阅读说明：本技术 基于视觉定位的切割系统和方法 (Cutting system and method based on visual positioning ) 是由 陈立波 邓永隆 于 2021-07-23 设计创作，主要内容包括：本申请涉及一种基于视觉定位的切割系统和方法,其包括以下步骤：基于识别装置获取指定物品切割面上的待切割图像并转发至控制装置；根据待切割图像获取切割路径；所述识别装置的识别速度大于所述第一切割装置的切割速度；启动第一切割装置从切割路径的首端开始对切割面进行移动切割；启动第二切割装置从切割路径的尾端开始对切割面进行移动切割；所述识别装置与所述第二切割装置同步移动。本申请具有助于提高在对图像内容较多类指定物品进行切割加工时激光切割机的工作效率的效果。(The application relates to a cutting system and a method based on visual positioning, which comprises the following steps: acquiring an image to be cut on the cutting surface of the specified object based on the identification device and forwarding the image to the control device; acquiring a cutting path according to an image to be cut; the recognition speed of the recognition device is greater than the cutting speed of the first cutting device; starting a first cutting device to perform movable cutting on a cutting surface from the head end of a cutting path; starting a second cutting device to perform movable cutting on the cutting surface from the tail end of the cutting path; the identification device moves synchronously with the second cutting device. The laser cutting machine has the effect of improving the working efficiency of the laser cutting machine when the designated objects with more types of image contents are cut.)

1. A cutting system based on visual positioning is characterized in that: the device comprises a guide rail frame (2) which is arranged on the outer edge side of a specified article and covers a cutting surface, and a driving device (3) arranged on the guide rail frame (2), wherein the guide rail frame (2) is connected with a first cross beam (22) and a second cross beam (23) in a sliding manner, the length directions of the first cross beam (22) and the second cross beam (23) are parallel to the x-axis direction of an x-y coordinate system, and the first cross beam (22) and the second cross beam (23) move back and forth along the y-axis direction of the x-y coordinate system; the first cross beam (22) is connected with a first cutting device (5) in a sliding manner; the second beam (23) is connected with a second cutting device (6) and a recognition device (7) in a sliding manner; the driving device (3) is used for driving the first cutting device (5) to move back and forth along the length direction of the first cross beam (22), and the driving device (3) is also used for driving the second cutting device (6) and the recognition device (7) to move back and forth along the length direction of the second cross beam (23).

2. The vision positioning-based cutting system of claim 1, wherein: the first cutting device (5) comprises at least two first laser pieces (51) which slide on the first cross beam (22) side by side; the second cutting device (6) comprises a second laser piece (61) which is arranged on the second cross beam (23) in a sliding mode, and the first laser piece (51) and the second laser piece (61) are arranged in the same mode; the second laser member (61) and the recognition device (7) are arranged side by side.

3. The vision positioning-based cutting system of claim 2, wherein: an avoiding area (212) is arranged on the guide rail frame (2), and the avoiding area (212) is arranged on the outer edge side of the cutting surface in a surrounding mode.

4. A cutting method applied to the visual positioning-based cutting system according to any one of claims 1-3, characterized by comprising the following steps:

acquiring an image to be cut on the cutting surface of the specified object based on the recognition device (7) and forwarding the image to the control device (4);

acquiring a cutting path according to an image to be cut; the recognition speed of the recognition device (7) is greater than the cutting speed of the first cutting device (5);

starting a first cutting device (5) to perform movable cutting on the cutting surface from the head end of the cutting path;

starting a second cutting device (6) to perform movable cutting on the cutting surface from the tail end of the cutting path; the recognition device (7) moves synchronously with the second cutting device (6).

5. The cutting method based on visual positioning according to claim 4, wherein the step of obtaining the cutting path according to the image to be cut specifically comprises the steps of:

obtaining the size of a cut surface;

establishing an x-y coordinate system with the center point of the cutting surface as an origin according to the size of the cutting surface;

dividing an image to be cut into a plurality of cutting units with equal areas;

the plurality of cutting units are arranged in an x-y coordinate system along the extension directions of the x axis and the y axis;

sequentially acquiring unit paths in a plurality of cutting units;

the plurality of unit paths are arranged to form a cutting path.

6. The cutting method based on visual positioning according to claim 5, characterized in that the step of activating the first cutting device (5) to make a moving cut of the cutting plane starting from the head end of the cutting path further comprises the following steps:

dividing a cut surface of a designated article into a first area and a second area according to the size of the cut surface;

the identification device (7) sequentially acquires unit paths in the first area and the second area;

the cutting path comprises a first cutting path and a second cutting path;

acquiring all unit paths in a first area and forming a first cutting path;

acquiring all unit paths in a second area and forming a second cutting path;

sending a first start command to the drive device (3) according to the first cutting path, the first start command comprising the first cutting path.

7. The visual positioning-based cutting method of claim 6, wherein: the step of starting the second cutting device (6) to cut the cutting surface in a moving manner from the tail end of the cutting path specifically comprises the following steps:

acquiring coordinates of a midpoint of the second area;

dividing the second area into a first sub-area and a second sub-area which are parallel along the y-axis direction according to the coordinates of the middle point of the second area; one side of the first sub-region, which is far away from the second sub-region, is a first region; the second cutting path comprises a first sub-path within the first sub-domain and a second sub-path within the second sub-domain;

-moving the second cutting device (6) in the reverse direction on the side of the second sub-region adjacent to the first sub-region;

acquiring a second sub-diameter;

sending a second starting instruction to the driving device (3), wherein the second starting instruction comprises a second sub-diameter;

and the second cutting device (6) starts to move and cut the cutting surface in the second sub-area according to the second movement instruction.

8. The visual positioning-based cutting method of claim 7, wherein: the step of sending a second start instruction to the second cutting device (6) is preceded by the steps of:

the mobile identification device (7) enters an avoidance zone (212).

9. The cutting method based on visual positioning according to claim 7, characterized in that the step of starting the moving cutting of the cutting surface within the second sub-area by the second cutting device (6) according to the second movement instruction further comprises the following steps:

obtaining an uncut length within the first cutting path;

judging whether the uncut length in the first cutting path is equal to 0 or not;

if the result is 0, the cutting is finished, and if the result is not 0, the cutting is not finished;

sending a first sub-diameter according to a cutting completion result;

and repeating the steps according to the cutting incomplete result to obtain the uncut length of the first cutting path.

10. The cutting method based on visual positioning according to claim 4, characterized in that the step of acquiring the image to be cut on the cutting surface of the designated article based on the recognition means (7) and forwarding to the control means (4) comprises the following steps:

presetting an avoidance area (212) surrounding the outer edge side of the cutting surface;

moving the first beam (22) into an avoidance zone (212);

moving the second cutting device (6) into an avoidance zone (212);

the identification means (7) are activated.

Technical Field

The present application relates to the field of visual positioning, and more particularly, to a cutting system and method based on visual positioning.

Background

The laser cutting machine at present focuses the laser emitted from the laser into a laser beam with high power density through an optical path system; and finally, the material is cut along with the movement of the relative position of the light beam and the workpiece, so that the cutting purpose is achieved.

The laser cutting machine system generally comprises a laser cutting head, a workbench, a recognition device, a computer and the like; the laser cutting head and the identification device are arranged on a beam, and the beam is horizontally arranged on the workbench; meanwhile, the beam can also move on the workbench along the X-axis direction, and the laser cutting head and the recognition device can synchronously slide on the beam to realize the movement in the Y-axis direction; when the appointed article is required to be cut in a preset shape, the pattern on the appointed article is identified through the identification device and then sent to the computer, the computer processes the image to form a cutting route of the laser cutting head, and after the cutting is finished, the identification device starts the image identification of the next area, so that the laser cutting head can conveniently cut the appointed article according to the preset shape according to the cutting route.

With respect to the related art in the above, the inventors consider; because recognition device discernment image only need remove to predetermineeing the position and shoot and can accomplish the discernment work to can know the operating speed that does not install and be greater than the cutting speed of laser cutting head, if recognition device and laser cutting head synchronous motion, then can lead to recognition device discernment image and the equal consumed time of cutting all can prolong, thereby lead to laser cutting machine's work efficiency to reduce.

Disclosure of Invention

In order to improve the working efficiency of a laser cutting machine when a specified object with more image contents is cut and processed, the application provides a cutting system and a cutting method based on visual positioning.

In a first aspect, the present application provides a cutting system based on visual positioning, which adopts the following technical scheme:

a cutting system based on visual positioning comprises a guide rail frame and a driving device, wherein the guide rail frame is arranged on the outer edge side of a specified article and covers a cutting surface, the driving device is arranged on the guide rail frame, a first cross beam and a second cross beam are connected to the guide rail frame in a sliding mode, the length directions of the first cross beam and the second cross beam are both parallel to the x-axis direction of an x-y coordinate system, and the first cross beam and the second cross beam move back and forth along the y-axis direction of the x-y coordinate system; the first cross beam is connected with a first cutting device in a sliding manner; the second beam is connected with a second cutting device and a recognition device in a sliding manner; the driving device is used for driving the first cutting device to move back and forth along the length direction of the first cross beam, and the driving device is also used for driving the second cutting device and the recognition device to move back and forth along the length direction of the second cross beam.

By adopting the technical scheme, when the first cutting device is started to cut the cutting surface along the first cutting path, the driving device drives the first beam to move on the guide rail frame in the direction of the y axis, and the first cutting device moves on the first beam back and forth in the direction of the x axis; when the recognition device is in a state of acquiring an image to be cut, the driving device drives the second beam to move on the guide rail frame in the direction of the y axis, and the recognition device moves back and forth on the second beam in the direction of the x axis; when the second cutting device cuts the cutting surface along the second sub-diameter, the driving device drives the second cross beam to move on the guide rail frame in the direction of the y axis, and the second cutting device moves on the second cross beam back and forth in the direction of the x axis.

Optionally, the first cutting device comprises at least two first laser pieces sliding on the first beam side by side; the second cutting device comprises a second laser piece which is arranged on the second cross beam in a sliding mode, and the first laser piece and the second laser piece are arranged in the same mode; the second laser member and the recognition device are arranged side by side.

Through adopting above-mentioned technical scheme, by first laser spare and second laser spare along the direction reciprocating motion of x axle on first crossbeam to realize first laser spare and second laser spare and to the cutting side by side in the first region, thereby further improve the work efficiency of cutting appointed article.

Optionally, an avoiding area is arranged on the guide rail frame, and the avoiding area is arranged on the outer edge side of the cutting surface in a surrounding manner.

By adopting the technical scheme, the avoidance area is set for the first cutting device or the second cutting device to move in when the identification device is in a use state, so that the interference between the identification device and the second cutting device is avoided; and when the second cutting device is in a use state, the recognition device moves into the avoidance area, so that the interference of the second cutting device is avoided.

In a second aspect, the present application provides a cutting method based on visual positioning, which adopts the following technical scheme:

a cutting method applied to the vision positioning based cutting system of any one of claims 1-3, comprising the steps of:

acquiring an image to be cut on the cutting surface of the specified object based on the identification device and forwarding the image to the control device;

acquiring a cutting path according to an image to be cut; the recognition speed of the recognition device is greater than the cutting speed of the first cutting device;

starting a first cutting device to perform movable cutting on a cutting surface from the head end of a cutting path;

starting a second cutting device to perform movable cutting on the cutting surface from the tail end of the cutting path; the identification device moves synchronously with the second cutting device.

By adopting the technical scheme, after the recognition device recognizes the image to be cut of the cutting surface, the recognition speed of the recognition device is higher than the cutting speed of the first cutting device; the second cutting device can cut the appointed articles from the tail end of the cutting path, and the first cutting device and the second cutting device cut the appointed articles synchronously from the head end and the tail end of the cutting path, so that the time consumed by cutting is reduced, and the working efficiency of the laser cutting machine is improved when the appointed articles with more types of image contents are cut and processed.

Optionally, the step of obtaining the cutting path according to the image to be cut specifically includes the following steps:

obtaining the size of a cut surface;

establishing an x-y coordinate system with the center point of the cutting surface as an origin according to the size of the cutting surface;

dividing an image to be cut into a plurality of cutting units with equal areas;

arranging a plurality of cutting units in an x-y coordinate system along the extension direction of an x axis and a y axis;

sequentially acquiring unit paths in a plurality of cutting units;

the plurality of unit paths are arranged to form a cutting path.

By adopting the technical scheme, the recognition device is adopted to acquire the images to be cut in the cutting units, and the cutting units are closely arranged in the x-y coordinate system, so that the recognition units are prevented from being repeatedly recognized, and the speed of the recognition device in acquiring the images to be cut on the cutting surface is improved.

Optionally, before the step of starting the first cutting device to perform the moving cutting on the cutting surface from the head end of the cutting path, the method further includes the following steps:

dividing a cut surface of a designated article into a first area and a second area according to the size of the cut surface;

the identification device sequentially acquires unit paths in a first area and a second area;

the cutting path comprises a first cutting path and a second cutting path;

acquiring all unit paths in a first area and forming a first cutting path;

acquiring all unit paths in a second area and forming a second cutting path;

and sending a first starting instruction to the driving device according to the first cutting path, wherein the first starting instruction comprises the first cutting path.

By adopting the technical scheme, after the recognition device recognizes the image to be cut in the first area, the image to be cut in the first area can be converted into the first cutting path through the control device, so that the first cutting device can be started to cut when the recognition device is still in a recognition state, and the processing efficiency of recognizing and cutting the appointed article is improved.

Optionally, the step of starting the second cutting device to cut the cutting surface in a moving manner from the tail end of the cutting path specifically includes the following steps:

acquiring coordinates of a midpoint of the second area;

dividing the second area into a first sub-area and a second sub-area which are parallel along the y-axis direction according to the coordinates of the middle point of the second area; one side of the first sub-region, which is far away from the second sub-region, is a first region; the second cutting path comprises a first sub-path within the first sub-domain and a second sub-path within the second sub-domain;

reversely moving the second cutting device on one side of the second subdomain close to the first subdomain;

acquiring a second sub-diameter;

sending a second starting instruction to the driving device, wherein the second starting instruction comprises a second sub-diameter;

and the second cutting device starts to move and cut the cutting surface in the second sub-domain according to the second movement instruction.

By adopting the technical scheme, after the recognition device recognizes and acquires the images to be cut of all the cutting units in the cutting surface, the second cutting device is moved to the middle part in the second area to cut the tail end part of the cutting path, so that the first cutting device and the second cutting device are prevented from being in opposite running directions, and the first cutting device and the second cutting device are prevented from colliding.

Optionally, the step of sending the second start instruction to the second cutting device further includes the following steps before:

the mobile identification device enters an avoidance zone.

Through adopting above-mentioned technical scheme, the second cutting device on the second crossbeam of being convenient for cuts the cutting unit in the second sub-domain one by one to avoid the second cutting device to run and bump with recognition device.

Optionally, after the step of starting to move and cut the cutting surface in the second sub-domain according to the second movement instruction, the second cutting device further includes the following steps:

obtaining an uncut length within the first cutting path;

judging whether the uncut length in the first cutting path is equal to 0 or not;

if the result is 0, the cutting is finished, and if the result is not 0, the cutting is not finished;

sending a first sub-diameter according to a cutting completion result;

and repeating the steps according to the cutting incomplete result to obtain the uncut length of the first cutting path.

By adopting the technical scheme, after the first cutting path is completed, the first sub-diameter in the first sub-domain can be generated to the first cutting device, so that the first cutting device can conveniently cut the first sub-diameter in the first sub-domain.

Optionally, the step of obtaining the image to be cut on the cutting surface of the specified object based on the identification device and forwarding the image to the control device includes the following steps:

presetting an avoidance area surrounding the outer edge side of the cutting surface;

moving the first beam into an avoidance area;

moving the second cutting device into an avoidance area;

the identification means is activated.

Through adopting above-mentioned technical scheme, be favorable to identification device to discern one by one from a plurality of cutting units in cutting plane head end to the tail end to avoid identification device to run and collide with first cutting device and second cutting device, thereby improve the security when identification device is in the user state.

In summary, the present application includes at least one of the following beneficial technical effects:

the first cutting device and the second cutting device synchronously cut the specified articles from the head end and the tail end of the cutting path, so that the time consumed by cutting is reduced, and the working efficiency of the laser cutting machine is improved when the specified articles with more image contents are cut and processed;

when the first cutting device is started to cut the cutting surface along the first cutting path, the driving device drives the first cross beam to move on the guide rail frame in the direction of the y axis, and the first cutting device moves on the first cross beam back and forth in the direction of the x axis;

the recognition device is favorable for recognizing the plurality of cutting units from the head end to the tail end of the cutting surface one by one, so that the recognition device is prevented from colliding with the first cutting device and the second cutting device when in operation, and the safety of the recognition device in a use state is improved.

Drawings

FIG. 1 is a schematic diagram of the overall construction of a visually positioned cutting system of the present application;

FIG. 2 is a block diagram of the control principles of the vision-positioned cutting system of the present application;

FIG. 3 is a schematic cut plane view of a given article;

FIG. 4 is a schematic view of the overall construction of a first laser member of the present application;

fig. 5 is a control schematic block diagram of the driving apparatus in the present application;

fig. 6 is a flow chart of the steps of the cutting method of the present application with visual positioning.

Description of reference numerals: 1. a platform; 2. a guide rail bracket; 21. cutting the area; 211. a placement area; 212. an avoidance zone; 22. a first cross member; 23. a second cross member; 3. a drive device; 31. a controller; 32. a motor; 4. a control device; 5. a first cutting device; 51. a first laser member; 511. a guide block; 512. a laser emitting head; 6. a second cutting device; 61. a second laser member; 7. an identification device; 8. a laser generator.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to fig. 1-6 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The embodiment of the application discloses cutting system based on visual positioning.

Referring to fig. 1 and 2, a cutting system based on visual positioning includes a platform 1, a rail frame 2, a driving device 3, and a control device 4; the upper surface of the platform 1 can be used for placing a specified article to be cut and installing the guide rail frame 2, the driving device 3 is installed on the guide rail frame 2, a signal input end of the driving device 3 is in communication connection with a first signal output end of the control device 4, the guide rail frame 2 integrally surrounds the outer edge side of the upper surface of the platform 1, and the middle part of the guide rail frame is hollow to form a cutting area 21 for placing the specified article; the cutting area 21 includes a placement area 211 where a designated article can be placed and an escape area 212 surrounding the outer edge side of the placement area 211.

Referring to fig. 1 and 3, a first beam 22 and a second beam 23 which are arranged in parallel are slidably connected to the guide rail frame 2, an x-y coordinate system with the midpoint of the cutting area 21 as the origin is established in the control device 4 (see fig. 2), and the length directions of the first beam 22 and the second beam 23 are both parallel to the x-axis direction of the x-y coordinate system; the driving device 3 can drive the first beam 22 and the second beam 23 to move back and forth along the y-axis direction of the x-y coordinate system.

Referring to fig. 1 and 4, the first beam 22 is slidably connected with a first cutting device 5, the first cutting device 5 includes two first laser members 51, the two first laser members 51 are arranged side by side in the length direction of the first beam 22, and the driving device 3 can respectively drive the two first laser members 51 to move back and forth in the length direction of the first beam 22; the first laser member 51 comprises a guide block 511 and a laser emitting head 512, which are slidably connected to the first beam 22, and the guide block 511 is fixedly connected to the output end of the driving device 3.

The second cross beam 23 is connected with a second cutting device 6 and a recognition device 7 in a sliding manner, the second cutting device 6 comprises a second laser piece 61 arranged side by side with the recognition device 7, the second laser piece 61 and the first laser piece 51 are arranged in the same manner, a laser generator 8 is arranged on the platform 1, the input ends of a plurality of laser emission heads 512 are all connected with the laser output end of the laser generator 8, and the signal output end of the laser generator 8 is in communication connection with the second signal output end of the control device 4; the laser output ends of the first cutting piece and the second cutting piece can both carry out laser cutting on the cutting surface of the specified article; the recognition speed of the recognition means 7 is greater than the cutting speed of the first cutting means 5.

In addition, the first cutting device 5 and the second cutting device 6 in this embodiment may also employ galvanometers.

The recognition device 7 is used for photographing a cutting image in a cutting surface of a specified article, any equipment with a camera shooting function can be adopted as the recognition device 7, a camera is adopted in the embodiment, the camera is slidably mounted on the second cross beam 23, a signal output end of the recognition device 7 is in wireless connection with a signal input end of the control device 4, and the avoidance area 212 can be used for the recognition device 7, the first cutting device 5 and the second cutting device 6 to slide in simultaneously.

Referring to fig. 1 and 5, the driving device 3 includes a controller 31 and a plurality of motors 32; the motors 32 are all arranged on the guide rail frame 2, and the motors 32 are respectively used for driving the first cross beam 22, the second cross beam 23, the two first laser pieces 51, the second laser pieces 61 and the recognition device 7; a plurality of signal output ends of the controller 31 are respectively in communication connection with signal output ends of a plurality of motors 32, and a signal input end of the controller 31 is in communication connection with a signal output end of the control device 4; the motor in this embodiment may be any driving device capable of performing linear motion.

The embodiment of the application also discloses a cutting method based on visual positioning.

Referring to fig. 1 and 6, a cutting method based on visual positioning includes the steps of:

s100: preparation work:

s110: acquiring the length and width of a cut surface of a specified article;

s120: obtaining the outer edge dimensions of the first cutting member, the second cutting member and the identification means 7;

s130: an avoidance area 212 surrounding the outer edge side of the cutting surface is preset, and the avoidance area 212 can be used for the first cutting piece, the second cutting piece and the recognition device 7 to slide in simultaneously or independently;

s140: moving the first beam 22 into the avoidance zone 212;

s150: the second cutting device 6 is moved into the avoidance zone 212.

S200: dividing the cutting surface into areas:

s210: the control device 4 divides the cut surface of the specified article into a first area and a second area according to the size of the cut surface;

s220: the control device 4 divides the cutting surfaces in the first area and the second area into a plurality of cutting units with equal areas;

s230: the plurality of cutting units are arranged in an x-y coordinate system along the extending direction of the x-axis and the y-axis.

S300: obtaining a cutting path:

s310: the control device 4 sends an identification starting instruction to the identification device 7, and the identification device 7 sequentially photographs the images to be cut in the plurality of cutting units according to the identification starting instruction to obtain the images and forwards the images to the control device 4;

s320: the control device 4 sequentially acquires unit paths in the plurality of cutting units according to images to be cut in the plurality of cutting units;

s330: arranging a plurality of unit paths to form a cutting path; the cutting path is divided into a head end, a middle end and a tail end along the length direction of the y axis; the cutting path includes a first cutting path located within the first region and a second cutting path located within the second region.

S400: activation of the first cutting device 5:

s410: the control device 4 sends a first starting instruction; the first start instruction includes a first cutting path.

S420: the driving device 3 moves the first cutting device 5 from the avoidance area 212 into the place area 211 according to the first starting command and drives the first cutting device 5 to move above the cutting surface according to the first cutting path;

s430: the laser generator 8 intermittently opens the two first laser members 51 according to the first cutting path; thereby realizing that the first cutting device 5 carries out moving cutting on the cutting surface from the head end of the cutting path;

s420 and S430 proceed synchronously.

S500: acquiring a second cutting path:

s510: the recognition device 7 continues to acquire the image to be cut in the second area;

s520: the control device 4 acquires a second cutting path according to the image to be cut in the second area, and combines the first cutting path and the second cutting path to acquire a finished cutting path; the control device 4 sends an identification distance command to the driving device 3;

s530: the drive device 3 moves the recognition device 7 into the avoidance zone 212 in response to the recognition distance command.

S400 and S500 proceed synchronously.

S600: starting the second cutting device 6:

s610: the control device 4 acquires the coordinates of the middle point of the second area according to the second cutting path;

s620: dividing the second area into a first sub-area and a second sub-area which are parallel along the y-axis direction according to the coordinates of the middle point of the second area; one side of the first sub-region far away from the second sub-region is a first region; the second cutting path comprises a first sub-path within the first sub-domain and a second sub-path within the second sub-domain;

s630: the control device 4 sends a reverse movement command to the driving device 3;

s640: the driving device 3 moves the second cutting device 6 to the side of the second sub-region close to the first sub-region according to the reverse movement command;

s650: the control device 4 sends a second starting instruction, and the second starting instruction comprises a second sub-diameter;

s660: the driving device 3 moves the second cutting device 6 from the avoidance area 212 to the place area 211 according to a second starting instruction and drives the second cutting device 6 to move above the cutting surface according to a second sub-diameter;

s670: the laser generator 8 intermittently opens the second laser member 61 according to the second minor diameter; so that the second cutting device 6 performs a moving cut of the cutting surface starting from the trailing end of the cutting path.

S700: continuing to start the first cutting device:

s710: obtaining an uncut length within the first cutting path;

s720: judging whether the uncut length in the first cutting path is equal to 0 or not;

s730: if the result is 0, the cutting is finished, and if the result is not 0, the cutting is not finished;

s740: the control device 4 sends a first sub-diameter according to the cutting completion result;

s750: the driving device 3 drives the first cutting device 5 to enter a first sub-area in a second area from a first area according to the first sub-diameter, and drives the first cutting device 5 to move above a cutting surface according to the first sub-diameter;

s760: the laser generator 8 opens the two first laser pieces 51 according to the first sub-diameter gap, so that the two first laser pieces 51 can movably cut the middle end of the cutting surface according to the first sub-diameter;

s770: the laser generator 8 repeats S710 according to the cutting incompletion result.

The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.