CN117102661A - Visual positioning method and laser processing equipment - Google Patents

Abstract

The invention discloses a visual positioning method and laser processing equipment, which include moving and positioning a target object through a first camera to determine the first position data and the second position data; according to the first position data and the second position data, Determine the first offset data; perform position compensation on the target object according to the first offset data and the preset initial position data of the target object, and determine the actual position data of the target object; determine the third position data according to the actual position data of the target object. Position data; move according to the third position data and perform positioning detection on the target object through the second camera to determine the positioning detection result. The present invention uses the first camera with a larger field of view to capture the first identification point and the second identification point, and has a high visual positioning speed. According to the position data of the first identification point and the second identification point, the offset of the target object is determined and carried out. compensation, and then perform high-precision positioning through the second camera, with high positioning accuracy.

Description

Visual positioning method and laser processing equipment

Technical field

The invention relates to the technical field of laser processing equipment, and in particular to a visual positioning method and laser processing equipment.

Background technique

Laser processing equipment, such as those used for drilling circuit boards, needs to position the product to be processed when starting the operation to determine the coordinate origin of the operation. In related technologies, most laser processing equipment uses cameras for visual positioning. However, due to the contradiction between the camera's field of view and accuracy performance, as well as the position deviation of the product to be processed during the placement process, the visual positioning method of related technologies is difficult to achieve. Position products quickly and accurately.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a visual positioning method and laser processing equipment, which can improve the efficiency and accuracy of visual positioning.

On the one hand, embodiments of the present invention provide a visual positioning method applied to laser processing equipment. The laser processing equipment includes a first camera and a second camera, including:

Move and perform positioning detection on the target object through the first camera, and determine first position data and second position data. The first position data is used to represent the actual position of the first identification point set on the target object. Data, the second position data is used to represent the actual position data of the second identification point set on the target object, and the field of view of the first camera is larger than that of the second camera;

According to the first position data and the second position data, first offset data is determined, and the first offset data is used to characterize the difference between the actual position of the target object and the preset initial position. Offset;

Perform position compensation on the target object according to the first offset data and the preset initial position data of the target object, and determine the actual position data of the target object;

Determine third position data according to the actual position data of the target object, where the third position data is used to represent the theoretical position data of a plurality of third identification points provided on the target object;

Move and perform positioning detection on the target object through the second camera according to the third position data, and determine the positioning detection result.

According to some embodiments of the present invention, the moving and positioning detection of the target object through the first camera and determining the first position data and the second position data include:

Obtain first theoretical position data and second theoretical position data. The first theoretical position data is used to characterize the preset initial position of the first identification point, and the second theoretical position data is used to characterize the second identification point. The preset initial position of the point;

According to the first theoretical position data, move and perform positioning detection on the target object through the first camera to determine the first position data;

According to the second theoretical position data, the target object is moved and positioned through the first camera to determine the second position data.

According to some embodiments of the present invention, determining the first offset data according to the first position data and the second position data includes:

Under the preset first rectangular coordinate system, perform a difference operation on the first position data and the second position data to determine the first difference value and the second difference value, where the first difference value is used represents the coordinate difference on the X-axis of the first rectangular coordinate system, the second difference is used to represent the coordinate difference on the Y-axis of the first rectangular coordinate system, the first rectangular coordinate The plane of the system is parallel to the plane of the target object, and the X-axis extension direction of the first rectangular coordinate system is parallel to the moving direction of the first camera;

The first offset data is determined based on the first difference value and the second difference value.

According to some embodiments of the present invention, determining the first offset data according to the first position data and the second position data further includes:

Obtain first theoretical position data, the first theoretical position data is used to characterize the preset initial position of the first identification point;

Under the first rectangular coordinate system, perform a difference operation on the first theoretical position data and the first position data to determine the first offset data;

or,

Obtain second theoretical position data, the second theoretical position data is used to characterize the preset initial position of the second identification point;

In the first rectangular coordinate system, a difference operation is performed on the second theoretical position data and the second position data to determine the first offset data.

According to some embodiments of the present invention, the preset initial position data of the target object is data in a preset second rectangular coordinate system, and the second rectangular coordinate system is based on the first identification point or the third The two identification points are coordinate origins. The position compensation of the target object based on the first offset data and the preset initial position data of the target object and determining the actual position data of the target object include:

Under the second rectangular coordinate system, perform position compensation on the target object according to the first offset data and the preset initial position data of the target object, and determine the first position compensation data;

The first position compensation data is converted from the second rectangular coordinate system to the first rectangular coordinate system to determine the actual position data of the target object.

According to some embodiments of the present invention, the step of moving and positioning the target object through the second camera according to the third position data further includes:

Determine fourth position data according to the positioning detection result, where the fourth position data is used to characterize the actual position data of the plurality of third identification points;

Expansion and contraction calculations are performed on the target object based on the fourth position data to determine expansion and contraction compensation data.

According to some embodiments of the present invention, the plurality of third identification points are set at the edge of the target object, and the expansion and contraction calculation of the target object is performed according to the fourth position data to determine the expansion and contraction compensation data. ,include:

Perform an overall expansion and contraction calculation on the target object based on the fourth position data to determine the overall expansion and contraction compensation data.

According to some embodiments of the present invention, the target object includes a plurality of sub-units, the plurality of third identification points are set at edges of the sub-units, and the target object is processed according to the fourth position data. Calculate expansion and contraction and determine expansion and contraction compensation data, including:

Perform local expansion and contraction calculation on the target object according to the fourth position data to determine local expansion and contraction compensation data.

According to some embodiments of the present invention, the plurality of third identification points are distributed in a rectangular shape to form a positioning rectangle, and the expansion and contraction calculation of the target object is performed according to the fourth position data to determine the expansion and contraction compensation data, include:

According to the fourth position data, first side length data and second side length data are determined. The first side length data is used to characterize the length data of the first side and the second side of the positioning rectangle. The third side length data is determined. The two side length data is used to represent the length data of the third side and the fourth side of the positioning rectangle, and the first side and the second side are parallel to each other;

The expansion and contraction compensation data is determined based on the first side length data and the second side length data.

On the other hand, an embodiment of the present invention provides a laser processing equipment, including a control module and a first camera and a second camera respectively electrically connected to the control module. The control module is used to perform the above visual positioning method.

The embodiments of the present invention at least have the following beneficial effects:

Using the first camera with a larger field of view to capture the first identification point and the second identification point on the target object is beneficial to improving the speed of visual positioning, and determining the target object based on the position data of the first identification point and the second identification point. The offset is compensated, and then the second camera is used for high-precision positioning, which is beneficial to improving the accuracy of positioning.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

Figure 1 is a schematic diagram of identification points in a large field of view and a small field of view in the related art;

Figure 2 is a functional block diagram of the laser processing equipment according to the embodiment of the present invention;

Figure 3 is a schematic structural diagram of the laser processing equipment according to the embodiment of the present invention;

Figure 4 is one of the step flow charts of the visual positioning method according to the embodiment of the present invention;

Figure 5 is a schematic diagram of the target object in a preset initial position in the first rectangular coordinate system in the embodiment of the present invention;

Figure 6 is a schematic diagram of the actual position of the target object in the first rectangular coordinate system in the embodiment of the present invention;

Figure 7 is the second step flow chart of the visual positioning method according to the embodiment of the present invention;

Figure 8 is a schematic plan view of a target object according to an embodiment of the present invention.

Reference signs:

Identification point 010, field of view range 020, control module 100, first camera 210, second camera 220, motion mechanism 300, mobile platform 400, target object 500, first identification point 501, second identification point 502, third identification point 503. Subunit 504.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and cannot be understood as limiting the present invention.

In the description of the present invention, it should be understood that orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or position relationships shown in the drawings and are only In order to facilitate the description of the present invention and simplify the description, it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation of the present invention.

In the description of the present invention, "several" means one or more, "multiple" means more than two, greater than, less than, more than, etc. are understood to exclude the number, and "above", "below", " "Within" etc. shall be understood as including the original number. If there are descriptions of "first", "second", etc., they are only used for the purpose of distinguishing technical features and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the indicated technical features. The sequence relationship of technical features.

In the description of the present invention, unless otherwise explicitly limited, words such as "setting", "installation" and "connection" should be understood in a broad sense. Those skilled in the art can reasonably determine the use of the above words in the present invention based on the specific content of the technical solution. the specific meaning in.

A camera, also called a camera, is a device used to acquire images and is commonly found in various industrial equipment that require visual positioning. The field of view range and recognition accuracy of the camera are two contradictory attributes. If the field of view range is large, the recognition accuracy will be low. On the contrary, if the recognition accuracy is high, the field of view range will be small. For example, please refer to Figure 1, Figure 1 ( a) shows a schematic diagram of the identification point 010 under a camera with a large field of view. (b) of Figure 1 shows a schematic diagram of the identification point 010 under a camera with a small field of view. From the comparison in the figure, it can be seen that the same identification point 010 is The size displayed within the field of view 020 of different cameras is different, and the recognition accuracy is also different. In related technologies, most laser equipment uses a single-camera structure to position the product to be processed. However, if a camera with a wide field of view is used in this structure, the recognition accuracy of the positioning will be insufficient. If a high-precision camera is used, the recognition accuracy will be insufficient. The small field of view results in low positioning efficiency. In addition, in actual production, the product to be processed may be offset from the preset position due to insufficient placement, resulting in the camera with a small field of view being unable to identify it within the field of view. In view of the technical problems of related technologies, this embodiment discloses a visual positioning method and a laser processing equipment for executing the visual positioning method, so as to improve the efficiency and accuracy of visual positioning.

Please refer to Figure 2. The laser processing equipment disclosed in this embodiment, such as a laser drilling equipment for laser drilling, includes a control module 100 and a first camera 210 and a second camera 220 respectively electrically connected to the control module 100. The control module 100 is used to execute the visual positioning method of this embodiment.

For example, please refer to Figure 3. The first camera 210 and the second camera 220 are installed on the movement mechanism 300. A mobile platform 400 for placing products to be processed is provided below the movement mechanism 300. The mobile platform 400 can move relative to the movement mechanism 300. Movement, where the product to be processed can be products such as rigid circuit boards, flexible circuit boards, etc. The cooperation between the motion mechanism 300 and the mobile platform 400 allows the first camera 210 and the second camera 220 to visually locate the product to be processed placed on the mobile platform 400 . In order to facilitate the identification of identification points on the product to be processed, this embodiment constructs a first rectangular coordinate system (ie, X1-O1-Y1) in the first plane, which is parallel to the plane where the target object 500 is located, and the first plane The X-axis extending direction of the rectangular coordinate system is parallel to the moving direction of the first camera 210 , and the Y-axis extending direction of the first rectangular coordinate system is parallel to the moving direction of the mobile platform 400 .

Please refer to Figure 4. A visual positioning method disclosed in this embodiment includes steps S100~S500. It should be noted that the method steps are numbered in this embodiment only to facilitate review and reading understanding, and should not be regarded as Limitations on execution order. The specific content of each step is as follows:

S100. Please refer to Figures 3 and 5, move and perform positioning detection on the target object 500 through the first camera 210, and determine the first position data and the second position data. The first position data is used to represent the position set on the target object 500. The actual position data of the first identification point 501, the second position data is used to represent the actual position data of the second identification point 502 set on the target object 500, and the field of view range of the first camera 210 is larger than that of the second camera 220;

This embodiment uses a laser processing equipment for laser drilling of circuit boards as an example. The circuit board as the target object 500 of the laser processing equipment will be provided with marking points for positioning on the surface, commonly known as MARK points, such as holes. Or pad, etc. Before starting production, the operator inputs the production data of the target object 500 into the laser processing equipment, where the production data includes the location information of the identification point and the information of the location to be processed. When starting production, both the first camera 210 and the second camera 220 are in the initial position, and the operator places the target object 500 at the preset initial position of the laser processing equipment and starts production. At this time, the first camera 210 moves to the preset initial position and performs positioning detection on the target object 500 to determine the first position data and the second position data. Since the first camera 210 has a larger field of view, the first camera 210 can capture the first identification point 501 and the second identification point 502 within a larger field of view, thereby performing positioning detection more quickly, even if the target object 500 is relative to the predetermined position. Assuming that the position is offset, the large field of view of the first camera 210 can also provide a larger error-tolerant field of view for capturing the identification point, preventing positioning detection from being impossible because the identification point exceeds the field of view, which is conducive to improving the efficiency of positioning detection. .

S200. Determine first offset data according to the first position data and the second position data. The first offset data is used to represent the offset between the actual position of the target object 500 and the preset initial position;

When the first camera 210 detects the first identification point 501 and the second identification point 502, the first position data and the second position data can be determined, thereby determining the target object 500 relative to the predetermined position according to the first position data and the second position data. The position offset of the initial position is assumed.

S300. Perform position compensation on the target object 500 according to the first offset data and the preset initial position data of the target object 500, and determine the actual position data of the target object 500;

During the placement process, due to manual or equipment placement accuracy, the target object 500 has a positional offset, and the offset of the target object 500 may be a linear offset, a rotational offset, or a combination of both. When the target object 500 is detected When a position deviation occurs relative to the preset initial position, position compensation is performed on the target object 500 to determine the actual position data of the target object 500. There is no need to re-adjust the placement of the target object 500, which is conducive to improving the efficiency of visual positioning. .

S400. Please refer to Figure 5 to determine third position data based on the actual position data of the target object 500. The third position data is used to represent the theoretical position data of a plurality of third identification points 503 set on the target object 500;

As mentioned above, there is a contradiction between the camera's field of view and the recognition accuracy. In order to achieve high-precision positioning, this embodiment uses the second camera 220 with a smaller field of view but higher recognition accuracy to detect the target object 500 . The third identification point 503 performs positioning detection. Because the actual position of the target object 500 is offset relative to the initial position, it is necessary to determine the theoretical positions of the plurality of third identification points 503 on the target object 500 based on the actual position data of the target object 500 in order to move the second camera 220 to capture the third identification point 503.

S500: Move and perform positioning detection on the target object 500 through the second camera 220 according to the third position data, and determine the positioning detection result.

When the theoretical position of the third identification point 503 is determined, the second camera 220 is moved to the corresponding position to identify the third identification point 503 for positioning detection. It should be noted that the “movements” of the first camera 210 and the second camera 220 involved in this embodiment are relative movements. For example, please refer to Figure 2. The first camera 210 and the second camera 220 in this embodiment It is arranged on the motion mechanism 300, and the target object 500 is placed on the mobile platform 400. Through the movement cooperation of the motion mechanism 300 and the mobile platform 400 in the X-axis direction and the Y-axis direction, the first camera 210 and the second camera 220 can be made to face each other. The target object 500 moves in two directions, thereby detecting identification points set at different positions of the target object 500 . Of course, in some embodiments, the first camera 210 and the second camera 220 can be disposed on a two-degree-of-freedom moving mechanism, so that movement in the X-axis direction and the Y-axis direction can be achieved.

In step S100, move and perform positioning detection on the target object 500 through the first camera 210, and determine the first position data and the second position data, including:

S110. Obtain first theoretical position data and second theoretical position data. The first theoretical position data is used to represent the preset initial position of the first identification point 501, and the second theoretical position data is used to represent the preset position of the second identification point 502. initial position;

As mentioned above, production data needs to be entered before starting production. The production data includes data on the preset initial positions of the first identification point 501 and the second identification point 502, where the first theoretical position data and the second theoretical position data It can be obtained and entered through teaching. For example, in the teaching mode, the target object 500 is placed on the laser processing equipment, and the first camera 210 is moved to be in contact with the target object 500 through manual mode or automatic mode. The position of the first identification point 501 or the second identification point 502 is used to determine the first theoretical position data or the second theoretical position data.

S120. According to the first theoretical position data, move and perform positioning detection on the target object 500 through the first camera 210 to determine the first position data;

In order to determine whether the position of the target object 500 is the same as the initial position, the first camera 210 is moved to the preset initial position of the first identification point 501 according to the first theoretical position data. If the actual position of the target object 500 is the same as the initial position, Then the first camera 210 can capture the first identification point 501 at its preset initial position, thereby determining that the actual position of the first identification point 501 is the same as the preset initial position; and when the actual position of the target object 500 When a positional deviation within an acceptable range occurs relative to the initial position, when the first camera 210 moves to the preset initial position of the first identification point 501, the first identification point 501 can still be captured within the field of view, thereby determining the first identification point 501. One identifies the actual location of point 501.

S130. According to the second theoretical position data, move and perform positioning detection on the target object 500 through the first camera 210 to determine the second position data.

The detection principle of the first identification point 501 is the same as that of the first identification point 501. In this embodiment, the second identification point 502 is captured by the first camera 210 according to the second theoretical position data, thereby determining the second location data.

In step S200, the first offset data is determined based on the first position data and the second position data, including:

S210. Under the preset first rectangular coordinate system, perform a difference operation on the first position data and the second position data to determine the first difference value and the second difference value, where the first difference value is used to characterize the first difference value. The coordinate difference on the X-axis of the Cartesian coordinate system. The second difference is used to represent the coordinate difference on the Y-axis of the first Cartesian coordinate system. As mentioned above, the plane of the first Cartesian coordinate system is parallel to The plane where the target object 500 is located, and the X-axis extension direction of the first rectangular coordinate system is parallel to the moving direction of the first camera 210;

S220. Determine the first offset data based on the first difference value and the second difference value.

Please refer to FIGS. 5 and 6 . FIG. 5 shows the target object 500 in a preset initial position, and FIG. 6 shows a situation in which the target object 500 is rotated relative to the preset initial position. For ease of understanding, this embodiment takes the simplest state as an example: assuming that the target object 500 is a rectangular circuit board with regular edges, and the first identification points 501 and the second identification points 502 are arranged along the edges of the target object 500, and The connection line between the first identification point 501 and the second identification point 502 (hereinafter referred to as the "first connection line") is parallel to one edge of the target object 500 . In Figure 5, the first connecting line is parallel to the X-axis of the first rectangular coordinate system, and in Figure 6, the first connecting line forms an included angle a with respect to the X-axis. Assume that in the first rectangular coordinate system, the first position data is ( x ₁ , y ₁ ) and the second position data is ( x ₂ , y ₂ ), then perform a difference operation on the first position data and the second position data, The components of the first connecting line on the X-axis and the Y-axis can be determined, thereby determining the included angle a, that is, the first offset data, based on the trigonometric function relationship.

For the situation where the actual position of the target object 500 is linearly offset relative to the preset initial position, in step S200, determining the first offset data based on the first position data and the second position data also includes:

S230. Obtain the first theoretical position data. The first theoretical position data is used to represent the preset initial position of the first identification point 501;

S240. In the first rectangular coordinate system, perform a difference operation on the first theoretical position data and the first position data to determine the first offset data;

or,

S250. Obtain the second theoretical position data. The second theoretical position data is used to represent the preset initial position of the second identification point 502;

S260. In the first rectangular coordinate system, perform a difference operation on the second theoretical position data and the second position data to determine the first offset data.

For example, please refer to Figures 5 and 6. Suppose that in the first rectangular coordinate system, the first theoretical position data is ( x ₁₀ , y ₁₀ ), and the first position data is ( x ₁ , y ₁ ). Since The position of the target object 500 is linearly displaced. By performing a difference operation on the first theoretical position data and the first position data, the offset amount of the target object 500 in the X-axis direction and the Y-axis direction can be determined. Similarly, through the difference operation between the second theoretical position data and the second position data, the offset of the target object 500 in the X-axis direction and the Y-axis direction can be determined. Therefore, the first offset data can be determined in one of two ways.

Please refer to Figure 6. In order to facilitate the determination of the actual position of the target object 500, this embodiment constructs a second rectangular coordinate system (ie, X2-O2-Y2) for the target object 500. The preset initial position data of the target object 500 is in the preset Data in the second rectangular coordinate system, the second rectangular coordinate system uses the first identification point 501 or the second identification point 502 as the coordinate origin. In step S300, according to the first offset data and the preset initialization of the target object 500 The position data performs position compensation on the target object 500 and determines the actual position data of the target object 500, including:

S310. In the second rectangular coordinate system, perform position compensation on the target object 500 according to the first offset data and the preset initial position data of the target object 500, and determine the first position compensation data;

S320: Convert the first position compensation data from the second rectangular coordinate system to the first rectangular coordinate system to determine the actual position data of the target object 500.

Since the second rectangular coordinate system is established on the target object 500, even if the target object 500 is linearly or rotationally offset in the first coordinate system, under the second coordinate system, each point on the target object 500 will be relative to The distance between the origin of the coordinates (that is, the first identification point 501 or the second identification point 502) remains unchanged. For example, the distance and angle b between point A and point O2 in Figure 6 remain unchanged. When the target object 500 is rotated and offset, each point on the target object 500 also rotates relative to the coordinate origin of the second coordinate system, and the rotation angle is the included angle a. According to the included angle a and the original coordinates of each point on the target object 500 (ie, the preset initial position data), the new coordinates after the rotational offset occurs (ie, the first position compensation data) can be determined. According to the relationship between the first rectangular coordinate system and the second rectangular coordinate system, the first position compensation data can be converted from the second rectangular coordinate system to the first rectangular coordinate system, thereby determining the actual position data of the target object 500 .

Please refer to Figure 7, step S500, moving and positioning the target object 500 through the second camera 220 according to the third position data, and then also includes:

S600. Determine the fourth position data according to the positioning detection result. The fourth position data is used to represent the actual position data of the plurality of third identification points 503;

S700: Perform expansion and contraction calculation on the target object 500 based on the fourth position data, and determine the expansion and contraction compensation data.

Due to the processing material characteristics of the circuit board, the circuit board will expand and contract to varying degrees due to different processing materials, causing the positions of various points on the circuit board to shift. Therefore, the target object 500 needs to be compensated for expansion and contraction. Wherein, the second camera 220 is moved to a position corresponding to the third position data, and the third identification point 503 of the target object 500 is captured for positioning detection. When the actual position of the third identification point 503 is the same as the theoretical position, the fourth position data is the same as the third position data, and when the actual position of the third identification point 503 slightly deviates due to factors such as expansion and contraction, the fourth position data is determined. Position data to facilitate expansion and contraction calculations of the target object 500.

In some embodiments, as shown in FIG. 5 , in order to perform overall positioning and expansion and contraction compensation of the target object 500 , a plurality of third identification points 503 are set at the edge of the target object 500 , for example, at the edge of the circuit board. Location. In step S500, expansion and contraction calculations are performed on the target object 500 based on the fourth position data, and expansion and contraction compensation data are determined, including:

S710. Calculate the overall expansion and contraction of the target object 500 based on the fourth position data, and determine the overall expansion and contraction compensation data.

In other embodiments, as shown in FIG. 6 , the target object 500 includes multiple sub-units 504 . Due to reasons such as a larger area of the target object 500 , softer material, or a larger number of sub-units 504 , the target object 500 is The degree of expansion and contraction may vary at different locations. In order to improve the positioning accuracy, a plurality of third identification points 503 are set at the edge of the sub-unit 504. The expansion and contraction calculation of the target object 500 is performed based on the fourth position data to determine the expansion and contraction compensation data, including:

S720: Perform local expansion and contraction calculation on the target object 500 according to the fourth position data, and determine the local expansion and contraction compensation data.

For example, please refer to Figure 8. A plurality of third identification points 503 are distributed in a rectangular shape to form a positioning rectangle. In step S500, the expansion and contraction calculation of the target object 500 is performed according to the fourth position data to determine the expansion and contraction compensation data, including :

S701. Determine the first side length data and the second side length data according to the fourth position data. The first side length data is used to represent the length data of the first side and the second side of the positioning rectangle. The second side length data is used to represent the length data of the first side and the second side of the positioning rectangle. Characterizes the length data of the third and fourth sides of the positioning rectangle, and the first and second sides are parallel to each other;

S702. Determine expansion and contraction compensation data based on the first side length data and the second side length data.

Specifically, please continue to refer to Figure 8. For overall expansion and contraction compensation, the number of third identification points 503 is four, and the four third identification points 503 are set at the four corners of the target object 500 to form a positioning The four edges of the rectangle are L11, L12, L13 and L14. By determining the position data of the four third identification points 503, the side length data of the four sides of the positioning rectangle can be determined, that is, the first side length data, the second side length data, the third side length data and the fourth side length data. According to The side length data of two mutually parallel sides can determine the expansion and contraction of the target object 500 in that direction, thereby determining the expansion and contraction compensation data. For example, by averaging the first side length data and the second side length data, you can The expansion and contraction compensation data are determined, and each point on the target object 500 is positioned according to the expansion and contraction compensation data. For example, the drilling position is updated according to the expansion and contraction compensation data, thereby improving the accuracy of positioning.

The principle of local expansion and contraction compensation is similar to that of overall expansion and contraction compensation. The difference is that the local compensation is targeted at each sub-unit 504 in the target object 500. The third identification points 503 are distributed at the corners of each sub-unit 504, thereby forming a positioning rectangle. The four edges are L21, L22, L23 and L24. In this way, adaptive local compensation can be performed according to the expansion and contraction of each sub-unit 504, so that the visual positioning of each sub-unit 504 is more accurate.

In some embodiments, multiple third identification points 503 of the target object can be simultaneously distributed at the four corners of the entire board and located at the four corners of each sub-unit 504. In this way, overall expansion and contraction compensation can be achieved. Local expansion and contraction compensation reduces the error of a single compensation method and is helpful to further improve positioning accuracy.

The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various modifications can be made without departing from the purpose of the present invention. Variety.

Claims (10)

1. A visual positioning method, applied to laser processing equipment, the laser processing equipment includes a first camera and a second camera, characterized in that it includes: Move and perform positioning detection on the target object through the first camera, and determine first position data and second position data. The first position data is used to represent the actual position of the first identification point set on the target object. Data, the second position data is used to represent the actual position data of the second identification point set on the target object, and the field of view of the first camera is larger than that of the second camera; According to the first position data and the second position data, first offset data is determined, and the first offset data is used to characterize the difference between the actual position of the target object and the preset initial position. Offset; Perform position compensation on the target object according to the first offset data and the preset initial position data of the target object, and determine the actual position data of the target object; Determine third position data according to the actual position data of the target object, where the third position data is used to represent the theoretical position data of a plurality of third identification points provided on the target object; Move and perform positioning detection on the target object through the second camera according to the third position data, and determine the positioning detection result. 2. The visual positioning method according to claim 1, wherein the moving and positioning detection of the target object through the first camera and determining the first position data and the second position data include: Obtain first theoretical position data and second theoretical position data, the first theoretical position data is used to characterize the preset initial position of the first identification point, and the second theoretical position data is used to characterize the second identification The preset initial position of the point; According to the first theoretical position data, move and perform positioning detection on the target object through the first camera to determine the first position data; According to the second theoretical position data, the target object is moved and positioned through the first camera to determine the second position data. 3. The visual positioning method according to claim 1, wherein determining the first offset data according to the first position data and the second position data includes: Under the preset first rectangular coordinate system, perform a difference operation on the first position data and the second position data to determine the first difference value and the second difference value, where the first difference value is used represents the coordinate difference on the X-axis of the first rectangular coordinate system, the second difference is used to represent the coordinate difference on the Y-axis of the first rectangular coordinate system, the first rectangular coordinate The plane of the system is parallel to the plane of the target object, and the X-axis extension direction of the first rectangular coordinate system is parallel to the moving direction of the first camera; The first offset data is determined based on the first difference value and the second difference value. 4. The visual positioning method according to claim 3, wherein determining the first offset data according to the first position data and the second position data further includes: Obtain first theoretical position data, the first theoretical position data is used to characterize the preset initial position of the first identification point; Under the first rectangular coordinate system, perform a difference operation on the first theoretical position data and the first position data to determine the first offset data; or, Obtain second theoretical position data, the second theoretical position data is used to characterize the preset initial position of the second identification point; In the first rectangular coordinate system, a difference operation is performed on the second theoretical position data and the second position data to determine the first offset data. 5. The visual positioning method according to claim 3, wherein the preset initial position data of the target object is data in a preset second rectangular coordinate system, and the second rectangular coordinate system is based on the so-called second rectangular coordinate system. The first identification point or the second identification point is the coordinate origin, the position compensation is performed on the target object according to the first offset data and the preset initial position data of the target object, and the determination of the Actual location data of the target object, including: Under the second rectangular coordinate system, perform position compensation on the target object according to the first offset data and the preset initial position data of the target object, and determine the first position compensation data; The first position compensation data is converted from the second rectangular coordinate system to the first rectangular coordinate system to determine the actual position data of the target object. 6. The visual positioning method according to any one of claims 1 to 5, characterized in that the target object is moved according to the third position data and the positioning detection is performed by the second camera, and then the target object is include: Determine fourth position data according to the positioning detection result, where the fourth position data is used to characterize the actual position data of the plurality of third identification points; Expansion and contraction calculations are performed on the target object based on the fourth position data to determine expansion and contraction compensation data. 7. The visual positioning method according to claim 6, characterized in that the plurality of third identification points are set at the edges of the target object, and the target object is processed according to the fourth position data. Calculate expansion and contraction and determine expansion and contraction compensation data, including: Perform an overall expansion and contraction calculation on the target object based on the fourth position data to determine the overall expansion and contraction compensation data. 8. The visual positioning method according to claim 6, wherein the target object includes a plurality of sub-units, and the plurality of third identification points are arranged at the edges of the sub-units. The four-position data performs expansion and contraction calculations on the target object and determines the expansion and contraction compensation data, including: Perform local expansion and contraction calculation on the target object according to the fourth position data to determine local expansion and contraction compensation data. 9. The visual positioning method according to claim 7 or 8, characterized in that the plurality of third identification points are distributed in a rectangular shape to form a positioning rectangle, and the target object is determined according to the fourth position data. Perform expansion and contraction calculations to determine expansion and contraction compensation data, including: According to the fourth position data, first side length data and second side length data are determined. The first side length data is used to characterize the length data of the first side and the second side of the positioning rectangle. The third side length data is determined. The two side length data is used to represent the length data of the third side and the fourth side of the positioning rectangle, and the first side and the second side are parallel to each other; The expansion and contraction compensation data is determined based on the first side length data and the second side length data. 10. A laser processing equipment, comprising a control module and a first camera and a second camera respectively electrically connected to the control module, characterized in that the control module is used to perform any one of claims 1 to 9 The visual positioning method.