CN115041705B - Multi-laser triaxial galvanometer calibration method, system, equipment and readable storage medium - Google Patents
Multi-laser triaxial galvanometer calibration method, system, equipment and readable storage medium Download PDFInfo
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Abstract
The invention discloses a method, a system and equipment for calibrating a multi-laser triaxial galvanometer and a readable storage medium, and relates to the technical field of additive manufacturing. The method comprises the following steps: controlling each laser triaxial galvanometer unit to respectively mark an identification pattern corresponding to each laser triaxial galvanometer unit on an optical marking panel according to a preset array; acquiring a marking image on the optical marking panel, wherein the marking image comprises identification graphs of preset arrays corresponding to the laser triaxial galvanometer units; identifying actual coordinate information of identification points of the identification patterns corresponding to the laser three-axis galvanometer units in a preset reference coordinate system according to the marking image; theoretical coordinate information of each identification point in a preset reference coordinate system is obtained, and a corresponding calibration file is generated according to the theoretical coordinate information and the actual coordinate information so as to correct galvanometer parameters of each laser triaxial galvanometer unit. The invention improves the calibration efficiency of the galvanometer system.
Description
Technical Field
The invention relates to the technical field of additive manufacturing, in particular to a method, a system and equipment for calibrating a multi-laser three-axis galvanometer and a readable storage medium.
Background
With the development of additive manufacturing technology, laser melting additive manufacturing technology is gaining favor because it can machine and form metal parts with higher complexity and accuracy. For the purpose of high efficiency and large-format processing, the current 3D printing (additive manufacturing) equipment is often multi-laser equipment, and is usually equipped with a multi-set galvanometer system for optical path control. When the multi-galvanometer laser works in a cooperative mode, the galvanometer systems need to be calibrated so as to avoid the influence on the quality of final finished products due to the fact that splicing or lapping precision among different galvanometer systems is low. However, when the multi-laser device is used for calibrating the galvanometer at present, multiple respective measurements and iterative calibrations are usually performed on multiple galvanometer systems, and then the problems of splicing or lapping among different galvanometer systems are calibrated and fine-tuned, which is more complicated, so that the calibration efficiency of the galvanometer systems is low.
Disclosure of Invention
The invention mainly aims to provide a multi-laser triaxial galvanometer calibration method, and aims to solve the technical problem that the calibration efficiency of a galvanometer system in the prior art is low.
In order to achieve the above object, the present invention provides a calibration method for a multi-laser three-axis galvanometer, which is applied to a calibration system for a multi-laser three-axis galvanometer, wherein the calibration system for a multi-laser three-axis galvanometer comprises a multi-laser three-axis galvanometer module, an image acquisition module, an identification module and a correction module, the multi-laser three-axis galvanometer module comprises a printing platform and two or more laser three-axis galvanometer units, and the calibration method for a multi-laser three-axis galvanometer comprises the following steps:
the multi-laser three-axis galvanometer module controls each laser three-axis galvanometer unit to respectively mark an identification graph corresponding to each laser three-axis galvanometer unit on an optical marking panel according to a preset array, wherein the optical marking panel is placed in a processing area on the printing platform in advance;
the image acquisition module acquires a marking image on the optical marking panel, wherein the marking image comprises identification graphs of a preset array corresponding to each laser triaxial galvanometer unit;
the identification module identifies actual coordinate information of identification points of the identification patterns corresponding to the laser three-axis galvanometer units in a preset reference coordinate system according to the marking images;
the correction module acquires theoretical coordinate information of each identification point in a preset reference coordinate system, and generates a corresponding calibration file according to the theoretical coordinate information and the actual coordinate information so as to correct galvanometer parameters of each laser triaxial galvanometer unit.
Optionally, the step of obtaining theoretical coordinate information of each identification point in a preset reference coordinate system by the correction module, and generating a corresponding calibration file according to the theoretical coordinate information and the actual coordinate information, so as to correct the galvanometer parameters of each laser triaxial galvanometer unit includes:
the correction module determines theoretical coordinate information of each identification point according to the preset reference coordinate system and the preset array;
the correction module respectively determines the position deviation information of the identification points corresponding to the laser three-axis galvanometer units according to the theoretical coordinate information and the actual coordinate information;
and the correction module generates a calibration file corresponding to each laser triaxial galvanometer unit according to the position deviation information so as to correct galvanometer parameters of each laser triaxial galvanometer unit.
Optionally, the step of identifying, by the identification module, actual coordinate information of the identification point of the identification pattern corresponding to each laser triaxial galvanometer unit in a preset reference coordinate system according to the marking image includes:
the identification module takes the central point of an overall pattern formed by the identification patterns corresponding to any laser triaxial galvanometer unit as a reference origin, and establishes a plane coordinate system to obtain a preset reference coordinate system.
Optionally, when there are two laser triaxial galvanometer units, the identification patterns corresponding to the laser triaxial galvanometer units are respectively a cross pattern and a cross pattern;
when the laser triaxial galvanometer units are more than two, the identification patterns corresponding to the laser triaxial galvanometer units are circular patterns with different radiuses respectively.
Optionally, when the identification patterns are a cross pattern and a cross pattern respectively, the identification point of the identification pattern is the intersection point of the cross pattern and the cross pattern;
when the identification patterns are respectively circular patterns with different radiuses, the identification point of the identification pattern is the circle center of the circular pattern.
Optionally, the optical marking panel is an optical marking paper or film or a black alumina plate or a black steel plate.
In addition, in order to achieve the above object, the present invention further provides a calibration system for a multi-laser three-axis galvanometer, including:
the multi-laser three-axis galvanometer module is used for controlling each laser three-axis galvanometer unit to mark a mark pattern corresponding to each laser three-axis galvanometer unit on an optical marking panel according to a preset array, wherein the multi-laser three-axis galvanometer module comprises a printing platform and two or more laser three-axis galvanometer units, and the optical marking panel is placed in a processing area on the printing platform in advance;
the image acquisition module is used for acquiring marking images on the optical marking panel, and the marking images comprise identification graphs of preset arrays corresponding to the laser triaxial galvanometer units;
the identification module is used for identifying the actual coordinate information of the identification points of the identification patterns corresponding to the laser triaxial galvanometer units in a preset reference coordinate system according to the marking image;
and the correction module is used for acquiring theoretical coordinate information of each identification point in a preset reference coordinate system, and generating a corresponding calibration file according to the theoretical coordinate information and the actual coordinate information so as to correct the galvanometer parameters of each laser triaxial galvanometer unit.
Furthermore, the scanning range of the triaxial galvanometer in each laser triaxial galvanometer unit covers the printing platform, and the processing area is located in the overlapping area of the scanning range corresponding to the triaxial galvanometer in each laser triaxial galvanometer unit.
In addition, to achieve the above object, the present invention further provides a calibration apparatus for a multi-laser three-axis galvanometer, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the multi-laser three-axis galvanometer calibration method as described above.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, wherein a multi-laser three-axis galvanometer calibration program is stored on the computer readable storage medium, and when executed by a processor, the multi-laser three-axis galvanometer calibration program implements the steps of the multi-laser three-axis galvanometer calibration method as described above.
The invention provides a multi-laser three-axis galvanometer calibration method, which is applied to a multi-laser three-axis galvanometer calibration system, wherein the multi-laser three-axis galvanometer calibration system comprises a multi-laser three-axis galvanometer module, an image acquisition module, an identification module and a correction module, the multi-laser three-axis galvanometer module comprises a printing platform and two or more than two laser three-axis galvanometer units, and the multi-laser three-axis galvanometer calibration method comprises the following steps: the multi-laser three-axis galvanometer module controls each laser three-axis galvanometer unit to mark a mark pattern corresponding to each laser three-axis galvanometer unit on an optical marking panel according to a preset array, wherein the optical marking panel is placed in a processing area on the printing platform in advance; the image acquisition module acquires a marking image on the optical marking panel, wherein the marking image comprises identification graphs of a preset array corresponding to each laser triaxial galvanometer unit; the identification module identifies actual coordinate information of identification points of the identification patterns corresponding to the laser triaxial galvanometer units in a preset reference coordinate system according to the marking images; the correction module acquires theoretical coordinate information of each identification point in a preset reference coordinate system, and generates a corresponding calibration file according to the theoretical coordinate information and the actual coordinate information so as to correct galvanometer parameters of each laser triaxial galvanometer unit. According to the invention, the identification points of the identification patterns of different laser triaxial galvanometer units are summarized under the same reference coordinate system, so that the precision of each laser triaxial galvanometer unit is kept consistent, the problems of complicated galvanometer calibration steps and easy staggered layer printing on the same plane are solved, and the calibration efficiency is improved. Meanwhile, as no calibration template is needed, the universality of the multi-laser triaxial galvanometer calibration method is greatly improved.
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FIG. 1 is a schematic structural diagram of a multi-laser three-axis galvanometer calibration system according to the present invention;
FIG. 2 is a schematic structural diagram of a multi-laser three-axis galvanometer module according to the present invention;
FIG. 3 is a schematic flowchart illustrating a multi-laser three-axis galvanometer calibration method according to an embodiment of the present invention;
FIG. 4 is an exemplary illustration of a marked image according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating exemplary positional deviation information according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a multi-laser three-axis galvanometer calibration device according to an embodiment of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The laser melting additive manufacturing technology can process and form metal parts with high complexity and accuracy, 3D printing equipment at the present stage is often multi-laser equipment, and multiple sets of vibrating mirror systems are usually equipped for light path control, so that the purposes of improving efficiency and large-breadth processing are achieved.
When many mirrors laser that shake carry out collaborative work, need to shake the processing region of mirror laser and divide and splice, the precision of mirror laser concatenation that shakes has decided the quality of part, if in metal 3D prints, shakes the inaccurate part that can lead to the part to misplace in the concatenation region of mirror laser concatenation, causes serious production accident. The laser splicing calibration of the galvanometer needs to obtain the actual position of laser near the focal plane of the laser, and the galvanometer parameter is modified by comparing the actual position with the theoretical position to calibrate the galvanometer.
The main thinking that adopts when carrying out the precision calibration of many laser equipment is: the method comprises the steps of measuring a plurality of galvanometer systems and iteratively calibrating the galvanometer systems for a plurality of times, and then calibrating and fine-tuning splicing or lapping problems among different systems, so that time and energy are consumed, and meanwhile, the problem of poor lapping precision exists, and the calibration in place at one time is difficult. The main focus of the prior art is to calibrate the laser precision or the lapping precision by using a standard plate or other design templates, so that the problems of more complicated operation steps, poorer universality and the like exist. Resulting in inefficient calibration of the galvanometer system.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a multi-laser three-axis galvanometer calibration system according to the present invention.
An embodiment of the present invention provides a calibration system for a multi-laser three-axis galvanometer, including:
the multi-laser three-axis galvanometer module 10 is used for controlling each laser three-axis galvanometer unit to mark an identification pattern corresponding to each laser three-axis galvanometer unit on an optical marking panel according to a preset array, wherein the multi-laser three-axis galvanometer module comprises a printing platform and two or more laser three-axis galvanometer units, and the optical marking panel is placed in a processing area on the printing platform in advance;
the image acquisition module 20 is configured to acquire a marking image on the optical marking panel, where the marking image includes an identification pattern of a preset array corresponding to each laser triaxial galvanometer unit;
the identification module 30 is configured to identify, according to the marking image, actual coordinate information of identification points of the identification pattern corresponding to each laser triaxial galvanometer unit in a preset reference coordinate system;
and the correcting module 40 is configured to acquire theoretical coordinate information of each identification point in a preset reference coordinate system, and generate a corresponding calibration file according to the theoretical coordinate information and the actual coordinate information, so as to correct galvanometer parameters of each laser triaxial galvanometer unit.
Further, the modification module 40 is configured to:
determining theoretical coordinate information of each identification point according to the preset reference coordinate system and the preset array;
respectively determining the position deviation information of the identification points corresponding to the laser three-axis galvanometer units according to the theoretical coordinate information and the actual coordinate information;
and generating a calibration file corresponding to each laser triaxial galvanometer unit according to the position deviation information so as to correct galvanometer parameters of each laser triaxial galvanometer unit.
Further, the identification module 30 is configured to:
and establishing a plane coordinate system by taking the central point of the whole pattern formed by the identification graph corresponding to any laser three-axis galvanometer unit as a reference origin to obtain a preset reference coordinate system.
Further, when the number of the laser triaxial galvanometer units is two, the identification patterns corresponding to the laser triaxial galvanometer units are respectively a cross pattern and a cross pattern;
when the laser triaxial galvanometer units are more than two, the identification patterns corresponding to the laser triaxial galvanometer units are circular patterns with different radiuses respectively.
Further, when the identification patterns are respectively a cross pattern and a cross pattern, the identification points of the identification patterns are the cross points of the cross pattern and the cross pattern;
when the identification patterns are respectively circular patterns with different radiuses, the identification point of the identification pattern is the circle center of the circular pattern.
Further, the optical marking panel is optical marking paper or film or black alumina plate or black steel plate.
Therefore, the steps in the calibration method for the multi-laser three-axis galvanometer provided by each embodiment of the invention can be realized based on the multi-laser three-axis galvanometer calibration system.
Wherein, many laser triaxial galvanometer module includes: the laser three-axis galvanometer unit comprises a laser emitter, a collimating mirror and a three-axis galvanometer; and the printing platform, wherein an optical marking panel is placed in a processing area on the printing platform in advance.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a multi-laser three-axis galvanometer module according to the present invention, and fig. 2 is a schematic structural diagram of a multi-laser three-axis galvanometer module including two laser three-axis galvanometer units. That is, the multi-laser triaxial galvanometer module comprises a first laser triaxial galvanometer unit and a second laser triaxial galvanometer unit, wherein the first laser triaxial galvanometer unit comprises a first laser emitter 1, a first collimating mirror 3 and a first triaxial galvanometer 5, and the second laser triaxial galvanometer unit comprises a second laser emitter 2, a second collimating mirror 4 and a second triaxial galvanometer 6. The multi-laser three-axis galvanometer calibration system further comprises a printing platform 7, wherein an optical marking panel is placed in a processing area on the printing platform 7 in advance. Further, the scanning range of the three-axis galvanometer in each laser three-axis galvanometer unit covers the printing platform, and the processing area is located in the overlapping area of the scanning ranges corresponding to the three-axis galvanometer in each laser three-axis galvanometer unit. The triaxial galvanometer of each laser triaxial galvanometer unit has a dynamic focusing function and can change the focal length, so that the laser triaxial galvanometer unit can focus at each position of the printing platform, and simultaneously, the overlapping area of the scanning range of each laser triaxial galvanometer unit can be applied to any position of the full breadth. But the three-axis galvanometer has high flexibility and higher debugging difficulty. When each laser triaxial galvanometer unit marks a mark pattern corresponding to each laser triaxial galvanometer unit on the optical marking panel according to a preset array, the laser emitter emits a laser beam, the collimation of the laser beam is maintained through the collimating mirror, and then the laser beam passing through the collimating mirror is marked with a corresponding mark pattern on the optical marking panel according to the mark pattern and the preset array through the triaxial galvanometer. As shown in fig. 2, the scanning range of the three-axis galvanometer in each laser three-axis galvanometer unit covers the printing platform 7, and the processing area is located in the overlapping area of the scanning ranges.
Further, this embodiment still can provide an increase material manufacturing equipment who is applied to metal 3D and prints, increase material manufacturing equipment includes above-mentioned many laser triaxial galvanometer calibration system, send powder shop system, print the storehouse, get a storehouse and industrial computer.
Based on the multi-laser three-axis galvanometer calibration system, the invention provides various embodiments of the multi-laser three-axis galvanometer calibration method.
Referring to fig. 3, fig. 3 is a schematic flow chart of a multi-laser three-axis galvanometer calibration method according to an embodiment of the present invention.
An embodiment of the invention provides a multi-laser triaxial galvanometer calibration method, which is applied to the multi-laser triaxial galvanometer calibration system, wherein the multi-laser triaxial galvanometer calibration system comprises a multi-laser triaxial galvanometer module, an image acquisition module, an identification module and a correction module, the multi-laser triaxial galvanometer module comprises a printing platform and two or more than two laser triaxial galvanometer units, and the multi-laser triaxial galvanometer calibration method comprises the following steps:
s100, the multi-laser three-axis galvanometer module controls each laser three-axis galvanometer unit to mark an identification graph corresponding to each laser three-axis galvanometer unit on an optical marking panel according to a preset array, wherein the optical marking panel is placed in a processing area on the printing platform in advance;
specifically, the printing platform is a focal plane substrate of a forming bin of the multi-laser three-axis galvanometer calibration system. The optical marking panel can be a panel which can recognize a clear image after laser marking, such as optical marking paper or film, or a black aluminum oxide plate or a black steel plate. Before marking the graph, the optical marking panel needs to be placed in a processing area on the printing platform in advance. For example, the optical marking paper can be flatly adhered to the flat glass, and then the flat glass adhered with the optical marking paper is placed on the focal plane substrate of the forming bin.
And then controlling each laser triaxial galvanometer unit through a multi-laser triaxial galvanometer module to mark identification patterns corresponding to each laser triaxial galvanometer unit on an optical marking panel according to a preset array. The preset array is a preset arrangement mode of the identification patterns and comprises relative positions and relative distances among the identification patterns. Illustratively, the preset array is formed by arranging 6 identification patterns in the transverse direction and 7 identification patterns in the longitudinal direction, and the relative distance between the transverse direction and the longitudinal direction is 2cm. The identification patterns corresponding to the laser triaxial galvanometer units are different patterns, and can be patterns with different shapes (such as triangles, squares, cross patterns, crossed patterns and the like) or patterns with the same shape and different sizes (such as circles with different radiuses, squares with different side lengths, regular hexagons with different side lengths and the like).
S200, an image acquisition module acquires a marking image on the optical marking panel, wherein the marking image comprises identification graphs of a preset array corresponding to each laser triaxial galvanometer unit;
after controlling each laser triaxial galvanometer unit marks each identification figure that laser triaxial galvanometer unit corresponds on the optical marking panel according to the preset array, can scan the optical marking panel through many laser triaxial galvanometer module (like equipment such as image measuring instrument or scanner) and acquire the mark image on the optical marking panel, mark including each in the image the identification figure of the preset array that laser triaxial galvanometer unit corresponds.
When the number of the laser triaxial galvanometer units is two, the identification patterns corresponding to the laser triaxial galvanometer units are respectively a cross pattern and a cross pattern;
when the laser triaxial galvanometer units are more than two, the identification patterns corresponding to the laser triaxial galvanometer units are circular patterns with different radiuses respectively.
Specifically, when the number of the laser triaxial galvanometer units is two, the identification patterns marked on the optical marking panel by the laser triaxial galvanometer units are respectively a cross pattern and a cross pattern. And when the number of the laser triaxial galvanometer units is more than two, the identification patterns corresponding to the laser triaxial galvanometer units are respectively circular patterns with different radiuses. Therefore, the laser three-axis galvanometer unit corresponding to each identification pattern in the marking image can be identified. For example, reference may be made to fig. 4, where fig. 4 is an exemplary diagram of a marked image according to an embodiment of the present invention. Fig. 4 is when many laser triaxial shakes the quantity of mirror unit for two in the mirror module, promptly many laser triaxial shakes the mirror module and includes first laser triaxial and shakes the mirror unit and second laser triaxial shakes the mirror unit, and cross pattern T1 shakes the sign figure that the mirror unit corresponds for first laser triaxial in fig. 4, and cross pattern T2 shakes the sign figure that the mirror unit corresponds for second laser triaxial to in order to distinguish the mark carve the laser triaxial that this sign figure corresponds and shake the mirror unit. After the first laser triaxial galvanometer unit is controlled to mark a corresponding identification pattern 'cross pattern T1' on the optical marking panel according to the preset array, and the second laser triaxial galvanometer unit is controlled to mark a corresponding identification pattern 'cross pattern T2' on the optical marking panel according to the preset array, the marking image on the optical marking panel can be obtained through the image acquisition module.
Step S300, an identification module identifies actual coordinate information of identification points of identification graphs corresponding to the laser triaxial galvanometer units in a preset reference coordinate system according to the marking image;
after the marking image is obtained, the identification patterns corresponding to the laser three-axis galvanometer units are different patterns, so that the laser three-axis galvanometer units corresponding to the identification patterns in the marking image can be determined. And then, identifying the actual coordinate information of the identification points of the identification patterns corresponding to the laser triaxial galvanometer units in a preset reference coordinate system through an identification module according to the marking image. The identification point is a point that can be identified by the identification pattern, and the identification point can be a point on the identification pattern (such as an intersection point of a cross pattern and a cross pattern) or a point that can be determined according to the identification pattern (such as a central point of a circular pattern). And then, the marking image can be identified, and the actual coordinate information of the identification points of the identification patterns corresponding to the laser triaxial galvanometer units in a preset reference coordinate system is identified.
When the identification patterns are respectively cross patterns and cross patterns, the identification points of the identification patterns are the cross points of the cross patterns and the cross patterns;
when the identification patterns are respectively circular patterns with different radiuses, the identification point of the identification pattern is the circle center of the circular pattern.
Illustratively, when the identification pattern is a cross pattern and a cross pattern, respectively, the identification point of the identification pattern is an intersection of the cross pattern and the cross pattern. No matter the cross pattern or the crossed pattern has a cross point, the coordinates of at least two points on two straight lines forming the cross pattern or the crossed pattern can be obtained, two corresponding straight line equations are determined, and then the actual coordinates of the cross point are calculated according to the two straight line equations. When the identification patterns are respectively circular patterns with different radiuses, the identification point of the identification pattern is the circle center of the circular pattern. The actual coordinates of the corresponding circle center can be obtained by obtaining the coordinates of a plurality of points on the circular pattern and then fitting based on the least square method.
Further, before step S300, the method includes:
step S310, the recognition module takes the central point of the whole pattern formed by the identification graphs corresponding to any laser triaxial galvanometer unit as a reference origin, and establishes a plane coordinate system to obtain a preset reference coordinate system.
Specifically, a central point of an overall pattern formed by the identification graph corresponding to any one of the laser triaxial galvanometer units can be used as a reference origin through the identification module, a plane coordinate system is established, and a preset reference coordinate system is obtained. It is understood that the center point is not the center point of a certain identification pattern, but the center point of the overall pattern formed by the identification patterns arranged according to the preset array. In this embodiment, a plane coordinate system is established by using a central point of an overall pattern formed by any laser triaxial galvanometer unit corresponding to the identification pattern as a reference origin, and since the identification patterns corresponding to the laser triaxial galvanometer units are different patterns, the overall pattern formed by the identification patterns corresponding to the different laser triaxial galvanometer units can be directly determined. Therefore, the condition that each galvanometer system can be calibrated respectively by using a standard edition or other design templates is avoided, the identification points of the identification patterns of different laser triaxial galvanometer units are summarized under the same reference coordinate system, the position deviation of each identification point of different laser triaxial galvanometer units can be conveniently and quickly determined in the later stage, and the calibration efficiency is improved.
And step S400, a correction module acquires theoretical coordinate information of each identification point in a preset reference coordinate system, and generates a corresponding calibration file according to the theoretical coordinate information and the actual coordinate information so as to correct galvanometer parameters of each laser triaxial galvanometer unit.
Specifically, the theoretical coordinate information includes theoretical coordinates of identification points of each identification pattern arranged according to a preset array in the preset reference coordinate system. The preset array is a preset arrangement mode of the identification patterns and comprises relative positions and relative distances among the identification patterns. Therefore, the revisable module can determine the theoretical coordinates of the identification points of each identification pattern arranged according to the preset array in the preset reference coordinate system according to the preset reference coordinate system and the preset array. And then the correction module can respectively determine the position deviation information of the identification points corresponding to the laser three-axis galvanometer units according to the theoretical coordinate information and the actual coordinate information. And then the correction module generates a calibration file corresponding to each laser triaxial galvanometer unit according to the position deviation information so as to correct galvanometer parameters of each laser triaxial galvanometer unit according to the calibration file, so that the actual coordinates of the identification points of each identification pattern marked by each laser triaxial galvanometer unit coincide with the theoretical coordinates, and the calibration work of the multi-laser triaxial galvanometer calibration system is completed.
Further, step S400 includes the steps of:
step S410, the correction module determines theoretical coordinate information of each identification point according to the preset reference coordinate system and the preset array;
step S411, a correction module respectively determines position deviation information of identification points corresponding to each laser triaxial galvanometer unit according to the theoretical coordinate information and the actual coordinate information;
step S412, the correction module generates a calibration file corresponding to each laser triaxial galvanometer unit according to the position deviation information, so as to correct galvanometer parameters of each laser triaxial galvanometer unit.
Illustratively, a plane coordinate system is established by taking a central point of an overall pattern formed by identification patterns corresponding to any laser three-axis galvanometer unit as a reference origin, so as to obtain a preset reference coordinate system, and when the position of the reference origin of the preset reference coordinate system is determined, the correction module may determine theoretical coordinates of identification points of each identification pattern in the preset reference coordinate system when the identification patterns are arranged according to the preset reference coordinate system and the preset array. And then the correction module calculates the position deviation information of the identification points corresponding to each laser triaxial galvanometer unit according to the theoretical coordinates and the actual coordinates of the identification points of the identification graph of each laser triaxial galvanometer unit, wherein the position deviation information can be represented in the form of coordinate difference values or in the form of dot matrixes or other forms. Referring to fig. 5, fig. 5 is a diagram illustrating an example of the position deviation information according to the embodiment of the present invention. As shown in fig. 5, the positional deviation information is expressed in the form of a dot matrix, where "Max error = 0.276 mm" in the figure means that the maximum positional deviation of each recognition point in the figure is 0.276mm, "X = 151.78 mm, and Y = -114.285 mm" in the figure means that the X-axis coordinate of a certain recognition point is 115.78mm, the Y-axis coordinate is-114.285 mm in the preset reference coordinate system, the direction of each arrow in the figure is the direction in which each recognition point needs to be corrected, and the length of each arrow corresponds to the distance in which each recognition point needs to be corrected. And the correction module generates a corresponding calibration file according to the position deviation information so as to correct the galvanometer parameters of each laser triaxial galvanometer unit, so that the actual coordinates of the identification points of each identification pattern marked by each laser triaxial galvanometer unit coincide with the theoretical coordinates, and the calibration work of the multi-laser triaxial galvanometer calibration system is completed.
The embodiment of the invention provides a multi-laser three-axis galvanometer calibration method, which is applied to a multi-laser three-axis galvanometer calibration system, wherein the multi-laser three-axis galvanometer calibration system comprises a multi-laser three-axis galvanometer module, an image acquisition module, an identification module and a correction module, the multi-laser three-axis galvanometer module comprises a printing platform and two or more than two laser three-axis galvanometer units, and the multi-laser three-axis galvanometer calibration method comprises the following steps: the multi-laser three-axis galvanometer module controls each laser three-axis galvanometer unit to mark a mark pattern corresponding to each laser three-axis galvanometer unit on an optical marking panel according to a preset array, wherein the optical marking panel is placed in a processing area on the printing platform in advance; the image acquisition module acquires a marking image on the optical marking panel, wherein the marking image comprises identification graphs of a preset array corresponding to each laser triaxial galvanometer unit; the identification module identifies actual coordinate information of identification points of the identification patterns corresponding to the laser three-axis galvanometer units in a preset reference coordinate system according to the marking images; the correction module acquires theoretical coordinate information of each identification point in a preset reference coordinate system, and generates a corresponding calibration file according to the theoretical coordinate information and the actual coordinate information so as to correct galvanometer parameters of each laser triaxial galvanometer unit. In the embodiment, the identification points of the identification patterns of different laser triaxial galvanometer units are summarized under the same reference coordinate system, so that the precision of each laser triaxial galvanometer unit is kept consistent, the problems of complicated steps of galvanometer calibration and easy staggered layer printing on the same plane are solved, and the calibration efficiency is improved. Meanwhile, as no calibration template is needed, the universality of the multi-laser triaxial galvanometer calibration method is greatly improved.
Fig. 6 is a schematic structural diagram of a multi-laser three-axis galvanometer calibration device according to an embodiment of the present invention.
As shown in fig. 6, the multi-laser three-axis galvanometer calibration apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display screen (Display), an input unit such as a touch screen or a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The Memory 1005 may be a high-speed RAM Memory or a Non-Volatile Memory (Non-Volatile Memory), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the device configuration shown in fig. 6 does not constitute a limitation of the multi-laser three-axis galvanometer calibration device and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 6, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a multi-laser three-axis galvanometer calibration application program.
In the apparatus shown in fig. 6, the processor 1001 may be configured to call the multi-laser three-axis galvanometer calibration application stored in the memory 1005 and perform the operations of the multi-laser three-axis galvanometer calibration method in the embodiments described above.
In the device shown in fig. 6, the network interface 1004 is mainly used for connecting a backend server and communicating data with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke the multi-laser three-axis galvanometer calibration application stored in the memory 1005 and perform the operation steps as in the above embodiments.
In addition, an embodiment of the present invention further provides a computer storage medium, where a computer program is stored in the computer storage medium, and when the computer program is executed by a processor, the operation in the calibration method for a multi-laser three-axis galvanometer provided in the foregoing embodiment is implemented, and specific steps are not described herein again.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity/action/object from another entity/action/object without necessarily requiring or implying any actual such relationship or order between such entities/actions/objects; the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to some descriptions of the method embodiment for relevant points. The above-described apparatus embodiments are merely illustrative, in that elements described as separate components may or may not be physically separate. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the invention. One of ordinary skill in the art can understand and implement without inventive effort.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a vehicle, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (8)
1. The multi-laser three-axis galvanometer calibration method is characterized by being applied to a multi-laser three-axis galvanometer calibration system, wherein the multi-laser three-axis galvanometer calibration system comprises a multi-laser three-axis galvanometer module, an image acquisition module, an identification module and a correction module, the multi-laser three-axis galvanometer module comprises a printing platform and more than two laser three-axis galvanometer units, and the multi-laser three-axis galvanometer calibration method comprises the following steps:
the multi-laser three-axis galvanometer module controls each laser three-axis galvanometer unit to mark an identification graph corresponding to each laser three-axis galvanometer unit on an optical marking panel according to a preset array, wherein the optical marking panel is placed in a processing area on the printing platform in advance, the scanning range of the three-axis galvanometer in each laser three-axis galvanometer unit covers the printing platform, and the processing area is located in a superposition area of the scanning range corresponding to the three-axis galvanometer in each laser three-axis galvanometer unit;
the image acquisition module acquires a marking image on the optical marking panel, wherein the marking image comprises identification graphs of a preset array corresponding to each laser triaxial galvanometer unit;
the identification module takes the central point of an overall pattern formed by the identification patterns corresponding to any laser three-axis galvanometer unit as a reference origin, and establishes a plane coordinate system to obtain a preset reference coordinate system;
the identification module identifies actual coordinate information of identification points of the identification patterns corresponding to the laser three-axis galvanometer units in a preset reference coordinate system according to the marking image, and summarizes the identification points of the identification patterns corresponding to the laser three-axis galvanometer units in the same preset reference coordinate system;
the correction module acquires theoretical coordinate information of each identification point in a preset reference coordinate system, and generates a corresponding calibration file according to the theoretical coordinate information and the actual coordinate information so as to correct galvanometer parameters of each laser triaxial galvanometer unit.
2. The method for calibrating a multi-laser triaxial galvanometer according to claim 1, wherein the step of the correction module acquiring theoretical coordinate information of each identification point in a preset reference coordinate system and generating a corresponding calibration file according to the theoretical coordinate information and the actual coordinate information so as to correct galvanometer parameters of each laser triaxial galvanometer unit comprises:
the correction module determines theoretical coordinate information of each identification point according to the preset reference coordinate system and the preset array;
the correction module respectively determines the position deviation information of the identification points corresponding to the laser three-axis galvanometer units according to the theoretical coordinate information and the actual coordinate information;
and the correction module generates a calibration file corresponding to each laser triaxial galvanometer unit according to the position deviation information so as to correct galvanometer parameters of each laser triaxial galvanometer unit.
3. The method for calibrating a multi-laser triaxial galvanometer according to claim 1, wherein when there are two laser triaxial galvanometer units, the identification patterns corresponding to the laser triaxial galvanometer units are a cross pattern and a cross pattern with different shapes from the cross pattern;
when the number of the laser triaxial galvanometer units is more than two, the identification patterns corresponding to the laser triaxial galvanometer units are respectively circular patterns with different radiuses.
4. The multi-laser triaxial galvanometer calibration method according to claim 3, wherein when the identification pattern is a cross pattern and a cross pattern having a different shape from the cross pattern, respectively, the identification point of the identification pattern is an intersection of the cross pattern and the cross pattern;
when the identification patterns are respectively circular patterns with different radiuses, the identification point of the identification pattern is the circle center of the circular pattern.
5. The method for calibrating a multi-laser tri-axial galvanometer of claim 1, wherein the optically marked panel is an optically marked paper or film or a black alumina plate or a black steel plate.
6. The utility model provides a many laser triaxial galvanometer calbiration system which characterized in that, many laser triaxial galvanometer calbiration system includes:
the multi-laser three-axis galvanometer module is used for controlling each laser three-axis galvanometer unit to mark an identification graph corresponding to each laser three-axis galvanometer unit on an optical marking panel according to a preset array, wherein the multi-laser three-axis galvanometer module comprises a printing platform and more than two laser three-axis galvanometer units, the optical marking panel is placed in a processing area on the printing platform in advance, the scanning range of the three-axis galvanometer in each laser three-axis galvanometer unit covers the printing platform, and the processing area is located in a coincidence area of the scanning ranges corresponding to the three-axis galvanometer in each laser three-axis galvanometer unit;
the image acquisition module is used for acquiring marking images on the optical marking panel, and the marking images comprise identification graphs of preset arrays corresponding to the laser triaxial galvanometer units;
the identification module is used for establishing a plane coordinate system by taking the central point of an overall pattern formed by the identification patterns corresponding to any laser three-axis galvanometer unit as a reference origin to obtain a preset reference coordinate system;
the identification module is used for identifying the actual coordinate information of the identification points of the identification patterns corresponding to the laser three-axis galvanometer units in a preset reference coordinate system according to the marking image and summarizing the identification points of the identification patterns corresponding to the laser three-axis galvanometer units in the same preset reference coordinate system;
and the correction module is used for acquiring theoretical coordinate information of each identification point in a preset reference coordinate system, and generating a corresponding calibration file according to the theoretical coordinate information and the actual coordinate information so as to correct the galvanometer parameters of each laser triaxial galvanometer unit.
7. The utility model provides a many laser triaxial galvanometer calibration equipment which characterized in that, many laser triaxial galvanometer calibration equipment includes: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the method of multi-laser-tri-axial galvanometer calibration of any one of claims 1 to 5.
8. A computer readable storage medium, wherein a multi-laser tri-axial galvanometer calibration program is stored thereon, and when executed by a processor, the multi-laser tri-axial galvanometer calibration program implements the steps of the multi-laser tri-axial galvanometer calibration method of any one of claims 1 to 5.
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