CN113660473A - Auxiliary positioning method based on projector - Google Patents
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- 230000008569 process Effects 0.000 claims description 6
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention belongs to the field of laser processing, and particularly relates to an auxiliary positioning method based on a projector, which is characterized by comprising the following steps of: step 1, setting an effective projection area, step 2, establishing a coordinate system, step 3, generating a calibration pattern, step 4, controlling a projector to project, and step 5, carrying out plane calibration. In the invention, the corresponding relation between the projector image coordinate system and the machine table coordinate system is completed through an image calibration technology, and the cutting vector can be correctly projected to the machine table of the laser cutting machine. The processing track can be directly obtained on the laser cutting machine. The processing is more convenient.
Description
Technical Field
The invention belongs to the field of laser processing, and particularly relates to an auxiliary positioning method based on a projector.
Background
In the field of laser processing, when we process a material, it is sometimes desirable to know the processing trajectory of a laser cutting machine in advance. Such as a shirt, it is desirable that the cut lines be cut at the edges of the grid. The checked shirt can be placed at the correct position for processing through the cutting line track projected by the projector.
The prior art directly cuts through a laser cutting machine, and an auxiliary positioning structure for assisting the laser cutting machine in cutting does not exist on the laser machine, so that the processing track of the laser cutting machine cannot be directly obtained on the laser cutting machine.
Disclosure of Invention
The invention aims to provide an auxiliary positioning method based on a projector, which is used for finishing the corresponding relation between an image coordinate system of the projector and a machine table coordinate system through an image calibration technology and correctly projecting a cutting vector to a machine table of a laser cutting machine.
The invention also aims to provide an auxiliary positioning method based on the projectors, which improves the projection precision and meets the production requirements through the joint work of a plurality of projectors.
Another object of the present invention is to provide a projector-based auxiliary positioning method that can prevent deviation even when the material to be processed has a thickness.
In order to achieve the above object, the technical solution of the present invention is as follows.
An auxiliary positioning method based on a projector is characterized by comprising the following steps:
step 1, setting an effective projection area, wherein the effective projection area is a part where the projection range of a projector is intersected with the breadth of a laser cutting machine table;
step 2, establishing a coordinate system, establishing an image coordinate system for image display of a projector and an absolute coordinate system for a laser cutting machine to process a vector diagram in an effective projection area, and obtaining a plane mapping relation between coordinates on the image coordinate system and corresponding coordinates on the absolute coordinate system;
step 3, generating a calibration pattern in the absolute coordinate system, placing a plane calibration piece on a machine table of a laser cutting machine, and processing the calibration pattern on the plane calibration piece by the laser cutting machine;
step 4, controlling the projector to project, converting the absolute coordinate system coordinates of each point on the calibration pattern into corresponding image coordinate system coordinates according to the plane mapping relation between the coordinates on the image coordinate system and the corresponding coordinates on the absolute coordinate system, and projecting the calibration pattern onto the laser cutting machine by the projector according to the converted image coordinate system coordinates of each point on the calibration pattern;
and 5, carrying out plane calibration, manually zooming and translating the calibration patterns projected by the projector, and aligning the calibration patterns projected by the projector and the calibration patterns on the plane calibration piece one by one so as to carry out plane calibration on the plane mapping relation between the coordinates on the image coordinate system of the projector and the corresponding coordinates on the absolute coordinate system.
In the invention, the corresponding relation between the projector image coordinate system and the machine table coordinate system is completed through an image calibration technology, and the cutting vector can be correctly projected to the machine table of the laser cutting machine. The processing track can be directly obtained on the laser cutting machine. The processing is more convenient.
Further, in step 3, the calibration pattern is a cross vector.
Further, in step 3, the number of the calibration patterns is more than four, and the more than four calibration patterns are arranged in the absolute coordinate system in a grid uniform distribution manner.
Further, in step 2, the number of the projectors is two or more, the two or more image coordinate systems of the two or more projectors divide the absolute coordinate system into two or more projection areas, and the coordinates on the two or more image coordinate systems and the corresponding coordinates on the absolute coordinate system all generate a plane mapping relationship. Through the combined work of a plurality of projectors, improve the projection precision, satisfy the production requirement.
Further, in step 4, judging the projection area where each point on the calibration pattern is located, and converting the absolute coordinate system coordinate of the point on the calibration pattern corresponding to each projector into the corresponding image coordinate system coordinate according to the plane mapping relation between the coordinate on the image coordinate system and the corresponding coordinate on the absolute coordinate system; and each projector projects the points on the corresponding calibration pattern to the laser cutting machine according to the converted image coordinate system, and the points on the calibration pattern projected by more than two projectors are combined into a complete calibration pattern.
Further, two or more projectors are arranged in parallel.
Furthermore, the projection ranges of two adjacent projectors are overlapped, and the central line of the overlapped part of the projection ranges of two adjacent projectors is used as a boundary to divide the image coordinate systems of the two projectors.
Further, the method also comprises the step 6: and thickness calibration, namely replacing the plane calibration piece with a thickness calibration piece, wherein the thickness of the thickness calibration piece is greater than the thickness of the workpiece to be machined so as to calibrate the thickness of the plane mapping relation after the plane calibration is carried out. Specifically, the plane shapes of the plane calibration piece, the thickness calibration piece and the workpiece to be machined are consistent, and the thicknesses of the plane calibration piece, the thickness calibration piece and the workpiece to be machined are distinguished. If the thickness of the workpiece to be processed is 5mm, a thickness calibration piece with the thickness of at least 5mm needs to be placed on the machine table, and a thickness calibration piece with the thickness of 10mm is generally selected. Because the difference of the mapping relation between the image coordinate system and the absolute coordinate system is linear due to the thickness change, the mapping relation of the two coordinate systems under any thickness within 10mm can be calculated according to the calibrated 10 mm. Therefore, the mapping relation of 5mm only needs to be calculated linearly. The same is true. If the thickness of the material becomes 7mm, the thickness calibration is not needed, and the mapping relation under 7mm can be linearly calculated. If the material thickness exceeds 10mm, the linearity error becomes large, generally requiring re-thickness calibration.
Further, the thickness is calibrated as: and calculating the projection center coordinate and the height of the projector relative to the laser cutting machine table, obtaining a thickness mapping relation according to the projection center coordinate, the height of the projector relative to the laser cutting machine table and the thickness of the thickness calibration piece, and performing thickness calibration after the plane mapping relation is converted through the thickness mapping relation. When the material to be processed (the workpiece to be processed) has a thickness, the positioning method can also avoid the occurrence of deviation by calibrating the thickness. The thickness mapping relation refers to the mapping relation between the coordinates of the image coordinate system of the plane calibration piece and the corresponding coordinates of the image coordinate system of the thickness calibration piece.
The thickness calibration specifically comprises: processing thickness calibration patterns on the thickness calibration piece by using a laser cutting machine, wherein the number of the thickness calibration patterns is more than four, and the more than four thickness calibration patterns are arranged in an absolute coordinate system in a grid distribution manner; the absolute coordinate system coordinates of each point of the thickness calibration pattern are converted into image coordinate system coordinates after plane calibration through a plane mapping relation after plane calibration, and the converted image coordinate system coordinates after plane calibration are continuously converted through the thickness mapping relation; and after the projector obtains the image coordinate system coordinates of each point of the thickness calibration pattern after the thickness mapping relation is converted, projecting the thickness calibration pattern onto a laser cutting machine, manually zooming and translating the thickness calibration pattern projected by the projector, and aligning the thickness calibration pattern projected by the projector with the thickness calibration pattern on the thickness calibration piece one by one so as to calibrate the thickness of the thickness mapping relation.
The method has the advantages that the image calibration technology is used for finishing the corresponding relation between the projector image coordinate system and the machine table coordinate system, and the cutting vector can be correctly projected to the machine table of the laser cutting machine. The processing track can be directly obtained on the laser cutting machine. The processing is more convenient.
Drawings
Fig. 1 is a schematic diagram of an absolute coordinate system and an image coordinate system of a projector.
Fig. 2 is a cut cross vector generated by an absolute coordinate system.
Fig. 3 is a cross image generated by the image coordinate system.
Fig. 4 is a schematic diagram of a structure of three projection region partitions.
Fig. 5 is a schematic diagram of an absolute coordinate system and image coordinate systems of three projectors.
Fig. 6 is a schematic thickness calibration.
Fig. 7 is a block diagram of a planar calibration process.
Fig. 8 is a block diagram of a thickness calibration process.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-8, an auxiliary positioning method based on a projector is characterized by comprising the following steps:
step 1, setting an effective projection area, wherein the effective projection area is a part where the projection range of a projector is intersected with the breadth of a laser cutting machine table. The breadth of the laser cutting machine is the cutting range of the laser cutting machine during working.
And 2, establishing a coordinate system, establishing an image coordinate system for image display of the projector and an absolute coordinate system for a laser cutting machine to process a vector diagram in the effective projection area, and obtaining a plane mapping relation between coordinates on the image coordinate system and corresponding coordinates on the absolute coordinate system.
Step 3, generating a calibration pattern in the absolute coordinate system, placing a plane calibration piece on a machine table of a laser cutting machine, and processing the calibration pattern on the plane calibration piece by the laser cutting machine; the calibration pattern is a pattern for assisting in calibration.
Step 4, controlling the projector to project, converting the absolute coordinate system coordinates of each point on the calibration pattern into corresponding image coordinate system coordinates according to the mapping relation between the coordinates on the image coordinate system and the corresponding coordinates on the absolute coordinate system, and projecting the calibration pattern onto the laser cutting machine by the projector according to the converted image coordinate system coordinates of each point on the calibration pattern;
and 5, carrying out plane calibration, manually zooming and translating the calibration patterns projected by the projector, and aligning the calibration patterns projected by the projector and the calibration patterns on the plane calibration piece one by one so as to carry out plane calibration on the plane mapping relation between the coordinates on the image coordinate system of the projector and the corresponding coordinates on the absolute coordinate system.
In order to project the vector diagram of the workpiece to be machined to the laser cutting machine table, the plane mapping relationship between the absolute coordinate system of the vector diagram machined by the laser cutting machine and the image coordinate system of the projector needs to be completed. And the lens itself of the projector also has distortion, which also needs to be corrected.
In particular, projector calibration involves two coordinate systems, an image coordinate system and an absolute coordinate system. Referring to fig. 1, the image coordinate system is a coordinate system for projector image display with the origin of coordinates Oi at the top left, the X-direction horizontally to the right (Xi), and the Y-direction vertically downward (Yi), in pix. The absolute coordinate system is a coordinate system in which the processing vector diagram is located, and the origin of coordinates Ow is at the lower left, the X direction is horizontally to the right (Xw), and the Y direction is vertically to the upper (Yw). Let the resolution of the projector be (RW RH), and the projection range of the projector and the range of the intersection part of the laser cutting machine breadth of the machine table (hereinafter referred to as projection breadth or effective projection area) be (DW DH)
Points (Pxw, Pyw) on the absolute coordinate system are converted to corresponding points (Pxi, Pyi) in the image coordinate system by the following formula; equation 1:
PixSizeW＝DW/RW
PixSizeH＝DH/RH
(Pxi，Pyi)＝(Pxw/PixSizeW，DH-Pyw/PixSizeH)
PixSizeW denotes the actual distance represented by one pixel in the horizontal direction and PixSizeH denotes the actual distance represented by one pixel in the vertical direction, both in mm/pix. (the smaller this value, the higher the accuracy).
Further, in step 3, the calibration pattern is a cross vector.
Further, in step 3, the number of the calibration patterns is more than four, and the more than four calibration patterns are arranged in the absolute coordinate system in a grid distribution manner.
Referring to fig. 2-3, specifically: and (3) calibrating by adopting a Zhang-Yongyou calibration method, generating an equidistant cross vector diagram of M rows and N columns according to the effective projection region size (DW & ltDH) (the larger M and N are, the more calibration points are generated, the higher the calibration precision is, but the larger the calibration workload is, generally, if DW & ltDH, taking M & lt8 & gt, N & lt6 & gt, if DW & ltDH, taking M & lt6 & gt, and N & lt8 & gt), laying a plane calibration piece on a laser cutting machine, for example, laying white paper, controlling a cross vector generated by processing of the laser cutting machine, and after the processing is finished, seeing a cross mark on the white paper. And (3) converting the cross vector diagram from an absolute coordinate system to an image coordinate system according to a plane mapping relation (formula 1), generating a cross image, and recording coordinates (Px, Py) of the center of the cross under image coordinates. And projecting the image to a laser cutting machine table by using a projector. The zooming and the movement of the cross point on the projection image can be controlled by utilizing an image interaction technology. And zooming and moving the cross point on the projection image to align the center of the cross with the center of the cross trace on the white paper, wherein the centers of the cross trace on the white paper correspond to each other. The center coordinates (Px ', Py') of the aligned crosses in the image coordinate system are recorded.
According to the Zhang Yongyou calibration method, the camera internal parameter and the camera external parameter can be calculated by knowing the coordinates (Px, Py) before correction and the coordinates (Px ', Py') after correction, thereby completing the plane calibration. The image before correction can be directly corrected by using the camera internal parameter and the camera external parameter obtained by calibration calculation, so that a projected image with a correct position relation is obtained.
Further, in step 2, the number of the projectors is two or more, the two or more image coordinate systems of the two or more projectors divide the absolute coordinate system into two or more projection areas, and the coordinates on the two or more image coordinate systems and the corresponding coordinates on the absolute coordinate system all generate a plane mapping relationship.
Further, in step 4, judging the projection area where each point on the calibration pattern is located, and converting the absolute coordinate system coordinate of the point on the calibration pattern corresponding to each projector into the corresponding image coordinate system coordinate according to the plane mapping relation between the coordinate on the image coordinate system and the corresponding coordinate on the absolute coordinate system; and each projector projects the points on the corresponding calibration pattern to the laser cutting machine according to the converted image coordinate system, and the points on the calibration pattern projected by more than two projectors are combined into a complete calibration pattern.
Further, two or more projectors are arranged in parallel.
Furthermore, the projection ranges of two adjacent projectors are overlapped, and the central line of the overlapped part of the projection ranges of two adjacent projectors is used as a boundary to divide the image coordinate systems of the two projectors.
Referring to fig. 4-5, specifically, the multi-projection (projection by multiple projectors) is an extension of single projection, so as to achieve the purposes of increasing projection breadth and improving projection accuracy. Similar to single projection, multiple projections also require projection calibration. The multi-projection calibration strategy is to divide effective projection areas into blocks (namely, partition projection areas) and calibrate the effective projection areas independently, and if N projectors are arranged along the horizontal direction, the projection ranges of the N projectors are ensured to have an overlapping area with the width of about 15 mm.
The central line of the intersection part between the projections of two adjacent projectors is divided into 3 parts for the effective projection area, and the 3 parts sequentially represent the effective projection areas of the projections 1 to 3. Under multiple projections, the absolute coordinate system of the vector diagram is unchanged, the absolute coordinate system is the same as that of a single projection, 3 effective projection areas correspond to 3 image coordinate systems, the origin is located at the upper left corner of each effective projection area, the X and Y directions are the same as that of the single projection, and the numerical values of the central lines of the adjacent projection overlapping areas under the absolute coordinate system are recorded as X1-Xn-1.
OW is the origin of coordinates of the absolute coordinate system, and X1 and X2 are the X coordinates of the boundaries of adjacent projection regions in the absolute coordinate system. Oi1 to Oi3 respectively represent the origins of the 3 projectors. Now, suppose that there are N projectors, and the coordinates of the projection area boundary of the projectors are Xi (i belongs to 1 to N-1). The transformation of the absolute coordinate system into the image coordinate system follows the following formula:
it is determined to which projection boundary range the X coordinate of the vector belongs (i.e., to which projection region the X coordinate of the point to be projected belongs). Assuming vector coordinates Xi < X < Xi +1, resolution of projector i (RWi, RHi), combined projection zone size of N projectors (DW, DH), coordinates under a point absolute coordinate system (Pxw, Pyw), and corresponding image coordinates (Pxi, Pyi), then:
PixSizeWi＝(xi+1-xi)/RWi
PixSizeHi＝DH/RHi
(Pxi，Pyi)＝((Pxw-xi)/PixSizeW，DH-Pyw/PixSizeH)
the coordinate transformation is complete and the subsequent calibration steps are the same as for the single projection (cutting cross, manually aligning cross, rectification). And after the projector finishes calibration, sequentially projecting respective images.
Further, the method also comprises the step 6: and thickness calibration, namely replacing the plane calibration piece with a thickness calibration piece, wherein the thickness of the thickness calibration piece is greater than the thickness of the workpiece to be machined so as to calibrate the thickness of the plane mapping relation after the plane calibration is carried out.
Further, the thickness is calibrated as: and calculating the projection center coordinate and the height of the projector relative to the laser cutting machine table, obtaining a thickness mapping relation according to the projection center coordinate, the height of the projector relative to the laser cutting machine table and the thickness of the thickness calibration piece, and performing thickness calibration after the plane mapping relation is converted through the thickness mapping relation.
The thickness calibration specifically comprises: processing thickness calibration patterns on the thickness calibration piece by using a laser cutting machine, wherein the number of the thickness calibration patterns is more than four, and the more than four thickness calibration patterns are arranged in an absolute coordinate system in a grid distribution manner; the absolute coordinate system coordinates of each point of the thickness calibration pattern are converted into image coordinate system coordinates after plane calibration through a plane mapping relation after plane calibration, and the converted image coordinate system coordinates after plane calibration are continuously converted through the thickness mapping relation; and after the projector obtains the image coordinate system coordinates of each point of the thickness calibration pattern after the thickness mapping relation is converted, projecting the thickness calibration pattern onto a laser cutting machine, manually zooming and translating the thickness calibration pattern projected by the projector, and aligning the thickness calibration pattern projected by the projector with the thickness calibration pattern on the thickness calibration piece one by one so as to calibrate the thickness of the thickness mapping relation.
Referring to fig. 6, in particular, assuming that the projector center is (Cx, Cy) and the height is H, when the material (thickness index) has a known thickness H, the point (x, y) will be projected at (x ', y'). The task of the thickness correction is to calculate (Cx, Cy) and H and then map the location (x ', y') to be machined on the H thickness material to (x, y).
And (x-Cx)/H- (x' -Cx)/(H-H) is obtained from similar triangles, and x- (H/(H-H) × + 1-H/(H-H)) × Cx is obtained after arrangement, k- (H/(H-H)) and b- (1-H/(H-H)) × Cx are obtained. The linear equation x is obtained as kx ' + b (k > 1) and therefore n crosses can be cut at h thickness with the absolute coordinates of the cross midline being (x1, y1),,, (xn, yn), the cross is manually dragged to align with the cut cross trace one by one, resulting in aligned cross midline coordinates (x1 ', y1 '),,, (xn ', yn '). And substituting the two groups of coordinates into a thread equation to obtain 1 linear equation set:
x1＝k*x1′+b
x2＝k*x2′+b
。。。。。
xn＝k*xn′+b
for convenience of representation, the above expressions x1 to xn are represented by Yi, and x1 'to xn' are represented by Xi, and the expression is obtained by a least squares regression:
therefore, can find
H＝(K/(K-1))*h
Cx＝1-b*H/h
The center Cy in the Y direction can be found by a similar method, two H values can be obtained by two calculations, and the average value is the final H value. Since the thickness of the material changes, the projected image is essentially zoomed by (Cx, Cy), and the zoom ratio is 1-H/H, the thickness correction only needs to zoom the image by the same rotation center, and the zoom ratio is 1+ H/H.
The method has the advantages that the image calibration technology is used for finishing the corresponding relation between the projector image coordinate system and the machine table coordinate system, and the cutting vector can be correctly projected to the machine table of the laser cutting machine. The processing track can be directly obtained on the laser cutting machine. The processing is more convenient.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (10)
1. An auxiliary positioning method based on a projector is characterized by comprising the following steps:
step 1, setting an effective projection area, wherein the effective projection area is a part where the projection range of a projector is intersected with the breadth of a laser cutting machine table;
step 2, establishing a coordinate system, establishing an image coordinate system for image display of a projector and an absolute coordinate system for a laser cutting machine to process a vector diagram in an effective projection area, and obtaining a plane mapping relation between coordinates on the image coordinate system and corresponding coordinates on the absolute coordinate system;
step 3, generating a calibration pattern in the absolute coordinate system, placing a plane calibration piece on a machine table of a laser cutting machine, and processing the calibration pattern on the plane calibration piece by the laser cutting machine;
step 4, controlling the projector to project, converting the absolute coordinate system coordinates of each point on the calibration pattern into corresponding image coordinate system coordinates according to the plane mapping relation between the coordinates on the image coordinate system and the corresponding coordinates on the absolute coordinate system, and projecting the calibration pattern onto the laser cutting machine by the projector according to the converted image coordinate system coordinates of each point on the calibration pattern;
and 5, carrying out plane calibration, manually zooming and translating the calibration patterns projected by the projector, and aligning the calibration patterns projected by the projector and the calibration patterns on the plane calibration piece one by one so as to carry out plane calibration on the plane mapping relation between the coordinates on the image coordinate system of the projector and the corresponding coordinates on the absolute coordinate system.
2. The projector-based aided positioning method of claim 1, wherein in step 3, the calibration pattern is a cross vector.
3. The method as claimed in claim 2, wherein in step 3, the number of the calibration patterns is four or more, and the four or more calibration patterns are arranged in a grid distribution in an absolute coordinate system.
4. The method as claimed in claim 1, wherein in step 2, the number of projectors is two or more, the two or more image coordinate systems of the two or more projectors divide the absolute coordinate system into two or more projection areas, and the coordinates on the two or more image coordinate systems and the corresponding coordinates on the absolute coordinate system both generate a plane mapping relationship.
5. The auxiliary positioning method based on the projector as claimed in claim 4, wherein in step 4, the projection area where each point on the calibration pattern is located is determined, and each projector converts the absolute coordinate system coordinate of the point on the calibration pattern corresponding to the projector into the corresponding image coordinate system coordinate according to the plane mapping relationship between the coordinate on the image coordinate system and the corresponding coordinate on the absolute coordinate system; and each projector projects the points on the corresponding calibration pattern to the laser cutting machine according to the converted image coordinate system, and the points on the calibration pattern projected by more than two projectors are combined into a complete calibration pattern.
6. The method as claimed in claim 5, wherein more than two projectors are arranged in parallel.
7. The auxiliary positioning method based on projectors of claim 5, wherein the projection ranges of two adjacent projectors are overlapped, and the middle line of the overlapped part of the projection ranges of two adjacent projectors is used as a boundary to divide the image coordinate systems of the two projectors.
8. The projector-based aided positioning method of claim 1, further comprising the step of 6: and thickness calibration, namely replacing the plane calibration piece with a thickness calibration piece, wherein the thickness of the thickness calibration piece is greater than the thickness of the workpiece to be machined so as to calibrate the thickness of the plane mapping relation after the plane calibration is carried out.
9. The projector-based aided positioning method of claim 8, wherein the thickness is calibrated as: and calculating the projection center coordinate and the height of the projector relative to the laser cutting machine table, obtaining a thickness mapping relation according to the projection center coordinate, the height of the projector relative to the laser cutting machine table and the thickness of the thickness calibration piece, and performing thickness calibration after the plane mapping relation is converted through the thickness mapping relation.
10. The projector-based auxiliary positioning method as claimed in claim 9, wherein the thickness calibration specifically comprises: processing thickness calibration patterns on the thickness calibration piece by using a laser cutting machine, wherein the number of the thickness calibration patterns is more than four, and the more than four thickness calibration patterns are arranged in an absolute coordinate system in a grid distribution manner; the absolute coordinate system coordinates of each point of the thickness calibration pattern are converted into image coordinate system coordinates after plane calibration through a plane mapping relation after plane calibration, and the converted image coordinate system coordinates after plane calibration are continuously converted through the thickness mapping relation; and after the projector obtains the image coordinate system coordinates of each point of the thickness calibration pattern after the thickness mapping relation is converted, projecting the thickness calibration pattern onto a laser cutting machine, manually zooming and translating the thickness calibration pattern projected by the projector, and aligning the thickness calibration pattern projected by the projector with the thickness calibration pattern on the thickness calibration piece one by one so as to calibrate the thickness of the thickness mapping relation.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114119632A (en) * | 2021-11-12 | 2022-03-01 | 中国科学院空间应用工程与技术中心 | Rotary type slice segmentation method, system, controller and printer |
| CN115625435A (en) * | 2022-11-14 | 2023-01-20 | 广东瑞洲科技有限公司 | Intelligent recognition cutting method, device and system |
| CN117784712A (en) * | 2023-10-19 | 2024-03-29 | 深圳市创客工场科技有限公司 | Method for realizing processing alignment, numerical control machine, system and readable storage medium |
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