Autonomous modification of waterjet cutting systems
Systems and methods for providing real-time modification of cutting process programs using feedback from one or more sensors which measure one or more operational parameters of a cutting process and/or cutting apparatus. The sensor readings may be used to provide real-time modification of a motion program after such motion program has been provided to a motion controller. Examples of such operational parameters may include waterjet pump supply pressure, the abrasive mass flow rate, the force of the waterjet on the target piece, etc. The systems and methods discussed herein also utilize a cutting algorithm or program to calculate actual cut quality based on one or more sensor inputs, and to generate warnings or system shut-downs accordingly. The systems and methods discussed herein also utilize inspection devices to inspect coupons or first articles, and use the inspection data to autonomously modify motion programs and/or cutting process models without user intervention.
1. A fluid jet apparatus control system, comprising:
a controller clock;
at least one nontransitory processor-readable storage medium that stores at least one of processor-executable instructions or data; and
at least one processor communicably coupled to the at least one nontransitory processor-readable storage medium, in operation the at least one processor:
receives an initial motion program for a target object which is to be cut by a fluid jet apparatus;
receives a reference separation cut speed;
executes a motion program to cause the fluid jet apparatus to cut the target object according to the received initial motion program; and
from time-to-time during execution of the motion program,
autonomously receives at least one operational parameter of the fluid jet apparatus from at least one sensor;
autonomously determines a modified separation cut speed based at least in part on the received at least one operational parameter; and
autonomously adjusts a clock rate of the controller clock to cause the fluid jet apparatus to cut the target object based at least in part on the modified separation cut speed.
2. The fluid jet apparatus control system of claim 1 where the at least one processor:
adjusts a clock rate of the controller clock so that a ratio of a new clock rate to a previous clock rate matches a ratio of the modified separation cut speed to a previous reference separation cut speed.
3. The fluid jet apparatus control system of claim 1 wherein the initial motion program including at least one of a lead angle program, a taper angle program, or a corner control program.
4. The fluid jet apparatus control system of claim 1 wherein the at least one sensor comprises at least one of a supply pressure sensor, an abrasive mass flow rate sensor or a force sensor.
5. The fluid jet apparatus control system of claim 1 wherein the at least one sensor comprises a supply pressure sensor and an abrasive mass flow rate sensor.
6. The fluid jet apparatus control system of claim 1 wherein the at least one processor:
receives a commanded percent cut speed of the fluid jet apparatus;
determines an actual percent cut speed of the fluid jet apparatus based at least in part on the received at least one operational parameter;
compares the actual percent cut speed of the fluid jet apparatus to the received commanded percent cut speed;
determines whether the actual percent cut speed differs from the commanded percent cut speed by more than an allowed percent cut speed threshold value; and
responsive to a determination that the actual percent cut speed differs from the commanded percent cut speed by more than the allowed percent cut speed threshold value:
causes a warning to be generated; or
causes the fluid jet apparatus to at least pause the cutting of the target object.
7. The fluid jet apparatus control system of claim 6 wherein the at least one processor:
receives the allowed percent cut speed threshold value from at least one user interface communicatively coupled to the at least one processor.
8. The fluid jet apparatus control system of claim 6 wherein responsive to a determination that the actual percent cut speed differs from the commanded percent cut speed by more than the allowed percent cut speed threshold value, the at least one processor:
causes at least one of a visual warning or an audible warning to be generated.
9. The fluid jet apparatus control system of claim 6 wherein responsive to a determination that the actual percent cut speed differs from the commanded percent cut speed by more than the allowed percent cut speed threshold value, the at least one processor:
causes to the fluid jet apparatus to terminate the cutting of the target object.
10. A method of autonomously controlling a fluid jet apparatus, the method comprising:
receiving, by at least one processor, an initial motion program for a target object which is to be cut by a fluid jet apparatus;
receiving, by at least one processor, a reference separation cut speed;
executing, by the at least one processor, a motion program to cause the fluid jet apparatus to cut the target object according to the received initial motion program; and
from time-to-time during execution of the motion program,
autonomously receiving, by the at least one processor, at least one operational parameter of the fluid jet apparatus from at least one sensor;
autonomously determining, by the at least one processor, a modified separation cut speed based at least in part on the received at least one operational parameter; and
autonomously adjusting, by the at least one processor, a clock rate of a controller clock to cause the fluid jet apparatus to cut the target object based at least in part on the modified separation cut speed.
11. The method of claim 10 wherein autonomously adjusting a clock rate of the controller clock comprises autonomously adjusting a clock rate of the controller clock so that a ratio of a new clock rate to a previous clock rate matches a ratio of the modified separation cut speed to a previous reference separation cut speed.
12. The method of claim 10 , further comprising:
receiving, by the at least one processor, a commanded percent cut speed of the fluid jet apparatus;
determining, by the at least one processor, an actual percent cut speed of the fluid jet apparatus based at least in part on the received at least one operational parameter;
comparing, by the at least one processor, the actual percent cut speed of the fluid jet apparatus to the received commanded percent cut speed;
determining, by the at least one processor, whether the actual percent cut speed differs from the commanded percent cut speed by more than an allowed percent cut speed threshold value; and
responsive to determining that the actual percent cut speed differs from the commanded percent cut speed by more than the allowed percent cut speed threshold value:
causing, by the at least one processor, a warning to be generated; or
causing, by the at least one processor, the fluid jet apparatus to at least pause the cutting of the target object.
13. The method of claim 12 wherein causing a warning to be generated comprises causing at least one of a visual warning or an audible warning to be generated.