CN110052704B - Laser marking machine workbench capable of automatically positioning and focusing marked workpiece - Google Patents
Laser marking machine workbench capable of automatically positioning and focusing marked workpiece Download PDFInfo
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- CN110052704B CN110052704B CN201910421685.XA CN201910421685A CN110052704B CN 110052704 B CN110052704 B CN 110052704B CN 201910421685 A CN201910421685 A CN 201910421685A CN 110052704 B CN110052704 B CN 110052704B
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- 238000010330 laser marking Methods 0.000 title claims abstract description 76
- 239000011324 bead Substances 0.000 claims abstract description 9
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- 238000004364 calculation method Methods 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 5
- 239000003086 colorant Substances 0.000 claims description 4
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- 230000001965 increasing effect Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 238000009423 ventilation Methods 0.000 claims description 3
- 238000003709 image segmentation Methods 0.000 claims description 2
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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
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
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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
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/046—Automatically focusing the laser beam
- B23K26/048—Automatically focusing the laser beam by controlling the distance between laser head and workpiece
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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
- B23K26/36—Removing material
- B23K26/362—Laser etching
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Abstract
本发明提供了一种对打标工件自动定位调焦的激光打标机工作台，其结构包括激光打标机主体、环形光源调制系统、双目立体视觉硬件系统、激光打标机工作台，激光打标机主体的激光打标头安装在激光打标机工作台上，激光打标头两侧安装双目立体视觉硬件系统的双目相机，双目相机的上方为环形光源调制系统的环形光源，环形光源内封装有四组可单独控制的四色灯珠。本发明根据视差原理，结合图像识别与定位技术通过双目立体视觉系统得到打标工件的三维信息，再利用对XYZ方向三路电机的驱动，来移动激光头与打标工件的位置，完成对打标工件的三维信息的反馈，进而实现自动识别定位打标工件与自动调焦的功能，定位精度高，可广泛应用于激光打标行业中。
The invention provides a laser marking machine workbench for automatic positioning and focusing of marking workpieces. The structure includes a laser marking machine main body, a ring light source modulation system, a binocular stereo vision hardware system, and a laser marking machine workbench. The laser marking head of the main body of the laser marking machine is installed on the working table of the laser marking machine. The binocular cameras of the binocular stereo vision hardware system are installed on both sides of the laser marking head. Above the binocular camera is the ring of the ring light source modulation system. The light source, the ring light source is encapsulated with four groups of four-color lamp beads that can be individually controlled. According to the parallax principle, the present invention obtains the three-dimensional information of the marking workpiece through the binocular stereo vision system in combination with the image recognition and positioning technology, and then uses the driving of the three-way motor in the XYZ direction to move the position of the laser head and the marking workpiece to complete the alignment. The feedback of the three-dimensional information of the marking workpiece, thereby realizing the functions of automatic identification and positioning of the marking workpiece and automatic focusing, with high positioning accuracy, can be widely used in the laser marking industry.
Description
Technical Field
The invention belongs to the field of laser marking, and particularly relates to a laser marking machine workbench for automatically positioning and focusing a marked workpiece.
Background
The laser marking machine generates high-energy laser beams to irradiate the surface of a workpiece, and light energy is converted into heat energy to form required character patterns on the surface of the workpiece. The laser marking machine can be used in the fields of clothing accessories, medicine packaging, wine packaging, architectural ceramics and the like, and can carve various metal and non-metal materials. However, when the laser marking machine is used in industrial production at the present stage, an operator needs to manually focus by experience, mark a workpiece and manually find a marking position by using red light, so that marking precision is affected, the marking effect is poor, the requirement of one-time marking of cambered surface workpieces or workpieces with different gradient heights is difficult to meet, labor cost is increased, and working efficiency is low.
Disclosure of Invention
Aiming at the problems, the invention provides a laser marking machine workbench for automatically positioning and focusing a marked workpiece.
In order to realize the purpose, the laser marking machine workbench for automatically positioning and focusing the marked workpiece structurally comprises a laser marking machine main body, an annular light source modulation system, a binocular stereoscopic vision hardware system and a laser marking machine workbench, wherein a laser marking head 3 of the laser marking machine main body is installed on the laser marking machine workbench, two binocular cameras 6 of the binocular stereoscopic vision hardware system are installed on two sides of the laser marking head 3, an annular light source 5 of the annular light source modulation system is arranged above the two binocular cameras 6, four groups of independently controllable white, red, green and blue four-color lamp beads are packaged in the annular light source 5, and the two binocular cameras 6, the annular light source 5 and the laser marking machine workbench are respectively connected with a computer.
The laser marking machine workbench comprises a height Z-axis adjusting platform 10, a horizontal Y-axis direction telescopic platform 9 and a horizontal X-axis direction conveyor belt 8, a laser marking head 3 of a laser marking machine main body is installed on the height Z-axis adjusting platform 10, the height Z-axis adjusting platform 10 is connected with the horizontal Y-axis direction telescopic platform 9, the horizontal X-axis direction conveyor belt 8 is arranged below the laser marking head 3, and the laser marking machine workbench is connected with a computer with an XYZ-axis direction motor control system.
The annular light source modulation system comprises an annular light source 5, a driving circuit and a single chip microcomputer for controlling lamp beads, and an image color feature extraction module, wherein the image color feature extraction module acquires color information of a marking object through a binocular camera 6 of a binocular stereoscopic vision hardware system, and modulates the color of the annular light source 5.
The binocular stereoscopic vision hardware system comprises a binocular camera 6 and an image processing system, wherein the image processing system comprises image preprocessing, target detection and identification, stereoscopic matching and three-dimensional information extraction, and feeds back the three-dimensional information to an XYZ-axis direction motor control system of the laser marking machine workbench.
The image preprocessing comprises image gray processing, camera lens geometric distortion correction and image enhancement.
The target detection and identification comprises the steps of carrying out image region segmentation based on an Otsu threshold segmentation method and classifying features by adopting decision fusion of SURF features and HOG feature histograms.
The invention has the beneficial effects that:
the invention provides a laser marking machine workbench for automatically positioning and focusing a marked workpiece, which utilizes modulation of an annular light source to increase the contrast of an acquired picture, analyzes two-dimensional image information of the marked workpiece acquired by a binocular camera to acquire position information of the workpiece to be marked in a three-dimensional space, and realizes the functions of automatically identifying and positioning the marked workpiece and automatically focusing a laser through controlling a conveyor belt in the horizontal X-axis direction, a laser head fixed telescopic platform in the horizontal Y-axis direction and a laser head height adjusting platform driving motor in the vertical Z-axis direction; the laser marking machine workbench for automatically positioning and focusing the marked workpiece has the advantages of simple structure, accurate target identification and three-dimensional positioning, high automatic focusing precision, labor cost reduction and wide application in the laser marking industry. The invention is further described with reference to the following figures and examples.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a block diagram of a modulation system for ring light source according to the present invention.
FIG. 3 is a block diagram of an image processing system according to the present invention.
Fig. 4 is a flow chart of the control of the XYZ shaft three-way motor of the present invention.
The specific implementation mode is as follows:
the invention is further described with reference to the accompanying drawings in which:
example 1
The invention provides a workbench of a laser marking machine for automatically identifying, positioning and marking workpieces, aiming at solving the problem of focusing difficulty of the existing laser marking machine and improving marking efficiency. The technical scheme adopted by the invention is as follows: a laser marking machine workbench capable of automatically positioning and focusing a marked workpiece comprises a laser marking machine main body, an annular light source modulation system, a binocular stereo vision system and a marking machine workbench. The laser marking machine main part include shake lens, field lens, and laser marking aircraft nose and vent. The annular light source modulation system comprises an annular light source which is respectively provided with a white, red, green and blue four-color lamp bead group, a driving circuit for controlling the lamp beads, a single chip microcomputer and an image color feature extraction module. The binocular stereoscopic vision system comprises an annular modulation light source, a binocular camera and a computer with an image processing system and an XYZ-axis direction three-way motor control system. The laser marking workbench comprises a horizontal X-axis direction conveyor belt, a telescopic platform fixed by a laser head in the horizontal Y-axis direction, a vertical Z-axis direction movement lifting platform and a motor driving circuit.
The invention provides a laser marking machine workbench for automatically positioning and focusing a marked workpiece, which is characterized in that the three-dimensional information of the marked workpiece is acquired by combining a calibration result of a binocular camera and a two-dimensional image processing result, and the functions of automatically identifying, positioning and focusing the marked workpiece and automatically focusing the marked workpiece are realized by moving a laser head and the marked workpiece through a three-way motor control system, and the laser marking machine workbench comprises the following steps: and (4) camera calibration, namely analyzing the acquired calibration picture by utilizing a camera calibration program to obtain internal and external parameters of the binocular camera. And (3) light source modulation, namely, extracting the color characteristics of the collected image of the workpiece under white light, and modulating the color of the annular light source to be consistent with the color of the workpiece to enhance the contrast of the picture. Image pre-processing, which includes grayscale processing, correction of geometric distortion, and gaussian filtering to reduce noise. And target detection and identification, which comprises image region segmentation based on an Otsu threshold segmentation method and feature classification by adopting decision fusion of SURF features and HOG feature histograms. The method comprises the steps of three-dimensional matching and three-dimensional information acquisition, wherein SAD cost calculation is obtained based on a sampling method, cost aggregation is based on dynamic programming, parallax calculation is based on a WTA strategy, and three-dimensional information extraction is based on pose estimation of a POSIT algorithm. And the three-way motor control comprises the control of a conveyor belt motor in the horizontal X-axis direction by an upper computer through a driving circuit, the control of a telescopic platform motor for fixing a laser head in the horizontal Y-axis direction and the control of a motor for adjusting the height of the laser head in the vertical Z-axis direction. And further realizing the function of carrying out feedback adjustment on the three-dimensional information of the marking workpiece.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described with reference to the accompanying drawings and examples. The embodiments described herein are merely illustrative and are not limiting.
Referring to fig. 1, the present invention provides a laser marking machine workbench for automatically positioning and focusing a marked workpiece, which comprises a main body of a laser marking machine, wherein the main body has an internal structure comprising a heat sink, a power module and a laser generator, the external structure comprises a vibrating lens 1, a field lens 3, a laser marking head and a vent 4, wherein the vibrating lens 1 is used for adjusting the deflection of the vibrating lens to change the scanning direction, and a field lens 2 is arranged below the vibrating lens to increase the field of view; the binocular stereoscopic vision system comprises a 5 annular light source, a 6 binocular cameras arranged below the annular light source and a 7 computer with an image processing system and a motor control system; the laser marking machine working platform comprises a conveyor belt in the 8 horizontal X-axis direction, a telescopic platform fixed by a laser head in the 9 horizontal Y-axis direction, a laser head height adjusting platform in the 10 vertical Z-axis direction and a driving circuit of three motors.
Referring to fig. 2, the present invention includes a ring light modulation system for increasing image contrast by selecting the modulation of the color light source proximate to the marking workpiece. The invention utilizes white, red, green and blue four-color lamp beads to be packaged in the annular light source, each group of lamps can be used independently and are respectively connected with the driving circuit and the singlechip. The method comprises the steps of extracting color features of pictures collected by workpieces of different colors under white light, analyzing the color features, controlling the gray levels of red, green and blue colors in a pulse modulation mode according to obtained color information to control the color of a light source to be the same as the color of the workpieces, improving the brightness of the workpieces under the modulated light source, and improving the background contrast of the workpieces and a conveying belt of a workbench. When the background of the workpiece conveyor belt is close to the color of the workpiece, the contrast of the picture acquired during white light irradiation and the picture acquired by the modulated light source is compared and analyzed through a program, and the picture with better contrast is selected for next image processing.
Referring to fig. 3, the invention is based on a stereoscopic vision system, illuminates a scene by using a modulated annular light source, provides a brighter and higher-contrast image acquisition environment, transmits a marked workpiece image acquired by a binocular camera to a computer through an image, and then preprocesses the image by using an image processing system, so that the image features are more obvious and the noise is reduced; image segmentation is carried out by using an Otsu threshold segmentation method, and the SURF characteristic and HOG characteristic histogram are classified by adopting decision fusion, so that the efficiency of processing image characteristics and identifying workpieces by a computer can be effectively improved; the method comprises the steps of utilizing SAD cost calculation obtained by a sampling-based method, cost aggregation based on dynamic planning, parallax calculation based on a WTA strategy and pose estimation based on a POSIT algorithm to complete stereo matching and three-dimensional information extraction, determining coordinate information of a three-dimensional position of a marking workpiece, and transmitting the information to a three-way motor control system.
Referring to fig. 4, the three-way motor control system of the present invention uses the three-dimensional information obtained by the binocular stereo vision system in combination with the relative positions of the laser marking head and the binocular camera to calculate, through a computer program, how much distance the marking object needs to move in the horizontal X-axis and Y-axis to reach the center position below the marking head, and at the same time, how much distance the marking object needs to move in the vertical Z-axis direction to locate the marking workpiece at the focal position of the laser. And finally, a computer is used for sending an instruction to the singlechip to control a conveyor motor in the horizontal X-axis direction, a telescopic platform motor fixed by a laser head in the horizontal Y-axis direction and a motor of a laser head height adjusting platform in the vertical Z-axis direction through a driving circuit, so that the functions of automatically identifying, positioning and marking an object and automatically focusing the laser marking machine are realized.
Example 2
The invention provides a laser marking machine workbench for automatically positioning and focusing a marked workpiece, which comprises a laser marking machine main body, a laser marking head and a ventilation opening, wherein the laser marking machine main body comprises a vibrating lens, a field lens, a laser marking head and the ventilation opening; the annular light source modulation system comprises an annular light source which is respectively provided with a white, red, green and blue four-color lamp bead group, a driving circuit for controlling the lamp beads, a single chip microcomputer and an image color feature extraction module; the binocular stereoscopic vision system comprises a modulation annular light source, a binocular camera and a computer with an image processing system and an XYZ-direction three-way motor control system; the laser marking machine workbench comprises a horizontal X-axis direction conveyor belt, a horizontal Y-axis driving laser head horizontal motion telescopic platform, a vertical Z-axis direction motion lifting platform and a motor driving circuit. According to the parallax principle, the three-dimensional information of the marked workpiece is obtained through a binocular stereo vision system by combining an image recognition and positioning technology, the positions of the laser head and the marked workpiece are moved by driving three motors in the XYZ direction, the feedback of the three-dimensional information of the marked workpiece is completed, the functions of automatically recognizing, positioning and automatically focusing the marked workpiece are further realized, the positioning precision is high, and the method can be widely applied to the laser marking industry.
The utility model provides a laser marking machine workstation to marking work piece automatic positioning focusing, includes laser marking machine main part, annular light source modulation system, binocular stereoscopic vision hardware systems and laser marking machine workstation, the laser marking machine main part is including vibrating lens, field lens, and laser marking aircraft nose and vent, annular light source modulation system is including dividing annular light source, the drive circuit and the singlechip of control lamp pearl group and image color characteristic extraction module that are equipped with white red green blue four-color lamp pearl group, binocular stereoscopic vision system, including modulation annular light source, binocular camera, have image processing system and XYZ axle direction three routes motor control system's computer, the laser marking workstation includes horizontal X axle direction conveyer belt, horizontal Y axle drive laser head horizontal motion telescopic platform and vertical Z axle direction motion elevating platform and motor drive circuit.
Three-dimensional information of a marked object can be obtained by using an image recognition and positioning technology through a binocular vision hardware system, and the three-dimensional information of the marked workpiece is fed back through three motors in the XYZ direction, so that the functions of automatically recognizing, positioning and marking the workpiece and automatically focusing a laser are realized.
The annular light source modulation system modulates the color of the light source according to the principle that the brightness of an object is improved under the condition of light irradiation with the same color of the object and the contrast of a collected picture is improved.
The binocular stereoscopic vision system is characterized in that the image processing system comprises image preprocessing, target detection and identification, stereoscopic matching and three-dimensional information extraction.
The image preprocessing is characterized by comprising image gray scale processing, camera lens geometric distortion correction and image enhancement.
The target detection and identification are characterized by comprising the steps of carrying out image region segmentation based on an Otsu threshold segmentation method and classifying features by adopting decision fusion of SURF features and HOG feature histograms.
Claims (1)
1. The utility model provides a laser marking machine workstation to marking work piece automatic positioning focusing which characterized in that: the system comprises a laser marking machine main body, a laser marking machine working platform, a binocular stereoscopic vision system and an annular light source modulation system; the internal structure of the laser marking machine main body comprises a radiator, a power supply module and a laser generator, and the external structure of the laser marking machine main body comprises a vibrating lens (1), a field lens (2), a laser marking head (3) and a ventilation opening (4); the laser marking machine working platform comprises a conveyor belt (8) in the horizontal X-axis direction, a telescopic platform (9) for fixing a laser head in the horizontal Y-axis direction and a laser head height adjusting platform (10) in the vertical Z-axis direction; the binocular stereo vision system comprises a binocular camera (6) and a computer (7) with an image processing system and a motor control system; the annular light source modulation system comprises an annular light source (5); the laser marking head (3) is arranged on a laser head height adjusting platform (10) in the vertical Z-axis direction, and the laser head height adjusting platform (10) in the vertical Z-axis direction is connected with a horizontal Y-axis direction telescopic platform (9); the vibration lens (1) is arranged below the laser marking head (3), and the scanning direction of the laser marking head (3) is changed by adjusting the deflection of the vibration lens (1); the field lens (2) is arranged below the vibrating lens (1) and used for increasing the field of view; the horizontal X-axis direction conveyor belt (8) is arranged below the field lens (2); two sides of the laser marking head (3) are provided with binocular cameras (6), an annular light source (5) is arranged above the binocular cameras (6), four groups of independently controllable white, red, green and blue four-color lamp beads are sealed in the annular light source (5), and the binocular cameras (6), the annular light source (5) and a laser marking machine working platform are respectively connected with a computer (7) with an image processing system and a motor control system;
the annular light source modulation system extracts color features of pictures collected by workpieces with different colors under white light, analyzes the color features, and controls the gray levels of three colors of red, green and blue in a pulse modulation mode according to the obtained color information, so that the color of the light source is controlled to be the same as the color of the workpiece, the brightness of the workpiece under the modulated light source is improved, and the function of improving the background contrast of the workpiece and a conveyor belt (8) in the horizontal X-axis direction is realized; when the background of the conveyor belt (8) in the horizontal X-axis direction is close to the color of the workpiece, comparing and analyzing the contrast between the picture acquired during white light irradiation and the picture acquired by the modulated light source, and selecting the picture with better contrast to perform the next image processing;
the image processing system of the computer (7) preprocesses the marked workpiece image collected by the binocular camera (6), so that the image characteristics are obvious and the noise is reduced; carrying out image segmentation by using an Otsu threshold segmentation method and classifying the features by adopting decision fusion on SURF features and HOG feature histograms; the method comprises the steps of utilizing SAD cost calculation obtained by a sampling-based method, cost aggregation based on dynamic planning, parallax calculation based on a WTA strategy and pose estimation based on a POSIT algorithm to complete three-dimensional matching and three-dimensional information extraction, determining coordinate information of a three-dimensional position of a marking workpiece, and transmitting the information to a motor control system;
the motor control system of computer (7) utilize the coordinate information who marks the three-dimensional position of work piece, combine the relative position of laser marking head (3) and binocular camera (6), it needs at horizontal X axle to calculate to mark the work piece, how much distance just can reach laser marking head (3) below central point and put for the Y axle removal, it just can make to mark the work piece and be located laser generator focal position to calculate how much distance just can be moved for vertical Z axle direction simultaneously, at last control horizontal X axle direction's conveyer belt (8), flexible platform (9) of the fixed of horizontal Y axle direction's laser head and vertical Z axle direction's laser head altitude mixture control platform (10), realize the function of laser marking machine automatic focusing discernment location marking object and automatic focusing.
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| CN201910421685.XA CN110052704B (en) | 2019-05-21 | 2019-05-21 | Laser marking machine workbench capable of automatically positioning and focusing marked workpiece |
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