CN117399807A - Three-dimensional galvanometer laser marking system and method for correcting eyes of vision system - Google Patents
Three-dimensional galvanometer laser marking system and method for correcting eyes of vision system Download PDFInfo
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- CN117399807A CN117399807A CN202311624719.8A CN202311624719A CN117399807A CN 117399807 A CN117399807 A CN 117399807A CN 202311624719 A CN202311624719 A CN 202311624719A CN 117399807 A CN117399807 A CN 117399807A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000010330 laser marking Methods 0.000 title claims abstract description 29
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/362—Laser etching
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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
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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
- B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
- B23K26/064—Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms
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Abstract
The invention provides a three-dimensional galvanometer laser marking system and a method for correcting eyes of a visual system. And then finding out the point which is not distorted when the laser exits, solving the corresponding public intersection point of the position of the light exit point of the vibrating mirror under the camera coordinate system, solving the translation vector between the laser coordinate system and the camera coordinate system, further solving the conversion relation between the two coordinate systems, and completing the field correction of the laser and the vision system. The method has the advantages of simple operation process and high correction precision, does not need to correct by precise equipment, and ensures the operability and the accuracy of the site.
Description
Technical Field
The invention relates to the technical field of laser marking, in particular to a three-dimensional galvanometer laser marking system and a method for correcting eyes of a vision system.
Background
The laser marking technology is an emerging processing technology integrating optical, mechanical and electrical technologies, and has the characteristics of high marking speed, wide application range, clear and permanent writing, high automation degree and the like. Laser marking has been widely used in the fields of automobile manufacturing, shoe wear processing, electronic component processing, and the like. Compared with the traditional marking mode, the method can remarkably save manufacturing and processing cost and reduce intermediate processes and consumable materials.
The machine vision is helpful to laser marking to the greatest extent, namely improvement in workpiece positioning, and particularly under the condition that the workpiece position is uncertain, the machine vision can find the position of the workpiece target to carry out marking tasks, and error rate can be reduced on the premise of improving working efficiency. The process of establishing the visual coordinate system of machine vision and the laser coordinate system of the galvanometer laser system is called hand-eye calibration. And (3) obtaining a transformation relation through calibration, so as to determine the coordinates of any point in the visual coordinate system in the laser coordinate system.
The vision-guided laser marking system is usually based on an image coordinate system, but the calibrated vision system can be degraded in accuracy due to vibration and the like in the transportation and processing processes, or camera equipment needs to be replaced according to site requirements, and the like. At this time, it is necessary to recalibrate the binocular vision system and the transformation relationship between the vision system and the laser system. In the existing calibration methods of the three-dimensional galvanometer laser and the vision system, certain methods need to use specific calibration and calibration tools, have high cost and have requirements on processing environment, or use laser to do parallel projection, but the existing method for solving through an optical path is complex in solving process and does not consider a focusing plane and a focusing point position when the three-dimensional galvanometer is marked. Other methods require multiple times of marking complex patterns, have high requirements on image recognition and feature point extraction, and have the problems of complex calculation and incapability of ensuring precision. Under the condition that an industrial processing site does not have a lifting platform capable of being precisely adjusted, the conversion relation between the vision and the laser is conveniently and rapidly calibrated, so that the laser marking system is matched with different vision systems to carry out high-efficiency marking under different working environments, and the technical problem is solved.
Disclosure of Invention
Therefore, the invention aims to provide a three-dimensional galvanometer laser marking system and a method for correcting eyes of a vision system, which have simple operation process and high correction precision, do not need to correct by precise equipment, and ensure the operability and the accuracy of the site.
In order to achieve the above purpose, the invention adopts the following technical scheme: a three-dimensional galvanometer laser marking system and a method for correcting eyes of a vision system comprise the following steps:
step one, adjusting the focusing position of a camera according to the size and the position of a marking breadth obtained by laser marking and carrying out binocular camera marking again; placing marking paper on a laser focusing plane within the marking breadth range;
loading a prefabricated track pattern, marking by using a three-dimensional galvanometer laser device, and obtaining a clear cross target pattern on marking paper;
step three, acquiring the marked image by using a binocular cameraObtaining a three-dimensional coordinate of a cross target center point under a camera world coordinate system by utilizing a binocular vision three-dimensional imaging principle>k＝1,2,…n；
Step four, adjusting the laser galvanometer to a defocusing state to enable the laser focusing position to be dynamically adjustable along a focusing axis, and adjusting the focusing position to enable the laser focusing position to be at the other onePlane focusing, repositioning marking paper, repeating the second and third steps to obtain imageAnd the three-dimensional coordinates of the center point of the cross target in the world coordinate system of the camera +.>
Fifthly, according to the three-dimensional coordinates of the corresponding marker point camera coordinate system obtained by shooting and calculating at different heights twice, obtaining the corresponding direction vector of the camera coordinate systemAnd normalized to a unit vector +.>
Step six, loading a light path obtained from a camera coordinate system by a hand-eye transformation matrix obtained during laboratory calibration, and converting the light path into a light path direction vector under a laser coordinate system
Step seven, the rotation matrix from the point under the camera coordinate system to the corresponding point under the laser coordinate system is recorded as R, and the coordinate of the origin of the camera coordinate system under the laser coordinate system is recorded as T= (x, y, z); construction of unitized direction vector under camera coordinate systemAnd the lower direction vector of the laser coordinate system>Relation between->i=1, 2, … n, n similar equations are obtained from n such marker points, and the equations are combined to obtain a rotation matrix R by least square solution;
eighth, selecting m points with equal x coordinates from points on the two images with larger z coordinates in the camera coordinate systemi=1, 2, … m; according to the direction vector +.>Solving for rays between corresponding pointsNamely, the light path of laser emission under a visual coordinate system; fitting the common intersection point of the rays under the world coordinate system of the camera by the n rays, and carrying out weighted average on the points to obtain an intersection point P 2 (x 2 ,y 2 ,z 2 )；
Step nine, loading the common intersection point of the optical paths obtained by the calibration in the laboratory under the original camera coordinate system, and converting the common intersection point into the common intersection point P of the optical paths under the laser coordinate system according to the original transformation matrix 1 (x 1 ,y 1 ,z 1 ) According to the calculated rotation matrix R and the point P 1 ,P 2 Correspondence P between 1 ＝R·P 2 +T obtains the corresponding translation vector T, and finally obtains the rigid transformation matrix [ R|T ]]；
Finally, the matrix [ R|T ] obtained by recalibration is utilized]Will beChanging to laser coordinate system, and re-marking to obtain +.>Root mean square error->To perform error verification.
In a preferred embodiment, the marking paper is, in particular, a smooth paper that leaves clear mark scores under the action of a laser.
In a preferred embodiment, the prefabricated track pattern in the second step is a cross target pattern with moderate size, so that the extraction of the mark points and the generation of the three-dimensional coordinates are facilitated.
In a preferred embodiment, the direction vector corresponding to the marker point in the fifth stepTaking z coordinate value greater in two shooting as +.>Ensuring the direction of the light path to be downward, the straight line equation of the light path is +.>
In a preferred embodiment, in step seven, the relationship between the camera coordinate system and the corresponding direction vector under the laser coordinate systemConstructing the equation set->When k=1, 2, … n, n similar equation sets are obtained altogether, and the rotation matrix R is obtained by solving the least squares solution by singular value decomposition.
In a preferred embodiment, in the eighth step, the point near x=0 is selected to eliminate the influence caused by the distortion correction, so that the optical paths of the n positions are focused on one point, and thus the obtained common intersection point is the light exit point when x=0; the light exit point is solved by g·m=d; wherein G is a (k×3) × (k+3) th order matrix:
m is a column vector of length (k+3):
d is a column vector of length (kx 3);
solving to obtain the (x, y, z) coordinates P of the light emitting point in the world coordinate system of the camera required by the user 2 (x 2 ,y 2 ,z 2 )。
Compared with the prior art, the invention has the following beneficial effects: under the environment of limited industrial processing field conditions, the hand-eye calibration can be rapidly carried out to obtain a hand-eye calibration result with higher precision, and the precision can be checked by utilizing root mean square error. The correction process considers the influence of the focusing position of the three-dimensional galvanometer on the calibration result, simultaneously avoids the situation that the light outlet points are not at the same point because of distortion correction during galvanometer calibration, fits the light outlet points when x=0 by the corresponding points under the camera coordinates corresponding to the points with the x coordinates of zero under the laser coordinate system, and simultaneously acquires the height of the light outlet points of the galvanometer from the measured object to further verify the accuracy of the calculation result.
The cross target is used as a marking pattern generation track, so that the extraction of angular points and the generation of three-dimensional coordinates are facilitated, and the process of computer recognition of complex patterns for calculation is avoided. Because the cross target is not easy to deform on the inclined plane, the accuracy of corner point identification is ensured, the requirement on the application environment is reduced, and the application range is wider.
The application is as follows: the invention is used in the field of laser marking, and under the condition that no precise calibration equipment exists in the industrial field, the hand-eye correction is carried out on the transformation relation between laser and binocular vision, so that the vision can redirect the laser galvanometer to complete the marking task.
Drawings
Fig. 1 is a schematic diagram of the three-dimensional galvanometer laser marking system and the hand-eye on-site rapid correction method of the binocular vision system.
Fig. 2 is a schematic diagram of the principle of laser marking by the three-dimensional galvanometer laser marking system of the invention.
FIG. 3 is a flow chart of the steps of the method for hand-eye on-site quick correction of the three-dimensional galvanometer laser marking system and the binocular vision system of the present invention.
Fig. 4 is a graph of a marking track of the hand-eye on-site rapid correction method of the three-dimensional galvanometer laser marking system and the binocular vision system of the present invention.
Fig. 5 is a schematic diagram of the spot position when x=0, which is not distorted under the visual coordinates, is calculated by the hand-eye on-site rapid correction method of the three-dimensional galvanometer laser marking system and the binocular vision system according to the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application; as used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
1-5, a method for correcting eyes of a three-dimensional galvanometer laser marking system and a vision system, comprising the following steps:
step one, adjusting the focusing position of the camera according to the size and the position of the laser calibration breadth and re-calibrating the camera. And (5) placing marking paper at the laser focusing position in the range of the calibrated breadth.
And step two, loading a prefabricated track pattern, and marking by using galvanometer laser to obtain a cross target pattern with moderate and clear size.
Step three, acquiring the marked image by using a binocular cameraThree-dimensional coordinates of the mark point under a visual coordinate system are obtained by utilizing a binocular visual imaging principle>k＝1,2,…n。
Step four, adjusting the z axis of the laser galvanometer to a defocusing state, enabling the focal length of the z axis to be independently adjustable under the condition of not changing the focusing states of the x axis and the y axis, adjusting the focusing position of the z axis of the galvanometer to focus on another height plane, repositioning marking paper, and repeating the step two and the step three to obtain an imageAnd three-dimensional coordinates of the marker point in the visual coordinate system +.>
Fifthly, according to the three-dimensional coordinates of the corresponding marker points in the visual coordinate system obtained by shooting and calculating at different heights twice, obtaining the corresponding direction vectors in the visual coordinate systemAnd normalized to a unit vector +.>
Step six, loading the light path obtained from the visual coordinate system according to the original hand-eye transformation matrix obtained during laboratory calibration, and converting the light path into the light path direction vector under the laser coordinate system
Step seven, the rotation matrix from the point under the visual coordinate system to the corresponding point under the laser coordinate system is recorded as R, and the origin of the visual coordinate system is the coordinate under the laser coordinate systemT= (x, y, z). Construction of unitized direction vector under camera coordinate systemAnd the lower direction vector of the laser coordinate system>Relation between->i=1, 2, … n, n similar equations are obtained from n such marker points, and the rotation matrix R is obtained by combining these equations and solving the least squares solution.
Eighth, selecting m points with equal x coordinates on the graph with larger z coordinates in the camera coordinate system in the two graphsi=1, 2, … m. According to the direction vector +.>Solving the ray between the corresponding points>Namely the light path of the laser emission under the visual coordinate system. Fitting the common intersection point P of the rays in the visual coordinate system by the n rays 2 (x 2 ,y 2 ,z 2 )。
Step nine, loading the common intersection point of the optical paths obtained under the original camera coordinate system and obtained by laboratory calibration, and converting the common intersection point into the common intersection point P of the optical paths under the laser coordinate system according to the original transformation matrix 1 (x 1 ,y 1 ,z 1 ) According to the calculated rotation matrix R and the point P 1 ,P 2 Correspondence P between 1 ＝R·P 2 +T finds the corresponding translation vector T, and finally finds the transformation matrix [ R|T ]]。
Finally, the matrix R|T obtained by recalibration can be used]Will beChanging to laser coordinate system, and re-marking to obtain +.>Taking square root error->To verify the error.
Specifically, the marking paper is smooth paper which can leave clear mark scores under the action of laser.
Specifically, the prefabricated track pattern in the second step is a cross target pattern with moderate size, so that the extraction of the mark points and the generation of three-dimensional coordinates are facilitated, and the figure 3 is shown.
In the fifth step, the direction vector corresponding to the mark pointTaking z coordinate value greater in two shooting as +.>The straight line equation of the light path is that
In the seventh step, the relation between the camera coordinate system and the corresponding direction vector under the laser coordinate systemConstructing the equation set->When k=1, 2, … n changes get n similar equation sets altogether, and the n equations are combined to obtain a least square solution through singular value decomposition to obtain a rotation matrix R.
In the eighth step, the laser galvanometer adopted is calibrated, so that the influence caused by distortion is eliminated, the fitted light paths of all points do not intersect at the same point, the influence caused by distortion correction can be eliminated by selecting points near x=0, the light paths of the n positions are focused at one point, and the obtained public intersection point, namely the light outlet point, is more accurate. The light exit point is solved by g·m=d. Wherein G is a (k×3) × (k+3) th order matrix:
m is a column vector of length (k+3):
d is a column vector of length (kx 3).
Solving to obtain the (x, y, z) of the matrix M as the point P required by us 2 (x 2 ,y 2 ,z 2 )。
The binocular camera calibration adopts a Zhang Zhengyou calibration method, adopts a checkerboard calibration plate, and comprises the following parameters:
internal parameters of the left camera:
right camera internal parameters:
left camera distortion: dist (dist) l ＝[-0.0234-0.00330.0001-0.00021.7077]
Right camera distortion: dist (dist) r ＝[-0.030860.14210.00030.00040.1345]
The conversion relation between the left camera coordinate system and the right camera coordinate system is as follows:
the coordinates of the calculated light outlet point under the laser coordinate system are as follows:
P (x,y,z) ＝(8.86618,0.000138174,-0.00337959)
the conversion relation between the visual coordinate system and the laser coordinate system is obtained by hand-eye calibration as follows:
the root mean square error rmse= 0.0167323 calibrated by the method of the present invention.
Claims (6)
1. A method for correcting the hand and eye of a three-dimensional galvanometer laser marking system and a vision system is characterized by comprising the following steps:
step one, adjusting the focusing position of a camera according to the size and the position of a marking breadth obtained by laser marking and carrying out binocular camera marking again; placing marking paper on a laser focusing plane within the marking breadth range;
loading a prefabricated track pattern, marking by using a three-dimensional galvanometer laser device, and obtaining a clear cross target pattern on marking paper;
step three, acquiring the marked image by using a binocular cameraObtaining a three-dimensional coordinate of a cross target center point under a camera world coordinate system by utilizing a binocular vision three-dimensional imaging principle>
Step four, adjusting the laser galvanometer to a defocusing state, enabling the laser focusing position to be dynamically adjustable along a focusing axis, adjusting the focusing position to focus on the other plane, repositioning marking paper, and repeating the step two and the step three to obtain the laser marking paperTo an imageAnd the three-dimensional coordinates of the center point of the cross target in the world coordinate system of the camera +.>
Fifthly, according to the three-dimensional coordinates of the corresponding marker point camera coordinate system obtained by shooting and calculating at different heights twice, obtaining the corresponding direction vector of the camera coordinate systemAnd normalized to a unit vector +.>
Step six, loading a light path obtained from a camera coordinate system by a hand-eye transformation matrix obtained during laboratory calibration, and converting the light path into a light path direction vector under a laser coordinate system
Step seven, the rotation matrix from the point under the world coordinate system of the camera to the corresponding point under the laser coordinate system is recorded as R, and the coordinate of the origin of the camera coordinate system under the laser coordinate system is recorded as T= (x, y, z); construction of unitized direction vector under camera coordinate systemAnd the lower direction vector of the laser coordinate system>Relation between->N similar equations are obtained from n such marker points, and the equations are combined to obtain a least square solutionRotating the matrix R;
eighth, selecting m points with equal x coordinates from points on the two images with larger z coordinates in the camera coordinate systemAccording to the direction vector +.>Solving for rays between corresponding pointsNamely, the light path of laser emission under a visual coordinate system; fitting the common intersection point of the rays under the world coordinate system of the camera by the n rays, and carrying out weighted average on the points to obtain an intersection point P 2 (x 2 ,y 2 ,z 2 )；
Step nine, loading the common intersection point of the optical paths obtained by the calibration in the laboratory under the original camera coordinate system, and converting the common intersection point into the common intersection point P of the optical paths under the laser coordinate system according to the original transformation matrix 1 (x 1 ,y 1 ,z 1 ) According to the calculated rotation matrix R and the point P 1 ,P 2 Correspondence P between 1 ＝R·P 2 +T obtains the corresponding translation vector T, and finally obtains the rigid transformation matrix [ R|T ]]；
Finally, the matrix [ R|T ] obtained by recalibration is utilized]Will beChanging to laser coordinate system, and re-marking to obtain +.>Root mean square error->To perform error verification.
2. The method of hand-eye correction for a three-dimensional galvanometer laser marking system and vision system of claim 1, wherein the marking paper is a smooth paper that leaves clear mark marks under the action of laser.
3. The method for correcting the hand and eye of the three-dimensional galvanometer laser marking system and the vision system according to claim 1, wherein the prefabricated track pattern in the second step is a cross target pattern with moderate size, and the extraction of mark points and the generation of three-dimensional coordinates are facilitated.
4. The method for correcting the hand and eye of a three-dimensional galvanometer laser marking system and vision system according to claim 1, wherein the direction vector corresponding to the marking point in the fifth stepTaking z coordinate value greater in two shooting as +.>Ensuring the direction of the light path to be downward, the linear equation of the light path is
5. The method for hand-eye correction of a three-dimensional galvanometer laser marking system and vision system of claim 1, wherein in step seven, the relationship between the camera coordinate system and the corresponding direction vector under the laser coordinate systemConstructing the equation set->When k=1, 2, … n, n similar sets of equations are obtained altogether, the n sets of equations being combinedThe rotation matrix R is obtained by solving least square solution through singular value decomposition.
6. The method for correcting the hand and eye of a three-dimensional galvanometer laser marking system and a vision system according to claim 1, wherein in the eighth step, the influence caused by distortion correction can be eliminated by selecting a point near x=0, and the optical paths of the n positions are focused on one point, so that the obtained common intersection point is the light outlet point when x=0; the light exit point is solved by g·m=d; wherein G is a (k×3) × (k+3) th order matrix:
m is a column vector of length (k+3):
d is a column vector of length (kx 3);
solving to obtain the (x, y, z) coordinates P of the light emitting point in the world coordinate system of the camera required by the user 2 (x 2 ,y 2 ,z 2 )。
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