Automatic determination of dynamic laser beam shape for laser cutting machines.

Abstract

In one aspect, the invention relates to a control unit (100) for determining a dynamic laser beam shape, for example for controlling a laser cutting machine (L) comprising a dynamic beam shaping module for modifying the shape of a laser beam, the control unit (100) being configured to receive a cutting plan to be processed for cutting out portions of a workpiece, each portion being defined by a cutting contour divided into a set of cutting portions, each workpiece being characterized by a characteristic indicator selected from the group consisting of a material indicator and / or a thickness indicator, a cutting plan interface (101), an interface (102) to a shape store (ShS) storing a set of dynamic laser beam shapes, in particular three or more dynamic laser beam shapes, and a processor (P) configured to iterate through all portions to be cut out of the workpiece and to automatically calculate, for each of the cutting portions, an assignment of the set of dynamic laser beam shapes stored in the shape store (ShS) to the dynamic laser beam shapes, the calculation of the assignment (S3) being performed individually for each of the cutting portions based on the characteristic indicators of the workpiece, The processor (P) further relates to a control unit configured to provide control instructions (CI) through an output interface (103) for controlling the laser cutting machine (L) to execute the received cutting plan by applying the determined dynamic laser beam shape individually to each cutting site.

Description

[Technical field]

[0001] The present invention relates to laser cutting, with a laser cutting machine provided with a dynamic beam shaping module or at least one other optical module for dynamically changing the shape of the laser beam, in particular to a method, a controller, a computer program and a computer readable storage medium for determining a dynamic laser beam shape during laser cutting. [Background technology]

[0002] In laser cutting applications, high quality and performance are especially important factors.

[0003] Generally, the laser cutting process can be optimized for conflicting requirements, especially productivity and quality. A faster feed rate of the laser cutting head can increase productivity but decrease quality, since the laser beam acts on the material with a certain energy distribution, defined by, for example, the spot size, the laser beam shape, and the laser power. The key element of cutting is the conversion of the absorbed laser energy into heat to melt the material. For example, the energy coupling is determined by various factors and interacts with the kerf conditions.

[0004] For optimization of the above mentioned requirements, current techniques are known to affect the beam profile, for example by changing the intensity distribution, the spot size, the laser beam shape and the focal position. The first option to realize such modification is static beam shaping (SBS), which is a popular spatial method. With SBS, the laser beam is provided before the treatment starts and cannot be modified any more. The second option is to modify the laser beam with dynamic nature. In this case, the laser beam properties can be modified during the treatment by dynamic laser beam shaping (DBS). Alternatively, there are also several spatial modulation methods that can be dynamically implemented, for example by adaptive optics. This is mentioned in non-patent document 1.

[0005] When using DBS, the spatiotemporal distribution of the laser energy on the material surface addresses a crucial issue: how to reduce the spot size and still obtain a large enough kerf for a feasible laser energy. For this purpose, a high laser energy with a small spot size is oscillated periodically and superimposed on the feed rate. This distributes the energy around the generated kerf, resulting in an artificially larger spot. Thus, the kerf width is increased and the melt can be ejected unhindered. Furthermore, said distribution prevents heat accumulation, since the interaction time of the laser beam with the material is reduced.

[0006] To apply DBS, the laser cutting machine is equipped with a dynamic laser beam shaping module. Patent document 1 describes an exemplary embodiment of the DBS application.

[0007] From US Pat. No. 5,399,633 it is known to rapidly modify a laser processing beam, in particular its spatial intensity profile. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] International Publication No. 2019 / 145536A1 [Patent Document 2] US Patent Application Publication No. 2010 / 0059490A1 [Non-patent literature]

[0009] [Non-Patent Document 1] Cindy Goppold, Thomas Pinder, Patrick Herwig, IWS, "Dynamic beam shaping for thick sheet metal cutting", Lasers in Manufacturing Conference, 2017 Summary of the Invention [Problem to be solved by the invention]

[0010] The objective of the present invention is to improve the quality of the cutting result and to select or decide on an appropriate dynamic laser beam shape to differentiate between different types of cutting sites. [Means for solving the problem]

[0011] This object is achieved in the attached independent claims. Further advantageous embodiments and features are mentioned in the dependent claims and in the following description.

[0012] In one aspect, the present invention relates to a computer-implemented method of determining a dynamic laser beam shape for laser cutting of a workpiece with a laser cutting machine comprising at least one optical module for dynamically changing a shape of the laser beam, the method comprising: receiving a cutting plan to be processed to cut out portions of a workpiece, each portion being defined by a cutting contour consisting of a set of cutting sections, each (cut) workpiece being characterized by a characteristic indicator selected from the group consisting of a material indicator and / or a thickness indicator; Providing a shape store having a set of dynamic laser beam shapes, in particular three or more dynamic laser beam shapes; by a processor, iterating through all portions to be cut from the workpiece, automatically calculating, for each of the cutting portions, an assignment of the set of dynamic laser beam shapes to dynamic laser beam shapes stored and accessed in the shape store, the calculation of the assignment being based on, taking into account, or respecting the characteristic indicators of the workpiece, the calculation of the assignment being performed individually for each of the cutting portions; providing control instructions to control the laser cutting machine to execute the received cutting plan by applying, by the processor, the determined dynamic laser beam shape to each cut location individually; may include at least

[0013] Generally, a laser cutting machine may include two or more optical models to assist or produce dynamic changes of the laser beam. For example, two galvanometer scanner mirrors may be used, one for X movement and one for Y movement. Alternatively or additionally, 3D beam shaping may be achieved by a two-axis module for X / Y change and / or a Z-wobbling module for movement in the beam axis direction. Alternatively or additionally, a CIVAN laser system may be used for beam shaping, for example, by interconnecting 32 single optical modules.

[0014] The assignment is part-specific. Different dynamic laser beam shapes are assigned to different types of parts (e.g., straight, curved). Particularly, parts that are cut at different speeds are treated differently, and in particular, different dynamic laser beam shapes are assigned to the different parts that are cut at different speeds. Typically, a part is invariant with respect to the shape defined in the cutting plan, so a dynamic laser beam shape is assigned to a (specific) part, and not vice versa.

[0015] In a preferred embodiment, the method may further include an intermediate verification step. After the allocation (between the site and the dynamic laser beam shape) is calculated by the processor, in particular by an algorithm (the allocation algorithm), this allocation may be provided on a user interface for verification. If a verification signal is detected, the allocation may be applied. If not, a correction procedure may be initiated. The correction procedure may be performed by the algorithm online (e.g. during the cutting procedure) or offline (e.g. independent of and / or outside the cutting procedure) and may be configured to calculate the deviation of the allocation. For example, the user may manually select a different allocation (e.g. a different dynamic laser beam shape for a particular site). Alternatively, the algorithm may suggest a different allocation, for example taking into account historical data of different allocations or a statistical evaluation (e.g. average value).

[0016] In a preferred embodiment of the present invention, the type of cleavage site is straight line, A circle or part of a circle with a specific radius that can be set, A corner with a configurable angle, Parameterized curves, puncture, Pull in, Withdrawals, and / or Sculpture, The compound is selected from the group consisting of: In another preferred embodiment of the invention, the step of (automatically) calculating the allocation is performed by a trained model, in particular a neural network model, to which specific sites are input and which outputs specific dynamic laser beam shapes.

[0017] In another preferred embodiment of the present invention, the model comprises: The selected dynamic laser beam shape used for test cutting; - indicators of the characteristics of the test cut workpiece (material type and / or material thickness); The type of cleavage site tested and an evaluation data set, in particular a quality evaluation or another evaluation (described in more detail below), which results in annotated data labels; and a dynamic beam shape selected for the test cut portion. The training data consists of:

[0018] Preferably, the model comprises: - preselecting a dynamic laser beam shape of said set of dynamic laser beam shapes; performing a cut site specific test cut with said preselected dynamic laser beam shape; - for each test cut, performing an evaluation of the results of said test cuts by providing an evaluation data set; - adjusting the weights of the model, such as an objective function, to optimize the evaluation data set; The trainee is trained by executing the following:

[0019] The model is pre-trained to assign a particular dynamic laser beam shape to a particular type of site. A learning or training algorithm is configured to automatically find the "best" assignment, or an assignment based on the "best" evaluation. The training algorithm may be based on an evaluation data set.

[0020] The evaluations can be quality evaluation, performance evaluation, energy consumption evaluation, process stability evaluation, burr height evaluation, roughness evaluation, feed rate evaluation, kerf width evaluation, gas consumption evaluation, profile error evaluation, inclination angle / squareness evaluation, cut surface flatness evaluation, heat affected zone evaluation. For process stability evaluation the following examples are given. There may be setups that result in very good quality but lack stability and small changes in the system and / or materials may lead to quality degradation. Therefore, in a preferred embodiment the process stability is taken into account in the evaluation and evaluation data set. In a preferred embodiment of the invention several types of evaluations are performed and different combinations of evaluations are provided, e.g. quality evaluation, performance evaluation and energy consumption evaluation.

[0021] Generally, the evaluation by the haptic automatic evaluation unit can be performed automatically by machine or software. The haptic automatic evaluation unit can include an in-process optical system, in particular a camera and / or a diode. The optical system can be attached to the cutting head and directed towards the processing area of ​​the workpiece to be processed.

[0022] Alternatively or additionally, the evaluation may be performed manually by user input and received on a human machine interface. The evaluation data set may include manual or automatic setting of multiple different general evaluation criteria, including quality evaluations, performance evaluations, and / or process stability evaluations, and / or other evaluations, as described above. Because different evaluation criteria may be interdependent, when multiple different evaluation criteria are manually set, they may be adjusted on a user interface selection button provided on a human machine interface (HMI).

[0023] Furthermore, both options mentioned above (manual or automatic evaluation) can be combined, whereby both modes can be used as a verification step. First the automatic evaluation can be performed, output on a human machine interface and then verified by a user. The user can accept or reject the automatic evaluation. In case of rejection, he can provide a user input signal representing a manual evaluation.

[0024] According to a preferred embodiment, for each of the cutting sites, the automatically determined dynamic laser beam shape is determined individually for a particular type of cutting machine, including inertial indicators (e.g., of the laser cutting head and each element that moves the laser cutting head), size indicators, and / or mechanical characteristics of the laser cutting machine.

[0025] According to another preferred embodiment, Frequency in X and Y, preferably X, Y and Z directions, Amplitudes in the X and Y, preferably X, Y and Z directions, and / or Phase shift in the Y direction relative to the X direction, and preferably in the Y and Z directions relative to the X direction For, the dynamic laser beam shapes in the (different) dynamic laser beam shape set are dynamically changed by generating a focal variation shape through a spatiotemporal distribution of laser energy on a material surface and / or a focal plane.

[0026] Alternatively or additionally, the dynamic laser beam shape changes due to focal spot variations (with respect to frequency and / or amplitude) in X and Y directions, which may be combined with wobbling (in Z direction) due to laser beam diameter changes.

[0027] Alternatively or additionally, contour errors can be determined (estimated and / or measured). These determined contour errors are compensated for. Compensation of the contour errors can be performed by calculating a correction assignment. Measurement of the contour errors can be performed, for example, by a coaxial camera.

[0028] The contour error is the sum of the previous measurements (c x(t) ,c y(t) ) is known.

[0029] There are at least two methods of contour error compensation (offset, DBS amplitude).

[0030] method offset: This contour error value is used as an offset value for the dynamic laser beam shape. Since the contour error varies with part / time, each position / time step has a different offset value. example The dynamic laser beam shape is the Lissajous figure LF_1.

number

number

[0031] DBS amplitude: Instead of using an offset, the amplitude of the dynamic laser beam shape can be applied over the portion / time. example

number

[0032] According to another preferred embodiment, the transition area is determined by a linear, non-linear and / or logarithmic and / or other transition function. The transition area can be interpreted spatially and / or temporally. The transition area can be defined as a transition between two consecutive parts of the workpiece. For example, the transition area can be an area between a curved part and a straight part and between a straight part and another type of part. The division of the workpiece contour to be cut into parts can be defined according to the cutting plan.

[0033] According to another preferred embodiment, the assignment of a dynamic laser beam shape type to a particular type of cutting site depends on the predicted contour error within the site. The predicted contour error is provided by a contour prediction algorithm. The contour prediction algorithm takes into account the inertia of the laser cutting head. If an "overshoot" (movement away from the target contour due to inertia) that may lead to contour deviation or incorrectness is suspected, it can be addressed by adjusting the dynamic beam shaping module accordingly.

[0034] According to another preferred embodiment, the (dynamic) laser beam shape is realized as a Lissajous shape. In a shape store a set of Lissajous figures can be stored. The advantage of providing a specific shape store that can be accessed independently is that the set of shapes can be modified and expanded continuously and thus during application of the method for determining the dynamic laser beam shape.

[0035] According to another preferred embodiment, the method includes receiving, through a user interface, cutting requirements selected from the group consisting of burr height, roughness, feed rate, kerf width, energy consumption, gas consumption, process stability, contour error, tilt angle / squareness, cut surface flatness, and / or heat affected zone, and said control instructions are generated taking into account said received cutting requirements.

[0036] According to another preferred embodiment, the (dynamic) laser beam shape is determined based on user input data. User input data can be or include quality requirements, material requirements, and / or other processing conditions. Generally, the allocation step is performed automatically. However, in another preferred embodiment of the invention, a semi-automatic mode can also be applied to verify the automatic allocation. In this case, the system creates a computer-generated (automatic) suggestion, for example one Lissajous figure per site. This is displayed to the user, who can verify the automatic decision or "reject" the suggestion and manually select another figure or shape.

[0037] According to another preferred embodiment, each said dynamic laser beam shape comprises a geometric data set describing the geometric shape and / or a time-related data set describing how said geometric shape has to be performed, in particular the velocity and / or the acceleration and / or the jerk.

[0038] Alternatively or additionally, the calculation of the allocation is based on or takes into account geometric and / or time-related datasets. Taking into account the above mentioned factors, pre-selected allocation candidates are provided, which may allow the (final) calculation to be performed on a smaller dataset, thus improving efficiency.

[0039] Alternatively or additionally, the allocation calculation is performed depending on the cleavage rate, which may improve quality and prevent gaps in rates between consecutive cleavage sites.

[0040] Up to this point, the invention has been described in terms of the claimed method. Features, advantages or alternative embodiments thereof may be applicable to other claimed subject matter (e.g., a computer program or controller) and vice versa. In other words, features described or claimed in the context of a method may improve an apparatus or device and vice versa. In this case, functional features of the method may be implemented by structural units of the apparatus, device or system, respectively, and vice versa. Generally, in computer science, a software implementation and a corresponding hardware implementation (e.g., as a self-contained system) are equivalent. Thus, for example, a method step of "receiving" data (e.g., a cutting plan) may be performed by an interface and respective instructions for receiving the data. The device may also be used in other embodiments described with reference to the method, but to avoid repetition, these embodiments will not be explicitly repeated for the device.

[0041] According to another aspect, the present invention provides a control unit adapted to execute the above-mentioned method of determining a dynamic laser beam shape for controlling a laser cutting machine comprising at least one optical module for modifying the shape of the laser beam, in particular a dynamic beam shaping module, comprising: a cut plan interface configured to receive a cut plan to be processed to cut out portions of a workpiece, each portion being defined by a cut contour consisting of (or capable of being defined by) a set of cut sites, each workpiece being characterized by a characteristic indicator selected from the group consisting of a material indicator and / or a thickness indicator; an interface to a shape store for storing a set of (different) dynamic laser beam shapes, in particular three or more dynamic laser beam shapes; a processor configured to repeatedly access the shape store with each of the cut portions in response to the received cutting plan to automatically assign (or calculate an assignment) a specific dynamic laser beam shape to each of the cut portions of the cut contour, the automatic assignment being performed for each of the cut portions individually and based on the characteristic indicators of the workpiece; Equipped with The processor further relates to a control unit configured to provide control instructions through or to an output interface for controlling the laser cutting machine to execute the received cutting plan by applying the determined dynamic laser beam shape individually to each cutting site.

[0042] According to another aspect, the invention relates to a computer program comprising computer program code which, when executed by a processor, causes said control unit to carry out the steps of the method described above.

[0043] According to yet another aspect, the invention relates to a computer readable storage medium storing the above mentioned computer program.

[0044] The following are definitions of terms used in this application:

[0045] A workpiece is to be understood as the material to be cut. The workpiece may be a flat sheet-like workpiece, such as a metal sheet with varying properties. Or the workpiece may be a tubular workpiece. Or it may be other closed shapes of different cross-sections (rectangle or square) or open 3D shapes, for example U- or V-shapes. The workpiece may be a metal workpiece. The workpiece may be metal sheets, for example of different types and / or with different thicknesses. Typically, the cutting plan defines the parts that need to be cut out of the workpiece. The parts to be cut out of the workpiece may have a unique contour, which may differ from part to part. For example, a first circle subset needs to be completely cut out of the workpiece and a second rectangular subset needs to be cut out. Each part to be cut out may be defined by a cutting contour. The cutting contour may consist of a set or a number of cutting sites. For example, a rectangular portion may include a first portion that is a first straight portion, followed by a second portion that is a corner portion (radius), followed by a third portion that is a second straight portion, followed by a fourth portion that is a corner portion, followed by a fifth portion that is again the first straight portion, etc. The cut contour defines the shape of the portion when viewed from the top.

[0046] The set of cut sites may be ordered in a sequence, the sequence being defined by the direction of movement of the cutting head. The sequence is an ordered list of cut sites that are cut sequentially.

[0047] A cutting contour may consist of a set of parts, each part containing at least one single part. For example, if a circular section needs to be cut out of a workpiece, the circular section will usually only contain a single (circular) section. If a more complex contour needs to be cut out, the contour may be divided into a set of parts. For example, if a square contour needs to be cut out, the square contour may be divided into four equal straight line sections representing the four sides of the square, and four angular or curved sections representing the four corners of the square.

[0048] The division of the contour of the part into a set of parts can be performed automatically by a segmentation algorithm. In this respect, it should be added that the segmentation algorithm is a "regular" segmentation algorithm in image processing, such as known from medical image processing for dividing organs into anatomical parts of the body. The segmentation algorithm here concerns the subdivision of a two-dimensional contour into different locations or parts. In a preferred and very simple embodiment, the segmentation algorithm can simply access the cutting plan and process the data therein to determine the sections of the contour to be cut into a series of parts. Alternatively or additionally, the segmentation algorithm can take into account the differences between the contour parts for the laser cutting process in terms of the inertia of the laser cutting head arrangement when moving along the contour. That is, the segmentation algorithm takes into account the inertia of the laser cutting head arrangement. Alternatively or additionally, the segmentation algorithm can also take into account other laser cutting characteristics. For example, the segmentation algorithm can take into account the energy input per unit length in the workpiece, the energy distribution and / or the dynamic capabilities of the machine axes. The segmentation algorithm may be based on artificial intelligence (AI), in particular a machine learning module trained to discover contour segments, taking into account the laser cutting machine characteristics (inertia, mass, speed, velocity, etc.).

[0049] As mentioned above, straight sections may be cut faster than corners. Thus, such contours may be segmented into straight and corner sections. Alternatively or additionally, the segmenting step (i.e., segmentation) may be performed manually by user input on a human machine interface.

[0050] The cut sites are typically provided as an ordered series, or sequence, of cut sites, where each cut site in the ordered sequence is assigned a particular dynamic laser beam shape.

[0051] The cut sites are ordered such that the first cut site comes before the second site, which comes before the third site, and so on. The cut sites and / or the sequence of cut sites can be defined in the cutting plan or calculated from data in the cutting plan. This sequence is based, among other things, on the cutting direction of the laser cutting head moving over the surface of the workpiece to be cut. The cut sites represent different types of cuts to the shape depending on the cutting plan being performed. The cut sites can be, for example, straight lines, curves with varying radii that may represent corners (parameterized curves), circles or sites of circles, punctures, retracts, pulls, and / or engravings.

[0052] Typically, different sections represent or relate to different types or modes of laser cutting. That is, a first section may be cut with a first set of cutting parameters (e.g., a first speed), while a second section may be cut with a second set of cutting parameters (e.g., a second speed of the cutting head). Speed ​​and velocity may have the same meaning in this specification. A section may be a straight line, a curve with a varying radius, a corner, a puncture, a retract, a cut-off, etc. A contour may be divided or segmented into different or the same type of sections. That is, a contour to be cut consists of a number of such same and / or different sections. For example, when cutting a rectangle as a contour, two long straight sections, two short straight sections, and four 90° angle sections may be defined. When cutting a circle, there may be only a single section for each circular contour.

[0053] A portion relates to a contour cut out of a workpiece. Thus, a portion also (indirectly) relates to a workpiece having a characteristic indicator, in particular a material indicator, a thickness indicator, and / or other characteristic of the workpiece. A portion therefore relates to a characteristic indicator (of the corresponding workpiece). Thus, for example, a first portion of a first contour of a first workpiece may be different from a first portion of a first contour of a second workpiece. Furthermore, a first portion of a first contour of a first workpiece may be different from a first portion of a second contour of the first workpiece.

[0054] Therefore, in another advantageous embodiment, the processor performs the step of automatically calculating the allocation by accessing a trained model, in particular a neural network model, which may be, for example, a convolutional neural network (CNN).

[0055] The neural network is trained to iterate over all cut sites and determine the dynamic laser beam shape for a particular type of site. For example, the neural network or machine learning model is trained to provide a first dynamic laser beam shape for site type 1, a different second dynamic laser beam shape for site type 2, the first dynamic laser beam shape again for site type 3, and so on.

[0056] The trained neural network model can for example be stored on a cloud-based server that exchanges data with the controller. Alternatively or additionally, the neural network model can be stored locally in the memory of the laser machine as well as its controller. (Deep) machine learning algorithms are data and computationally intensive. They are therefore preferably calculated on a Graphics Processing Unit (GPU), a Tensor Processing Unit (TPU) or a network of processors. Each layer of the neural network can be calculated on a powerful, large-scale, parallelizable processor, in particular a multi-core or many-core processor. The calculation unit is preferably designed as or includes a graphics card or other hardware module as mentioned above.

[0057] The step of automatically "iteratively calculating, for each cutting portion, an assignment (portion / beam shape) of a set of dynamic beam shapes to a dynamic laser beam shape for all portions to be cut out of the workpiece" (hereinafter abbreviated as "step of calculating assignment") may be performed by an artificial intelligence and / or machine learning algorithm based on a trained model, in particular a neural network model, that provides or determines a dynamic laser beam shape (output) for a particular type of portion (e.g., straight line, curve of different diameter) (input).

[0058] Alternatively or additionally, the machine learning model is trained to recognize the assignment between the site (type) and the dynamic laser beam shape, particularly without prior characteristic analysis (or features, i.e., feature extraction). Characteristics / features, particularly chemical, spatial, and / or temporal properties, of the cut site are relevant to the determination of the dynamic laser beam shape.

[0059] The automatic "calculate assignment" step may be performed with a feature extraction-free (or feature-free) process, in particular an algorithm. Alternatively or additionally, the automatic "calculate assignment" step may be performed with a so-called end-to-end algorithm. "End-to-end" in this context means that the raw data, i.e. the acquired contour sites, are available, in particular without extensive pre-processing and without manual determination of features at the cut sites and their processing, which are subsequently further processed (e.g. classified) to obtain a result using machine learning algorithms (hereinafter also referred to as ML algorithms for short). In this context, "without extensive pre-processing" means that there is no peripheral pre-processing, such as histogram equalization, image depth reduction and / or region of interest (ROI) cropping.

[0060] In particular, for end-to-end algorithms or methods, there is no need to pre-process the raw data separately to extract the "features" that are important for learning. In contrast to previous ML methods with prior feature extraction, in the proposed solution presented here, not only the classifier but preferably also the feature extractor is trained by the algorithm in the same step. This means that the algorithm independently calculates or learns the indications, i.e. "features", from the input data (cut sites). To recognize this relationship, the algorithm independently needs to find the best indication of the input data for classification. The fact that in preferred embodiments of the invention, there is no need to extract feature values ​​("features") is advantageous in several ways. First, it simplifies the effort of algorithm development, since there is no need to detect, determine or extract important features. Furthermore, in the case of developing "feature-free" algorithms (end-to-end algorithms), there is no risk of missing the most important features that contain the most information. After all, the essential information is often contained in signals, images or indications of cut sequence features that are very complex, overlapping or difficult to recognize, making an ideal feature analysis difficult. It is therefore not surprising that the deep learning approach implemented here, which does not involve any feature extraction, outperforms approaches based on feature extractors.

[0061] The neural network may be trained by a training algorithm based on annotated or partially annotated training data, including evaluation of the cutting results of applying the dynamic laser beam shape to each part. The training algorithm may be a supervised or semi-supervised learning method. The training algorithm may be based on historical data. Reinforcement learning methods may also be used for updating or adapting the model. Reinforcement learning allows finding a solution to this complex problem without initial data and (priori) knowledge about the laser cutting process and transition phases. Furthermore, reinforcement learning eliminates the need for time-consuming collection and processing of training data.

[0062] To map the dynamic laser beam shape to a specific site type in a sequence of cut sites, a CNN, or in this case a deep neural network (DNN), can be applied to learn the time-dependent features. So-called gated recurrent units (GRUs), or especially long-short-term memory networks (LSTMs), can be applied in combination with a CNN.

[0063] The laser cutting machine is configured to apply a laser beam to a workpiece for thermal separation from the workpiece material by laser irradiation. The workpiece can be a tubular workpiece or a flat sheet workpiece with a cut length of up to 12 meters and a width of 2 to 3 meters. The laser cutting machine can be configured for 3D metal sheet such as bent, cast, or "printed" (additive manufacturing), or welded parts.

[0064] The laser cutting machine is provided with at least one optical module, which may be implemented as a dynamic beam shaping module. Alternatively or additionally, the optical module may include a mirror-based system for dynamically changing the laser beam shape during cutting, and thus during the movement of the laser cutting head over the workpiece, according to the cutting plan and / or the cutting contour to be cut.

[0065] As mentioned above, the optical module may be implemented as a dynamic laser beam shaping module. For example, it may include a laser scanner optics (e.g., as described in U.S. Pat. No. 6,399,433) or a lens optics actuated or oscillated in x and y directions perpendicular to the laser beam axis (e.g., as described in U.S. Pat. No. 6,399,433). The technical objective of the dynamic laser beam shaping (module), DBSM, is to improve quality and / or performance. In certain embodiments, DBSM may be utilized to provide energy to a larger area of ​​the workpiece. Specifically, for a larger kerf width (facilitating subsequent automation / part sorting), a larger amplitude and / or a different focal position of the dynamic laser beam shaping may be selected and used to increase the spot size. Furthermore, DBSM may reduce the loss of material properties with a higher intensity laser and shorter interaction time (reducing heat accumulation). This is a significant improvement. With regard to quality improvement, the additional use of dynamic laser beam shaping allows for adaptive selection of cutting and dynamic laser beam shaping parameters among common cutting parameters (focal position, laser power, gas pressure...) to achieve better quality and / or performance due to the larger parameter space dimension. Additionally, the ability to dynamically change the laser beam shape can improve overall quality (including corners and transitions) and / or performance without compromising on lines and corners.

[0066] It is preferred to apply a dynamic laser beam shape during the transition phase (e.g. depending on the cutting speed or velocity). Dynamic beam shaping can be applied with different beam shaping frequencies. The beam shaping frequency is in the range of 100 Hertz to 1 Megahertz or more, preferably in the range of 100 Hertz to 900 kilohertz or in the range of 100 Hertz to several hundred kilohertz. Preferably, the beam shaping frequency can be changed in each of the above mentioned directions, i.e. in the X, Y and also in the Z direction. It should be mentioned that in a preferred embodiment, in each of these directions, a different beam shaping frequency can be set, so that for example in the X direction a first beam shaping frequency of for example 200 Hertz can be applied and in the Y direction a second beam shaping frequency of for example 900 kilohertz can be used. The settings of the beam shaping frequency in each direction can be set and configured independently of each other on the user interface.

[0067] Alternatively or additionally, the laser pulse frequency can also be changed to change the beam shaping frequency as described above. The laser pulse frequency can be changed between 0 and 5 kilohertz. Typically, the laser pulse frequency is only used for special applications, such as engraving, pulsed cutting (e.g., when piercing curves, corners). This can limit the energy input by pulsing. In certain embodiments, changing the pulse frequency of the laser beam can be used to reduce the energy provided to the workpiece. The setting of the laser pulse frequency can be configured on the HMI, i.e., human machine interface, or user interface. The HMI can provide settings for configuring the beam shaping frequency, in combination or independently, for each direction individually and in addition to configuring the laser pulse frequency.

[0068] A cutting plan is a digital representation of the parts to be cut from the workpiece, the direction of movement, and the control instructions for executing the cutting plan, e.g., a sequence that defines which part in the cutting plan will be cut next and / or which part within a contour will be cut next. Cutting plans are typically represented in a digital file format, e.g., an XML-type format.

[0069] The shape store may be implemented as a memory structure or database and is configured to store different dynamic laser beam shapes. The dynamic laser beam shapes may include, for example, different Lissajous figures. Alternatively or additionally, other patterns and / or shapes may be stored and accessed.

[0070] Automatically calculating an assignment to a specific dynamic laser beam shape for a specific cutting part means automatically assigning a dynamic laser beam shape to a specific type of part. Preferably, determining or calculating the assignment can be performed algorithmically by applying an assignment algorithm. In a simple form, the assignment algorithm can be implemented as a look-up table in a predefined data structure with pre-calculated assignments between a specific dynamic laser beam shape and physical properties selected from a list consisting of material type, material thickness, laser power, feed speed for a specific part and objective (e.g. performance, quality, burr height, roughness, robustness, etc.). For example, a physical property setting according to material type M, thickness T, laser power P is associated with a dynamic laser beam shape S.

[0071] Alternatively or additionally, the allocation algorithm accesses a rule base for a particular site to retrieve each associated dynamic laser beam shape. In the rule base, a set of rules is stored. The rule base can be realized or executed by accessing the shape store. For example, the rules may represent the following settings: To cut with a larger kerf width, transverse oscillations (only) perpendicular to the cutting direction are appropriate. For example, to increase the cutting speed, longitudinal oscillations (only) in the cutting direction are optimal. Thus, a configurable set of rules is provided in the rule base. By applying these rules, the allocation algorithm is configured to determine the allocation.

[0072] Alternatively or additionally, the allocation algorithm may be configured such that the association or allocation of a particular dynamic laser beam shape to a given (workpiece contour) portion also takes into account the previous and / or subsequent portions and / or their dynamic laser beam shapes, respectively, which contributes to improved cutting quality in order to achieve a smooth transition between the shapes of two consecutive portions.

[0073] In more complex embodiments, the allocation algorithm may be based on a trained neural network, as described above, trained to find the optimal dynamic laser beam shape for each type of site.

[0074] The control instructions control the laser cutting machine by applying a dynamic laser beam shape that is individually determined for the part.

[0075] The controller and / or the processor may be an electronic module realized in a hardware module with a processor, or may be a software module, or may be a hardware module (e.g. FPGA, ASIC, as described below). In the context of the present invention, a "processor" may be understood to mean, for example, a mechanical or electronic circuit. In particular, the processor may be a central processing unit (CPU), a microprocessor or a microcontroller, for example an application specific integrated circuit or a digital signal processor, which may be combined with a memory unit for storing program instructions. The processor may also be, for example, an IC (integrated circuit), in particular an FPGA (field programmable gate array), or an ASIC (application specific integrated circuit), or for example a multi-chip module, for example a 2.5D or 3D multi-chip module, in particular in which several so-called dies are connected to each other directly or via an interposer, or a DSP (digital signal processor) or a GPU (graphic processing unit). The processor may also be a virtualization processor, a virtual machine, or a soft CPU. It may also be a programmable processor, such as, for example, an FPGA or an ASIC, with configuration steps for implementing the above-described methods of the present invention, or the programmable processor may be a programmable processor configured with configuration steps for implementing the inventive features of the methods, components, modules, or other aspects and / or sub-aspects of the present invention. The allocation tool and / or the transition tool may be part of a controller for controlling the laser cutting machine, or may be separate modules in data communication with the controller.

[0076] The order in which the steps of the methods of the present invention are described herein is not necessarily the chronological order in which the steps are performed. For example, the steps of providing an allocation tool and providing a transition tool may be performed in different sequences.

[0077] The above-mentioned characteristics, features, and advantages of the present invention, as well as how they are realized, will become clearer and more understandable in light of the following description and embodiments, which are described in more detail along with the drawings. The following description does not limit the present invention to the embodiments included. The same components or parts may be labeled with the same reference numerals in different drawings. Generally, the drawings are not drawn to scale. [Brief description of the drawings]

[0078] [Figure 1] FIG. 13 is a schematic diagram of a control unit that determines a dynamic laser beam shape for a set of cut site types. [Diagram 2] FIG. 13 is a schematic diagram of a training algorithm for training the assignment of dynamic laser beam shapes to a set of cut site types. [Diagram 3] 4 is a flow chart of a method for determining a dynamic laser beam shape for each portion of a cutting contour according to a preferred embodiment of the present invention. [Figure 4] 1 is an example of a cutting profile with different types of portions. [Diagram 5] 13 is another example of a cutting profile having multiple sections. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0079] FIG. 1 shows a schematic diagram of a control unit 100 configured to perform a method for determining a dynamic laser beam shape for laser cutting by a laser cutting machine L.

[0080] The laser cutting machine L has a cutting head CH, which may be equipped with at least one optical module. The optical module may be implemented as a dynamic laser beam shaping module DBSM or as another type of optical module for dynamically changing the shape of the laser beam. Furthermore, the laser is provided with a controller PLC. The control unit 100 may be provided as a separate entity, which exchanges data with the laser cutting machine L, in particular with its controller PLC. Alternatively or additionally, the control unit 100 may be realized directly on the controller PLC of the laser cutting machine L.

[0081] The control unit 100 has a cutting plan interface 101 configured to receive a cutting plan to be processed on the laser cutting machine L to cut out parts of the workpiece. Each part is defined by a cutting contour according to the cutting plan. The cutting contour itself is divided or subdivided into a set of different cut section types, e.g. straight sections, a curved section with a first radius and another curved section with a second radius, corner sections, retracted sections, etc. Generally, the parts share the properties of the workpiece since they are cut out of the workpiece (the parts and the workpiece are not separated before cutting). The workpiece has properties. In particular, the workpiece is made of a certain type of material and has a certain type of thickness. Further properties may also be processed. The properties are encoded by the property indicator, i.e. the material type is encoded in the material indicator and / or the thickness is encoded in the thickness indicator.

[0082] The control unit 100 further comprises an interface 102 for interfacing to a shape store ShS. The shape store ShS is configured to store a set of different dynamic laser beam shapes, in particular three or more different dynamic laser beam shapes.

[0083] The control unit 100 further comprises a processor P, which is configured to iterate through all parts to be cut out of the workpiece and automatically calculate for each cutting portion an assignment to a particular dynamic laser beam shape among a set of dynamic laser beam shapes stored in the shape storage unit ShS. The assignment calculation is based on characteristic indicators of the corresponding workpiece. The characteristic indicator(s) may be derived from the cutting plan. The automatic calculation of the assignment of "type of cutting portion and selected dynamic laser beam shape" is specifically performed for each type of cutting portion. In other words, a first type of cutting portion (e.g., straight portion) is assigned to a first dynamic laser beam shape, a second type of cutting portion (e.g., corner portion) is assigned to a second dynamic laser beam shape, a third type of cutting portion (e.g., retracted portion) is again assigned to the first dynamic laser beam shape, and so on. The relationship between the type of portion and the type of dynamic laser beam shape may be an n-to-m relationship. The assignment may be provided by executing an assignment algorithm. The assignment algorithm may access a rule database R-DB. The rule database is configured to store rules that determine a relationship between a type of site and a type of dynamic laser beam shape. Alternatively or additionally, the assignment algorithm may apply a machine learning algorithm and / or a neural network.

[0084] The processor P is configured to provide control instructions CI to an output interface 103, which connects the controller 100 to the laser cutting machine L. The provided control instructions CI are configured to control the laser cutting machine L to execute the received cutting plan by applying the determined dynamic laser beam shape for each cutting site, or more specifically for each type of cutting site.

[0085] The laser cutting machine is configured to perform processing / cutting on materials and thicknesses such as: -Steel, mild steel and various alloy steels, from 0.8mm to 30mm, thinner and thicker materials can also be cut Chrome steel (aka Inox), 0.8mm to 30mm, thinner and thicker materials can also be cut Aluminum, 0.8mm to 30mm, thinner and thicker materials can also be cut Non-ferrous metals such as copper, 0.8 mm to 15 mm, or brass, 0.8 mm to 15 mm, either thinner or thicker

[0086] The material properties may include: The physical properties, including among other things the material composition (Fe, C, Si, S, …), can be provided by a material certificate, which can be encoded in a digital code (barcode, QR code) and provided together with the workpiece or cutting plan; Melting point, ·surface tension, ·viscosity, Absorption coefficient, ·Heat capacity, Thermal conductivity, -Density of solids, density of melts, - the actual temperature of the metal plate, Surface quality (roughness of the material), Crystal structure, and / or Rotation direction

[0087] Fig. 2 shows a module or a method, respectively, for training of an allocation algorithm. As shown, the training is performed on a processing entity, which may be different from the processor and / or the controller. Preferably, the processing entity on which the training is performed is a separate unit. The processing entity comprises an input interface 21 configured to receive a tuple consisting of a specific dynamic laser beam shape i (represented by its indicators, such as, for example, the oscillation frequency in various directions) and a specific part type a. Both the dynamic laser beam shape and the part type are provided as a result data set of the allocation algorithm. In other words, the allocation algorithm corresponds the dynamic laser beam shape i to the part type a. The result of the allocation algorithm is sent to the processing entity via the output interface 23. After cutting the specific part with the determined specific dynamic laser beam shape assigned by the allocation algorithm, an evaluation of the cutting result is performed. The evaluation can be, for example, a quality evaluation. The evaluation is encoded in an evaluation data set. By the input interface 22, the evaluation data set is provided to the processing entity. The processing entity is configured to provide an evaluation of the allocation by the output interface 23 by evaluating the evaluation data set and optionally comparing it with a reference evaluation data set. The evaluation of the allocation is with respect to the specific dynamic laser beam shape i received and the specific location a received. The training data set and / or weights may be fed back to the allocation algorithm to calibrate and / or train the allocation algorithm.

[0088] In general, an assignment between a dynamic laser beam shape and a part type is rewarded if the assignment is well evaluated and penalized if the assignment is poorly evaluated.

[0089] FIG. 3 is a flow chart of a method for determining a part-dependent dynamic laser beam shape for laser cutting a contour according to a cutting plan, according to a preferred embodiment of the present invention.

[0090] The method begins in step S1 where a cutting plan is received. The cutting plan encodes the contours of the portion to be cut from the workpiece. The cutting plan further includes workpiece characteristics indicative of material type and / or material thickness. The workpiece characteristics match the characteristics of the portion to be cut from the workpiece.

[0091] In step S2, the cutting section of the set of cutting sections received in the previous step together with the cutting plan accesses the shape store ShS. A set of dynamic laser beam shapes is stored in this shape store ShS, in particular three or more, preferably a certain number of dynamic laser beam shapes. Generally, the frequency and / or amplitude in the X / Y / Z directions can in principle be selected freely within the adjustment range. The number can range from a minimum of three dynamic laser beam shapes (puncture, curved section, straight section) to hundreds or even a thousand, in particular between 3 and 100.

[0092] Step S3 concerns the automatic calculation of an assignment of the set of dynamic laser beam shapes to the dynamic laser beam shapes accessed in the shape store ShS, which is repeated for all parts to be cut out of the workpiece. The calculation of the assignment in S3 is based on the characteristic indicators of the workpiece. The calculation of the assignment is performed separately for each type of cutting part.

[0093] Step S4 relates to providing control instructions CI for controlling the laser cutting machine L to execute the received cutting plan by applying the determined dynamic laser beam shape specifically to each cutting site, after which the method may be repeated or may end.

[0094] Figure 4 is an example of a cutting contour with different types of regions. As can be seen from the example shown in Figure 4, the cutting contour includes a portion of a circle element with one circle with a cut and a small circle cut region above the cut and in the upper right part of the circle cutting contour. In Figure 4, the transition areas and regions are indicated by a diagonal line pattern going up to the left.

[0095] Reference 81a (right hand side in FIG. 4) indicates a "puncture" cut section for the outer circle cut profile. Reference 81a2 indicates a dynamic laser beam shaping transition region from section 81a to section 82a. The latter section 82a indicates a "pull in straight line" cut section. Reference 82a3 indicates a dynamic laser beam shaping transition region from section 82a to section 83. The latter section 83 indicates a "straight line" cut section where the laser cutting head may move faster compared to the corner section. Reference 834 indicates a dynamic laser beam shaping transition region or phase between section 83 and section 84. Section 84 is a "right turn corner" cut section. Reference 845 indicates a dynamic laser beam shaping transition region or phase between section 84 and section 85. Section 85 indicates another straight line cut section. Reference 856 indicates a dynamic laser beam shaping transition region or phase between section 85 and section 86. Site 86 indicates the "left turn" cleavage site.

[0096] As can be seen in Figure 4, the contour further includes another circular cut region, which is designated by reference numeral 87 in Figure 4. This circular contour has a "puncture" cut region, which is designated by reference numeral 81b in Figure 4. A dynamic laser beam shaping transition region between region 81b and region 82b is designated by reference numeral 81b2b in Figure 4.

[0097] FIG. 5 is another example of a cutting profile with different types of sections. In this example, the profile includes a straight section 51. The next section clockwise in the profile is section 52, which is a corner section. The next section 53 is yet another straight section, then a corner section 54, followed by another corner section 55 with a different radius. Section 56 is a straight section, followed by a series of corner or radius sections, shown in FIG. 5 with reference numbers 56-1, 56-2, 56-3, and 56-4. As shown, the radius differs between the different sections 56. After these radius sections 56-1 to 56-4, section 57 is provided. It is followed by different radius sections 58, 59, followed by a further straight section 60. The laser cutting head H then needs to move over the corner section 61 to close the closed profile structure again.

[0098] Even if not already explicitly stated above, the individual embodiments described in connection with the drawings, or individual aspects and features thereof, can be combined with or substituted for one another, to the extent that such combinations or substitutions are meaningful and consistent with the spirit of the invention, without limiting or expanding the scope of the invention described. Advantages described with respect to a particular embodiment of the invention, or with respect to a particular figure, also constitute advantages of other embodiments of the invention, where applicable.

Claims

1. 1. A computer-implemented method for determining a dynamic laser beam shape for laser cutting with a laser cutting machine (L) comprising at least one optical module for dynamically changing the shape of the laser beam, the method comprising: - receiving (S1) a cutting plan to be processed to cut out portions of a workpiece, each portion being defined by a cutting contour consisting of a set of cutting sites, each workpiece being characterized by a property indicator selected from the group consisting of a material indicator and / or a thickness indicator; - providing a shape store (ShS) configured to store a set of dynamic laser beam shapes, said set being three or more dynamic laser beam shapes; - a step (S3) of automatically calculating, by a processor (P), an assignment of the set of dynamic laser beam shapes to dynamic laser beam shapes for each of the cutting sections by accessing the shape store (ShS) and repeating for all parts to be cut out of the workpiece, said assignment being section-specific such that different dynamic laser beam shapes are assigned to different types of sections, the types of the cutting sections being selected from the group comprising straight lines, circles or sections of circles with a certain configurable radius, corners with a configurable angle, parameterized curves, punctures, retracts, pulls and / or engravings, and said calculation of the assignment (S3) is performed individually for each cutting section based on the characteristic indicators of the workpiece; - providing (S4) control instructions (CI) to an output interface (103) for controlling the laser cutting machine (L) to execute the received cutting plan by applying the determined dynamic laser beam shape individually for each cutting site; A method comprising:

2. 2. The method of claim 1, wherein the step of calculating the assignment is performed by a trained model, the trained model being a neural network model that receives a particular type of site as input and outputs a particular dynamic laser beam shape.

3. The model is A selected dynamic laser beam shape used for test cutting; the characteristic indicator of the test cut workpiece; - the type of cleavage site tested; A dynamic laser beam shape selected for the test cut site with an evaluation data set that serves as annotated data labels; 3. The method of claim 2, wherein the method is trained with training data consisting of:

4. 4. The method of claim 3, wherein the evaluation data set includes setting a number of different general evaluation criteria including quality evaluation, requirement evaluation, performance evaluation, energy consumption evaluation, process stability evaluation, burr height evaluation, roughness evaluation, feed rate evaluation, kerf width evaluation, gas consumption evaluation, profile error evaluation, tilt angle / squareness evaluation, cut surface flatness evaluation, heat affected zone evaluation, and / or the different evaluation criteria have interdependencies that are adjusted on a user interface selection button provided on a human machine interface (HMI).

5. The model is - preselecting a dynamic laser beam shape of said set of dynamic laser beam shapes; performing a cut site specific test cut with said preselected dynamic laser beam shape; - performing an evaluation of the results of each test cut by providing, for each test cut, an evaluation data set; - adjusting weights of the model in an objective function to optimize the evaluation data set; The method of claim 2, wherein the method is trained by performing

6. 4. The method according to claim 3, characterized in that the evaluation data set is provided manually by means of a user interface and / or automatically by a haptic automatic evaluation unit.

7. 2. The method of claim 1, wherein for each of the cutting sites, the automatically determined dynamic laser beam shape is determined individually for a type of cutting machine.

8. - frequency in the X and Y directions perpendicular to the axis of the laser beam, Amplitude in the X and Y directions, and / or Phase shift in the Y direction relative to the X direction The method of claim 1, characterized in that the dynamic laser beam shapes in the dynamic laser beam shape set are dynamically changed by generating a focal variation shape through a spatiotemporal distribution of laser energy on a material surface and / or a focal plane.

9. 2. The method of claim 1, wherein the transition region is determined by a linear, non-linear and / or logarithmic transition function.

10. The method of claim 1 , wherein the dynamic laser beam shaping is realized as a Lissajous shape.

11. receiving, through a user interface, cutting requirements selected from the group consisting of burr height, roughness, feed rate, kerf width, energy consumption, gas consumption, process stability, contour error, tilt angle / squareness, cut surface flatness, and / or heat affected zone; A method according to claim 1, characterized in that said control indication (CI) is generated taking into account said received disconnection requirement.

12. 10. The method of claim 1, wherein the laser beam shape is determined based on user input data.

13. 2. The method of claim 1, wherein each of the dynamic laser beam shapes comprises a geometric data set indicative of a geometric shape and a time-related data set indicative of a velocity and / or acceleration and / or jerk.

14. A control unit (100) configured to perform a method for determining a dynamic laser beam shape according to any one of claims 1 to 13 for controlling a laser cutting machine (L) comprising at least one optical module for modifying a shape of a laser beam, the control unit (100) comprising: a cutting plan interface (101) configured to receive a cutting plan to be processed to cut out portions of a workpiece, each portion being defined by a cutting contour consisting of a set of cutting sites, each workpiece being characterized by a property indicator selected from the group consisting of a material indicator and / or a thickness indicator; An interface (102) to a shape store (ShS) storing a set of dynamic laser beam shapes, which are three or more dynamic laser beam shapes; a processor (P) configured to iterate over all the parts to be cut out of the workpiece and to automatically calculate for each of the cutting sections an assignment of the set of dynamic laser beam shapes stored in the shape store (ShS) to dynamic laser beam shapes, said assignment being section-specific such that different dynamic laser beam shapes are assigned to different types of sections, the types of the cutting sections being selected from the group comprising straight lines, circles or sections of circles with a certain configurable radius, corners with a configurable angle, parameterized curves, punctures, retracts, pulls and / or engravings, said calculation of the assignment (S3) being performed individually for each cutting section based on the characteristic indicators of the workpiece; Equipped with - The control unit, characterized in that the processor (P) is further configured to provide control instructions (CI) through an output interface (103) to control the laser cutting machine (L) to execute the received cutting plan by applying the determined dynamic laser beam shape individually to each cutting site.

15. A computer program comprising computer program code which, when executed by a processor, causes a control unit to carry out the steps of the method according to any one of claims 1 to 13.

16. A computer-readable storage medium storing the computer program according to claim 15.

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