CN110706184A - Method for correcting offset of laser galvanometer - Google Patents
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Abstract
The invention discloses a method for correcting offset of a laser galvanometer, which comprises the following steps: establishing an x-y coordinate system with the central point of the laser cutting platform as an original point, and establishing a plurality of ideal mark points which are arranged in a matrix on the x-y coordinate system; marking entity mark points which correspond to the ideal mark points and are arranged in a matrix form on the correction paper; the method comprises the steps that a sight point of a camera is aligned to a central point of a laser cutting platform, then a correction image of correction paper is collected, entity mark points in the correction image are identified and extracted, and the entity mark points are mapped in an x-y coordinate system to obtain coordinate point positions of the entity mark points; partitioning the ideal mark points and the entity mark points which are arranged in a matrix manner to form a plurality of ideal partitions and entity partitions; and establishing a partition transformation matrix from each entity partition to an ideal partition, and traversing each partition transformation matrix to calculate and obtain the laser galvanometer offset value of each coordinate point in the x-y coordinate system so as to form a correction file. The invention has the characteristic of improving the correction efficiency.
Description
Technical Field
The invention relates to the technical field of galvanometer correction methods, in particular to a method for correcting laser galvanometer offset.
Background
In the laser processing technology, various complex graphs and characters are generally processed by utilizing a galvanometer control light path, but due to the reasons of environment temperature and humidity interference, motor loss and the like, the galvanometer can generate deviation after being used for a certain time, so that the precision of the galvanometer control light path in the processing process is reduced, if the product is marked, the actual marking track has deviation with the ideal marking track, and at the moment, the galvanometer needs to be subjected to error compensation to reduce the deviation.
In the prior art, after a matrix target is marked on a correction plate, measurement is carried out by combining a quadratic element measuring device, the deviation between theory and reality is calculated manually, and then a correction file is generated by compensation calculation software, so that in the laser processing process, the purpose of accuracy is achieved by carrying out error compensation adjustment on a galvanometer through the correction file. In this way, not only is time-consuming but also specialized measuring personnel and expensive auxiliary measuring equipment are required, and the correction of the galvanometer offset is inefficient, and therefore there is a certain improvement.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method for correcting the offset of a laser galvanometer, which has the characteristic of improving the correction efficiency.
The technical purpose of the invention is realized by the following technical scheme:
a method for correcting laser galvanometer offset comprises the following steps:
establishing an x-y coordinate system with the central point of the laser cutting platform as an original point, and establishing a plurality of ideal mark points which are arranged in a matrix on the x-y coordinate system;
marking entity mark points which correspond to the ideal mark points and are arranged in a matrix form on the correction paper;
the method comprises the steps that a sight point of a camera is aligned to a central point of a laser cutting platform, then a correction image of correction paper is collected, entity mark points in the correction image are identified and extracted, and the entity mark points are mapped in an x-y coordinate system to obtain coordinate point positions of the entity mark points;
partitioning the ideal mark points and the entity mark points which are arranged in a matrix manner to form a plurality of ideal partitions and entity partitions, wherein the ideal partitions correspond to the entity partitions one by one;
and establishing a partition transformation matrix from each entity partition to an ideal partition, and traversing each partition transformation matrix to calculate and obtain the laser galvanometer offset value of each coordinate point in the x-y coordinate system so as to form a correction file.
Preferably, in the plurality of ideal mark points arranged in a matrix, the number of rows and the number of columns of the matrix are the same.
Preferably, when the correction paper is placed on the laser cutting platform, the central point of the correction paper is aligned with the central point of the laser cutting platform.
Preferably, before acquiring the correction image of the correction paper with the entity mark point after the sight point of the camera is right opposite to the central point of the laser cutting platform, the method further comprises the following steps:
and carrying out stretching correction on the corrected image acquired by the camera according to the pre-established perspective distortion transformation matrix.
Preferably, the pre-established perspective distortion transformation matrix comprises the following steps:
establishing calibration points on four corners of the correction paper;
aligning the sight point of the camera with the central point of the correction paper, collecting a calibration image of the correction paper with calibration points, and measuring the pixel distance between the calibration points in the calibration image;
measuring the actual physical distance between the calibration points of the calibration paper;
and stretching and adjusting the calibration image based on the actual physical distance between the calibration points in the correction paper, and determining the parameters of stretching and adjusting to form a perspective distortion transformation matrix.
Preferably, the ideal mark points and the entity mark points arranged in a matrix are partitioned to form a plurality of ideal partitions and entity partitions, wherein the ideal partitions correspond to the entity partitions one by one, and the method comprises the following steps:
determining the maximum breadth of ideal mark points arranged in a matrix in an x-y coordinate system, and determining the maximum breadth of entity mark points arranged in the matrix when the entity mark points are mapped in the x-y coordinate system;
and dividing the ideal mark points arranged in a matrix and the entity mark points arranged in the matrix based on a preset dividing breadth to form a plurality of ideal partitions and entity partitions, wherein the ideal partitions and the entity partitions are in one-to-one correspondence.
Preferably, the breadth between the adjacent ideal mark points and the breadth between the adjacent entity mark points are taken as the preset segmentation breadth.
Preferably, in establishing the partition transformation matrix from each physical partition to the ideal partition, the method includes the following steps:
acquiring coordinate points of entity marking points in the entity partition and coordinate points of ideal marking points in the ideal partition based on the entity partition and the ideal partition;
scaling to establish a partition transformation matrix for each ideal partition to a physical partition according to equation ①, where equation ① is as follows:
preferably, the step of calculating and obtaining the laser galvanometer offset value of each coordinate point in the x-y coordinate system by traversing each partition transformation matrix to form a correction file includes the following steps:
substituting each coordinate point position in the corresponding ideal partition into the partition change matrix according to the partition change matrix for conversion so as to obtain each coordinate point position corresponding to the entity partition;
calculating and obtaining a laser galvanometer offset value of each coordinate point position based on the coordinate point position of the ideal interval and the coordinate point position of the entity partition;
and traversing each partition transformation matrix and each corresponding ideal partition, and obtaining the laser galvanometer offset value of each coordinate point in the x-y coordinate system to form a correction file.
In summary, compared with the prior art, the beneficial effects of the invention are as follows:
according to the method, the correction paper is placed on a laser cutting platform, entity mark points which are arranged in a matrix form are marked on the correction paper, a correction image of the correction paper is shot through a camera, the entity mark points are compared with ideal mark points to obtain a laser galvanometer offset value of each coordinate point in an x-y coordinate system, and correction files of all the laser galvanometer offset values are obtained, so that in the subsequent marking process, the correction files are inquired according to marking tracks to obtain the laser galvanometer offset value, and then the laser galvanometers are compensated and corrected to realize accurate marking;
according to the laser galvanometer offset correction method, the whole laser galvanometer correction process is automatically operated, the working intensity of manual operation is reduced, and the correction efficiency is effectively improved.
Drawings
FIG. 1 is a schematic structural diagram of a laser cutting apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of a laser cutting head according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a calibration method according to the present invention;
FIG. 4 is a schematic diagram of the distribution of ideal mark points and entity mark points in the technical solution of the present invention;
fig. 5 is a schematic diagram of partition transformation matrix construction in the technical solution of the present invention.
Reference numerals: 1. a frame; 2. a laser cutting platform; 3. a laser cutting head; 4. a cross beam; 5. a slide base; 6. a first driving section; 7. a second driving section; 8. a camera; 9. and (5) correcting paper.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the prior art, after a matrix target is printed on a correction plate, measurement is carried out by combining quadratic element measurement equipment, the deviation between theory and reality is calculated manually, and then a correction file is generated by compensation calculation software, so that the manual calculation mode is time-consuming and labor-consuming, and the correction efficiency is low.
In order to solve the problems in the prior art, the method and the device can compare the marked entity mark points with ideal mark points by using the camera 8, obtain the laser galvanometer deviant value of each coordinate point in an x-y coordinate system by using a partition transformation matrix, further query a correction file according to the marking track in the subsequent marking process to obtain the laser galvanometer deviant value, and further perform compensation and correction on the laser galvanometer to realize accurate marking. The method solves the problem of efficiency of manual calculation by automatically printing entity mark points, automatically identifying and forming a correction file.
Specifically, the method for correcting the offset of the laser galvanometer used in the application is applied to laser cutting equipment. As shown in fig. 1, the laser cutting apparatus includes a frame 1 and a laser cutting platform 2 disposed on the frame 1, a laser cutting head 3 disposed above the laser cutting platform 2 is disposed on the frame 1, the laser cutting head 3 can move along any track above the laser cutting platform 2, that is, a cross beam 4 capable of moving along a Y axis of the frame 1 is disposed on the frame 1, a sliding seat 5 capable of moving along an X axis of the frame 1 is disposed on the cross beam 4, a first driving portion 6 for driving the cross beam 4 to slide is disposed on the frame 1, and a second driving portion 7 for driving the sliding seat 5 to slide is disposed on the cross beam 4, in this embodiment, the first driving portion 6 and the second driving portion 7 both adopt driving forms of a synchronous belt, a synchronous pulley, and a high-precision servo motor. It is to be noted that the high-precision driving laser cutting head 3 of the first driving section 6 and the second driving section 7 is the basis of the laser galvanometer offset correction.
It is worth mentioning that both the camera 8 and the laser cutting head 3 are connected to a computer by an ethernet interface. The laser cutting head 3 is controlled by a control command issued by a computer to emit laser beams.
As shown in fig. 2, the laser cutting head 3 includes a mounting housing, and a main control chip, a laser, an X-axis motor driver, a Y-axis motor driver, an X-axis galvanometer, and a Y-axis galvanometer that are disposed in the mounting housing, and the mounting housing is fixed on the slide base 5. The X-axis galvanometer and the Y-axis galvanometer are the laser galvanometer of the application. The main control chip is connected to a computer through an Ethernet interface, the laser, the X-axis motor driver and the Y-axis motor driver are connected to the main control chip, and the X-axis vibrating mirror and the Y-axis vibrating mirror are controlled by pulse signals output by the X-axis motor driver and the Y-axis motor driver to swing so as to adjust the position of a laser beam emitted by the laser and irradiated on the laser cutting platform 2. The main control chip is used for receiving and decoding a computer control instruction, controlling the on-off of the laser, controlling the rotation of the X-axis vibrating mirror through the X-axis motor driver, controlling the rotation of the Y-axis vibrating mirror through the Y-axis motor driver and adjusting the marking position of the laser beam.
X axle galvanometer includes X axle step motor and X axle glass level crossing, and Y axle galvanometer includes Y axle step motor and Y axle glass level crossing, and X axle step motor and Y axle step motor adopt planet step motor that slows down, and the speed reduction ratio is 1: 99.5. the X-axis motor driver and the Y-axis motor driver adopt HBS3128A high subdivision stepping motor drivers and are used for converting the output of the main control chip into pulse signals capable of driving the X-axis stepping motor and the Y-axis stepping motor.
Therefore, when a product is placed on the laser cutting platform 2 for laser marking, the computer sends out control instructions to the first driving part 6, the second driving part 7 and the laser cutting head 3 by inputting the marking track into the computer, the first driving part 6 and the second driving part 7 control the laser cutting head 3 to move along the marking track, and the laser cutting head 3 sends out a laser beam to mark the marking track on the product. Wherein, X axle shakes mirror and Y axle and shakes the mirror in the laser cutting head 3 because there is the interference of environment humiture, the motor loses reasons such as step, X axle shakes the mirror and the Y axle shakes the mirror can produce the deviation after using the certain time, X axle shakes the mirror and the accurate nature of laser line bundle that Y axle shakes the mirror control reduces, lead to although laser cutting head 3 is accurate to remove along marking the orbit, nevertheless can lead to the mark orbit that laser cutting head 3 was beaten to have slight skew, consequently need shake mirror and Y axle to the X axle before 3 cutting of laser cutting head and shake the mirror and rectify.
The method for correcting the offset of the laser galvanometer, as shown in fig. 3, includes the following steps:
and S100, establishing an x-y coordinate system with the central point of the laser cutting platform 2 as an origin, and establishing a plurality of ideal mark points which are arranged in a matrix on the x-y coordinate system.
Step S200, printing entity mark points corresponding to the ideal mark points and arranged in a matrix on the correction paper 9.
According to the technical solution defined in step S100 ~ and step S200, specifically, the origin of the x-y coordinate system is set at the center point of the laser cutting platform 2, the x-y coordinate system is a virtual coordinate system set in the computer, and the movement track of the laser cutting head 3 and the marking track of the product are both in accordance with the established x-y coordinate system, so that coordinate points are arranged in the x-y coordinate system, the marking track of the product is composed of a plurality of coordinate points, the coordinate points of the marking track are input into the computer, and then the movement track of the laser cutting head 3 is matched with the marking track of the product by converting the coordinate points into pulse signals recognized by the first driving part 6 and the second driving part 7.
Therefore, in the correction method adopted by the application, the correction paper 9 is firstly placed on the laser cutting platform 2, the surface of the correction paper 9 is kept flat, the correction paper 9 can be made of paperboard or paper, and the breadth of the correction paper 9 occupies the laser cutting platform 2 as much as possible. When the correction paper 9 is placed on the laser cutting platform 2, the center point of the correction paper 9 is aligned with the center point of the laser cutting platform 2.
Establishing a plurality of ideal mark points arranged in a matrix on an x-y coordinate system, wherein the shape of the ideal mark points can adopt a round point or a cross shape, and the number of rows and columns of the matrix in the plurality of ideal mark points arranged in the matrix is the same. The distance between adjacent ideal mark points (namely the number of coordinate point positions occupied by the distance) can be set by a worker. In this embodiment, an example of creating 31 × 31 ideal mark points arranged in a matrix on the x-y coordinate system is described, and the center of the matrix coincides with the center of the x-y coordinate system. Thus, there are 961 ideal marker points on the x-y coordinate system, each with a unique coordinate point location.
By controlling the movement of the laser cutting head 3, the entity marking points are printed on the correction paper 9 in a matrix arrangement, the number of the entity marking points is the same as that of the ideal marking points, the entity marking points are also arranged in a matrix arrangement, and the matrix arrangement mode of the entity marking points is also 31 x 31 matrix. Due to the offset of the X-axis galvanometer and the Y-axis galvanometer, the position of the ideal mark point can be offset when the entity mark point is mapped in the X-Y coordinate system.
Step S300, the sight point of the camera 8 is right opposite to the central point of the laser cutting platform 2, then the correction image of the correction paper 9 is collected, the entity mark point in the correction image is identified and extracted and mapped in the x-y coordinate system to obtain the coordinate point position of the entity mark point.
According to the technical solution defined in step S300, specifically, a quasi-star point is set at the center of the image capture picture of the camera 8, and when the camera 8 captures the calibration image of the calibration paper 9, the quasi-star point of the camera 8 needs to be aligned with the center point of the laser cutting platform 2 by moving the camera 8, so that the calibration image captured by the camera 8 can be ensured to be segmented according to the x-y coordinate system.
Wherein, there is perspective distortion phenomenon in the corrected image that camera 8 shoots, therefore, before camera 8 gathers the corrected image, correct camera 8 in order to solve the problem of perspective distortion first, therefore, after gathering the corrected image of the correction paper 9 with entity mark point right after the sight point of camera 8 is right to the central point of the laser cutting platform 2, still include the following step:
and carrying out stretching correction on the corrected image acquired by the camera 8 according to the pre-established perspective distortion transformation matrix.
It is worth mentioning that the pre-established perspective distortion transformation matrix comprises the following steps:
establishing calibration points on four corners of the correction paper 9;
aligning the sight point of the camera 8 with the central point of the correction paper 9, collecting a calibration image of the correction paper 9 with calibration points, and measuring the pixel distance between the calibration points in the calibration image;
measuring the actual physical distance between the index points of the correction paper 9;
based on the actual physical distances between the calibration points in the calibration paper 9, the calibration image is stretched and adjusted, and the parameters of stretching and adjustment are determined to form a perspective distortion transformation matrix.
According to the technical scheme defined in the above step, the actual physical distance is the distance between two calibration points that are to be adjusted by stretching, and therefore, the pixel distance between the calibration points needs to be adjusted to approach or equal to the actual physical distance infinitely, and the problem of correcting perspective distortion of the image can be solved only by correcting the corrected image shot by the subsequent camera 8 according to the perspective distortion transformation matrix, so that the corrected image shot by the camera 8 approaches the width of the actual correction paper 9 infinitely, thereby reducing the position error of the entity mark point on the correction paper 9, and further reducing the error when the entity mark point position is calculated subsequently.
Step S400, partitioning the ideal mark points and the entity mark points which are arranged in a matrix manner to form a plurality of ideal partitions and entity partitions, wherein the ideal partitions correspond to the entity partitions one by one.
According to the technical scheme defined in the step S400, the method specifically includes the following steps:
step S410, determining the maximum breadth of ideal mark points arranged in a matrix in an x-y coordinate system, and determining the maximum breadth of entity mark points arranged in a matrix when the entity mark points are mapped in the x-y coordinate system;
step S420, the ideal mark points arranged in a matrix and the entity mark points arranged in a matrix are divided based on a preset dividing plane to form a plurality of ideal partitions and entity partitions, and the ideal partitions and the entity partitions are in one-to-one correspondence.
In the application, the breadth between adjacent ideal mark points and the breadth between adjacent entity mark points are taken as the preset segmentation breadth. It can be seen that there will be 900 ideal partitions in the ideal 31 × 31 matrix, and 900 physical partitions in the physical markers 31 × 31 matrix. The size of the preset division breadth can be set according to actual conditions, and this embodiment is not specifically described, and this embodiment takes the breadth between adjacent ideal mark points as an example for description.
As shown in fig. 4, a part of an ideal partition and an entity partition around the origin of the x-y coordinate system are taken as an example for illustration, and it can be seen that, for example, an ideal marker "A, B, C, D, E, F, G, H, I" can be obtained respectively, each ideal marker has a unique corresponding coordinate point position in the x-y coordinate system, so that adjacent ideal markers can be enclosed to form an ideal partition ①, an ideal partition ②, an ideal partition ③, and an ideal partition ④, wherein the ideal partition ①, the ideal partition ②, the ideal partition ③, and the ideal partition ④ include a plurality of coordinate point positions.
Similarly, when the entity mark points are mapped in the x-y coordinate system, the entity mark points "a 1, B1, C1, D1, E1, F1, G1, H1, and I1" can be obtained respectively, and each entity mark point has a unique corresponding coordinate point position in the x-y coordinate system, so that adjacent entity mark points can surround and form an entity partition ①, an entity partition ②, an entity partition ③, and an entity partition ④, wherein the entity partition ①, the entity partition ②, the entity partition ③, and the entity partition ④ include a plurality of coordinate point positions.
Step S500, establishing a partition transformation matrix from each entity partition to an ideal partition, traversing each partition transformation matrix, and calculating and obtaining a laser galvanometer offset value of each coordinate point in an x-y coordinate system to form a correction file.
According to the technical solution defined in step S500, in establishing a partition transformation matrix from each entity partition to an ideal partition, the following steps are included:
step S510, acquiring coordinate points of entity mark points in the entity partition and coordinate points of ideal mark points in the ideal partition based on the entity partition and the ideal partition;
step S520, scaling according to formula ① to establish a partition transformation matrix from each ideal partition to an entity partition, wherein formula ① is as follows:
according to the technical solution defined in step S510 ~ and step S520, specifically, as shown in fig. 5, in this embodiment, an ideal partition ① is taken as an example for explanation, an ideal partition ① may be obtained by connecting "A, B, C, D", and "a 1, B1, C1, and D1" are connected to obtain an entity partition ①, and since the specific coordinate point values of the ideal mark point a, the ideal mark point B, the ideal mark point C, and the ideal mark point D, the specific coordinate point values of the entity mark point a1, the entity mark point B1, the entity mark point C1, and the entity mark point D1 are known, a partition transformation matrix from the entity partition to the ideal partition may be obtained by converting the formula ①.
Therefore, in the step of traversing each partition transformation matrix to calculate and obtain the laser galvanometer offset value of each coordinate point in the x-y coordinate system so as to form a correction file, the method comprises the following steps:
step S530, substituting each coordinate point position in the corresponding ideal subarea into the subarea change matrix for conversion according to the subarea change matrix so as to obtain each coordinate point position corresponding to the entity subarea;
step S540, calculating and acquiring a laser galvanometer offset value of each coordinate point position based on the coordinate point position of the ideal interval and the coordinate point position of the entity partition;
and step S550, traversing each partition transformation matrix and each corresponding ideal partition, and obtaining the laser galvanometer offset value of each coordinate point in the x-y coordinate system to form a correction file.
According to the technical solution defined in step S530 ~, specifically, the embodiment takes the partition transformation matrix of the ideal partition ① as an example for explanation, since the specific value of each coordinate point in the ideal partition ① is known, but the specific value of each coordinate point in the entity partition ① cannot be known due to the laser galvanometer offset, when calculating each coordinate point in the entity partition ①, each coordinate point in the entity partition ① can be obtained by only substituting each coordinate point in the ideal partition ① into the formula ①, and the laser galvanometer offset value of the coordinate point in the x-y coordinate system can be obtained by the coordinate point of the ideal partition ① and the coordinate point in the entity partition ①.
Similarly, the laser galvanometer offset values of all coordinate points in the ideal partition ① can be calculated by the calculation method, and then the laser galvanometer offset value of each coordinate point in the x-y coordinate system can be obtained only by traversing each ideal partition and according to the change matrix of each partition.
Therefore, by the correction method, in the product marking process, the marking track is input into the computer, and the computer inquires the correction file according to the coordinate point of the marking track in the x-y coordinate system to obtain the laser galvanometer offset value corresponding to each coordinate point of the marking track.
Therefore, the computer controls the first and second driving units 6 and 7 to move based on the coordinate points of the marking trajectory, so that the movement trajectory of the laser cutting head 3 coincides with the marking trajectory. Furthermore, in the moving process of the laser cutting head 3, the computer sends the laser galvanometer deviant of each coordinate point to the main control chip of the laser cutting head 3 respectively, the main control chip converts the laser galvanometer deviant to be output to the X-axis motor driver and the Y-axis motor driver, the X-axis motor driver and the Y-axis motor driver convert the laser galvanometer deviant into a compensation pulse signal, the X-axis galvanometer and the Y-axis galvanometer are controlled to swing to compensate errors, accurate laser beams emitted by the laser are guaranteed to fall on the coordinate points of the marking track, and the product processing accuracy is improved.
According to the laser galvanometer offset correction method, the laser galvanometer correction is automatically operated in the whole process, the working intensity of manual operation is reduced, and the correction efficiency is effectively improved.
The above description is intended to be illustrative of the present invention and not to limit the scope of the invention, which is defined by the claims appended hereto.
Claims (9)
1. A method for correcting the offset of a laser galvanometer is characterized by comprising the following steps:
establishing an x-y coordinate system with the central point of the laser cutting platform (2) as an original point, and establishing a plurality of ideal mark points which are arranged in a matrix on the x-y coordinate system;
solid mark points which correspond to the ideal mark points and are arranged in a matrix are printed on the correction paper (9);
the method comprises the steps that a sight point of a camera (8) is right opposite to a central point of a laser cutting platform (2), then a correction image of correction paper (9) is collected, entity marking points in the correction image are identified and extracted and are mapped in an x-y coordinate system to obtain coordinate point positions of the entity marking points;
partitioning the ideal mark points and the entity mark points which are arranged in a matrix manner to form a plurality of ideal partitions and entity partitions, wherein the ideal partitions correspond to the entity partitions one by one;
and establishing a partition transformation matrix from each entity partition to an ideal partition, and traversing each partition transformation matrix to calculate and obtain the laser galvanometer offset value of each coordinate point in the x-y coordinate system so as to form a correction file.
2. The method as claimed in claim 1, wherein the number of rows and columns of the matrix arrangement is the same in the plurality of ideal mark points arranged in the matrix arrangement.
3. The method for correcting the deviation of the laser galvanometer according to claim 1, wherein when the correction paper (9) is placed on the laser cutting platform (2), the center point of the correction paper (9) is aligned with the center point of the laser cutting platform (2).
4. The method for correcting the laser galvanometer offset according to claim 1, characterized by comprising the following steps before acquiring the corrected image of the correction paper (9) with the solid mark point after aligning the sight point of the camera (8) with the central point of the laser cutting platform (2):
and performing stretching correction on the corrected image acquired by the camera (8) according to the pre-established perspective distortion transformation matrix.
5. The method for correcting the shift of the laser galvanometer according to claim 4, wherein the pre-established perspective distortion transformation matrix comprises the following steps:
establishing calibration points on four corners of the correction paper (9);
aiming the sight point of the camera (8) at the central point of the correction paper (9), collecting a calibration image of the correction paper (9) with calibration points, and measuring the pixel distance between the calibration points in the calibration image;
measuring the actual physical distance between the index points of the correction paper (9);
the calibration image is stretched and adjusted based on the actual physical distance between the calibration points in the calibration paper (9), and the parameters of stretching and adjustment are determined to form a perspective distortion transformation matrix.
6. The method for correcting the laser galvanometer offset according to claim 1, wherein the ideal marks and the solid marks arranged in a matrix are partitioned to form a plurality of ideal partitions and solid partitions, wherein the ideal partitions correspond to the solid partitions one by one, and the method comprises the following steps:
determining the maximum breadth of ideal mark points arranged in a matrix in an x-y coordinate system, and determining the maximum breadth of entity mark points arranged in the matrix when the entity mark points are mapped in the x-y coordinate system;
and dividing the ideal mark points arranged in a matrix and the entity mark points arranged in the matrix based on a preset dividing breadth to form a plurality of ideal partitions and entity partitions, wherein the ideal partitions and the entity partitions are in one-to-one correspondence.
7. The method for correcting the laser galvanometer offset according to claim 6, wherein the preset dividing breadth is the breadth between adjacent ideal mark points and the breadth between adjacent entity mark points.
8. The method for correcting laser galvanometer offset of claim 1, wherein in establishing a partition transformation matrix for each physical partition to an ideal partition, the method comprises the steps of:
acquiring coordinate points of entity marking points in the entity partition and coordinate points of ideal marking points in the ideal partition based on the entity partition and the ideal partition;
scaling to establish a partition transformation matrix for each ideal partition to a physical partition according to equation ①, where equation ① is as follows:
9. the method for correcting the laser galvanometer offset according to claim 8, wherein the step of calculating and obtaining the laser galvanometer offset value of each coordinate point in the x-y coordinate system by traversing each partition transformation matrix to form a correction file comprises the following steps:
substituting each coordinate point position in the corresponding ideal partition into the partition change matrix according to the partition change matrix for conversion so as to obtain each coordinate point position corresponding to the entity partition;
calculating and obtaining a laser galvanometer offset value of each coordinate point position based on the coordinate point position of the ideal interval and the coordinate point position of the entity partition;
and traversing each partition transformation matrix and each corresponding ideal partition, and obtaining the laser galvanometer offset value of each coordinate point in the x-y coordinate system to form a correction file.
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