CN109048091A - Laser cutting speed planing method, device, storage medium and computer equipment - Google Patents
Laser cutting speed planing method, device, storage medium and computer equipment Download PDFInfo
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- CN109048091A CN109048091A CN201810785288.6A CN201810785288A CN109048091A CN 109048091 A CN109048091 A CN 109048091A CN 201810785288 A CN201810785288 A CN 201810785288A CN 109048091 A CN109048091 A CN 109048091A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
- G05B19/4163—Adaptive control of feed or cutting velocity
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Abstract
The present invention relates to a kind of laser cutting speed planing method, device, storage medium and computer equipment, the information of the current first cutting stroke in cutting track to be processed and the information of current second cutting stroke are obtained；According to the information of current first cutting stroke and the information of current second cutting stroke, the turning speed of tie point is obtained；Current first cutting stroke and current second cutting stroke are updated, and obtains the turning speed for respectively cutting stroke tie point in cutting track to be processed；According to the information of each cutting stroke and the turning speed of each cutting stroke tie point, the speed planning information of cutting track to be processed is determined.The turning speed of tie point is calculated by the information of adjacent cutting stroke, in laser cutting process, the end speed of current cutting stroke only needs to be decreased to the turning speed, so that the feedrate linking of adjacent cutting stroke is more smooth, so as to reduce laser cutting time, laser cutting efficiency is improved.
Description
Technical field
The present invention relates to laser cutting technique fields, more particularly to a kind of laser cutting speed planing method, device, deposit
Storage media and computer equipment.
Background technique
With the development of automated control technology, laser cutting using more and more extensive.Laser cutting refers to using high
Power laser beam irradiates material to be cut, and the illuminated part of material to be cut is heated evaporation, formation width it is very narrow (such as
0.1mm or so) joint-cutting.In cutting process, by the movement of control laser beam to control the forming position of joint-cutting, to complete
Treat the laser cutting operation of cutting material.
It in laser cutting process, needs to plan laser cutting speed, to guarantee laser cutting motion control
It is steady efficient.In traditional technology, laser cutting speed planning is carried out using trapezoidal velocity planning method.As shown in Fig. 1 (a), ladder
Shape speed planning method refers in a cutting stroke, including accelerating-at the uniform velocity-the speed planning process slowed down, accelerator
Refer to that laser cutting speed increases to maximum cutting rate Vmax by zero, at the uniform velocity process refers to that cutting speed is tieed up in cutting process
Vmax is held, moderating process refers to that laser cutting speed is decreased to zero by Vmax.In addition, considering as shown in Fig. 1 (b) and Fig. 1 (c)
To cutting travel paths length factor, trapezoidal velocity planning method may also only include acceleration-deceleration process.
However, since each cutting stroke requires acceleration of starting from scratch, finally slowing down in trapezoidal velocity planning method
To zero, cause to require to take some time in each cutting stroke to carry out accelerating operation and slow down to grasp to cutting speed
Make, to increase laser cutting time, and then causes laser cutting efficiency lower.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of reduction clipping time to improve the laser of cutting efficiency
Cutting speed planing method, device, storage medium and computer equipment.
A kind of laser cutting speed planing method, comprising:
The information of the current first cutting stroke in cutting track to be processed is obtained, and is connected with current first cutting stroke
The information of the current second cutting stroke connect；
According to the information of the current first cutting stroke and the information of the current second cutting stroke, pass through speed
Plan model obtains the turning speed of the current first cutting stroke and the current second cutting stroke tie point, the speed
Spending plan model includes accelerating function model and deceleration function model, and the turning speed is greater than zero；
It goes according in the current second cutting stroke and the cutting track to be processed with current second cutting
The cutting stroke of journey connection updates the current first cutting stroke and the current second cutting stroke；
The information for obtaining the current first cutting stroke in cutting track to be processed is returned, and is cut with current first
The step of cutting the information of current second cutting stroke of stroke connection, obtains respectively cutting stroke company in the cutting track to be processed
The turning speed of contact；
According to the information of each cutting stroke and the turning speed of each cutting stroke tie point, pass through the speed planning mould
Type determines the speed planning information of the cutting track to be processed.
A kind of laser cutting speed device for planning, comprising:
Data obtaining module, for obtaining the information of the current first cutting stroke in cutting track to be processed, Yi Jiyu
The information of the current second cutting stroke of current first cutting stroke connection；
Speed calculation module, for being gone according to the information and current second cutting of the current first cutting stroke
The information of journey obtains the current first cutting stroke and the current second cutting stroke tie point by speed planning model
Turning speed, the speed planning model includes accelerating function model and deceleration function model, and the turning speed is greater than zero；
Stroke update module, for according to it is described it is current second cutting stroke and the cutting track to be processed in
The cutting stroke of the current second cutting stroke connection, updates the current first cutting stroke and current second cutting
Stroke；
The speed calculation module is also used to update the current first cutting stroke and institute in the stroke update module
State it is current second cutting stroke and the data obtaining module obtain it is updated it is current first cutting stroke information and
After the information of current second cutting stroke, cut according to the information of updated current first cutting stroke and described current second
The information for cutting stroke obtains updated current first cutting stroke by speed planning model and current second cutting is gone
The turning speed of journey tie point, and obtain the turning speed that stroke tie point is respectively cut in the cutting track to be processed；
Speed planning module, for according to the information of each cutting stroke and the turning speed of each cutting stroke tie point,
The speed planning information of the cutting track to be processed is determined by the speed planning model.
A kind of computer equipment, including memory and processor, the memory are stored with computer program, and feature exists
In the step of processor realizes above-mentioned laser cutting speed planing method when executing the computer program.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
The step of above-mentioned laser cutting speed planing method is realized when row.
Above-mentioned laser cutting speed planing method, device, storage medium and computer equipment, obtain cutting to be processed first
The information of current first cutting stroke and current second cutting stroke in track, according to the current first cutting stroke of acquisition
And the information of current second cutting stroke obtains the turning speed of tie point；It subsequently updates current first cutting stroke and works as
Preceding second cutting stroke, and the turning that stroke tie point is respectively cut in cutting track to be processed is obtained using identical calculation method
Speed；Speed planning is finally carried out according to the turning speed of the information of each cutting stroke and each cutting stroke tie point, is obtained
Speed planning information.The turning speed of adjacent cutting stroke tie point is calculated by the information of adjacent cutting stroke, is swashing
In light cutting process, the current end speed for cutting stroke only needs to be decreased to the turning speed, so that adjacent cutting stroke
Feedrate linking it is more smooth, the end speed of each cutting stroke is without being decreased to zero, so as to reduce each cutting stroke
The time it takes reduces laser cutting time, improves laser cutting efficiency.
Detailed description of the invention
Fig. 1 (a), 1 (b), 1 (c) are the speed schematic diagram of trapezoidal velocity planning in traditional technology；
Fig. 2 is the flow diagram of laser cutting speed planing method in one embodiment；
Fig. 3 is the schematic diagram for the cutting track to be processed being cut by laser in one embodiment；
Fig. 4 (a) is the speed schematic diagram of " S " type speed planning in traditional technology；
Fig. 4 (b) is the acceleration schematic diagram of " S " type speed planning in traditional technology；
Fig. 5 (a) is the first calculating function f in one embodimenta(x) function curve diagram；
Fig. 5 (b) is the second calculating function f in one embodimentb(x) function curve diagram；
Fig. 6 is the positive turning speed schematic diagram calculated with retrospectively calculate in one embodiment；
Fig. 7 is the structural schematic diagram of laser cutting speed device for planning in one embodiment.
Specific embodiment
In one embodiment, as shown in Fig. 2, providing a kind of laser cutting speed planing method, this method includes following
Step:
Step S100 obtains the information of the current first cutting stroke in cutting track to be processed, and with current first
Cut the information of the current second cutting stroke of stroke connection.
In this step, cutting track to be processed refers to the track of laser cutting, is generally made of straight line and/or circular arc,
The cutting stroke of one section of correspondingly-shaped of one section of straight line or arc representation.Specifically, as shown in figure 3, providing a kind of laser cutting
The schematic diagram of cutting track to be processed, illustrating cutting track to be processed includes cutting stroke Li、Li+1And Li+2.Carrying out speed rule
When drawing, need to calculate the turning speed of the tie point of two adjacent cutting strokes, when the turning speed for calculating some tie point
When, cutting stroke before defining the tie point is current first cutting stroke, defines the cutting stroke after the tie point and is
Current second cutting stroke.By taking cutting stroke and tie point in Fig. 3 as an example, tie point P is being calculatediTurning speed when, with
Cut stroke LiStroke is cut for current first, to cut stroke Li+1For current second cutting stroke；Calculating tie point Pi+1
Turning speed when, then to cut stroke Li+1Stroke is cut for current first, to cut stroke Li+2For current second cutting row
Journey.The information for cutting stroke includes Endpoint location information and velocity information of the cutting stroke etc., for example, in Fig. 3, cutting
Stroke LiStarting point be Pi-1(xi-1, yi-1), starting velocity vi-1, cut stroke LiTerminal (Li+1Starting point) be Pi(xi,
yi), cut stroke Li+1Terminal be Pi+1(xi+1, yi+1) etc..
It should be noted that cut the position of stroke for current the first of first time selection and be not construed as limiting, for example, the
The current first cutting stroke once selected can be the cutting stroke positioned at initial position in cutting track to be processed, can also
It, specifically can be according to the practical behaviour of laser cutting to be that other in cutting track to be processed are located at the cutting stroke of non-initial position
It is selected as process.
Step S200 passes through speed according to the information of current first cutting stroke and the information of current second cutting stroke
Degree plan model obtains the turning speed of current first cutting stroke and current second cutting stroke tie point.Wherein, turning speed
Degree is greater than zero.
In this step, speed planning model refers to according to the information of cutting stroke, is cut using fixed function to express laser
The model of velocity variations process during cutting can carry out corresponding velocity variations to cutting stroke by the speed planning model
Planning, and calculate the turning speed of cutting stroke tie point.Speed planning model includes accelerating function model and deceleration function
Model, accelerates function model and deceleration function model is fixed function, is respectively used to expression accelerator and moderating process.Its
In, accelerating function model includes the first calculating function, and the first variate-value range for calculating function is 0 to 1, and the first calculating function exists
Continuous in the range of 0 to 1, when variate-value is 0, the first functional value for calculating function is 0；When variate-value is 1, first is calculated
The functional value of function is 1, and the first maximal function value for calculating function is 1；Deceleration function model include second calculate function, second
The variate-value range for calculating function is 0 to 1, and the second calculating function is continuous in the range of 0 to 1, when variate-value is 0, second
The functional value for calculating function is 1；When variate-value is 1, the second functional value for calculating function is 0, and second calculates the maximum of function
Functional value is 1.
Specifically, two function f are defineda(x) and fb(x), meet the following conditions respectively:
fa(0)=0, fa(1)=1, max | fa(x) |=1,0≤x≤1
fb(0)=1, fb(1)=0, max | fb(x) |=1,0≤x≤1 (1)
Work as fa(x) and fb(x) consecutive hours in the range of 0≤x≤1, can be utilized respectively fa(x) and fb(x) as adding
The fixed function of speed and moderating process.When the turning speed to a certain cutting stroke tie point calculates, the company is being obtained
After the information of the corresponding current first cutting stroke of contact and the information of current second cutting stroke, pass through function fa(x)
And fb(x) corresponding velocity variations planning can be carried out to cutting stroke, and calculates the turning speed of cutting stroke tie point.It needs
It is noted that being by assuming corresponding current second cutting of the tie point when calculating the turning speed of a certain tie point
The end speed of stroke is 0, is gone further according to the information and current second cutting of the corresponding current first cutting stroke of the tie point
The turning speed of the tie point is calculated in the information of journey.
Step S300 cuts stroke with current second according in current second cutting stroke and cutting track to be processed
The cutting stroke of connection updates current first cutting stroke and current second cutting stroke.
After the turning speed for obtaining current first cutting stroke and current second cutting stroke tie point, need to current
First cutting stroke and it is current second cutting stroke be updated, at this point, using update before it is current second cutting stroke as
Updated current first cutting stroke, next cutting stroke of the current second cutting stroke before updating is as updated
Current second cutting stroke.For example, calculating tie point P in Fig. 3iTurning speed when, to cut stroke LiIt is current
One cutting stroke, to cut stroke Li+1For current second cutting stroke；Tie point P is being calculatediTurning speed after,
Stroke L will then be cuti+1It is updated to current first cutting stroke, stroke L will be cuti+2It is updated to current second cutting stroke, with
Calculate tie point Pi+1Turning speed.
Step S400, returns to the information for obtaining the current first cutting stroke in cutting track to be processed, and with it is current
It the step of information of the current second cutting stroke of first cutting stroke connection, obtains respectively cutting stroke in cutting track to be processed
The turning speed of tie point.
Specifically, it after obtaining updated current first cutting stroke and current second cutting stroke, returns and obtains
Current first in cutting track to be processed cuts the information of stroke, and current second connect with current first cutting stroke
The step of cutting the information of stroke cuts stroke tie point to calculate updated current first cutting stroke and current second
Turning speed, repeats the above steps, until the turning speed of all cutting stroke tie points is calculated and completed.
Step S600 passes through speed according to the information of each cutting stroke and the turning speed of each cutting stroke tie point
Plan model determines the speed planning information of cutting track to be processed.
In this step, speed planning model is also used to after the turning speed that each cutting stroke tie point is calculated,
Speed planning processing is carried out to cutting track to be processed.After the completion of the turning speed of all cutting stroke tie points calculates,
According to the information of each cutting stroke and the turning speed of each cutting stroke tie point, determined by speed planning model to be processed
The speed planning information of cutting track.In laser cutting, speed planning information specifically refers to each interpolation cycle (when unit
Between) in laser cutting displacement, i.e., by control each interpolation cycle displacement, thus reach control laser cutting speed
The purpose of degree, therefore, in cutting track to be processed is calculated after the turning speed of each tie point, it is also necessary to according to every
The turning speed of a tie point calculates the displacement of each interpolation cycle, to complete final speed planning.
The present embodiment provides a kind of laser cutting speed planing methods, and phase is calculated by the information of adjacent cutting stroke
The turning speed of neighbour's cutting stroke tie point, in laser cutting process, the current end speed for cutting stroke only needs to be decreased to
The turning speed, so that the feedrate linking of adjacent cutting stroke is more smooth, the end speed of each cutting stroke is without subtracting
As low as zero, so as to reduce each cutting stroke the time it takes, laser cutting time is reduced, improves laser cutting effect
Rate.
In traditional technology, speed planning method further includes " S " type speed planning method, as shown in Fig. 4 (a) and Fig. 4 (b),
Fig. 4 (a) is the speed schematic diagram in " S " type speed planning, and Fig. 4 (b) is the acceleration schematic diagram in " S " type speed planning.It adopts
The situation of acceleration and deceleration mutation can be eliminated with " S " type speed planning model, so that acceleration and deceleration process is smoothened, it can be well
Solve the problems, such as that process is unstable, workpieces processing precision is not high.However, as shown in Fig. 4 (b), in " S " type speed planning,
Acceleration needs to be gradually increased to peak acceleration amax, or is gradually decrease to 0 by peak acceleration amax, cause exist plus
Moderating process time too long problem, so that whole processing speed declines；In addition, acceleration needs during speed is increased
Peak acceleration increased to by 0, then keep peak acceleration, then be decreased to 0 by peak acceleration, in the mistake that speed reduces
Cheng Zhong, acceleration need to be changed to maximum deceleration by 0, then keep maximum deceleration, then become by maximum deceleration
Change to 0, the above calculating process is excessively complicated, so as to cause longer interpolation cycle is needed, so that the processing of laser cutting
Accuracy decline.
The application proposes a kind of speed planning model, is become by expressing speed in laser cutting process using fixed function
The process of change can simplify the calculating process in speed planning compared to " S " type speed planning method, shorten interpolation cycle, from
And promote interpolation precision.
In one embodiment, according to the function f in speed planning modela(x) and fb(x), make defined below:
If VstartFor initial velocity, VendFor end speed, VmaxFor target velocity.Then in speed planning calculating process, accelerate and
The process of deceleration can be indicated with following two expression formula respectively:
Boost phase:
V (x)=fa(x)(Vmax-Vstart)+Vstart (6)
Decelerating phase:
V (x)=fb(x)(Vmax-Vend)+Vend (7)
If taAnd tbThe time used in time used in boost phase and decelerating phase is respectively indicated, if t is time change
Amount, then during acceleration and deceleration, the expression formula of speed is as follows:
Boost phase:
V (t)=fa(t/ta)(Vmax-Vstart)+Vstart, 0≤t≤ta (8)
Decelerating phase:
V (t)=fb(t/tb)(Vmax-Vend)+Vend, 0≤t≤tb (9)
The maximum speed and peak acceleration of boost phase can respectively indicate are as follows:
Vmax=max | Vstart+(Vmax-Vstart)fa(t/ta)| (10)
It can obtain:
ta=(Vmax-Vstart)Ra/Amax (12)
Similarly, the maximum speed and peak acceleration in decelerating phase can respectively indicate are as follows:
Vmax=max | Vend+(Vmax-Vend)fb(t/tb)| (13)
It can obtain:
tb=(Vmax-Vend)Rb/Amax (15)
If TsFor interpolation cycle, the interpolation cycle quantity needed for can further acquiring accelerator and moderating process in total is divided
Not are as follows:
The displacement that n-th of interpolation cycle is distributed are as follows:
Boost phase:
Decelerating phase:
It is entire to accelerate to be respectively as follows: with decelerating phase respective displacement total amount
Boost phase:
Decelerating phase:
According to the above calculation formula, the process of entire speed planning can pass through fixed function fa(x) and fb(x) come straight
Solution is connect, the process of entire speed planning includes the displacement for calculating turning speed and calculating interpolation cycle, calculating process
It is greatly simplified, also, by defining different function fa(x) and fb(x) different speed planning processes can be obtained.
The present embodiment completes the speed planning in laser cutting process by speed planning model, can simplify and calculated
Journey shortens interpolation cycle, to promote interpolation precision.
In one embodiment, a kind of specific example of speed planning model is provided.It is fixed respectively according to condition formula (1)
Adopted following two function:
fa(x)=xa(x-1), 0≤x≤1 (22)
fb(x)=1-xa(x-1), 0≤x≤1 (23)
Wherein, a is any real number.If a value is 5, then fa(x) and fb(x) function curve diagram is respectively such as Fig. 5 (a) and figure
Shown in 5 (b), from fa(x) and fb(x) in curve characteristic as can be seen that in acceleration and acceleration and deceleration stage, velocity variations are non-
It is often smooth；And subtracting acceleration and subtracting the decelerating phase, velocity variations process is then suitably accelerated, and acceleration and deceleration speed is in the two stages
It gets a promotion, therefore, this function characteristic is able to satisfy the balance requirement of laser processing speed and precision control, in actual application
In only need that suitable a value is arranged, more satisfactory speed planning curve can be obtained according to the performance of lathe.
In one embodiment, when calculating turning speed, it usually needs consider Multiple factors, it can according to different factors
To calculate different turning speed, after obtaining multiple optional turning speed, need therefrom to select a most suitable value as
Turning speed.Specifically, according to the information of current first cutting stroke and the information of current second cutting stroke, pass through speed
Plan model obtains the turning speed of current first cutting stroke and current second cutting stroke tie point, comprising: according to current
The information and pre-set velocity constraint condition of the information of first cutting stroke, current second cutting stroke, pass through speed planning mould
Type obtains optional turning speed, selects the minimum speed in optional turning speed as current first cutting stroke and current second
Cut the turning speed of stroke tie point.
Specifically, pass through the information of current first cutting stroke, the information and Multiple factors of current second cutting stroke
Constraint condition, through the foregoing embodiment in speed planning calculation formula multiple optional turning speed are calculated.Obtain it is more
After a optional turning speed, need therefrom to select a most suitable value as turning speed, usually, optional turning speed
In minimum speed can meet the constraint condition of Multiple factors simultaneously and therefore the minimum speed in optional turning speed is selected to make
For the turning speed of current first cutting stroke and current second cutting stroke tie point.
The present embodiment takes various limitations by comprehensively considering limitation of many factors to turning speed in laser cutting process
Under the conditions of minimum speed as turning speed so that the turning speed being calculated meets practical laser cutting process
Processing request.
Wherein, in one embodiment, consider limitation of corner's peak acceleration to turning speed, be calculated first
Optional turning speed.In the present embodiment, the information of current first cutting stroke includes the extreme coordinates of current first cutting stroke,
The information of current second cutting stroke includes the extreme coordinates of current second cutting stroke, and pre-set velocity constraint condition includes laser
Maximum allowable turning acceleration and interpolation cycle in cutting operation.Specifically, according to it is current first cutting stroke information,
The information and pre-set velocity constraint condition of current second cutting stroke, obtain optional turning speed by speed planning model,
It include: to be calculated currently according to the extreme coordinates of current first cutting stroke and the extreme coordinates of current second cutting stroke
The angle of first cutting stroke and current second cutting stroke；According to speed planning model, maximum allowable turning acceleration, interpolation
The angle calcu-lation of period and current first cutting stroke and current second cutting stroke obtains the first optional turning speed.
With reference to Fig. 3, Li、Li+1Junction speed be vi, viAlong LiDirectional steering Li+1When direction, generated acceleration
Degree is no more than the maximum allowable turning acceleration of lathe, and otherwise lathe will appear vibration at runtime.If viBefore changing direction
Velocity amplitude afterwards is vAAnd vB, the angle of two travel path of front and back is θ (0 < θ < π), and the maximum allowable turning acceleration of lathe is
Amax, interpolation cycle Ts, available following formula:
It can obtain:
It should be noted that θ be equal to 0 degree with 180 degree in special circumstances, then cannot be calculated by above-mentioned formula, because
For in the case where θ is equal to 0 degree, the direction of speed changes completely, viIt must be first down to 0, be just able to achieve and smoothly turn to；And in θ etc.
In the case where 180 degree, the direction of speed does not change, viSize not by the constraint of corner's acceleration.
In one embodiment, consider to cut limitation of the travel path length to turning speed before and after tie point, calculate
To the second optional turning speed and the optional turning speed of third.In the present embodiment, the information of current first cutting stroke includes working as
The path length of preceding first cutting stroke, the information of current second cutting stroke include that the track of current second cutting stroke is long
Degree, pre-set velocity constraint condition includes acceleration and maximum allowable turning acceleration in laser cutting operation.Specifically, root
According to the information of current first cutting stroke, the information and pre-set velocity constraint condition of current second cutting stroke, pass through speed
Plan model obtains optional turning speed, comprising: cuts the path length of stroke according to speed planning model, current first, adds
Speed and maximum allowable turning acceleration calculation obtain the second optional turning speed；According to acceleration function model, deceleration function
Model, current second cutting stroke path length, acceleration and maximum allowable turning acceleration calculation to obtain third optional
Turning speed.
Specifically, if path length required for complete accelerator and moderating process is respectively SaAnd Sb, before tie point
Cutting the path length of stroke afterwards is respectively LiAnd Li+1, then there is following several situations:
(1) if Li≥Sa, illustrate that the path length of the previous cutting stroke of tie point is completed enough from initial velocity to maximum
The accelerator of speed does not consider other constraint conditions in this case:
vi=vmax (28)
(2) if Li< Sa, illustrate that the path length of the previous cutting stroke of tie point is not enough to complete from initial velocity to most
The accelerator of big speed does not consider other constraint conditions in this case:
(3) if Li+1≥Sb, illustrate the path length of the latter cutting stroke of tie point complete enough from maximum speed to
The moderating process of end speed, in this case, viNot by the constraint of latter section of line segment length；
(4) if Li+1< Sb, illustrate the path length of the latter cutting stroke of tie point be not enough to complete from initial velocity to
The accelerator of maximum speed does not consider other constraint conditions in this case:
In one embodiment, the 4th optional turning speed is calculated in the limitation for considering the maximum allowable cutting speed of lathe
Degree.In the present embodiment, pre-set velocity constraint condition includes the maximum allowable cutting speed v in laser cutting operationmax, maximum to permit
Perhaps cutting speed vmaxFor the 4th optional turning speed.
Distinguish available first, second, third and the 4th optional turning speed by above embodiments, obtain it is multiple
After optional turning speed, need therefrom to select a most suitable value as turning speed, due in multiple optional turning speed
Minimum speed can meet the constraint condition of Multiple factors simultaneously, therefore, select the minimum speed in multiple optional turning speed
Turning speed as tie point.
Specifically, convolution (27), (29), (30) and maximum allowable cutting speed vmax, it takes under various restrictive conditions
Minimum speed, finally show that the calculation method of corner's speed is as follows:
The present embodiment is various calculating by comprehensively considering limitation of many factors to turning speed in laser cutting process
After optional turning speed under restrictive condition, take the minimum speed in optional turning speed as turning speed, so that meter
Obtained turning speed is more scientific and reasonable, and is able to satisfy the processing request of practical laser cutting process.
In one embodiment, after the turning speed that stroke tie point is respectively cut in obtaining cutting track to be processed,
According to the information of each cutting stroke and the turning speed of each cutting stroke tie point, determined by speed planning model wait locate
Before the speed planning information for managing cutting track, which further includes, in cutting track to be processed
Last cutting stroke as current first cutting stroke, using the cutting stroke that is connect with last cutting stroke as current second
Stroke is cut, passes through speed planning model retrospectively calculate and retrieves and respectively cut stroke tie point in cutting track to be processed
Turning speed.
The turning speed being calculated in above-described embodiment is it is assumed that second of all turnings is cut the end speed of stroke
Degree is all to calculate in the case where 0, but the end speed of actually second cutting stroke is not generally 0, thus need
To be starting cutting stroke with current last cutting stroke, back repeat and calculate a turning speed.It is turned recalculating
During angular speed, calculating process and for the first time positive calculating, the difference is that, second, each turning cutting row
The end speed of journey is no longer assumed 0, but the turning speed being calculated before taking.
Specifically, as shown in fig. 6, for the positive turning speed schematic diagram calculated with retrospectively calculate, wherein dotted line indicates the
The primary positive obtained turning speed of calculating, solid line indicate the finally obtained turning speed of second of retrospectively calculate.This step
In, reversely cutting stroke calculates forward turning speed one by one, until first cutting climb displacement completion in cutting track, makes
The result of second of retrospectively calculate is used to cover the calculated result of first time as final turning speed, from fig. 6, it can be seen that the
Secondary calculating is since the end speed of the second cutting stroke in many turnings is no longer 0, so calculated new turning speed can be big
In the turning speed being calculated for the first time.
Further, using the last cutting stroke in cutting track to be processed as it is current first cutting stroke, with most
The cutting stroke of cutting stroke connection by speed planning model retrospectively calculate and again must as current second cutting stroke afterwards
After the turning speed for respectively cutting stroke tie point into cutting track to be processed, according to the information of each cutting stroke and again
The turning speed of obtained each cutting stroke tie point, the speed planning of cutting track to be processed is determined by speed planning model
Information.Due to recalculating the turning speed for calculating (forward direction calculates) before the turning speed that (retrospectively calculate) obtains is greater than and obtaining
Degree, therefore, in practical laser cutting process, can be improved the stationarity of integral cutting speed and processing, further shortens and cuts
It cuts the time, improves cutting efficiency.
It should be understood that although each step in the flow chart of Fig. 2 is successively shown according to the instruction of arrow, this
A little steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, these steps
It executes there is no the limitation of stringent sequence, these steps can execute in other order.Moreover, at least part in Fig. 2
Step may include that perhaps these sub-steps of multiple stages or stage are executed in synchronization to multiple sub-steps
It completes, but can execute at different times, the execution sequence in these sub-steps or stage, which is also not necessarily, successively to be carried out,
But it can be executed in turn or alternately at least part of the sub-step or stage of other steps or other steps.
In one embodiment, as shown in fig. 7, improving a kind of laser cutting speed device for planning, which includes information
Obtain module 100, speed calculation module 200, stroke update module 300 and speed planning module 400.
Data obtaining module 100, for obtain in cutting track to be processed it is current first cutting stroke information, and
The information for the current second cutting stroke being connect with current first cutting stroke.
Speed calculation module 200, for cutting stroke according to the information of current first cutting stroke and current second
Information obtains the turning speed of current first cutting stroke and current second cutting stroke tie point by speed planning model,
Turning speed is greater than zero.
Stroke update module 300, for according in current second cutting stroke and cutting track to be processed with current the
The cutting stroke of two cutting stroke connections, updates current first cutting stroke and current second cutting stroke.
Speed calculation module 200 is also used to update current first cutting stroke and current second in stroke update module 300
Cutting stroke and data obtaining module 100 obtain the information of updated current first cutting stroke and current second cut
After cutting the information of stroke, the information of stroke is cut according to the information of updated current first cutting stroke and current second,
The turning speed of updated current first cutting stroke and current second cutting stroke tie point is obtained by speed planning model
Degree, and obtain the turning speed that stroke tie point is respectively cut in cutting track to be processed.
Speed planning module 400, for according to the information of each cutting stroke and the turning speed of each cutting stroke tie point
Degree, the speed planning information of cutting track to be processed is determined by speed planning model.
In one embodiment, speed calculation module 200 is also used to the last cutting stroke in cutting track to be processed
As current first cutting stroke, the cutting stroke to connect with last cutting stroke passes through as current second cutting stroke
Speed planning model retrospectively calculate simultaneously retrieves the turning speed that stroke tie point is respectively cut in cutting track to be processed.
The present embodiment provides a kind of laser cutting speed device for planning, and phase is calculated by the information of adjacent cutting stroke
The turning speed of neighbour's cutting stroke tie point, in laser cutting process, the current end speed for cutting stroke only needs to be decreased to
The turning speed, so that the feedrate linking of adjacent cutting stroke is more smooth, the end speed of each cutting stroke is without subtracting
As low as zero, so as to reduce each cutting stroke the time it takes, laser cutting time is reduced, improves laser cutting effect
Rate.
Specific restriction about laser cutting speed device for planning may refer to plan above for laser cutting speed
The restriction of method, details are not described herein.Modules in above-mentioned laser cutting speed device for planning can be fully or partially through
Software, hardware and combinations thereof are realized.Above-mentioned each module can be embedded in the form of hardware or independently of the place in computer equipment
It manages in device, can also be stored in a software form in the memory in computer equipment, in order to which processor calls execution or more
The corresponding operation of modules.
The present embodiment provides a kind of laser cutting speed device for planning, and phase is calculated by the information of adjacent cutting stroke
The turning speed of neighbour's cutting stroke tie point, in laser cutting process, the current end speed for cutting stroke only needs to be decreased to
The turning speed, so that the feedrate linking of adjacent cutting stroke is more smooth, the end speed of each cutting stroke is without subtracting
As low as zero, so as to reduce each cutting stroke the time it takes, laser cutting time is reduced, improves laser cutting effect
Rate.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory
Computer program, the processor perform the steps of when executing computer program
The information of the current first cutting stroke in cutting track to be processed is obtained, and is connected with current first cutting stroke
The information of the current second cutting stroke connect；
According to the information of current first cutting stroke and the information of current second cutting stroke, pass through speed planning model
The turning speed of current first cutting stroke and current second cutting stroke tie point is obtained, speed planning model includes accelerating letter
Exponential model and deceleration function model, turning speed are greater than zero；
According to the cutting being connect in current second cutting stroke and cutting track to be processed with current second cutting stroke
Stroke updates current first cutting stroke and current second cutting stroke；
The information for obtaining the current first cutting stroke in cutting track to be processed is returned, and is gone with current first cutting
It the step of information of the current second cutting stroke of journey connection, obtains respectively cutting turning for stroke tie point in cutting track to be processed
Angular speed；
It is true by speed planning model according to the information of each cutting stroke and the turning speed of each cutting stroke tie point
The speed planning information of fixed cutting track to be processed.
In one embodiment, it is also performed the steps of when processor executes computer program according to current first cutting
The information and pre-set velocity constraint condition of the information of stroke, current second cutting stroke, being obtained by speed planning model can
Select turning speed；Select the minimum speed in optional turning speed as current first cutting stroke and current second cutting stroke
The turning speed of tie point.
In one embodiment, it is also performed the steps of when processor executes computer program according to current first cutting
Current first cutting stroke and current the is calculated in the extreme coordinates of the extreme coordinates of stroke and current second cutting stroke
The angle of two cutting strokes；According to speed planning model, maximum allowable turning acceleration, interpolation cycle and current first cutting
The angle calcu-lation of stroke and current second cutting stroke obtains the first optional turning speed.
In one embodiment, processor execute computer program when also perform the steps of according to speed planning model,
Path length, acceleration and the maximum allowable turning acceleration calculation of current first cutting stroke obtain the second optional turning speed
Degree；Permitted according to path length, acceleration and the maximum of acceleration function model, deceleration function model, current second cutting stroke
Perhaps turning acceleration calculation obtains the optional turning speed of third.
In one embodiment, it also performs the steps of when processor executes computer program with cutting track to be processed
In last cutting stroke as current first cutting stroke, using the cutting stroke that is connect with last cutting stroke as current the
Two cutting strokes, pass through speed planning model retrospectively calculate and retrieve and respectively cut stroke tie point in cutting track to be processed
Turning speed.
In one embodiment, it is also performed the steps of when processor executes computer program according to each cutting stroke
The turning speed of information and each cutting stroke tie point retrieved determines cutting rail to be processed by speed planning model
The speed planning information of mark.
The turning of adjacent cutting stroke tie point is calculated by the information of adjacent cutting stroke for above-mentioned computer equipment
Speed, in laser cutting process, the current end speed for cutting stroke only needs to be decreased to the turning speed, so that adjacent
The feedrate linking for cutting stroke is more smooth, and the end speed of each cutting stroke is each so as to reduce without being decreased to zero
Stroke the time it takes is cut, laser cutting time is reduced, improves laser cutting efficiency.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
The information of the current first cutting stroke in cutting track to be processed is obtained, and is connected with current first cutting stroke
The information of the current second cutting stroke connect；
According to the information of current first cutting stroke and the information of current second cutting stroke, pass through speed planning model
The turning speed of current first cutting stroke and current second cutting stroke tie point is obtained, speed planning model includes accelerating letter
Exponential model and deceleration function model, turning speed are greater than zero；
According to the cutting being connect in current second cutting stroke and cutting track to be processed with current second cutting stroke
Stroke updates current first cutting stroke and current second cutting stroke；
The information for obtaining the current first cutting stroke in cutting track to be processed is returned, and is gone with current first cutting
It the step of information of the current second cutting stroke of journey connection, obtains respectively cutting turning for stroke tie point in cutting track to be processed
Angular speed；
It is true by speed planning model according to the information of each cutting stroke and the turning speed of each cutting stroke tie point
The speed planning information of fixed cutting track to be processed.
In one embodiment, it also performs the steps of when computer program is executed by processor and is cut according to current first
The information of stroke, the information and pre-set velocity constraint condition of current second cutting stroke are cut, is obtained by speed planning model
Optional turning speed；The minimum speed in optional turning speed is selected to go as current first cutting stroke and current second cutting
The turning speed of journey tie point.
In one embodiment, it also performs the steps of when computer program is executed by processor and is cut according to current first
Current first cutting stroke and current is calculated in the extreme coordinates of the extreme coordinates and current second cutting stroke that cut stroke
The angle of second cutting stroke；It is cut according to speed planning model, maximum allowable turning acceleration, interpolation cycle and current first
The angle calcu-lation for cutting stroke and current second cutting stroke obtains the first optional turning speed.
In one embodiment, it also performs the steps of when computer program is executed by processor according to speed planning mould
Type, path length, acceleration and the maximum allowable turning acceleration calculation of current first cutting stroke obtain second and optional turn
Angular speed；According to accelerating function model, deceleration function model, the current second cutting path length of stroke, acceleration and most
It is big that turning acceleration calculation is allowed to obtain the optional turning speed of third.
In one embodiment, it is also performed the steps of when computer program is executed by processor with cutting rail to be processed
Last cutting stroke in mark is as current first cutting stroke, using the cutting stroke that connect with last cutting stroke as currently
Second cutting stroke passes through speed planning model retrospectively calculate and retrieves and respectively cuts stroke connection in cutting track to be processed
The turning speed of point.
In one embodiment, it is also performed the steps of when computer program is executed by processor according to each cutting stroke
Information and each cutting stroke tie point retrieved turning speed, cutting to be processed is determined by speed planning model
The speed planning information of track.
The turning speed of adjacent cutting stroke tie point is calculated by the information of adjacent cutting stroke for above-mentioned storage medium
Degree, in laser cutting process, the current end speed for cutting stroke only needs to be decreased to the turning speed, so that adjacent cut
The feedrate linking for cutting stroke is more smooth, and the end speed of each cutting stroke is without being decreased to zero, so as to reduce each cut
Stroke the time it takes is cut, laser cutting time is reduced, improves laser cutting efficiency.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of laser cutting speed planing method characterized by comprising
The information of the current first cutting stroke in cutting track to be processed is obtained, and connect with current first cutting stroke
The information of current second cutting stroke；
According to the information of the current first cutting stroke and the information of the current second cutting stroke, pass through speed planning
Model obtains the turning speed of the current first cutting stroke and the current second cutting stroke tie point, the turning speed
Degree is greater than zero；
Connect according in the current second cutting stroke and the cutting track to be processed with the current second cutting stroke
The cutting stroke connect updates the current first cutting stroke and the current second cutting stroke；
The information for obtaining the current first cutting stroke in cutting track to be processed is returned, and is gone with current first cutting
It the step of information of the current second cutting stroke of journey connection, obtains respectively cutting stroke tie point in the cutting track to be processed
Turning speed；
It is true by the speed planning model according to the information of each cutting stroke and the turning speed of each cutting stroke tie point
The speed planning information of the fixed cutting track to be processed.
2. laser cutting speed planing method according to claim 1, which is characterized in that described according to described current first
The information of stroke and the information of the current second cutting stroke are cut, obtains described current first by speed planning model
The step of cutting the turning speed of stroke and the current second cutting stroke tie point, comprising:
According to the information of the current first cutting stroke, the information and pre-set velocity constraint of the current second cutting stroke
Condition obtains optional turning speed by the speed planning model；
The minimum speed in the optional turning speed is selected to cut as the current first cutting stroke with described current second
Cut the turning speed of stroke tie point.
3. laser cutting speed planing method according to claim 2, which is characterized in that the current first cutting stroke
Information include current first cutting stroke extreme coordinates, the information of the current second cutting stroke includes current second cutting
Cut the extreme coordinates of stroke, the pre-set velocity constraint condition include the maximum allowable turning acceleration in laser cutting operation with
And interpolation cycle；
The information according to the current first cutting stroke, the information and pre-set velocity of the current second cutting stroke
Constraint condition, the step of optional turning speed is obtained by the speed planning model, comprising:
It is calculated according to the extreme coordinates of the extreme coordinates of the current first cutting stroke and the current second cutting stroke
Obtain the angle of the current first cutting stroke and the current second cutting stroke；
According to the speed planning model, the maximum allowable turning acceleration, the interpolation cycle and described current first
The angle calcu-lation of cutting stroke and the current second cutting stroke obtains the first optional turning speed.
4. laser cutting speed planing method according to claim 2, which is characterized in that the current first cutting stroke
Information include current first cutting stroke path length, the information of the current second cutting stroke includes current second cutting
Cut the path length of stroke, the pre-set velocity constraint condition includes acceleration in laser cutting operation and maximum allowable turns
Angular acceleration；
The information according to the current first cutting stroke, the information and pre-set velocity of the current second cutting stroke
Constraint condition, the step of optional turning speed is obtained by the speed planning model, comprising:
According to the speed planning model, the current first cutting path length of stroke, the acceleration and it is described most
It is big that turning acceleration calculation is allowed to obtain the second optional turning speed；
According to the path length, described of the acceleration function model, the deceleration function model, the current second cutting stroke
Acceleration and the maximum allowable turning acceleration calculation obtain the optional turning speed of third.
5. laser cutting speed planing method according to claim 2, which is characterized in that the pre-set velocity constraint condition
Including the maximum allowable cutting speed in laser cutting operation, the maximum allowable cutting speed is the 4th optional turning speed.
6. laser cutting speed planing method according to claim 1, which is characterized in that described to obtain described to be processed cut
After the step of cutting the turning speed for respectively cutting stroke tie point in track, the information according to each cutting stroke and respectively cut
The turning speed for cutting stroke tie point determines that the speed planning of the cutting track to be processed is believed by the speed planning model
Before the step of breath, further includes:
Using the last cutting stroke in cutting track to be processed as it is current first cutting stroke, with the last cutting stroke
The cutting stroke of connection passes through speed planning model retrospectively calculate and retrieves described wait locate as current second cutting stroke
The turning speed of stroke tie point is respectively cut in reason cutting track.
7. laser cutting speed planing method according to claim 6, which is characterized in that described according to each cutting stroke
The turning speed of information and each cutting stroke tie point, determines the cutting track to be processed by the speed planning model
Speed planning information the step of, comprising:
According to the information of each cutting stroke and the turning speed of each cutting stroke tie point retrieved, pass through the speed
Plan model determines the speed planning information of the cutting track to be processed.
8. a kind of laser cutting speed device for planning characterized by comprising
Data obtaining module, for obtain in cutting track to be processed it is current first cutting stroke information, and with it is current
The information of the current second cutting stroke of first cutting stroke connection；
Speed calculation module, for cutting stroke according to the information of the current first cutting stroke and described current second
Information obtains the current first cutting stroke by speed planning model and cuts turning for stroke tie point with described current second
Angular speed, the speed planning model include accelerating function model and deceleration function model, and the turning speed is greater than zero；
Stroke update module, for according to it is described it is current second cutting stroke and the cutting track to be processed in it is described
The cutting stroke of current second cutting stroke connection updates the current first cutting stroke and the current second cutting row
Journey；
The speed calculation module is also used to update the current first cutting stroke in the stroke update module and described work as
Preceding second cutting stroke and the data obtaining module obtain the information of updated current first cutting stroke and current
After the information of second cutting stroke, gone according to the information of updated current first cutting stroke and current second cutting
The information of journey obtains updated current first cutting stroke by speed planning model and the current second cutting stroke connects
The turning speed of contact, and obtain the turning speed that stroke tie point is respectively cut in the cutting track to be processed；
Speed planning module, for passing through according to the information of each cutting stroke and the turning speed of each cutting stroke tie point
The speed planning model determines the speed planning information of the cutting track to be processed.
9. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In the processor realizes that laser cutting speed described in any one of claims 1 to 7 is advised when executing the computer program
The step of method of drawing.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of laser cutting speed planing method described in any one of claims 1 to 7 is realized when being executed by processor.
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