CN114295056A - Rapid correction method and application of visual positioning system of laser processing equipment - Google Patents
Rapid correction method and application of visual positioning system of laser processing equipment Download PDFInfo
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Abstract
The invention discloses a quick correction method and application of a visual positioning system of laser processing equipment, wherein the correction method comprises the following steps: setting graphic marks on the workpiece to manufacture a standard workpiece; establishing a workpiece coordinate system according to the positioning marks, wherein the coordinate axis of the workpiece coordinate system is parallel to the unified coordinate system of the visual positioning system; determining the test point and the test line from the pattern marks, and measuring the coordinate (X) of the test point in the workpiece coordinate system0,Y0) The angle alpha formed between the test line and the X-axis or Y-axis of the workpiece coordinate system0(ii) a A visual workpiece coordinate system corresponding to the workpiece coordinate system is constructed by utilizing a visual positioning system of the laser processing equipment, and the coordinates (X) of the corresponding test points in the visual workpiece coordinate system are measured1,Y1) The angle alpha formed between the test line and the X-axis or Y-axis of the visual workpiece coordinate system1(ii) a Respectively calculating error compensation quantity delta X in X direction as X1‑X0Y-direction error compensation quantity Δ Y ═ Y1‑Y0Angle error compensation quantity delta alpha is alpha1‑α0For correcting errors of the vision positioning system. The correction method can quickly correct the vision system and improve the production efficiency.
Description
Technical Field
The invention relates to the field of laser processing, in particular to a quick correction method and application of a visual positioning system of laser processing equipment.
Background
In laser processing equipment with a visual positioning system, a coordinate system of the visual positioning system and a coordinate system of laser relative to workpiece movement are calibrated, so that the two coordinate systems are overlapped, and the coordinate system is referred to as a unified coordinate system for short. Before the laser is used for processing the workpiece, the coordinate position of a positioning mark on the workpiece or a jig for clamping the workpiece in a unified coordinate system is observed by machine vision, and then the workpiece is processed by the laser. The positioning mark has a certain geometric size, machine vision usually captures the edge line of the image of the positioning mark, and the edge line is compared with the edge of the positioning template to calculate the position and angle offset of the image in a unified coordinate system, and compensate and correct the position and angle of the digital model of the processing graph so as to enable the position and angle of the digital model to coincide with the position in the workpiece coordinate system. However, the edge of the positioning mark is not a geometric line without width, in the visual image of the machine vision, the edge has a certain width, the algorithm searches a point with the maximum gradient of image brightness change along the direction vertical to the edge as the position of the edge, and the set of the points forms the edge found by the algorithm. Obviously, the edge found by the vision system is related to the captured image details, and the image details are different according to different illumination conditions of different devices, related to the individual differences of the imaging lenses of different devices, and more related to the specific form of the positioning mark. In the on-axis vision positioning system, the visual influence is rhomboid distortion and chromatic aberration at a position deviated from the center of the plane field lens, and therefore, the position is shifted. Even with the use of achromatic field lenses, rhomboid distortion is unavoidable. Due to the above reasons, the position and angle of the positioning mark captured by the vision positioning system are not the real position and angle in the unified coordinate system.
In order to ensure the accuracy of the laser processing position and angle, before the laser processing equipment is put into use for the first time or a new product is produced, a plurality of real products (generally 5-10 products) need to be processed, the position deviation of the laser processing position on each product is measured, the average deviation amount is calculated, and then the average deviation amount is compensated into a digital model of laser processing. The process is commonly called as the first part, and is tedious and complicated, consumes the product and consumes time.
Taking keyboard marking as an example, 108 keycaps on a standard keyboard need to be marked, each keycap needs to measure X, Y direction offset and angle offset, 540 keycaps need to be measured according to a minimum of 5 tested keyboards, each keycap has at least 1 measuring point with control precision, and each measuring point measures X, Y two direction dimension measurement and one angle measurement. If 100 marking machines are arranged in a workshop to produce the same product, the workload of visual deviation compensation is very large, and the rapid production of equipment is not facilitated.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a quick correction method and application of a visual positioning system of laser processing equipment.
In order to achieve the purpose, the invention adopts the technical scheme that: a method for quickly correcting a vision positioning system of laser processing equipment comprises the following steps:
setting graphic marks on the workpiece to manufacture a standard workpiece;
establishing a workpiece coordinate system according to the positioning marks, wherein the coordinate axis of the workpiece coordinate system is parallel to the unified coordinate system of the visual positioning system;
determining test points and test lines from the pattern marks, and actually measuring coordinates (X) of the test points in the workpiece coordinate system0,Y0) An included angle alpha formed between the test line and the X axis or the Y axis of the workpiece coordinate system0；
Constructing a visual workpiece coordinate system corresponding to the workpiece coordinate system by using a visual positioning system of the laser processing equipment, and measuring the coordinates (X) of the corresponding test points in the visual workpiece coordinate system1,Y1) An included angle alpha formed between the test line and the X axis or the Y axis of the visual workpiece coordinate system1；
Respectively calculating error compensation quantity delta X in X direction as X1-X0Y-direction error compensation quantity Δ Y ═ Y1-Y0Angle error compensation quantity delta alpha is alpha1-α0For correcting errors of the vision positioning system.
In the above technical solution, "constructing a coordinate system of a workpiece according to a positioning mark" includes: a positioning mark for visual positioning is arranged on the workpiece, the positioning mark is provided with a characteristic line parallel to the X axis and the Y axis of the unified coordinate system, the characteristic line parallel to the X axis of the unified coordinate system in the positioning mark is selected as the X axis of the workpiece coordinate system, and the direction of the characteristic line is the same as the direction of the X axis in the unified coordinate system; selecting the characteristic line parallel to the Y axis of the unified coordinate system in the positioning mark as the Y axis of the workpiece coordinate system, wherein the direction of the characteristic line is the same as that of the Y axis in the unified coordinate system;
the method comprises the steps that a positioning mark for visual positioning is arranged on a workpiece, no characteristic line parallel to the X axis and the Y axis of a unified coordinate system exists in the positioning mark, two characteristic points on the positioning mark are selected, one of the characteristic points is used as an original point, and a straight line which passes through the original point and forms a specific angle with a connecting line of the two characteristic points is used as an X axis to construct a workpiece coordinate system; the specific angle is an included angle between a connecting line of the two characteristic points and an X axis in a unified coordinate system; the direction of the constructed workpiece coordinate system X is the same as the X-axis direction of the unified coordinate system; the constructed workpiece coordinate system is a rectangular coordinate system.
In the above technical solution, "constructing a coordinate system of a workpiece according to a positioning mark" further includes: when no positioning mark for visual positioning is available on the workpiece, 2 positioning marks are made on a precision jig for clamping the workpiece; and constructing the workpiece coordinate system by the established positioning marks.
In the above technical solution, "setting a graphic mark on a workpiece" includes setting the graphic mark by any one of laser marking, screen printing, and chemical etching, and may also be set by other methods.
In the above technical solution, the test point is a point on the graphic mark constructed by an image algorithm, such as a circle center of a circular mark, a certain vertex of a polygonal mark, or a centroid of any graphic.
In the above technical solution, the test line is a line generated by an edge-tracking function of an image algorithm in the graphic mark, or a straight line passing through two points constructed by the image algorithm.
In the above technical solution, the graphic mark includes a circular mark, a linear mark, a rectangular mark, and a triangular mark; one or two of the workpieces are arranged on the workpiece.
In the above technical scheme, an image measuring instrument is adopted to actually measure the coordinate value of the test point in the workpiece coordinate system, and the included angle between the test line and the X axis or the Y axis of the workpiece coordinate system.
A method for correcting a vision positioning system under the condition of multipoint vision positioning of a large workpiece applies the quick correction method of the vision positioning system of the laser processing equipment, and comprises the following steps:
more than two locating marks are selected on the master workpiece, preferably two locating marks that are spaced further apart along the master workpiece. Arranging one graphic mark close to each positioning mark, wherein the distance between each graphic mark and the corresponding positioning mark is small enough; the term "sufficiently small pitch" means that the field angle of the vision positioning system of the laser processing apparatus can completely cover one of the graphic marks and the corresponding positioning mark.
Constructing a workpiece coordinate system by using each positioning mark, and actually measuring the coordinate (X) of the test point on the graphic mark in the corresponding workpiece coordinate systemi,Yi)。
Constructing a visual workpiece coordinate system corresponding to the workpiece coordinate system by utilizing a visual positioning system of laser processing equipment, and measuring the coordinates (X ') of the corresponding test points in the visual workpiece coordinate system'i,Y′i) Where i refers to the ith localization marker.
Respectively calculating the coordinate (X) of each positioning mark in the workpiece coordinate systemi,Yi) And the coordinates (X ') in the visual work coordinate system'i,Y′i) Difference value (DeltaX) therebetweeni，ΔYi) As the error compensation quantity of the test point on the ith positioning mark in the visual positioning system, wherein, Delta Xi＝X′i-Xi，ΔYi＝Y′i-Yi。
During actual production and machining, the workpiece is integrally and visually positioned before laser machining, and the method specifically comprises the following steps:
capturing coordinate values (X 'of a plurality of selected positioning marks on the workpiece in a unified coordinate system by using a visual error compensated visual positioning system of the corresponding standard workpiece'i,Y′i) Calculating the weighted center coordinates of all selected position markers
Wherein:
n is the number of selected positioning marks.
Calculating theoretical weight center coordinates of a plurality of selected positioning marks in a unified coordinate system
Wherein:
(Xi,Yi) Theoretical coordinates in a unified coordinate system for the selected landmarks.
And (Δ X, Δ Y) is used as the position correction quantity of the visual positioning system to integrally move the position of the laser processing graphic digital model, wherein:
calculating the actual placing inclination angle alpha' of the workpiece in the unified coordinate system and the theoretical inclination angle alpha of the laser processing graphic digital model in the unified coordinate system, taking the difference value delta alpha as an angle compensation quantity, and taking the laser processing graphic weight center coordinate after position correction
Rotating a digital model of a laser machined pattern for a center, wherein:
Δα＝α′-α；
α＝tan-1k；
α′＝tan-1k′；
in the vision positioning system correction method under the condition of carrying out multi-point vision positioning on a large-sized workpiece, the graphic mark is preferably a circle as a graphic mark so as to search a circle center coordinate as the test point by using a graphic image processing software tool.
A vision positioning system correction method applying the laser processing equipment corrects the situation of clamping a plurality of workpieces on a carrier, which comprises the following steps of performing vision positioning correction on each workpiece on the carrier one by one, specifically comprising the following steps:
manufacturing a standard workpiece with graphic marks for each workpiece clamping position on the carrier;
constructing a workpiece coordinate system, a test point and a test line for each standard workpiece; actually measuring the coordinate of the test point in the constructed workpiece coordinate system, and actually measuring the included angle between the test line and the coordinate axis of the workpiece coordinate system;
clamping all standard workpieces on a carrier, and constructing a visual workpiece coordinate system, a test point and a test line for each standard workpiece on the carrier by using a visual positioning system of laser processing equipment; measuring the coordinate of the test point in the visual workpiece coordinate system, and measuring the included angle between the test line and the coordinate axis of the visual workpiece coordinate system;
and utilizing the difference value between the coordinate of the test point in the workpiece coordinate system and the coordinate in the visual workpiece coordinate system as the error compensation quantity of the visual positioning system at the position of the standard workpiece. And the difference value between the included angle of the test line in the workpiece coordinate system and the X axis and the included angle between the test line in the visual workpiece coordinate system and the X axis is used as the angle error compensation quantity of the visual positioning system at the position of the standard workpiece.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. according to the invention, a standard workpiece is manufactured, a graphic mark is arranged on the standard workpiece, a test point and a test line are determined, a visual positioning system of laser processing equipment is utilized to measure the position of the test point and the included angle between the test line and a coordinate axis under a unified coordinate system, the position of the test point and the included angle between the test line and the coordinate axis under the workpiece coordinate system are measured actually, and the visual error compensation amount of the visual positioning system of the laser processing equipment for the workpiece is determined by the difference value of the test point positions and the difference value of the included angles under the two coordinate systems, so that a large number of first workpieces are avoided to be manufactured, namely, the complicated work of actually measuring a large number of laser processing positions, counting the average position deviation and then compensating the positioning error of the visual system is avoided. And the first product is a qualified product during processing, so that the production efficiency is improved, and the material waste is reduced.
In order to make the aforementioned and other objects, features and advantages of the invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
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 drawings without creative efforts.
FIG. 1 is a schematic flow chart of a visual correction method according to an embodiment of the present invention;
FIG. 2 is a schematic view of workpiece measurement according to one embodiment of the present invention;
FIG. 3 is a schematic view of a workpiece being processed according to one embodiment of the present invention;
FIG. 4 is a schematic view of workpiece measurement according to a second embodiment of the present invention;
FIG. 5 is a schematic view of the workpiece processing according to the second embodiment of the present invention;
FIG. 6 is a schematic diagram of key cap measurement in the third embodiment of the present invention;
fig. 7 is a schematic diagram of keyboard positioning in the third embodiment of the present invention.
Reference numerals of the above figures: 1. a standard workpiece; 2. a graphic mark; 3. testing points; 4. a test line; 5. processing a pattern by laser; 6. a locating mark; 7. a standard keycap; 8. a keyboard; 9. a first circle; 10. a second circle; 11. a precision jig.
Detailed Description
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 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.
The first embodiment is as follows: referring to fig. 1 to 3, a method for quickly calibrating a vision positioning system of a laser processing apparatus, in this embodiment, a workpiece has two mutually perpendicular edges. If the workpiece has a left edge and a lower edge that are perpendicular to each other, and the left edge and the lower edge of the actual placement of the workpiece on the laser processing apparatus are parallel to the Y axis and the X axis of the unified coordinate system, respectively, the process requires that the distances from the laser processing pattern 5 to the left edge and the lower edge are within a specified tolerance range.
The correction method comprises the following steps:
manufacturing a standard workpiece 1: a workpiece is taken, and two graphic marks 2 are arranged on the upper surface of the workpiece in a laser marking mode and comprise a circular mark and a linear mark.
Constructing a workpiece coordinate system: searching the left edge and the lower edge of the standard workpiece 1 by using the edge-tracking function of the image measuring instrument, constructing an intersection point of extension lines of the standard workpiece 1 by using the two edges, and constructing a workpiece coordinate system by using the intersection point as a coordinate origin, the lower edge as an X axis and the left edge as a Y axis. The workpiece coordinate system is a rectangular coordinate system.
Data on the measured standard workpiece 1: the center of a circle of a circular target is captured by an image measuring instrument to be used as a test point 3, and the coordinate (X) of the test point in a workpiece coordinate system is measured0,Y0) (ii) a Capturing the lower edge of the linear target by an image measuring instrument to be used as a test line 4, and measuring the included angle alpha between the lower edge and the X axis of the workpiece coordinate system0。
The data of the standard workpiece 1 are measured by a visual positioning system of the laser processing equipment: clamping the standard workpiece 1 on a machine, constructing a visual workpiece coordinate system, a test point 3 and a test line 4 by the same method as the measured data, and measuring the position coordinate (X) of the test point 3 in the visual workpiece coordinate system1,Y1) The included angle alpha formed between the test line 4 and the X axis of the visual workpiece coordinate system1。
Calculating an error compensation amount: respectively calculating error compensation quantity delta X in X direction as X1-X0Y-direction error compensation quantity Δ Y ═ Y1-Y0Angle error compensation quantity delta alpha is alpha1-α0. And the delta X is used as an error compensation quantity of the visual positioning system of the laser processing equipment for the workpiece in the X direction. And the delta Y is used as an error compensation quantity of the visual positioning system of the laser processing equipment for the workpiece in the Y direction. And the delta alpha is used as an angle error compensation quantity to correct the error of the vision positioning system.
For the same product produced by multiple machines, a standard workpiece 1 can be made, and the calibration method in the embodiment is repeated for all machines by using the standard workpiece 1 to calibrate the error of the vision positioning system of each machine.
Referring to fig. 3, after obtaining the error compensation amount of each machine, in actual production, before laser processing, the vision positioning system searches for the edge of the lower left portion of the workpiece in a vision search area preset in the vision positioning template, and compares the edge with the edge in the vision positioning template; the coordinate position offset is calculated. The position of the digital model of the laser machining pattern 5 in the unified coordinate system is shifted after the error compensation amount is added. The angle offset is calculated, the digital model of the laser processing pattern 5 is rotated after the angle error compensation is added, and then laser processing is performed.
Besides laser marking, the graphic mark 2 can be made by screen printing, chemical etching or other methods.
In this embodiment, a circle mark and a line mark are selected and combined to determine the test point 3 and the test line 4. It is also possible to set a polygonal graphic mark 2, with one vertex as a test point 3 and one edge as a test line 4.
Example two: referring to fig. 4 to 5, in the present embodiment, a feature that a workpiece does not have a visual positioning function is taken as an example, that is, for a workpiece whose edge is not sharp enough and the visual positioning system cannot capture the edge of the workpiece, the visual positioning function can be assisted by the precision jig 11, and during production and processing, the workpiece is also clamped by the same precision jig 11.
The correction method comprises the following steps:
manufacturing a standard workpiece 1: a workpiece is taken, a square mark is arranged on the upper surface of the workpiece in a laser marking mode, the square mark is used as a pattern mark 2, the workpiece is clamped on a precision jig 11, and the whole formed by clamping the workpiece provided with the pattern mark 2 on the precision jig 11 is used as a standard workpiece 1.
The precision jig 11 is provided with two positioning marks 6 for constructing a workpiece coordinate system, and after the standard workpiece is clamped in the laser processing equipment, the central connecting line of the standard workpiece is parallel to the X axis of the unified coordinate system. In this embodiment, the precision jig 11 is used to ensure that the repetition precision of the relative position and angle between the workpiece and the positioning mark 6 is within the allowable range of the tolerance after the workpiece is clamped. The relative positions of the laser-machined pattern and the two positioning marks 6 are required to be within an allowable tolerance.
Constructing a workpiece coordinate system: the image measuring instrument is used for capturing the central points of the two positioning marks 6 respectively, one central point is used as an original point, a straight line passing through the two central points is used as an X axis, a straight line passing through the original point and perpendicular to the X axis is used as a Y axis, and a workpiece coordinate system is constructed and is a rectangular coordinate system.
Data on the measured standard workpiece 1: capturing four sides of the square target by using an image measuring instrument, constructing four vertexes of the square target through intersection points of four side extension lines, constructing diagonal lines of the square target by using two groups of diagonal vertexes, and taking the intersection points of the diagonal lines as test points 3. The coordinates (X) of the test point 3 in the workpiece coordinate system are measured by the image measuring device0,Y0). The lower frame line of one side of the square mark facing the X axis is used as a test line 4, and the image is used for measuring the included angle alpha between the test line 4 and the X axis of the workpiece coordinate system0。
The data of the standard workpiece 1 are measured by a visual positioning system of the laser processing equipment: placing the standard workpiece 1 under the processing head of a machine table, constructing a visual workpiece coordinate system, a test point 3 and a test line 4 by using a visual positioning system of the machine table in the same method as the measured data, and measuring the position coordinate (X) of the test point 3 in the visual workpiece coordinate system1,Y1) The included angle alpha formed between the test line 4 and the X axis of the visual workpiece coordinate system1。
Calculating an error compensation amount: respectively calculating error compensation quantity delta X in X direction as X1-X0Y-direction error compensation quantity Δ Y ═ Y1-Y0Angle error compensation quantity delta alpha is alpha1-α0. And the delta X is used as an error compensation quantity of the visual positioning system of the laser processing equipment for the workpiece in the X direction. The delta Y is used as the vision of the laser processing equipmentThe positioning system compensates for the amount of error in the Y direction for the workpiece. And the delta alpha is used as an angle error compensation quantity to correct the error of the vision positioning system.
Referring to fig. 5, after the error compensation amount of each machine is obtained, in actual production, a visual search area covering two positioning markers 6 is set, and coordinates of the two positioning markers 6 in the unified coordinate system are positioned in the visual search area. And constructing a workpiece coordinate system, and obtaining a transformation relation between the workpiece coordinate system and the unified coordinate system. And (3) compensating the coordinates of the known digital model of the laser processing pattern 5 in the workpiece coordinate system by using the calculated error compensation quantity (delta x, delta y, delta alpha), converting the compensated digital model into a unified coordinate system, and processing the laser processing pattern 5 on the surface of the workpiece according to the compensated position and angle.
By the method, the vision positioning system is corrected by the precise jig 11, and the precise jig 11 is used in actual production, so that the difference of vision compensation caused by the geometric shape difference of different types of product workpieces can be eliminated, and when the products are switched, the vision positioning system does not need to be corrected again as long as the shapes and relative positions of the two positioning marks 6 on the jig are unchanged.
Example three: referring to fig. 6 to 7, a method for calibrating a vision positioning system in a case where a large-sized workpiece is multi-point vision positioned, which applies the method for rapidly calibrating a vision positioning system of a laser processing apparatus, includes:
manufacturing a standard keycap 7: taking two unmarked keycaps, marking a first circle 9 at the center of each keycap by using laser to serve as a graphic mark 2; a second circle 10 is marked on the lower left corner of the key cap to indicate direction.
Constructing a key cap coordinate system: capturing four sides of the keycap by using an image measuring instrument, constructing four vertexes of the keycap through intersection points of four side extension lines, constructing diagonal lines of the keycap by using two groups of diagonal vertexes, and taking the intersection points of the diagonal lines as original points. And constructing a keycap coordinate system by taking a straight line which passes through the origin and is parallel to the lower edge as an X axis and taking a straight line which passes through the origin and is parallel to the left edge as a Y axis. The keycap coordinate system is a rectangular coordinate system. Wherein the second circle 10 is located in the third quadrant of the key cap coordinate system.
Data on the actual measurement standard key cap 7: capturing the center of a first circle 9 as a test point 3 by using an image measuring instrument, and measuring the coordinate of the test point 3 on two standard keycaps 7 in a keycap coordinate system to be respectively (X)01,Y01)、(X 02,Y02). The coordinate of the center of the first circle 9 can be understood as the offset of the center of the first circle 9 and the center of the key cap in the X-axis direction and the Y-axis direction, respectively.
The data of the standard keycap 7 are measured by the visual positioning system of the laser processing equipment: two standard key caps 7 are respectively arranged at the positions of the letter E and the letter M on the keyboard 8, and a second circle 10 for indicating the position is positioned at the lower left of the key caps and used for positioning the keyboard 8. Placing a keyboard 8 on a clamping jig of equipment, constructing a visual keycap coordinate system, a test point 3 and a test line 4 by the same method as the actually measured data, and measuring the position coordinates of the test point 3 of two standard keycaps 7 in the visual keycap coordinate system to be respectively (X)11,Y11)、(X 21,Y21). That is (X)11,Y11) And (X)21,Y21) Are respectively (X)01,Y01) And (X)02,Y02) Performance values in a unified coordinate system of a visual positioning system. The differences (Δ X1, Δ Y1) and (Δ X2, Δ Y2) are used as error compensation amounts at E, M positions of the vision positioning system, respectively. Wherein Δ X1 ═ X11-X 01，ΔY1＝Y11-Y 01，ΔX2＝X12-X 02，ΔY2＝Y12-Y 02。
Referring to fig. 7, in actual production, the coordinate positions of the centers of the E keycap and the M keycap in the unified coordinate system are captured by visual positioning. The coordinate positions are compensated and corrected by error compensation amounts (delta X1, delta Y1) and (delta X2, delta Y2), respectively, and the coordinates after compensation and correction are (X'E,Y′E) And (X'M,Y′M) Wherein:
X′E＝XE+ΔX1；
Y′E＝YE+ΔY1；
X′M＝XM+ΔX2；
Y′M＝YM+ΔY2；
(XE,YE) The theoretical coordinate of the center of the E keycap in a unified coordinate system;
(XM,YM) Is the theoretical coordinate of the center of the M keycap in a unified coordinate system.
The middle point of the central connecting line of the two keycaps is taken as the key cap weight center, and the coordinate of the weight center measured by the vision positioning system in the unified coordinate system is taken as
The theoretical coordinate of the weight center in the unified coordinate system is
Wherein:
the slope of the central connecting line of the two keycaps measured by the vision positioning system in a unified coordinate system is k ', and the inclination angle is alpha';
the theoretical slope of the central connecting line of the two keycaps in the unified coordinate system is k, and the inclination angle is alpha;
wherein:
α′＝tan-1k′；
α＝tan-1k；
moving the keyboard marking pattern as a whole (Δ X, Δ Y), wherein:
and rotating the keyboard marking drawing file by delta alpha by taking the moved weight center coordinate as a center, wherein:
Δα＝α′-α；
this completes the overall visual positioning of the keyboard 8.
Example four: the vision positioning system correcting method of the laser processing equipment is used for correcting the situation that a plurality of workpieces are clamped on a carrier. It is basically similar to the first embodiment, but the difference is:
manufacturing standard keycaps 7 for all keycaps on a keyboard 8, constructing a workpiece coordinate system, a test point 3 and a test line 4 for each standard keycap 7, and actually measuring the coordinate (X, Y) of the test point 3 in the workpiece coordinate systemiThe included angle alpha between the actually measured test line 4 and the X axisiWherein i is the keycap serial number;
mounting each standard keycap 7 on a keyboard 8 to form a standard keyboard;
place the standard keyboard in the mark station of marking of keyboard marking machine, measure every standard key cap 7 on the standard keyboard with the visual positioning system of keyboard marking machine, promptly: constructing a visual keycap coordinate system, a test point 3 and a test line 4, and measuring the coordinate of the test point 3 and the included angle between the test line 4 and the X axis;
paired keysVisual error compensation is done at every key cap position to dish marking machine visual positioning system, promptly: by Δ Xi＝X′i-XiCompensating for visual deviation in the X direction of the ith keycap position by Δ Yi＝Y′i-YiCompensating for visual deviation in Y direction of ith keycap position by delta alphai＝α′i-αiCompensating for visual angle deviation of ith keycap position.
After the compensation and correction, during actual production, the visual positioning system performs visual positioning on the keycaps before each keycap is marked, and then marks are marked, so that the first part for manufacturing and correcting the drawing file can be omitted.
In practical application, a vision correction program can be programmed, the positions and angles of the graphic marks 2 on each keycap of the standard keyboard, which are measured by the image measuring instrument, are recorded into the program, when the equipment is subjected to vision correction, the vision positioning system of the equipment automatically detects the positions and angles of the graphic marks 2 of each standard keycap 7 on the standard keyboard, the compensation amount of each keycap position is automatically calculated, and the vision compensation correction of hundreds of keycap positions can be completed within ten seconds.
The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A quick correction method for a visual positioning system of laser processing equipment is characterized by comprising the following steps: the correction method comprises the following steps:
setting graphic marks on the workpiece to manufacture a standard workpiece;
establishing a workpiece coordinate system according to the positioning marks, wherein the coordinate axis of the workpiece coordinate system is parallel to the unified coordinate system of the visual positioning system;
determining a test point and a test line from the graphic mark, and actually measuring the test point on the workpieceCoordinates (X) in a coordinate system0,Y0) An included angle alpha formed between the test line and the X axis or the Y axis of the workpiece coordinate system0；
Constructing a visual workpiece coordinate system corresponding to the workpiece coordinate system by using a visual positioning system of the laser processing equipment, and measuring the coordinates (X) of the corresponding test points in the visual workpiece coordinate system1,Y1) An included angle alpha formed between the test line and the X axis or the Y axis of the visual workpiece coordinate system1；
Respectively calculating error compensation quantity delta X in X direction as X1-X0Y-direction error compensation quantity Δ Y ═ Y1-Y0Angle error compensation quantity delta alpha is alpha1-α0For correcting errors of the vision positioning system.
2. The method of claim 1, wherein the step of "constructing a workpiece coordinate system from the positioning marks" comprises:
a positioning mark for visual positioning is arranged on the workpiece, the positioning mark is provided with a characteristic line parallel to the X axis or the Y axis of the unified coordinate system, the characteristic line parallel to the X axis of the unified coordinate system in the positioning mark is selected as the X axis of the workpiece coordinate system, and the direction of the characteristic line is the same as the direction of the X axis in the unified coordinate system; selecting the characteristic line parallel to the Y axis of the unified coordinate system in the positioning mark as the Y axis of the workpiece coordinate system, wherein the direction of the characteristic line is the same as that of the Y axis in the unified coordinate system;
the method comprises the steps that a positioning mark for visual positioning is arranged on a workpiece, no characteristic line parallel to the X axis and the Y axis of a unified coordinate system exists in the positioning mark, two characteristic points on the positioning mark are selected, one of the characteristic points is used as an original point, and a straight line which passes through the original point and forms a specific angle with a connecting line of the two characteristic points is used as an X axis to construct a workpiece coordinate system; the specific angle is an included angle between a connecting line of the two characteristic points and an X axis in a unified coordinate system, the X axis direction of the constructed workpiece coordinate system is the same as the X axis direction of the unified coordinate system, and the constructed workpiece coordinate system is a rectangular coordinate system.
3. The method of claim 1, wherein the step of "constructing a workpiece coordinate system from the positioning marks" further comprises: when no positioning mark for visual positioning is available on the workpiece, a positioning mark is made on a precision jig for clamping the workpiece; and constructing the workpiece coordinate system by the established positioning marks.
4. The method for rapidly calibrating a vision positioning system of a laser processing apparatus according to claim 1, wherein: "providing a graphic mark on a workpiece" includes providing the graphic mark using any one of laser marking, screen printing, and chemical etching.
5. The method for rapidly calibrating a vision positioning system of a laser processing apparatus according to claim 1, wherein: the test point is a point constructed by an image algorithm on the graphic mark.
6. The method for rapidly calibrating a vision positioning system of a laser processing apparatus according to claim 1, wherein: the test line is a line generated by an edge-tracking function of an image algorithm in the graphic mark, or a straight line passing through two points constructed by the image algorithm.
7. The method for rapidly calibrating a vision positioning system of a laser processing apparatus according to claim 1, wherein: the graphic marks comprise a circular mark, a linear mark, a rectangular mark and a triangular mark; one or two of the workpieces are arranged on the workpiece.
8. The method for rapidly calibrating a vision positioning system of a laser processing apparatus according to claim 1, wherein: and actually measuring coordinate values of the test points in the workpiece coordinate system by using an image measuring instrument, wherein an included angle between the test line and an X axis or a Y axis of the workpiece coordinate system.
9. A method for correcting a vision positioning system under multipoint vision positioning of a large workpiece is characterized by comprising the following steps: the vision positioning system correction method adopts the vision positioning system rapid correction method of the laser processing equipment as claimed in any one of claims 1 to 8, and comprises the following specific steps:
selecting more than two positioning marks on a standard workpiece, arranging a graphic mark close to each positioning mark, and simultaneously enabling the positioning marks and the graphic marks to be positioned in a field angle of a visual positioning system;
establishing a workpiece coordinate system by using each positioning mark, and actually measuring the coordinates (X) of the test points on the graphic marks in the corresponding workpiece coordinate systemi,Yi)；
Constructing a visual workpiece coordinate system corresponding to the workpiece coordinate system by utilizing a visual positioning system of laser processing equipment, and measuring the coordinates (X ') of the corresponding test points in the visual workpiece coordinate system'i,Y′i) Wherein i refers to the ith positioning mark;
respectively calculating the coordinate (X) of each locating mark in the workpiece coordinate systemi,Yi) And coordinates (X ') in the visual work coordinate system'i,Y′i) Difference value (DeltaX) therebetweeni，ΔYi) As the error compensation quantity of the test point on the ith positioning mark in the visual positioning system, wherein, Delta Xi＝X′i-Xi，ΔYi＝Y′i-Yi；
Capturing coordinate values (X 'of a plurality of selected positioning marks on the workpiece in a unified coordinate system by using a visual error compensated visual positioning system of the corresponding standard workpiece'i,Y′i) Calculating the weighted center coordinates of all selected position markers
Wherein:
n is the number of selected positioning marks.
Calculating theoretical weight center coordinates of a plurality of selected positioning marks in a unified coordinate system
Wherein:
(Xi,Yi) Theoretical coordinates in a unified coordinate system for the selected landmarks.
And (Δ X, Δ Y) is used as the position correction quantity of the visual positioning system to integrally move the position of the laser processing graphic digital model, wherein:
calculating the actual placing inclination angle alpha' of the workpiece in the unified coordinate system and the theoretical inclination angle alpha of the laser processing graphic digital model in the unified coordinate system, taking the difference value delta alpha as an angle compensation quantity, and taking the laser processing graphic weight center coordinate after position correction
Rotating a digital model of a laser machined pattern for a center, wherein:
Δα＝α′-α；
α＝tan-1k；
α′＝tan-1k′；
10. a method for calibrating a vision positioning system for clamping a plurality of workpieces on a carrier is characterized in that: the vision positioning system correction method adopts the vision positioning system rapid correction method of the laser processing equipment as claimed in any one of claims 1 to 8, and comprises the following specific steps:
manufacturing a standard workpiece with graphic marks for each workpiece clamping position on the carrier;
constructing a workpiece coordinate system, a test point and a test line for each standard workpiece; actually measuring the coordinate of the test point in the constructed workpiece coordinate system, and actually measuring the included angle between the test line and the coordinate axis of the workpiece coordinate system;
clamping all standard workpieces on a carrier, and constructing a visual workpiece coordinate system, a test point and a test line for each standard workpiece on the carrier by using a visual positioning system of laser processing equipment; measuring the coordinate of the test point in the visual workpiece coordinate system, and measuring the included angle between the test line and the coordinate axis of the visual workpiece coordinate system;
and utilizing the difference value between the coordinate of the test point in the workpiece coordinate system and the coordinate in the visual workpiece coordinate system as the error compensation quantity of the visual positioning system at the position of the standard workpiece. And the difference value between the included angle of the test line in the workpiece coordinate system and the X axis and the included angle between the test line in the visual workpiece coordinate system and the X axis is used as the angle error compensation quantity of the visual positioning system at the position of the standard workpiece.
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