CN-121979092-A - Automatic idle path planning method, device, computer program product and laser cutting equipment

CN121979092ACN 121979092 ACN121979092 ACN 121979092ACN-121979092-A

Abstract

The application discloses an automatic planning method, a device, a computer program product and laser cutting equipment for idle path, which are used for acquiring the current pose state of a cutting gun and the initial target pose state of the next processing section in real time; based on the state information and preset safety parameters, an idle stroke moving path comprising at least one middle point is automatically planned by an algorithm, and finally the cutting gun is controlled to move along the planned path. By introducing intelligent calculated intermediate points, the spatial position and attitude angle of the forced cutting torch must be synchronously and smoothly transited in the moving process, rather than jumping directly. The motion smoothness is remarkably improved, and the cutting efficiency is effectively improved.

Inventors

CAO YINGMENG
ZHAO JIAN
WANG CHEN
Liu Yugun
DING WEITONG

Assignees

大族激光智能装备科技(常州)有限公司

Dates

Publication Date: 20260505
Application Date: 20260127

Claims (11)

1. An automatic planning method for a free path is characterized by comprising the following steps: Acquiring current state information of a cutting gun in a current cutting stage, wherein the current state information comprises a current space position and a current attitude angle; Acquiring target state information of a starting point of a next cutting stage, wherein the target state information comprises a target space position and a target attitude angle; determining a lost motion movement path from the current state to the target state based on the current state information, the target state information and preset safety parameters; The idle stroke moving path comprises at least one middle point planned by a control system, and the middle point is used for enabling the space position and the attitude angle of the cutting gun in the moving process to synchronously carry out smooth transition; And controlling the cutting gun to move according to the idle stroke moving path.
2. The automatic idle path planning method according to claim 1, wherein the determining of the idle path from the current state to the target state based on the current state information, the target state information, and a preset safety parameter further comprises the steps of: calculating a gun tip movement distance between the current spatial position and the target spatial position; And determining the number of intermediate points in the idle stroke moving path and a planning strategy according to the size relation between the gun tip moving distance and a preset distance threshold.
3. The automatic lost motion path planning method according to claim 2, wherein when the gun tip movement distance is less than a first preset distance threshold, it is determined that a short distance movement; The planning strategy is to insert an intermediate point between the current state point and the target state point, and each axis coordinate value of the intermediate point is an arithmetic average value of a start point coordinate value and an end point coordinate value of a corresponding axis.
4. The automatic lost motion path planning method according to claim 2, wherein when the gun tip movement distance is greater than or equal to a second preset distance threshold, it is determined that the gun tip is moving at a medium-long distance; The planning strategy is to insert two intermediate points between the current state point and the target state point, wherein a first intermediate point carries out linear interpolation determination on the current state information and the target state information through a first scale coefficient, and the first scale coefficient is the ratio of a fixed distance value to the gun tip moving distance; and the second intermediate point carries out linear interpolation on the current state information and the target state information through a second proportional coefficient, wherein the second proportional coefficient is a difference value between 1 and the first proportional coefficient.
5. The automatic idle path planning method according to claim 4, wherein the determining the idle path from the current state to the target state based on the current state information, the target state information, and a preset safety parameter further comprises the steps of: according to the target space position and the target attitude angle, a target servo axis position is obtained through inverse kinematics calculation, wherein the servo axis at least comprises an X axis, a Y axis, a Z axis, an A axis and a B axis; for each intermediate point, calculating the gun attitude angle of the intermediate point through kinematic ortholysis based on the intermediate coordinates of each servo axis obtained by linear interpolation; The idle stroke moving path is composed of linear interpolation instructions, and each instruction comprises a space coordinate and an attitude angle of a path point.
6. An automatic planning device for idle path, which is applied to a numerical control system, is characterized in that the automatic planning device for idle path comprises: The state acquisition module is used for acquiring current state information of the cutting gun and target state information of a starting point of a next cutting stage, wherein the current state information comprises a current space position and a current attitude angle; The path planning module is used for planning a free-space moving path based on the current state information, the target state information and preset safety parameters, and the path planning module enables the space position and the attitude angle of the cutting gun to be in smooth transition synchronously by inserting at least one intermediate point; and the motion control module is used for controlling the idle stroke moving path to move.
7. The automatic lost motion path planning apparatus of claim 6, wherein the path planning module comprises: A distance calculating unit for calculating a gun tip moving distance; And the strategy selection unit is used for selecting a corresponding path planning strategy according to the gun tip moving distance, wherein different moving distances correspond to different intermediate point insertion numbers and methods.
8. The automatic lost motion path planning apparatus of claim 7, wherein the path planning module further comprises: The interpolation calculation unit is used for calculating coordinates of two intermediate points based on a linear interpolation algorithm when the medium-long distance movement planning is performed; and the kinematic conversion unit is used for performing mutual conversion between the position of the servo shaft and the position and attitude angle of the gun tip of the cutting gun.
9. The automatic lost motion path planning apparatus of claim 6, wherein the automatic lost motion path planning is configured as a macro module within the numerical control system, the macro module configured to override lost motion movement instructions and automatically invoke the path planning module when lost motion movement is performed.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 5.
11. A laser cutting device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1 to 5 when the computer program is executed.

Description

Automatic idle path planning method, device, computer program product and laser cutting equipment Technical Field The application relates to the field of laser processing, in particular to an automatic idle path planning method, an automatic idle path planning device, a computer program product and laser cutting equipment. Background Along with the continuous improvement of the requirements of manufacturing industry on processing efficiency and precision, the fiber laser groove cutting technology is widely applied due to the advantages. In five-axis laser groove cutting equipment, the control system (CAM) has been able to finely plan the machining trajectory itself. However, for the lost motion movement process between two sections of processing tracks, i.e. the non-processing phase in which the cutting torch moves from the end point of the previous section of track to the start point of the next section of track, it is common practice in the industry to employ a set of fixed and conservative lost motion patterns. The method comprises the typical steps of firstly controlling a cutting gun to vertically lift (move upwards along a Z axis), then righting the cutting gun (enable an A/B axis to return to zero), then continuously lifting the cutting gun to a higher safety height, then controlling the cutting gun to translate to above a target point along a horizontal plane, then descending to the surface of a plate in a follow-up mode, finally perforating and swinging to a required bevel angle, and finally starting cutting of the next section. Due to the complexity of the mechanical structure and the motion state, the process comprises a large number of unnecessary vertical lifting, aligning, translating and descending actions, so that the idle stroke path is long, and the action conversion is frequent and discontinuous. This not only significantly increases the time required for lost motion movement, but also reduces overall cutting efficiency. Disclosure of Invention The application provides an automatic idle path planning method, an automatic idle path planning device, a computer program product and laser cutting equipment, which can automatically plan the idle path, solve the problem of redundant idle path and improve the movement efficiency. The application provides an automatic planning method for a free path, which comprises the following steps: Acquiring current state information of a cutting gun in a current cutting stage, wherein the current state information comprises a current space position and a current attitude angle; Acquiring target state information of a starting point of a next cutting stage, wherein the target state information comprises a target space position and a target attitude angle; determining a lost motion movement path from the current state to the target state based on the current state information, the target state information and preset safety parameters; The idle stroke moving path comprises at least one middle point planned by a control system, and the middle point is used for enabling the space position and the attitude angle of the cutting gun in the moving process to synchronously carry out smooth transition; And controlling the cutting gun to move according to the idle stroke moving path. In some embodiments, the determining the idle stroke movement path from the current state to the target state based on the current state information, the target state information, and a preset safety parameter further includes the steps of: calculating a gun tip movement distance between the current spatial position and the target spatial position; And determining the number of intermediate points in the idle stroke moving path and a planning strategy according to the size relation between the gun tip moving distance and a preset distance threshold. In some embodiments, a short range movement is determined when the gun tip movement distance is less than a first preset distance threshold; The planning strategy is to insert an intermediate point between the current state point and the target state point, and each axis coordinate value of the intermediate point is an arithmetic average value of a start point coordinate value and an end point coordinate value of a corresponding axis. In some embodiments, the medium-long range movement is determined when the gun tip movement distance is greater than or equal to a second preset distance threshold; The planning strategy is to insert two intermediate points between the current state point and the target state point, wherein a first intermediate point carries out linear interpolation determination on the current state information and the target state information through a first scale coefficient, and the first scale coefficient is the ratio of a fixed distance value to the gun tip moving distance; and the second intermediate point carries out linear interpolation on the current state information and the target state information through a second prop