; The two-dimensional distance threshold is increased where the fabric surface is smooth, and decreased where the morphology changes abruptly at folds or uneven patterns. Based on the adjusted two-dimensional distance threshold, the independent line segments are adaptively vectorized to obtain the two-dimensional processing trajectory with adaptive density.

3. The method for forming non-flat fabric patterns based on dynamic laser energy control according to claim 1, characterized in that, The step of mapping the two-dimensional processing trajectory to the fabric surface corresponding to the surface height topology data to obtain a three-dimensional processing trajectory containing the three-dimensional coordinates of each processing point, and determining the residual defocus amount and scanning speed vector corresponding to each processing point based on the three-dimensional processing trajectory, includes: The two-dimensional machining trajectory is vertically projected onto the continuous height topology model corresponding to the surface height topology data. The Z-axis height corresponding to each machining point is determined by spatial interpolation, and the three-dimensional machining trajectory is generated based on the two-dimensional coordinates of each machining point and the Z-axis height. Using the reference focal plane height of the laser galvanometer system as a reference, the reference defocus amount corresponding to each processing point is determined based on the difference between the Z-axis height corresponding to each processing point and the reference focal plane height. The macroscopic height profile of the Z-axis dynamic focusing lens is determined based on the Z-axis height change corresponding to each processing point. The height of the macroscopic height profile at each processing point is taken as the target focal height. The dynamic focal predicted height corresponding to each processing point is determined based on the target focal height and the mechanical response characteristics of the Z-axis dynamic focusing lens. The residual defocus amount corresponding to each processing point is determined based on the difference between the Z-axis height corresponding to each processing point and the dynamic focal predicted height. According to the scanning order of each processing point in the three-dimensional processing trajectory, the scanning direction of the corresponding trajectory segment is determined based on the coordinate changes of adjacent processing points in the X-axis and Y-axis directions, and the scanning speed vector corresponding to each processing point is determined in combination with the reference scanning speed.

4. The method for forming non-flat fabric patterns based on dynamic laser energy control according to claim 1, characterized in that, The step of determining the comprehensive energy compensation factor corresponding to each processing point based on the surface height topology data, the residual defocus amount, and the scanning speed vector includes: The height gradient and surface Laplacian amount corresponding to each processing point are determined based on the surface height topology data. Based on the residual defocus amount, the height gradient, the surface Laplacian amount, and the scanning speed vector, the first... The comprehensive energy compensation factor corresponding to each processing point: ； in, Indicates the first The comprehensive energy compensation factor corresponding to each processing point Indicates the first The residual decoking amount corresponding to each processing point This represents the Rayleigh length of the laser beam. Indicates the first The height gradient corresponding to each processing point Indicates the first The surface Laplacian mass corresponding to each processing point Indicates the thermal sensitivity coefficient of the material. Indicates the first The scanning speed vector corresponding to each processing point This represents the adjustment coefficient between the scan vector and the heat flow direction. This indicates the preset stable parameters.

5. The method for forming non-flat fabric patterns based on dynamic laser energy control according to claim 4, characterized in that, The process of correcting the baseline laser processing parameters based on the comprehensive energy compensation factor to obtain the dynamic laser processing parameters corresponding to each processing point includes: Obtain the reference laser power and reference scanning speed corresponding to the reference energy density under the flat state of the fabric; The reference laser power is equivalently corrected based on the comprehensive energy compensation factor corresponding to each processing point, and the calculation is performed according to the following formula. Dynamic equivalent laser power corresponding to each processing point: ； in, Indicates the first The dynamic equivalent laser power corresponding to each processing point This indicates the reference laser power. Indicates the first The comprehensive energy compensation factor corresponding to each processing point; The dynamic equivalent laser power and the reference scanning speed are used as the first... Dynamic laser processing parameters corresponding to each processing point.

6. The method for forming non-flat fabric patterns based on dynamic laser energy control according to claim 1, characterized in that, The step of determining the dynamic switching optical delay time based on the galvanometer motion state corresponding to the three-dimensional processing trajectory and the pre-established galvanometer acceleration / deceleration motion model includes: Obtain the current initial velocity and target processing velocity corresponding to the endpoints of the three-dimensional machining trajectory, and determine the velocity difference corresponding to the endpoints of the trajectory; Based on the speed difference and the pre-calibrated galvanometer acceleration and deceleration parameters, the galvanometer acceleration and deceleration motion model is invoked to determine the mechanical settling time required for the galvanometer to accelerate or decelerate from rest or the current initial velocity to the target processing speed. The dynamic on-time delay and dynamic off-time delay corresponding to the trajectory start point are determined based on the mechanical set time, and the endpoint processing length deviation caused by the acceleration or deceleration of the galvanometer is determined according to the following formula: ； in, This indicates the deviation in the processing length of the endpoint. This refers to the dynamic on / off delay time or the dynamic off / on delay time at the corresponding trajectory endpoint. This indicates the scanning speed of the galvanometer as a function of time within the corresponding dynamic switching optical delay period; The processing length deviation of the endpoint is used as the spatial compensation amount of the corresponding trajectory endpoint, and combined with the dynamic light-on delay time and the dynamic light-off delay time, the switching light control parameters of the corresponding trajectory endpoint are formed.

7. The method for forming non-flat fabric patterns based on dynamic laser energy control according to claim 6, characterized in that, The method of coordinating the control of a three-dimensional dynamic focusing galvanometer to perform scanning and dynamic focusing and control the laser output based on the three-dimensional processing trajectory, the dynamic laser processing parameters, and the dynamic switching light delay time includes: The three-dimensional dynamic focusing galvanometer is controlled to perform scanning according to the three-dimensional processing trajectory, and the Z-axis dynamic focusing lens is controlled to track the macroscopic height fluctuations of the non-flat fabric to be processed according to the Z-axis height corresponding to each processing point. During the scanning and dynamic focusing process of the three-dimensional dynamic focusing galvanometer, the laser power is controlled according to the dynamic laser processing parameters corresponding to each processing point, and the residual defocus amount corresponding to the micro-slope is electrically corrected instantaneously. At the starting and ending points of the trajectory, switching light compensation is performed based on the dynamic switching light delay time and the end processing length deviation, so that the laser output time matches the mechanical displacement of the galvanometer, thereby forming the target pattern on the surface of the non-flat fabric to be processed.

8. A non-flat fabric pattern forming system based on dynamic control of laser energy, characterized in that, include: A two-dimensional trajectory generation module is used to acquire the surface height topology data and target pattern of the non-flat fabric to be processed, and to generate a two-dimensional processing trajectory based on the target pattern; The three-dimensional trajectory mapping module is used to map the two-dimensional processing trajectory to the fabric surface corresponding to the surface height topology data, to obtain a three-dimensional processing trajectory containing the three-dimensional coordinates of each processing point, and to determine the residual defocus amount and scanning speed vector corresponding to each processing point based on the three-dimensional processing trajectory. The dynamic parameter correction module is used to determine the comprehensive energy compensation factor corresponding to each processing point based on the surface height topology data, the residual defocus amount and the scanning speed vector, and to correct the reference laser processing parameters based on the comprehensive energy compensation factor to obtain the dynamic laser processing parameters corresponding to each processing point. The dynamic delay determination module is used to determine the dynamic switching light delay time based on the galvanometer motion state corresponding to the three-dimensional processing trajectory and the pre-established galvanometer acceleration and deceleration motion model. The pattern processing control module is used to coordinate the three-dimensional dynamic focusing galvanometer to perform scanning and dynamic focusing and control the laser output based on the three-dimensional processing trajectory, the dynamic laser processing parameters and the dynamic switching light delay time, so as to form the target pattern on the surface of the non-flat fabric to be processed.

9. An electronic device, characterized in that, The device includes a processor and a memory; the memory stores a program, which is loaded and executed by the processor to implement a method for forming non-flat fabric patterns based on dynamic control of laser energy as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a program that, when executed by a processor, is used to implement a method for forming non-flat fabric patterns based on dynamic control of laser energy as described in any one of claims 1 to 7.

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