CN116921853A - Visual measurement calibration method and system based on laser cutting and calibration terminal - Google Patents
Visual measurement calibration method and system based on laser cutting and calibration terminal Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/042—Automatically aligning the laser beam
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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Abstract
The application provides a visual measurement calibration method, a visual measurement calibration system and a visual measurement calibration terminal based on laser cutting, which relate to the technical field of laser cutting, and are used for adjusting physical hardware parameters of a lens and a camera on a laser cutting machine so that definition meets a preset definition threshold; controlling the laser head of the laser cutting machine to return to zero; aligning preset points of the calibration plate with laser red light spots, executing a shooting process, and obtaining an original first image; rotating the machine tool by a preset angle to obtain correction information of the rotation angle on the first image and also obtain a second image of the actual forward matching of the machine tool; positioning and searching edges, obtaining actual deviation between each edge coordinate after searching the edges and the mechanical coordinate of the machine tool, and calculating the actual deviation into a compensation value; and carrying out dynamic compensation on mechanical coordinates of other areas except the center point of the second image, so that the compensated mechanical coordinates meet the calibration requirement. The application can establish the association mapping between the visual image and the physical environment, thereby locating the processing key point of the plate and meeting the calibration requirement.
Description
Technical Field
The application relates to the technical field of laser cutting, in particular to a visual measurement calibration method and system based on laser cutting and a calibration terminal.
Background
The laser cutting irradiates the material to be cut by using a high-power-density laser beam, so that the material is quickly heated to the vaporization temperature and evaporated to form holes, and along with the movement of the material by the laser beam, the holes continuously form slits with very narrow width, so that the cutting of the material is completed.
The current common processing method in the laser cutting industry is that drawing is designed by a plotter in advance according to the size and the style of a plate to be processed, the drawing is led into a cutting machine tool before processing, then the processing starting point of the plate is positioned by manual edge searching, and finally processing operation is carried out. The operation steps are tedious, the manual operation amount is large, and the large-batch processing of an automatic assembly line is not easy.
Disclosure of Invention
The application provides a visual measurement calibration method based on laser cutting, which adopts a visual system, and can establish association mapping between visual images and a real physical environment by a simple calibration method, thereby measuring objects in the real environment by images and meeting the requirement of laser cutting.
The visual measurement calibration method based on laser cutting comprises the following steps:
s101, adjusting physical hardware parameters of a lens and a camera on a laser cutting machine to enable imaging definition of the lens and the camera to meet a preset definition threshold;
s102, controlling a laser head of the laser cutting machine to return to zero;
s103, a prefabricated calibration plate is used for controlling the laser head to move along the X axis and the Y axis of the machine tool, aligning preset points of the calibration plate with laser red light spots, executing a shooting process, enabling the camera to shoot the breadth of the machine tool, acquiring an original first image, and executing the calibration process;
s104, obtaining machine tool coordinate information through prefabricated machine tool reference points and preset points of a calibration plate, rotating the machine tool by a preset angle to obtain a rotation angle, correcting the first image, and obtaining a second image of actual forward matching of the machine tool;
s105, analyzing coordinates of an image center point based on a second image which is actually and positively matched with the machine tool, sequentially locating and searching edges in a preset direction according to the coordinates of the second image center point, obtaining actual deviation between each edge coordinate after searching the edges and the machine tool mechanical coordinate, and calculating the actual deviation into a compensation value;
s106, carrying out dynamic compensation on mechanical coordinates of other areas except the center point of the second image, so that the compensated mechanical coordinates meet the calibration requirement.
In step S101, the lens is fixedly mounted on a preset position of the camera, the aperture of the lens is adjusted, and the imaging brightness is adjusted to a preset brightness threshold.
It should be further noted that step S101 further includes: and adjusting the focal length of the lens to enable the definition of the object in the image to reach a preset definition threshold.
In step S102, a zero regression process is started; and then controlling the laser head to move along the X-axis, Y-axis and Z-axis directions of the machine tool, confirming the induction signals of the machine tool in the moving process, and marking coordinates when the signals disappear.
In step S103, the prefabricated calibration plate includes a substrate disposed on the bottom layer and a color block disposed on the upper layer for calibration, where an end point of the substrate overlaps an end point of the color block and is fixed;
rotating the color block to form a preset angle with the substrate;
and executing a first point calibration process and a second point calibration process based on the calibration plate, so that the camera can shoot the machine tool breadth, and the color lump region positioned on the calibration plate in the image of the machine tool breadth is selected to complete the calibration procedure.
It should be further noted that step S104 further includes: the corresponding slope and rotation angle offset of the left edge of the color block in the calibration plate are calculated by the Pythagorean theorem and the arctangent trigonometric function in the following modes:
dK＝(p2.y-p1.y)/(p2.x-p1.x)
dRad＝arctan(dK)
wherein, p1.X, p1.Y are the image coordinates X and Y of the corner point of the first calibration plate, p2.X, p2.Y are the image coordinates X and Y of the corner point of the second calibration plate, dK is the calculated slope, dRad is the rotation angle offset value;
correcting the second image by the obtained rotation angle, and carrying out reverse rotation to obtain a second image which is actually matched with the machine tool in the forward direction.
It should be further noted that step S106 further includes: and compensating other areas except the center point of the second image in such a way that the compensation direction of the first quadrant of the mechanical coordinates related to the second image is X negative Y negative, the compensation direction of the second quadrant of the mechanical coordinates is X negative Y positive, the compensation direction of the third quadrant of the mechanical coordinates is X positive Y negative, and the compensation direction of the fourth quadrant of the mechanical coordinates is X positive Y positive.
It should be further noted that the compensation value is calculated by:
wherein a is 0 Is the inner product constant, a n Is the frequency domain cosine component amplitude, b n Is the frequency domain sinusoidal component amplitude, n is a general parameter, and x is the distance of the compensation point from the center point.
The application also provides a calibration system for remote vision measurement, which comprises: the system comprises a hardware definition module, a regression zero control module, a shooting processing module, an image correction module, a deviation compensation module and a dynamic compensation module;
the hardware definition module is used for adjusting physical hardware parameters of a lens and a camera on the laser cutting machine so that imaging definition of the lens and the camera meets a preset definition threshold;
the regression zero control module is used for controlling the machine head regression zero of the laser cutting machine;
the shooting processing module is used for prefabricating the calibration plate, controlling the machine tool to move, aligning preset points of the calibration plate with laser red light spots, executing a shooting process, enabling the camera to shoot the breadth of the machine tool, and executing a calibration process;
the image correction module is used for obtaining a machine tool coordinate state through a prefabricated machine tool reference point and a preset point of the calibration plate, rotating the machine tool by a preset angle, obtaining rotation angle correction information of an image, and obtaining an image of actual forward matching of the machine tool;
the deviation compensation module analyzes the coordinates of the center point of the image based on the image actually positively matched by the machine tool, sequentially carries out positioning and edge searching in a preset direction according to the coordinates of the center point of the image, obtains the actual deviation between the coordinates of each edge after edge searching and the mechanical coordinates of the machine tool, and calculates the actual deviation into a compensation value;
the dynamic compensation module is used for carrying out mechanical coordinate dynamic compensation on other areas except the image center point, so that the mechanical coordinates after compensation meet the calibration requirement.
The application also provides a calibration terminal, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the vision measurement calibration method based on laser cutting when executing the program.
From the above technical scheme, the application has the following advantages:
in the visual measurement calibration method based on laser cutting, the operation mode related by operators is simple and convenient, the operation is more friendly, the implementation is easy, the operation is convenient, and the calibration efficiency is improved. In addition, the calibration plate is manually placed, so that the calibration plate cannot be placed in the center of the visual field of the camera, and error factors caused by the placement positions are calculated and compensated by the calibration method, so that the operation is simple and convenient, and the operation is convenient to complete. The calibration logic stability is stronger, the coupling is lower, the calibration board is convenient to manufacture, no particularly harsh reflective material is needed, the sub-mother board is adopted, the sub-mother board is embedded together by rivets, the man-machine efficiency is more met during operation, the mutual interference between the front point and the rear point can not be generated during calibration, the substrate does not need to move during the second point calibration, and the calibration process can be realized by only slightly rotating the color blocks around the rivets. The method can collect calibration information, is convenient for processing personnel and monitoring personnel to review, and effectively improves the monitoring efficiency in the calibration process. The precision and the accuracy of workpiece calibration are improved, so that timeliness and scientificity of monitoring, managing and controlling the whole calibration process are realized.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a visual measurement calibration method based on laser cutting;
fig. 2 is a schematic structural diagram of a camera according to the present application;
FIG. 3 is a calibration plate model for calibration according to the present application;
FIG. 4 is a view of a calibration plate relative to an image reference in the present application.
Detailed Description
The vision measurement calibration method based on laser cutting is used for realizing the automatic operation of a remote vision measurement calibration process, combining a vision system, and establishing association mapping between a vision image and a real physical environment through a prefabricated calibration plate, so that an object in the real environment is measured by the image, and after the image is processed, a processing drawing can be directly output, the processing starting point of a plate is positioned, the manual intervention quantity is reduced, and the full-automatic assembly line processing is easy to realize.
The visual measurement calibration method based on laser cutting can acquire and process the related parameters based on artificial intelligence technology in the execution process. The visual measurement calibration method based on laser cutting utilizes a digital computer or an industrial personal computer to simulate, extend and expand the intelligence of a person, sense the environment, acquire knowledge and acquire the theory, method, technology and application device of the best result by using the knowledge.
Thus, the visual measurement calibration method based on laser cutting utilizes the top camera 1 and the lens of the laser cutting machine, and utilizes technologies such as sensor monitoring, data transmission and the like to realize real-time interactive mapping of the machine tool 2 and visual measurement through image processing, thereby realizing the calibration process of visual measurement, facilitating the operation of the calibration process, being easy to realize the implementation of productization and being convenient for operators to operate and use.
A flow chart of a preferred embodiment of the laser cutting based vision measurement calibration method of the present application is shown in fig. 1. The vision measurement calibration method based on laser cutting is applied to one or more calibration terminals, the calibration terminals can be used together with a laser cutting machine, and the calibration terminals can automatically perform numerical calculation and/or information processing according to preset or stored instructions, and the hardware of the device comprises, but is not limited to, a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, an ASIC), a programmable gate array (Field-Programmable Gate Array, an FPGA), a digital processor (Digital Signal Processor, a DSP), an embedded device and the like.
The network where the calibration terminal is located includes, but is not limited to, the internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (Virtual Private Network, VPN), etc.
The visual measurement calibration method based on laser cutting is applied to calibration analysis of visual measurement before cutting by a laser cutting machine, and is used for analyzing the visual measurement state.
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, a flowchart of a method for calibrating vision measurement based on laser cutting in an embodiment is shown, where the method includes:
s101, adjusting physical hardware parameters of a lens and a camera 1 on a laser cutting machine to enable imaging definition of the lens and the camera 1 to meet a preset definition threshold;
in this embodiment, the operator may mount the lens and the camera 1 on the laser cutter, and adjust the aperture related parameters of the camera 1, such as the focal length, the image brightness, the gray scale, the sharpness, and the like of the camera 1, so that the imaging sharpness of the camera 1 meets the preset sharpness threshold.
For example, the adjustment mode may be to fix the lens on the camera 1, then adjust the aperture to adjust the brightness of the image to a larger value according to the installation position of the workpiece on the laser cutting machine, then adjust the focus to adjust the workpiece in the image to the clearest position, and then rotate rapidly, and after the clearest position is found to be adjusted, slowly in the reverse direction, so as to basically ensure stopping at the clearest point.
S102, controlling a machine head of the laser cutting machine to return to zero;
specifically, after the laser cutting machine is manufactured and installed, or after the laser cutting machine is shut down and restarted, or before the current cutting process is completed and a new process is restarted, information needs to be refreshed, and the laser cutting machine is shut down and restarted, so that zero point regression is required to be performed on the laser cutting machine. Here, the operator can click the zero-return button to select all zero-return, the machine tool 2 performs Z-axis positioning first, searches for a reference signal towards the negative direction, approaches at a low speed towards the opposite direction after the signal is sensed, and marks the starting position of the Z-axis and marks the coordinates after the signal disappears.
And similarly, positioning the Y axis, searching a reference signal towards the negative direction, approaching the Y axis at a low speed towards the opposite direction after the signal is sensed, and determining the starting position of the Y axis and the mark coordinate after the signal disappears. And finally, positioning the X-axis and marking coordinates. And after the movement of each phase is finished, the system of the laser cutting machine automatically calibrates and zeroes.
S103, a prefabricated calibration plate is used for controlling the machine tool 2 to move, preset points of the calibration plate are aligned with laser red light spots, a shooting process is executed, the camera 1 can shoot the breadth of the machine tool 2, and the calibration process is executed;
according to the embodiment of the application, with reference to fig. 3, the prefabricated calibration plate is in a two-layer structure, the bottom layer is the substrate 3, the upper layer is provided with the color lump plate 4 for calibration, and the substrate 3 and the color lump plate 4 are combined together through a rivet, so that the color lump plate 4 can rotate around the rivet, and the position of the rivet is just at one corner of the color lump plate 4. The color patch 5 is disposed on the color patch plate 4.
The first point calibration uses a first movement command to move the machine tool 2 of the laser cutting machine to a position of a coordinate point of a set first point, and then the first point of the calibration plate, which can be a point at the position of a rivet, is aligned with a laser red light spot.
Second point calibration the machine tool 2 of the laser cutter is moved to the position of the predetermined second point coordinate point using a second movement command, and then the color block plate 4 is rotated slightly to bring the second point, which may be a second angle of the color block in a clockwise direction, into alignment with the laser red light spot.
After the above operation is completed, the shooting format can be displayed on the display screen, so that the camera 1 can completely shoot the format of the machine tool 2 in the visual field. And (3) entering a calibration link, displaying a picture shot by the camera 1, selecting a color block plate 4 area positioned on a calibration plate in the image, and ensuring that the definition meets a preset definition threshold.
Illustratively, the position of the calibration plate in the picture taken by the camera 1 is referred to in fig. 4. The rectangle on the periphery represents the field of view taken by the camera 1 and the small rectangle on the inside, gray, represents the position of the calibration plate.
S104, obtaining machine tool coordinate information through a prefabricated machine tool 2 reference point and a preset point of a calibration plate, rotating the machine tool by a preset angle to obtain a rotation angle, correcting the first image, and obtaining a second image of actual forward matching of the machine tool;
in this embodiment, the machine tool 2 coordinates corresponding to each point of the color block, for example, the ratio reference values in the X-direction and the Y-direction, can be obtained by the prefabricated machine tool 2 reference points and calibration plate information, the size of the color block can be set according to the calibration requirement, and the linear ratio of the pixel size of the color block can be obtained by the camera 1.
Because the calibration plate has a certain angle compared with the horizontal line, the slope corresponding to the right-angle side of the calibration plate is calculated by the Pythagorean theorem and the arctangent trigonometric function. The calculation can be performed in particular by the following formula,
dK＝(p2.y-p1.y)/(p2.x-p1.x)
dRad＝arctan(dK)
wherein, p1.X, p1.Y are the image coordinates X and Y of the corner point of the first calibration plate, p2.X, p2.Y are the image coordinates X and Y of the corner point of the second calibration plate, dK is the calculated slope, dRad is the rotation angle offset value;
correcting the second image by the obtained rotation angle, and carrying out reverse rotation to obtain a second image which is actually matched with the machine tool in the forward direction.
S105, analyzing coordinates of an image center point based on a second image which is actually positively matched with the machine tool 2, sequentially locating and searching edges in a preset direction according to the coordinates of the second image center point, obtaining actual deviation between the coordinates of each edge after searching the edges and mechanical coordinates of the machine tool 2, and calculating the actual deviation into a compensation value.
It will be appreciated that the present application obtains a second image that is actually forward matched to the machine tool 2, and then obtains a center point of the mechanical coordinates, that is, the coordinates involved in the X-axis and the Y-axis Z-axis. And placing the workpiece at the center point of the second image, positioning and edge searching the workpiece, wherein the positioning and edge searching mode can adopt a positioning and edge searching mode commonly used in the laser cutting field, and calculating a center point compensation value according to actual deviation.
If the workpiece has a larger second image, a lens with a wider field of view can be used, and dynamic offset exists in the second image except for the center point, so that dynamic compensation needs to be performed on the other pixels.
S106, carrying out dynamic compensation on mechanical coordinates of other areas except the center point of the second image, so that the compensated mechanical coordinates meet the calibration requirement.
The compensation method is to compensate the other areas except the center point of the second image, wherein the compensation direction of the first quadrant of the mechanical coordinates related to the second image is X negative Y negative, the compensation direction of the second quadrant of the mechanical coordinates is X negative Y positive, the compensation direction of the third quadrant of the mechanical coordinates is X positive Y negative, and the compensation direction of the fourth quadrant of the mechanical coordinates is X positive Y positive.
It should be noted that, the compensation direction of the first quadrant of the mechanical coordinate being the X-negative Y-negative is understood as that the offset compensation is performed by moving along the first quadrant of the mechanical coordinate by a predetermined distance. The compensation direction of the second quadrant of the mechanical coordinates being X-negative Y positive can be understood as a deviation compensation performed by moving a preset distance along the second quadrant X-negative Y positive.
The specific compensation value can be calculated as follows:
wherein a is 0 Is the inner product constant, a n Is the frequency domain cosine component amplitude, b n Is the frequency domain sinusoidal component amplitude, n is a general parameter, and x is the distance of the compensation point from the center point.
Of course, the application can radiate the offset value from the center point of the workpiece to the surrounding, and gradually compensate according to the distance between the center points of the workpiece. Finally, coordinate values of all the identification points of the workpiece placed on the actual machine tool 2 are obtained, and a visual measurement calibration process based on laser cutting is realized.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
The visual measurement calibration method based on laser cutting can be used for finding out that the operation mode related by operators is simple and convenient, the operation is more friendly, the implementation is easy, the operation is convenient, and the calibration efficiency is improved. In addition, the calibration plate is manually placed, so that the calibration plate cannot be placed in the center of the visual field of the camera 1, and error factors caused by the placement positions are calculated and compensated by the calibration method, so that the operation is simple and convenient, and the operation is convenient to complete. The calibration logic stability is stronger, the coupling is lower, the calibration board is convenient to manufacture, no particularly harsh reflective material is needed, the sub-mother board is adopted, the sub-mother board is embedded together by rivets, the man-machine efficiency is more met during operation, the mutual interference between the front point and the rear point can not be generated during calibration, the substrate 3 does not need to move during the second point calibration, and the calibration process can be realized by only slightly rotating the color blocks around the rivets. The method can collect calibration information, is convenient for processing personnel and monitoring personnel to review, and effectively improves the monitoring efficiency in the calibration process. The precision and the accuracy of workpiece calibration are improved, so that timeliness and scientificity of monitoring, managing and controlling the whole calibration process are realized.
The following is an embodiment of a remote vision measurement calibration system provided by an embodiment of the present disclosure, which belongs to the same inventive concept as the laser cutting-based vision measurement calibration method of the above embodiments, and details of the remote vision measurement calibration system are not described in detail in the embodiment of the remote vision measurement calibration system, and reference may be made to the embodiment of the laser cutting-based vision measurement calibration method.
The system comprises: the system comprises a hardware definition module, a regression zero control module, a shooting processing module, an image correction module, a deviation compensation module and a dynamic compensation module;
the hardware definition module is used for adjusting physical hardware parameters of the lens and the camera 1 on the laser cutting machine so that imaging definition of the lens and the camera 1 meets a preset definition threshold;
in this embodiment, the laser cutting machine may convert the light and shadow into cmos signals, transfer the signals to the buffer area, compress and transmit the image to the industrial personal computer module. The adjustment process is to clearly present the light and shadow of the real environment on the acquisition device of the camera 1 by adjusting the focus and adjusting the aperture.
The regression zero control module is used for controlling the machine head regression zero of the laser cutting machine.
The shooting processing module is used for prefabricating a calibration plate, controlling the machine tool 2 to move, aligning preset points of the calibration plate with laser red light spots, executing a shooting process, enabling the camera 1 to shoot the breadth of the machine tool 2, and executing a calibration process;
in this embodiment, the shooting processing module further receives the transmission image from the camera 1, establishes a process buffer zone, persists the image in a database, and invokes a corresponding image processing software function module, thereby obtaining meaningful information in the image, and converting the meaningful information into processing data of the machine tool 2 for processing operation of the machine tool 2. The software functions of the shooting processing module comprise a gigabit network SDK image capturing module, an image preprocessing module, a distortion correction module, a machine tool 2 calibration module and an identification module.
The image correction module is used for obtaining the coordinate state of the machine tool 2 through the prefabricated machine tool 2 reference points and preset points of the calibration plate, rotating the machine tool 2 by a preset angle, obtaining rotation angle correction information of the image, and obtaining the image of the actual forward matching of the machine tool 2.
The deviation compensation module analyzes the coordinates of the center point of the image based on the image which is actually and positively matched by the machine tool 2, sequentially carries out positioning and edge searching in a preset direction according to the coordinates of the center point of the image, obtains the actual deviation between the coordinates of each edge after edge searching and the mechanical coordinates of the machine tool 2, and calculates the actual deviation into a compensation value;
the dynamic compensation module is used for carrying out mechanical coordinate dynamic compensation on other areas except the image center point, so that the mechanical coordinates after compensation meet the calibration requirement.
The elements and algorithm steps of each example described in the embodiments disclosed in the laser cutting-based vision measurement calibration method according to the present application can be implemented in electronic hardware, computer software, or a combination of both, and to clearly illustrate the interchangeability of hardware and software, each example's composition and steps have been generally described in terms of functions in the above description. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The flow diagrams of laser cutting-based vision measurement calibration methods illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
While the laser cutting based vision measurement calibration system is the unit and algorithm steps of the examples described in connection with the embodiments disclosed herein, it can be implemented in electronic hardware, computer software, or a combination of both, and to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described generally in terms of functionality in the foregoing description. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
Those skilled in the art will appreciate that aspects of the laser cutting based vision measurement calibration method may be implemented as a system, method, or program product. Accordingly, various aspects of the disclosure may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.
In embodiments of the present application, computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A visual measurement calibration method based on laser cutting is characterized in that the method comprises the following steps of,
s101, adjusting physical hardware parameters of a lens and a camera on a laser cutting machine to enable imaging definition of the lens and the camera to meet a preset definition threshold;
s102, controlling a laser head of the laser cutting machine to return to zero;
s103, a prefabricated calibration plate is used for controlling the laser head to move along the X axis and the Y axis of the machine tool, aligning preset points of the calibration plate with laser red light spots, executing a shooting process, enabling the camera to shoot the breadth of the machine tool, acquiring an original first image, and executing the calibration process;
s104, obtaining a machine tool coordinate state through a prefabricated machine tool reference point and a preset point of a calibration plate, rotating the machine tool by a preset angle to obtain a rotation angle, correcting the first image, and obtaining a second image of actual forward matching of the machine tool;
s105, analyzing coordinates of an image center point based on a second image which is actually and positively matched with the machine tool, sequentially locating and searching edges in a preset direction according to the coordinates of the second image center point, obtaining actual deviation between each edge coordinate after searching the edges and the machine tool mechanical coordinate, and calculating the actual deviation into a compensation value;
s106, carrying out dynamic compensation on mechanical coordinates of other areas except the center point of the second image, so that the compensated mechanical coordinates meet the calibration requirement.
2. The method for calibrating vision measurement based on laser cutting according to claim 1, wherein,
in step S101, the lens is fixedly mounted on a preset position of the camera, the aperture of the lens is adjusted, and the imaging brightness is adjusted to a preset brightness threshold.
3. The method for calibrating vision measurement based on laser cutting according to claim 2, wherein,
step S101 further includes: and adjusting the focal length of the lens to enable the definition of the object in the image to reach a preset definition threshold.
4. The method for calibrating vision measurement based on laser cutting according to claim 1 or 2, wherein,
in step S102, starting a zero regression process; and then controlling the laser head to move along the X-axis, Y-axis and Z-axis directions of the machine tool, confirming the induction signals of the machine tool in the moving process, and marking coordinates when the signals disappear.
5. The method for calibrating vision measurement based on laser cutting according to claim 1 or 2, wherein,
in step S103, the prefabricated calibration plate includes a substrate disposed on the bottom layer and a color block disposed on the upper layer for calibration, where an end point of the substrate overlaps an end point of the color block and is fixed;
rotating the color block to form a preset angle with the substrate;
and executing a first point calibration process and a second point calibration process based on the calibration plate, so that the camera can shoot the machine tool breadth, and the color lump region positioned on the calibration plate in the image of the machine tool breadth is selected to complete the calibration procedure.
6. The method for calibrating vision measurement based on laser cutting according to claim 1 or 2, wherein,
step S104 further includes: the corresponding slope and rotation angle offset of the left edge of the color block in the calibration plate are calculated by the Pythagorean theorem and the arctangent trigonometric function in the following modes:
dK＝(p2.y-p1.y)/(p2.x-p1.x)
dRad＝arctan(dK)
wherein, p1.X, p1.Y are the image coordinates X and Y of the corner point of the first calibration plate, p2.X, p2.Y are the image coordinates X and Y of the corner point of the second calibration plate, dK is the calculated slope, dRad is the rotation angle offset value;
correcting the second image by the obtained rotation angle, and carrying out reverse rotation to obtain a second image which is actually matched with the machine tool in the forward direction.
7. The method of calibrating a laser-cutting-based vision measurement according to claim 1 or 2, wherein step S106 further comprises: and compensating other areas except the center point of the second image in such a way that the compensation direction of the first quadrant of the mechanical coordinates related to the second image is X negative Y negative, the compensation direction of the second quadrant of the mechanical coordinates is X negative Y positive, the compensation direction of the third quadrant of the mechanical coordinates is X positive Y negative, and the compensation direction of the fourth quadrant of the mechanical coordinates is X positive Y positive.
8. The method of claim 7, wherein the compensation value is calculated by:
wherein a is 0 Is the inner product constant, a n Is the frequency domain cosine component amplitude, b n Is the frequency domain sinusoidal component amplitude, n is a general parameter, and x is the distance of the compensation point from the center point.
9. A calibration system for remote vision measurement, characterized in that the system adopts the vision measurement calibration method based on laser cutting as claimed in any one of claims 1 to 8;
the system comprises: the system comprises a hardware definition module, a regression zero control module, a shooting processing module, an image correction module, a deviation compensation module and a dynamic compensation module;
the hardware definition module is used for adjusting physical hardware parameters of a lens and a camera on the laser cutting machine so that imaging definition of the lens and the camera meets a preset definition threshold;
the regression zero control module is used for controlling the machine head regression zero of the laser cutting machine;
the shooting processing module is used for prefabricating the calibration plate, controlling the machine tool to move, aligning preset points of the calibration plate with laser red light spots, executing a shooting process, enabling the camera to shoot the breadth of the machine tool, and executing a calibration process;
the image correction module is used for obtaining a machine tool coordinate state through a prefabricated machine tool reference point and a preset point of the calibration plate, rotating the machine tool by a preset angle, obtaining rotation angle correction information of an image, and obtaining an image of actual forward matching of the machine tool;
the deviation compensation module analyzes the coordinates of the center point of the image based on the image actually positively matched by the machine tool, sequentially carries out positioning and edge searching in a preset direction according to the coordinates of the center point of the image, obtains the actual deviation between the coordinates of each edge after edge searching and the mechanical coordinates of the machine tool, and calculates the actual deviation into a compensation value;
the dynamic compensation module is used for carrying out mechanical coordinate dynamic compensation on other areas except the image center point, so that the mechanical coordinates after compensation meet the calibration requirement.
10. A calibration terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the laser cutting based vision measurement calibration method according to any one of claims 1 to 8 when executing the program.
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| CN117644294B (en) * | 2024-01-29 | 2024-05-03 | 北京金橙子科技股份有限公司 | Laser processing method and control device based on visual preview guidance |
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