CN114178720B - Correcting method of galvanometer type laser marking machine and terminal equipment - Google Patents
Correcting method of galvanometer type laser marking machine and terminal equipment Download PDFInfo
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- CN114178720B CN114178720B CN202111292545.0A CN202111292545A CN114178720B CN 114178720 B CN114178720 B CN 114178720B CN 202111292545 A CN202111292545 A CN 202111292545A CN 114178720 B CN114178720 B CN 114178720B
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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
- B23K26/36—Removing material
- B23K26/362—Laser etching
Abstract
The invention discloses a method for correcting a galvanometer type laser marking machine, which is used for terminal equipment and comprises the following steps: acquiring a target image, wherein the target image is obtained by shooting a correction graph in a working area of a galvanometer type laser marking machine, the correction graph comprises a plurality of mark points, and the target image comprises a plurality of points to be measured corresponding to the mark points; measuring position information of the points to be measured to obtain a plurality of pieces of position information; and correcting errors of the galvanometer type laser marking machine by using the position information to obtain the corrected galvanometer type laser marking machine. The invention also discloses a correcting device of the galvanometer type laser marking machine, terminal equipment and a computer readable storage medium. The method of the invention is utilized to carry out digital processing on the target image so as to obtain a plurality of position information of a plurality of points to be measured, the accuracy rate of the position information is higher, the corrected precision is higher, and the accuracy rate of the marking result is improved.
Description
Technical Field
The invention relates to the technical field of laser marking machine control, in particular to a method and a device for correcting a galvanometer type laser marking machine, terminal equipment and a computer readable storage medium.
Background
In galvanometer laser marking, due to the influence of factors such as defocusing, nonlinearity, mechanical installation, system control, environmental interference and the like, the geometric distortion of a marking point exists, so that high-precision marking can be realized only by an error correction mode, and currently, the common error correction modes are 9-point correction, 25-point correction and the like.
For example, the procedure for 9-point correction is as follows: (1) firstly putting black paper; (2) marking a rectangle, a horizontal line and a vertical line with fixed sizes under the condition of no correction; (3) measuring the coordinates (nine points in total) of each intersection point by using a ruler; (4) correcting a galvanometer; (5) marking the test pattern to see the effect of correction.
However, the error correction is performed by adopting the existing method, and the corrected precision is low, so that the accuracy of the marking result is poor.
Disclosure of Invention
The invention mainly aims to provide a method and a device for correcting a galvanometer laser marking machine, terminal equipment and a computer readable storage medium, and aims to solve the technical problems that in the prior art, the error correction is performed in the conventional mode, the corrected precision is low, and the accuracy of a marking result is poor.
In order to achieve the above object, the present invention provides a calibration method for a galvanometer laser marking machine, which is used for a terminal device, and the method comprises the following steps:
acquiring a target image, wherein the target image is obtained by shooting a correction graph in a working area of a galvanometer laser marking machine, the correction graph comprises a plurality of mark points, and the target image comprises a plurality of points to be measured corresponding to the mark points;
measuring position information of the points to be measured to obtain a plurality of pieces of position information;
and correcting errors of the galvanometer type laser marking machine by using the position information to obtain the corrected galvanometer type laser marking machine.
Optionally, before the step of acquiring the target image, the method further includes:
starting a light source of the galvanometer type laser marking machine so as to enable the light source to illuminate the working area;
shooting the correction graph in the working area by using a target camera to obtain the target image, wherein the target camera is arranged on the galvanometer type laser marking machine.
Optionally, before the step of measuring the position information of the plurality of points to be measured and obtaining the plurality of position information, the method further includes:
determining a reference point to be measured from a plurality of points to be measured;
assigning a value to the reference point to be measured by using the first position information;
the step of measuring the position information of the plurality of points to be measured to obtain a plurality of position information includes:
measuring a plurality of non-reference points to be measured based on the reference points to be measured and the first position information, and obtaining a plurality of second position information corresponding to the non-reference points to be measured, wherein the plurality of non-reference points to be measured are points to be measured in the plurality of points to be measured except the reference points to be measured;
and summarizing the first position information and the plurality of second position information to obtain a plurality of position information.
Optionally, the target image includes a plurality of lines to be measured, and each non-reference point to be measured is an intersection of at least two lines to be measured; the step of measuring a plurality of non-reference points to be measured based on the reference points to be measured and the first position information to obtain a plurality of second position information corresponding to the plurality of non-reference points to be measured includes:
determining a plurality of selected areas in the target image, wherein one selected area comprises a non-reference point to be measured, and one selected area comprises at least two local lines corresponding to at least two lines to be measured;
solving the line relation of at least two local lines corresponding to the non-reference to-be-measured point in each selected area;
determining the pixel coordinates of the non-reference points to be measured in each selected area by using the line relation corresponding to each selected area;
and obtaining second position information corresponding to each non-reference measuring point based on the first position information and the pixel coordinates of each non-reference measuring point.
Optionally, before the step of capturing the corrected graph in the working area by using the target camera to obtain the target image, the method further includes:
determining the relative position relationship between the camera coordinate system of the target camera and the working coordinate system of the galvanometer type laser marking machine;
calibrating the target camera by utilizing the relative position relation;
the step of capturing the corrected image in the working area by using a target camera to obtain the target image includes:
and shooting the corrected graph in the working area by using the calibrated target camera to obtain the target image.
Optionally, a plurality of the position information is position information in the camera coordinate system; before the step of performing error correction on the galvanometer laser marking machine by using the plurality of pieces of position information to obtain the corrected galvanometer laser marking machine, the method further comprises the following steps:
converting the position information by using the relative position relationship to obtain result position information, wherein the result position information is position information in the working coordinate system;
the step of utilizing a plurality of the position information to carry out error correction on the galvanometer type laser marking machine to obtain the corrected galvanometer type laser marking machine comprises the following steps:
and correcting errors of the galvanometer type laser marking machine by using the plurality of result position information to obtain the corrected galvanometer type laser marking machine.
Optionally, the plurality of points to be measured includes 9 points to be measured or 25 points to be measured.
In addition, in order to achieve the above object, the present invention further provides a calibration apparatus for a galvanometer laser marking machine, which is used for a terminal device, the apparatus comprising:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a target image, the target image is obtained by shooting a correction graph in a working area of a galvanometer laser marking machine, the correction graph comprises a plurality of mark points, and the target image comprises a plurality of points to be measured corresponding to the mark points;
the measuring module is used for measuring the position information of the points to be measured to obtain a plurality of position information;
and the correction module is used for correcting errors of the galvanometer type laser marking machine by utilizing the position information to obtain the corrected galvanometer type laser marking machine.
In addition, to achieve the above object, the present invention further provides a terminal device, where the terminal device includes: the calibration program of the galvanometer laser marking machine realizes the steps of the calibration method of the galvanometer laser marking machine according to any item when the calibration program of the galvanometer laser marking machine is executed by the processor.
In addition, in order to achieve the above object, the present invention further provides a computer readable storage medium, on which a calibration program of a galvanometer laser marking machine is stored, wherein the calibration program of the galvanometer laser marking machine, when executed by a processor, implements the steps of the calibration method of the galvanometer laser marking machine according to any one of the above items.
The technical scheme of the invention provides a correction method of a galvanometer type laser marking machine, which is used for terminal equipment and comprises the following steps: acquiring a target image, wherein the target image is obtained by shooting a correction graph in a working area of a galvanometer type laser marking machine, the correction graph comprises a plurality of mark points, and the target image comprises a plurality of points to be measured corresponding to the mark points; measuring position information of the points to be measured to obtain a plurality of pieces of position information; and correcting errors of the galvanometer type laser marking machine by using the position information to obtain the corrected galvanometer type laser marking machine.
In the existing method, a technician is required to manually measure the position information of each intersection point (the measurement point to be measured in the application) by using the ruler to correct errors through the measured position information, but the accuracy rate of the manual measurement by using the ruler is low, so that the accuracy rate of the position information is low, the corrected precision is low, and the accuracy rate of the marking result is poor. The method of the invention is utilized to carry out digital processing on the target image so as to obtain a plurality of position information of a plurality of points to be measured, the accuracy rate of the position information is higher, the corrected precision is higher, and the accuracy rate of the marking result is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a calibration method of a galvanometer laser marking machine according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a calibration pattern according to the present invention;
FIG. 4 is a schematic diagram of a target image corresponding to the calibration graph in FIG. 3;
fig. 5 is a block diagram of a calibration device of a galvanometer laser marking machine according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention.
In general, a terminal device includes: at least one processor 301, a memory 302 and a calibration program of a galvanometer laser marking machine stored on said memory and executable on said processor, said calibration program of the galvanometer laser marking machine being configured to implement the steps of the calibration method of the galvanometer laser marking machine as described previously.
The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit) that is responsible for rendering and drawing content that the display screen needs to display. The processor 301 may further include an AI (Artificial Intelligence) processor for processing the calibration method operations related to the galvanometer laser marking machine, so that the calibration method model of the galvanometer laser marking machine may be trained and learned autonomously, thereby improving efficiency and accuracy.
In some embodiments, the terminal may further include: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected by a bus or signal lines. Various peripheral devices may be connected to communication interface 303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 304, a display screen 305, and a power source 306.
The communication interface 303 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 301 and the memory 302. In some embodiments, processor 301, memory 302, and communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302 and the communication interface 303 may be implemented on a single chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 304 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 304 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. Radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 304 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 305 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 305 is a touch display screen, the display screen 305 also has the ability to capture touch signals on or over the surface of the display screen 305. The touch signal may be input to the processor 301 as a control signal for processing. At this point, the display screen 305 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 305 may be one, the front panel of the electronic device; in other embodiments, the display screens 305 may be at least two, respectively disposed on different surfaces of the electronic device or in a folded design; in still other embodiments, the display screen 305 may be a flexible display screen disposed on a curved surface or a folded surface of the electronic device. Even further, the display screen 305 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display screen 305 may be made of LCD (liquid crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The power supply 306 is used to power various components in the electronic device. The power source 306 may be alternating current, direct current, disposable or rechargeable. When the power source 306 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery can also be used to support fast charge technology.
Those skilled in the art will appreciate that the configuration shown in fig. 1 is not limiting to the terminal device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
In addition, an embodiment of the present invention further provides a computer readable storage medium, where a calibration program of a galvanometer laser marking machine is stored, and when executed by a processor, the calibration program of the galvanometer laser marking machine implements the steps of the calibration method of the galvanometer laser marking machine described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that the program instructions may be deployed to be executed on one terminal device, or on multiple terminal devices located at one site, or distributed across multiple sites and interconnected by a communication network, as examples.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The computer readable storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Based on the hardware structure, the embodiment of the correction method of the galvanometer type laser marking machine is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a calibration method of a galvanometer laser marking machine, the method is used for a terminal device, and the method comprises the following steps:
step S11: the method comprises the steps of obtaining a target image, wherein the target image is obtained by shooting a correction graph in a working area of a galvanometer type laser marking machine, the correction graph comprises a plurality of mark points, and the target image comprises a plurality of points to be measured corresponding to the mark points.
The execution main body of the present invention is a terminal device, the terminal device is provided with a calibration program of the galvanometer laser marking machine, and when the terminal device executes the calibration program of the galvanometer laser marking machine, the steps of the calibration method of the galvanometer laser marking machine of the present invention are implemented.
In a specific application, a visual camera is arranged on the galvanometer laser marking machine, the visual camera is the target camera (mentioned below), and a shooting area of the target camera is a workbench of the galvanometer laser marking machine, namely a working area. A correction graph is needed to be arranged in a working area, the correction graph is usually drawn on black paper, then the black paper is placed in the working area, and then the black paper is shot by a target camera to obtain a target image.
Referring to fig. 3, fig. 3 is a schematic diagram of a calibration graph according to the present invention, the calibration graph includes a square and a pair of mutually perpendicular straight lines, and the two straight lines extend along the defined X direction and Y direction, respectively, so that 9 mark points (corresponding to 9 points to be measured) appear in the calibration graph. In fig. 3, the mark points may be numbered as needed to distinguish the mark points.
Referring to fig. 4 and fig. 4 are schematic diagrams of the target image corresponding to the correction pattern in fig. 3, generally, the correction pattern is placed in a working area, and the correction pattern may be distorted due to various reasons (influence of factors such as defocus, nonlinearity, mechanical installation, system control, environmental interference, etc.), and in the target image obtained at this time, the line corresponding to the correction pattern is not a straight line, but a curved line, referring to each line in fig. 4. Similarly, the numbering of the individual points to be measured is also carried out in the manner of fig. 3, and the X-direction and the Y-direction are defined in the manner of fig. 3.
Further, before the step of acquiring the target image, the method further includes: starting a light source of the galvanometer type laser marking machine so as to enable the light source to illuminate the working area; shooting the correction graph in the working area by using a target camera to obtain the target image, wherein the target camera is arranged on the galvanometer type laser marking machine.
Generally, a light source is required to be arranged on the galvanometer laser marking machine, so that the light source can illuminate the working area and then shooting operation is carried out. Generally, the plurality of points to be measured includes 9 points to be measured or 25 points to be measured, that is, the plurality of marker points includes 9 or 25 points.
Step S12: and measuring the position information of the points to be measured to obtain a plurality of position information. Wherein, one point to be measured corresponds to one position information.
Specifically, before the step of measuring the position information of the plurality of points to be measured and obtaining the plurality of position information, the method further includes: determining a reference point to be measured in the plurality of points to be measured; assigning the reference point to be measured by utilizing the first position information; the step of measuring the position information of the plurality of points to be measured to obtain a plurality of position information includes: measuring a plurality of non-reference points to be measured based on the reference points to be measured and the first position information to obtain a plurality of second position information corresponding to the non-reference measuring points, wherein the plurality of non-reference measuring points are points to be measured in the plurality of points to be measured except the reference points to be measured; and summarizing the first position information and the plurality of second position information to obtain a plurality of position information.
A user can set any point to be measured as a reference point to be measured based on requirements, for example, the point to be measured corresponding to the number 5 in fig. 4 is a reference point to be measured, in general application, the central point of the calibration graph is the reference point to be measured, and is assigned with a value of (0, 0); wherein the first position information may be a coordinate value (0, 0), i.e. the reference point to be measured is defined as the origin of coordinates. Then, based on the reference point to be measured, the relative positional relationship between each non-reference point to be measured and the reference point to be measured is determined, and further, a plurality of pieces of second positional information (8 pieces of second positional information corresponding to 8 non-reference points to be measured in fig. 4) corresponding to the plurality of non-reference points to be measured are obtained, and then the first positional information and the second positional information are summarized, and all pieces of positional information (9 pieces of positional information in fig. 4) are obtained.
In some embodiments, the calibration pattern may be another type of pattern, which may not be square, but the reference point to be measured is still the center point of the calibration pattern, and the value is still (0, 0).
Further, the target image comprises a plurality of lines to be measured, and each non-reference point to be measured is an intersection point of at least two lines to be measured; the step of measuring a plurality of non-reference points to be measured based on the reference points to be measured and the first position information to obtain a plurality of second position information corresponding to the plurality of non-reference points to be measured includes: determining a plurality of selected areas in the target image, wherein one selected area comprises a non-reference point to be measured, and one selected area comprises at least two local lines corresponding to at least two lines to be measured; solving the line relation of at least two local lines corresponding to the non-reference to-be-measured point in each selected area; determining the pixel coordinates of the non-reference points to be measured in each selected area by using the line relation corresponding to each selected area; and obtaining second position information corresponding to each non-reference measuring point based on the first position information and the pixel coordinates of each non-reference measuring point.
Referring to fig. 3, in the target image, each line is usually a straight line, the correction graph is a square, the reference point to be measured is a central point, that is, a point numbered 5, referring to fig. 4, each line in fig. 3 corresponds to one line, and one line in fig. 4 is a line to be measured, and the lines to be measured in fig. 4 are all curved lines due to distortion; the selected area is an area including non-reference points to be measured, that is, the area selected by the solid line frame is a selected area (the solid line frame corresponding to No. 1 non-reference points to be measured), and for fig. 4, 8 selected areas should be corresponding; one selected area comprises a non-reference point to be measured and two local lines of two lines to be measured corresponding to the non-reference point to be measured, the area corresponding to a dotted line frame in fig. 4, namely the area comprising the reference point to be measured, and the point to be measured corresponding to the number 5 is the reference point to be measured.
Referring to fig. 4, for a non-reference point to be measured, two local lines (two partial lines in a solid frame corresponding to the non-reference point to be measured) are corresponding, a mathematical expression-line relationship of the two local lines is obtained by using a visual algorithm, and a corresponding intersection point coordinate, which is a pixel coordinate corresponding to a non-reference measuring point, is obtained based on an intersection principle by using the line relationship of the two local lines. And then, second position information of the non-reference point to be measured is obtained by using the obtained pixel coordinates and the first position information of the reference point to be measured.
For example, in fig. 4, the pixel coordinates of the non-reference point to be measured of number 1 are determined by the line relationship of two local curves outlined by the solid line frame 1. It can be understood that the line relationship of the local line corresponding to the line to be measured in the selected region is obtained only, and not the line relationship of the entire line to be measured.
In one embodiment, the position information (coordinate value form) of the 9 points to be measured is referred to table 1, table 1 is as follows:
TABLE 1
| Numbering | In the X direction | Y direction |
| 1 | -73.433296 | -78.741997 |
| 2 | 0.804300 | -76.879601 |
| 3 | 74.919098 | -78.411400 |
| 4 | -77.889099 | -0.233800 |
| 5 | 0 | 0 |
| 6 | 77.495003 | -0.360200 |
| 7 | -75.875702 | 78.645103 |
| 8 | -0.739500 | 76.991997 |
| 9 | 74.453300 | 78.587303 |
In table 1, the point to be measured corresponding to reference numeral 5 in fig. 4 is set as a reference point to be measured, and the other 8 points are set as non-reference points to be measured.
Further, before the step of capturing the calibration graph in the working area by using the target camera to obtain the target image, the method further includes: determining the relative position relationship between the camera coordinate system of the target camera and the working coordinate system of the galvanometer type laser marking machine; calibrating the target camera by utilizing the relative position relation; the step of capturing the corrected image in the working area by using a target camera to obtain the target image includes: and shooting the corrected graph in the working area by using the calibrated target camera to obtain the target image.
Generally, a plurality of reference points are set in a working coordinate system, a plurality of reference point coordinates (coordinate values in the working coordinate system) of the plurality of reference points are known, and one reference point corresponds to one reference point coordinate; and then, photographing the plurality of reference points by using the target camera to obtain a plurality of photographing reference points, wherein one reference point corresponds to one photographing reference point, and then determining the coordinates of the photographing reference points of each photographing reference point in a camera coordinate system. And then, establishing an equation set by utilizing the coordinates of the plurality of shooting reference points and the coordinates of the plurality of reference points, wherein the equation set expresses the relative position relationship between the camera coordinate system and the working coordinate system, solving the equation set to obtain a specific relative position relationship, and using the obtained relative position relationship for calibrating the target camera.
Step S13: utilizing a plurality of position information to carry out error correction on the galvanometer type laser marking machine to obtain the corrected galvanometer type laser marking machine
Referring to the above, a plurality of the position information is position information in the camera coordinate system; before the step of performing error correction on the galvanometer type laser marking machine by using the plurality of position information to obtain the corrected galvanometer type laser marking machine, the method further comprises the following steps: converting the position information by using the relative position relationship to obtain result position information, wherein the result position information is position information in the working coordinate system; the step of utilizing a plurality of the position information to carry out error correction on the galvanometer type laser marking machine to obtain the corrected galvanometer type laser marking machine comprises the following steps: and correcting errors of the galvanometer type laser marking machine by using the plurality of result position information to obtain the corrected galvanometer type laser marking machine.
At this time, a plurality of position information are required to be converted into a plurality of result position information, one position information corresponds to one result position information, so that the conversion of the coordinate system of the point to be measured, namely the conversion of the camera coordinate system into the working coordinate system, is realized, then, the error correction operation is carried out, and after the error correction operation is realized, the marking test pattern can be marked to see the correction effect.
The technical scheme of the invention provides a correction method of a galvanometer type laser marking machine, which is used for terminal equipment and comprises the following steps: acquiring a target image, wherein the target image is obtained by shooting a correction graph in a working area of a galvanometer type laser marking machine, the correction graph comprises a plurality of mark points, and the target image comprises a plurality of points to be measured corresponding to the mark points; measuring position information of the points to be measured to obtain a plurality of pieces of position information; and correcting errors of the galvanometer type laser marking machine by using the position information to obtain the corrected galvanometer type laser marking machine.
In the existing method, a technician is required to manually measure the position information of each intersection point (the measurement point to be measured in the application) by using the ruler to correct errors through the measured position information, but the accuracy rate of the manual measurement by using the ruler is low, so that the accuracy rate of the position information is low, the corrected precision is low, and the accuracy rate of the marking result is poor. The method of the invention is utilized to carry out digital processing on the target image so as to obtain a plurality of position information of a plurality of points to be measured, the accuracy rate of the position information is higher, the corrected precision is higher, and the accuracy rate of the marking result is improved.
Meanwhile, in terms of efficiency, the conventional mode needs to manually measure each point by using a ruler, so that the efficiency is extremely low. From the precision perspective: the existing mode needs manual measurement, because the distorted graph is a curve, and the minimum scale of the ruler is 1mm, if a point is in the middle of the scale, the current value can only be manually estimated, the existing error is large, certain influence can be caused on subsequent marking, and the marking mode can not be used even in some occasions requiring high-precision marking, but the mode of the invention is full-automatic calculation, and the error can reach 0.1mm.
Referring to fig. 5, fig. 5 is a block diagram of a first embodiment of a calibration apparatus of a galvanometer laser marking machine of the present invention, the apparatus is used for a terminal device, and based on the same inventive concept as the previous embodiment, the apparatus comprises:
an obtaining module 10, configured to obtain a target image, where the target image is obtained by shooting a correction graph in a working area of a galvanometer laser marking machine, the correction graph includes a plurality of mark points, and the target image includes a plurality of points to be measured corresponding to the mark points;
a measuring module 20, configured to measure position information of the multiple points to be measured, so as to obtain multiple pieces of position information;
and the correcting module 30 is configured to perform error correction on the galvanometer laser marking machine by using the plurality of position information to obtain a corrected galvanometer laser marking machine.
It should be noted that, since the steps executed by the apparatus of this embodiment are the same as the steps of the foregoing method embodiment, the specific implementation and the achievable technical effects thereof can refer to the foregoing embodiment, and are not described herein again.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A correction method of a galvanometer laser marking machine is characterized by being used for a terminal device, and comprises the following steps:
acquiring a target image, wherein the target image is obtained by shooting a correction graph in a working area of a galvanometer laser marking machine, the correction graph comprises a plurality of mark points, and the target image comprises a plurality of points to be measured corresponding to the mark points;
measuring position information of the points to be measured to obtain a plurality of pieces of position information;
correcting errors of the galvanometer type laser marking machine by using the position information to obtain a corrected galvanometer type laser marking machine;
before the step of acquiring the target image, the method further comprises:
starting a light source of the galvanometer type laser marking machine so as to enable the light source to illuminate the working area;
shooting the correction graph in the working area by using a target camera to obtain a target image, wherein the target camera is arranged on the galvanometer type laser marking machine;
before the step of measuring the position information of the plurality of points to be measured and obtaining a plurality of position information, the method further comprises:
determining a reference point to be measured in the plurality of points to be measured;
assigning a value to the reference point to be measured by using the first position information;
the step of measuring the position information of the plurality of points to be measured to obtain a plurality of position information includes:
measuring a plurality of non-reference points to be measured based on the reference points to be measured and the first position information, and obtaining a plurality of second position information corresponding to the non-reference points to be measured, wherein the plurality of non-reference points to be measured are points to be measured in the plurality of points to be measured except the reference points to be measured;
summarizing the first position information and the plurality of second position information to obtain a plurality of position information;
the target image comprises a plurality of lines to be measured, and each non-reference point to be measured is an intersection point of at least two lines to be measured; the step of measuring a plurality of non-reference points to be measured based on the reference points to be measured and the first position information to obtain a plurality of second position information corresponding to the plurality of non-reference points to be measured includes:
determining a plurality of selected areas in the target image, wherein one selected area comprises a non-reference point to be measured, and one selected area comprises at least two local lines corresponding to at least two lines to be measured;
solving the line relation of at least two local lines corresponding to the non-reference to-be-measured point in each selected area;
determining the pixel coordinates of the non-reference points to be measured in each selected area by using the line relation corresponding to each selected area;
and obtaining second position information corresponding to each non-reference measuring point based on the first position information and the pixel coordinates of each non-reference measuring point.
2. The method of claim 1, wherein said step of capturing said calibration pattern within said work area with a target camera to obtain said target image is preceded by the step of:
determining the relative position relationship between the camera coordinate system of the target camera and the working coordinate system of the galvanometer type laser marking machine;
calibrating the target camera by utilizing the relative position relation;
the step of capturing the corrected image in the working area by using a target camera to obtain the target image includes:
and shooting the corrected graph in the working area by using the calibrated target camera to obtain the target image.
3. The method of claim 2, wherein a plurality of the position information is position information in the camera coordinate system; before the step of performing error correction on the galvanometer type laser marking machine by using the plurality of position information to obtain the corrected galvanometer type laser marking machine, the method further comprises the following steps:
converting the position information by using the relative position relationship to obtain result position information, wherein the result position information is position information in the working coordinate system;
the step of correcting the error of the galvanometer laser marking machine by using the plurality of position information to obtain the corrected galvanometer laser marking machine comprises the following steps:
and correcting errors of the galvanometer type laser marking machine by using the plurality of result position information to obtain the corrected galvanometer type laser marking machine.
4. A method according to any of claims 1-3, wherein the plurality of points to be measured comprises 9 or 25 points to be measured.
5. A calibrating device of a galvanometer laser marking machine for implementing the calibrating method of any one of claims 1 to 4, for a terminal device, said device comprising:
the system comprises an acquisition module, a detection module and a display module, wherein the acquisition module is used for acquiring a target image, the target image is obtained by shooting a correction graph in a working area of the galvanometer type laser marking machine, the correction graph comprises a plurality of mark points, and the target image comprises a plurality of points to be measured corresponding to the mark points;
the measuring module is used for measuring the position information of the points to be measured to obtain a plurality of position information;
and the correction module is used for correcting errors of the galvanometer type laser marking machine by utilizing the position information to obtain the corrected galvanometer type laser marking machine.
6. A terminal device, characterized in that the terminal device comprises: memory, processor and a calibration program stored on said memory and running on said processor of a galvanometer laser marking machine, said calibration program of a galvanometer laser marking machine when executed by said processor implementing the steps of the calibration method of a galvanometer laser marking machine according to any one of claims 1 to 4.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a calibration program of a galvanometer laser marking machine, which when executed by a processor implements the steps of the calibration method of a galvanometer laser marking machine according to any one of claims 1 to 4.
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| CN108044232B (en) * | 2017-11-02 | 2019-09-13 | 北京金橙子科技股份有限公司 | A kind of bearing calibration of galvanometer in the same direction |
| CN109410140B (en) * | 2018-10-24 | 2021-02-26 | 京东方科技集团股份有限公司 | Distortion correction method, device and system and computer readable storage medium |
| CN109894748B (en) * | 2019-02-22 | 2021-02-23 | 深圳泰德激光科技有限公司 | Laser three-dimensional flight marking method and device, computer equipment and storage medium |
| CN110695520B (en) * | 2019-09-26 | 2021-12-10 | 南京魔迪多维数码科技有限公司 | Vision-based full-automatic galvanometer field calibration system and calibration method thereof |
| CN110706184A (en) * | 2019-10-11 | 2020-01-17 | 深圳市智远数控有限公司 | Method for correcting offset of laser galvanometer |
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| CN112059413B (en) * | 2020-08-10 | 2022-07-05 | 大族激光科技产业集团股份有限公司 | Laser galvanometer correction method and device, computer equipment and storage medium |
| CN112692440B (en) * | 2020-12-21 | 2023-02-28 | 长沙八思量信息技术有限公司 | Laser marking method, system, device and storage medium |
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