TW201714695A - Flying laser marking system with real-time 3D modeling and method thereof - Google Patents
Flying laser marking system with real-time 3D modeling and method thereof Download PDFInfo
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Abstract
Description
本發明是關於一種雷射飛行打標系統及其方法，特別是關於一種即時三維建模之雷射飛行打標系統及其方法。The present invention relates to a laser flying marking system and method thereof, and more particularly to a laser three-dimensional modeling laser flying marking system and method thereof.
目前，三維雷射飛行打標技術主要是先讀取工件的圖像模型，例如CAD檔等或者利用三維建模的方式取得工件的完整三維模型，然後將讀取的圖像模型或者經由建模得到的完整三維模型進行分區，利用雷射刻印頭移動至各區，來對各區進行打標，但換言之，現有技術具有以下的缺點：首先，需先取得工件的圖像模型或者完整三維模型，否則將無法進行後續的加工動作；再者，對於少量且多樣的加工情況，三維建模會耗費許多時間；另外，分區塊進行打標的方式，則在打標的過程中，雷射刻印頭或者工件需要經過多次移動、停頓及打標的流程，因此無法一次性的飛行打標，而造成速度慢且在色澤及紋路的連續性上亦相對較差；以及目前三維雷射飛行打標僅針對較簡單的曲面的工件進行打標，例如：圓柱面或球面等，而對於較複雜的曲面，仍然存在著打標精度不高的問題。At present, the three-dimensional laser flight marking technology mainly reads an image model of a workpiece, such as a CAD file, or obtains a complete three-dimensional model of the workpiece by using three-dimensional modeling, and then reads the image model or via modeling. The obtained complete three-dimensional model is partitioned, and the laser marking head is moved to each area to mark each area, but in other words, the prior art has the following disadvantages: First, an image model or a complete three-dimensional model of the workpiece needs to be obtained first. Otherwise, subsequent processing operations will not be possible; in addition, for a small number of different processing situations, 3D modeling will take a lot of time; in addition, the marking method of the partitioning block in the marking process, the laser marking head or The workpiece needs to go through multiple movements, pauses and marking processes, so it is impossible to mark the flight at one time, resulting in slow speed and relatively poor continuity in color and texture; and the current 3D laser marking is only for Simple curved surface workpieces, such as cylindrical or spherical surfaces, but for more complex surfaces, there is still a fight Accuracy is not high.
有鑑於此，本發明提供一種雷射飛行打標系統及其方法，特別是一種即時三維建模之雷射飛行打標系統及其方法。In view of this, the present invention provides a laser flight marking system and method thereof, and more particularly to a laser three-dimensional modeling laser flying marking system and method thereof.
為了解決上述先前技術的問題，本發明提供一種即時三維建模之雷射飛行打標系統，包括：雷射源，用以發射雷射光；雷射刻印頭，具有振鏡模組，用以對工件進行雷射飛行打標；振鏡控制模組，電性連結至雷射刻印頭，用以控制振鏡模組；三維資訊擷取裝置，用以擷取工件的三維資訊；視覺演算法運算模組，電性連接至三維資訊擷取裝置，用以建構工件的三維模型並進行紋理貼合；承載移動裝置，用以承載及移動三維資訊擷取裝置及雷射刻印頭；路徑規劃模組，電性連接至承載移動裝置，用以計算雷射刻印頭及三維資訊擷取裝置的路徑；以及控制器，電性連結至雷射源、視覺演算法模組、路徑規劃模組及振鏡控制模組，用以控制雷射源、視覺演算法模組、路徑規劃模組及振鏡控制模組。In order to solve the above problems of the prior art, the present invention provides an instant three-dimensional modeling laser flight marking system, comprising: a laser source for emitting laser light; a laser marking head having a galvanometer module for The workpiece is subjected to laser flight marking; the galvanometer control module is electrically connected to the laser marking head for controlling the galvanometer module; the three-dimensional information capturing device is used for capturing three-dimensional information of the workpiece; visual algorithm operation The module is electrically connected to the three-dimensional information capturing device for constructing a three-dimensional model of the workpiece and performing texture bonding; carrying the mobile device for carrying and moving the three-dimensional information capturing device and the laser marking head; the path planning module Electrically connected to the carrying mobile device for calculating the path of the laser marking head and the three-dimensional information capturing device; and the controller electrically connected to the laser source, the visual algorithm module, the path planning module and the galvanometer The control module is used to control the laser source, the visual algorithm module, the path planning module and the galvanometer control module.
在本發明的即時三維建模之雷射飛行打標系統中，其承載移動裝置是機械手臂或工具機其中任一。In the laser three-dimensional modeling laser flying marking system of the present invention, the carrying mobile device is any one of a robot arm or a machine tool.
在本發明的即時三維建模之雷射飛行打標系統中，其振鏡控制模組、視覺演算法運算模組或路徑規劃模組其中任一以上是存在於控制器中。In the laser three-dimensional modeling laser flight marking system of the present invention, any one of the galvanometer control module, the visual algorithm computing module or the path planning module exists in the controller.
在本發明的即時三維建模之雷射飛行打標系統中，其雷射刻印頭與振鏡控制模組是存在於雷射刻印系統中；或者三維資訊擷取裝置與視覺演算法運算模組是存在於三維視覺系統中；或者承載移動裝置與路徑規劃模組是存在於承載移動系統中。In the laser three-dimensional modeling laser flight marking system of the present invention, the laser marking head and the galvanometer control module are present in the laser marking system; or the three-dimensional information capturing device and the visual algorithm computing module It exists in the 3D vision system; or the bearer mobile device and the path planning module are present in the bearer mobile system.
在本發明的即時三維建模之雷射飛行打標系統中，其三維資訊擷取裝置擷取工件的三維資訊及雷射刻印頭打標工件是同時運作。In the laser three-dimensional modeling laser flying marking system of the present invention, the three-dimensional information capturing device captures the three-dimensional information of the workpiece and the laser marking head marking workpiece simultaneously operates.
在本發明的即時三維建模之雷射飛行打標系統中，其視覺演算法運算模組建構工件的三維模型是採局部建模的方式，而不對工件進行完整建模。In the laser three-dimensional modeling laser real-time marking system of the present invention, the visual algorithm computing module constructs the three-dimensional model of the workpiece by adopting a local modeling method without completely modeling the workpiece.
在本發明的即時三維建模之雷射飛行打標系統中，其視覺演算法運算模組在局部建模後，即將局部建模的三維資訊附加至要打標的紋理圖樣上。In the laser three-dimensional modeling laser real-time marking system of the present invention, after the partial modeling of the visual algorithm computing module, the three-dimensional information of the local modeling is attached to the texture pattern to be marked.
在本發明的即時三維建模之雷射飛行打標系統中，其視覺演算法運算模組在紋理貼合後，保留具三維資訊的新紋理圖樣，而不保留原始的三維資訊。In the laser three-dimensional modeling laser flying marking system of the present invention, the visual algorithm computing module retains the new texture pattern with three-dimensional information after the texture is pasted, without retaining the original three-dimensional information.
在本發明的即時三維建模之雷射飛行打標系統中，其路徑規劃模組更會計算雷射刻印頭的姿態。In the real-time three-dimensional modeling laser flight marking system of the present invention, the path planning module calculates the posture of the laser marking head.
在本發明的即時三維建模之雷射飛行打標系統中，其路徑規劃模組更會計算雷射飛行打標時的位移偏移。In the real-time three-dimensional modeling laser flight marking system of the present invention, the path planning module further calculates the displacement offset when the laser flight marking is performed.
在本發明的即時三維建模之雷射飛行打標系統中，其雷射飛行打標是指雷射刻印頭相對於工件的表面朝某一方向移動，且此方向會不斷變化。In the laser three-dimensional modeling laser flying marking system of the present invention, the laser flying marking means that the laser marking head moves in a certain direction with respect to the surface of the workpiece, and the direction is constantly changing.
在本發明的即時三維建模之雷射飛行打標系統中，其三維資訊擷取裝置在擷取工件的局部的三維資訊後，雷射刻印頭才進行雷射飛行打標。In the laser three-dimensional modeling laser marking system of the present invention, after the three-dimensional information capturing device captures the local three-dimensional information of the workpiece, the laser marking head performs laser flying marking.
藉由上述的系統，本發明更提供一種即時三維建模之雷射飛行打標方法，包括：擷取工件的三維資訊；建構工件的三維模型並進行紋理貼合；估測路徑及估測姿態；以及依照估測出的路徑及姿態，對工件進行雷射飛行打標。With the above system, the present invention further provides a laser marking method for real-time three-dimensional modeling, which comprises: capturing three-dimensional information of a workpiece; constructing a three-dimensional model of the workpiece and performing texture fitting; estimating the path and estimating the posture And laser marking the workpiece according to the estimated path and attitude.
在本發明的即時三維建模之雷射飛行打標方法中，其所述的建構工件的三維模型並進行紋理貼合，包含下列步驟：根據擷取到的三維資訊，建構工件的局部三維模型；計算出局部三維模型的三維資訊；附加紋理圖樣至三維資訊中，獲得新局部三維模型；以及刪除原始的局部三維模型。In the laser three-dimensional modeling method for real-time three-dimensional modeling of the present invention, the three-dimensional model of the workpiece is constructed and texture-bonded, and the following steps are included: constructing a partial three-dimensional model of the workpiece according to the captured three-dimensional information Calculate the 3D information of the local 3D model; add the texture pattern to the 3D information to obtain the new local 3D model; and delete the original local 3D model.
在本發明的即時三維建模之雷射飛行打標方法中，其所述的估測路徑，包含下列步驟：計算出新局部三維模型的法向量、初始滑動方向及中心點座標；根據法向量、初始滑動方向及中心點座標，計算出新局部三維模型的輪廓；以及計算輪廓在中心點座標的切線向量。In the laser three-dimensional modeling laser flying marking method of the present invention, the estimated path includes the following steps: calculating a normal vector, an initial sliding direction and a center point coordinate of the new partial three-dimensional model; , the initial sliding direction and the center point coordinates, calculate the contour of the new local 3D model; and calculate the tangent vector of the contour at the center point coordinates.
在本發明的即時三維建模之雷射飛行打標方法中，其所述的估測姿態，包含下列步驟：計算出新局部三維模型的法向量及中心點座標；以及根據法向量的反向向量及中心點座標，計算出姿態。In the laser three-dimensional modeling laser flying marking method of the present invention, the estimated posture includes the following steps: calculating a normal vector and a center point coordinate of the new local three-dimensional model; and reversing according to the normal vector The vector and the center point coordinates are used to calculate the pose.
在本發明的即時三維建模之雷射飛行打標方法中，其建構工件的局部三維模型與對工件進行雷射飛行打標是同時進行。In the laser flight marking method of the instant three-dimensional modeling of the present invention, the local three-dimensional model of the constructed workpiece and the laser marking of the workpiece are simultaneously performed.
藉由本發明的即時三維建模之雷射飛行打標系統及其方法，即不需要分區而且建模與打標同時進行，可以大幅提升打標速度及精確度。The laser flight marking system and method thereof for real-time three-dimensional modeling of the present invention, that is, without partitioning and modeling and marking simultaneously, can greatly improve the marking speed and accuracy.
以下結合附圖和具體實施例對本發明作進一步詳細說明。根據下面說明和申請專利範圍，本發明的優點和特徵將更加清楚。需說明的是，附圖均採用非常簡化的形式且均使用非精準的比率，僅用以方便、明晰地輔助說明本發明實施例之目的。The invention will be further described in detail below with reference to the drawings and specific embodiments. Advantages and features of the present invention will become more apparent from the description and appended claims. It should be noted that the drawings are in a very simplified form and both use non-precise ratios, and are merely for convenience and clarity of the purpose of the embodiments of the present invention.
首先，請參閱圖1，是本發明的第一實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖1所示，本發明提供一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印頭102，具有振鏡模組；振鏡控制模組103，電性連結至雷射刻印頭102；三維資訊擷取裝置104；視覺演算法運算模組105，電性連結至三維資訊擷取裝置104；承載移動裝置106；路徑規劃模組107，電性連結至承載移動裝置106；以及控制器108，電性連結至雷射源101、振鏡控制模組103、視覺演算法運算模組105及路徑規劃模組107。First, please refer to FIG. 1, which is a schematic structural diagram of a laser three-dimensional modeling laser flying marking system according to a first embodiment of the present invention. As shown in FIG. 1 , the present invention provides an instant three-dimensional modeling laser flight marking system 10 including: a laser source 101; a laser marking head 102 having a galvanometer module; a galvanometer control module 103, Sexually coupled to the laser marking head 102; the three-dimensional information capturing device 104; the visual algorithm computing module 105, electrically coupled to the three-dimensional information capturing device 104; the carrying mobile device 106; the path planning module 107, electrically coupled to The carrying mobile device 106; and the controller 108 are electrically connected to the laser source 101, the galvanometer control module 103, the visual algorithm computing module 105, and the path planning module 107.
請繼續參閱圖2，是本發明的第二實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖2所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印頭102，具有振鏡模組；三維資訊擷取裝置104；承載移動裝置106；控制器108，電性連結至雷射源101，其包含振鏡控制模組103、視覺演算法運算模組105及路徑規劃模組107，其中，振鏡控制模組103電性連結至雷射刻印頭102；視覺演算法運算模組105電性連結至三維資訊擷取裝置104，路徑規劃模組107電性連結至承載移動裝置106。Please refer to FIG. 2, which is a schematic structural diagram of a laser three-dimensional modeling laser flying marking system according to a second embodiment of the present invention. As shown in FIG. 2, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a laser marking head 102 having a galvanometer module; and a three-dimensional information capturing device 104. The controller 108 is electrically coupled to the laser source 101, and includes a galvanometer control module 103, a visual algorithm computing module 105, and a path planning module 107. The galvanometer control module 103 The optical algorithm is connected to the laser marking device 102. The visual algorithm computing module 105 is electrically coupled to the three-dimensional information capturing device 104. The path planning module 107 is electrically coupled to the carrier mobile device 106.
請參閱圖3，是本發明的第三實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖3所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印頭102，具有振鏡模組；三維資訊擷取裝置104；視覺演算法運算模組105，電性連結至三維資訊擷取裝置104；承載移動裝置106；以及控制器108，電性連結至雷射源101及視覺演算法運算模組105，其包含振鏡控制模組103及路徑規劃模組107，其中，振鏡控制模組103電性連結至雷射刻印頭102，路徑規劃模組107電性連結至承載移動裝置106。Please refer to FIG. 3, which is a structural diagram of a laser three-dimensional modeling laser flying marking system according to a third embodiment of the present invention. As shown in FIG. 3, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a laser marking head 102 having a galvanometer module; and a three-dimensional information capturing device 104. The visual algorithm computing module 105 is electrically coupled to the three-dimensional information capturing device 104; the carrying mobile device 106; and the controller 108 is electrically coupled to the laser source 101 and the visual algorithm computing module 105, which includes the vibration The mirror control module 103 and the path planning module 107 are electrically connected to the laser marking head 102 , and the path planning module 107 is electrically connected to the carrying mobile device 106 .
請參閱圖4，是本發明的第四實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖4所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印頭102，具有振鏡模組；振鏡控制模組103，電性連結至雷射刻印頭102；三維資訊擷取裝置104；承載移動裝置106；以及控制器108，電性連結至雷射源101及振鏡控制模組103，其包含視覺演算法運算模組105及路徑規劃模組107，其中，視覺演算法運算模組105電性連結至三維資訊擷取裝置104，路徑規劃模組107電性連結至承載移動裝置106。Please refer to FIG. 4 , which is a structural diagram of a laser three-dimensional modeling laser flight marking system according to a fourth embodiment of the present invention. As shown in FIG. 4, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a laser marking head 102 having a galvanometer module; and a galvanometer control module 103. Electrically coupled to the laser marking head 102; the three-dimensional information capturing device 104; the carrying mobile device 106; and the controller 108 electrically coupled to the laser source 101 and the galvanometer control module 103, which includes visual algorithm operations The module 105 and the path planning module 107, wherein the visual algorithm computing module 105 is electrically coupled to the three-dimensional information capturing device 104, and the path planning module 107 is electrically coupled to the carrier mobile device 106.
請參閱圖5，是本發明的第五實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖5所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印頭102，具有振鏡模組；三維資訊擷取裝置104；承載移動裝置106；路徑規劃模組107，電性連結至承載移動裝置106；以及控制器108，電性連結至雷射源101及路徑規劃模組107，其包含振鏡控制模組103及視覺演算法運算模組105，其中，振鏡控制模組103電性連結至雷射刻印頭102，視覺演算法運算模組105電性連結至三維資訊擷取裝置104。Please refer to FIG. 5 , which is a structural diagram of a laser three-dimensional modeling laser flying marking system according to a fifth embodiment of the present invention. As shown in FIG. 5, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a laser marking head 102 having a galvanometer module; and a three-dimensional information capturing device 104. Carrying the mobile device 106; the path planning module 107 is electrically coupled to the bearer mobile device 106; and the controller 108 is electrically coupled to the laser source 101 and the path planning module 107, which includes the galvanometer control module 103 and The visual algorithm computing module 105 is electrically coupled to the laser marking head 102, and the visual algorithm computing module 105 is electrically coupled to the three-dimensional information capturing device 104.
請參閱圖6，是本發明的第六實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖6所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印頭102，具有振鏡模組；振鏡控制模組103，電性連結至雷射刻印頭102；三維資訊擷取裝置104；承載移動裝置106；路徑規劃模組107，電性連結至承載移動裝置106；以及控制器108，電性連結至雷射源101、振鏡控制模組103及路徑規劃模組107，其包含視覺演算法運算模組105，其中，視覺演算法運算模組105電性連結至三維資訊擷取裝置104。Please refer to FIG. 6, which is a schematic structural diagram of a laser three-dimensional modeling laser flying marking system according to a sixth embodiment of the present invention. As shown in FIG. 6, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a laser marking head 102 having a galvanometer module; and a galvanometer control module 103. Electrically coupled to the laser marking head 102; the three-dimensional information capturing device 104; the carrying mobile device 106; the path planning module 107 electrically coupled to the carrying mobile device 106; and the controller 108 electrically coupled to the laser source The galvanometer control module 103 and the path planning module 107 include a visual algorithm computing module 105. The visual algorithm computing module 105 is electrically coupled to the three-dimensional information capturing device 104.
請參閱圖7，是本發明的第七實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖7所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印頭102，具有振鏡模組；三維資訊擷取裝置104；視覺演算法運算模組105，電性連結至三維資訊擷取裝置104；承載移動裝置106；路徑規劃模組107，電性連結至承載移動裝置106；以及控制器108，電性連結至雷射源101、視覺演算法運算模組105及路徑規劃模組107，其包含振鏡控制模組103，其中，振鏡控制模組103電性連結至雷射刻印頭102。Please refer to FIG. 7, which is a structural diagram of a laser three-dimensional modeling laser flight marking system according to a seventh embodiment of the present invention. As shown in FIG. 7, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a laser marking head 102 having a galvanometer module; and a three-dimensional information capturing device 104. The visual algorithm computing module 105 is electrically coupled to the three-dimensional information capturing device 104; the carrying mobile device 106; the path planning module 107 is electrically coupled to the carrying mobile device 106; and the controller 108 is electrically coupled to the lightning The source 101, the visual algorithm computing module 105, and the path planning module 107 include a galvanometer control module 103, wherein the galvanometer control module 103 is electrically coupled to the laser marking head 102.
請參閱圖8，是本發明的第八實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖8所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印頭102，具有振鏡模組；振鏡控制模組103，電性連結至雷射刻印頭102；三維資訊擷取裝置104；視覺演算法運算模組105，電性連結至三維資訊擷取裝置104；承載移動裝置106；以及控制器108，電性連結至雷射源101、振鏡控制模組103及視覺演算法運算模組105，其包含路徑規劃模組107，其中，路徑規劃模組107電性連結至承載移動裝置106。Please refer to FIG. 8 , which is a structural diagram of a laser three-dimensional modeling laser flight marking system according to an eighth embodiment of the present invention. As shown in FIG. 8, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a laser marking head 102 having a galvanometer module; and a galvanometer control module 103. Electrically coupled to the laser marking head 102; the three-dimensional information capturing device 104; the visual algorithm computing module 105, electrically coupled to the three-dimensional information capturing device 104; the carrying mobile device 106; and the controller 108, electrically connected The path planning module 107 is electrically connected to the bearer mobile device 106. The path planning module 107 is electrically connected to the bearer mobile device 106.
請參閱圖9，是本發明的第九實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖9所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印系統109，其包含雷射刻印頭102及振鏡控制模組103，其中，雷射刻印頭102具有振鏡模組，振鏡控制模組103電性連結至雷射刻印頭102；三維視覺系統110，其包含三維資訊擷取裝置104及視覺演算法運算模組105，其中，視覺演算法運算模組105電性連結至三維資訊擷取裝置104；承載移動系統111，其包含承載移動裝置106及路徑規劃模組107，其中，路徑規劃模組107電性連結至承載移動裝置106；以及控制器108，電性連結至雷射源101、振鏡控制模組103、視覺演算法運算模組105及路徑規劃模組107。Please refer to FIG. 9, which is a schematic structural diagram of a laser three-dimensional modeling laser flying marking system according to a ninth embodiment of the present invention. As shown in FIG. 9, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a laser marking system 109, which comprises a laser marking head 102 and a galvanometer control module. The group 103, wherein the laser marking head 102 has a galvanometer module, the galvanometer control module 103 is electrically connected to the laser marking head 102; the three-dimensional vision system 110 includes a three-dimensional information capturing device 104 and a visual algorithm operation The module 105, wherein the visual algorithm computing module 105 is electrically coupled to the three-dimensional information capture device 104; the bearer mobile system 111 includes a bearer mobile device 106 and a path planning module 107, wherein the path planning module 107 The device is coupled to the mobile device 106; and the controller 108 is electrically coupled to the laser source 101, the galvanometer control module 103, the visual algorithm computing module 105, and the path planning module 107.
請參閱圖10，是本發明的第十實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖10所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印頭102，具有振鏡模組；承載移動裝置106；三維視覺系統110，其包含三維資訊擷取裝置104及視覺演算法運算模組105，其中，視覺演算法運算模組105電性連結至三維資訊擷取裝置104；以及控制器108，電性連結至雷射源101及視覺演算法運算模組105，其包含振鏡控制模組103及路徑規劃模組107，其中，振鏡控制模組103電性連結至雷射刻印頭102，路徑規劃模組107電性連結至承載移動裝置106。Please refer to FIG. 10 , which is a structural diagram of a laser three-dimensional modeling laser flight marking system according to a tenth embodiment of the present invention. As shown in FIG. 10, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a laser marking head 102 having a galvanometer module; a carrying mobile device 106; The visual system 110 includes a three-dimensional information capturing device 104 and a visual algorithm computing module 105, wherein the visual algorithm computing module 105 is electrically coupled to the three-dimensional information capturing device 104; and the controller 108 is electrically coupled to The laser source 101 and the visual algorithm computing module 105 include a galvanometer control module 103 and a path planning module 107, wherein the galvanometer control module 103 is electrically coupled to the laser marking head 102, and the path planning module 107 is electrically coupled to the carrier mobile device 106.
請參閱圖11，是本發明的第十一實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖11所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；三維資訊擷取裝置104；承載移動裝置106；雷射刻印系統109，其包含雷射刻印頭102及振鏡控制模組103，其中，雷射刻印頭102具有振鏡模組，振鏡控制模組103電性連結至雷射刻印頭102；以及控制器108，電性連結至雷射源101及振鏡控制模組103，其包含視覺演算法運算模組105及路徑規劃模組107，其中，視覺演算法運算模組105電性連結至三維資訊擷取裝置104，路徑規劃模組107電性連結至承載移動裝置106。Please refer to FIG. 11 , which is a structural diagram of a laser three-dimensional modeling laser flight marking system according to an eleventh embodiment of the present invention. As shown in FIG. 11, the present invention further provides another real-time three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a three-dimensional information capturing device 104; a carrying mobile device 106; and a laser marking system 109, The laser marking head 102 and the galvanometer control module 103, wherein the laser marking head 102 has a galvanometer module, the galvanometer control module 103 is electrically connected to the laser marking head 102; and the controller 108, the electric The image is connected to the laser source 101 and the galvanometer control module 103, and includes a visual algorithm computing module 105 and a path planning module 107. The visual algorithm computing module 105 is electrically coupled to the three-dimensional information capturing device 104. The path planning module 107 is electrically coupled to the bearer mobile device 106.
請參閱圖12，是本發明的第十二實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖12所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印頭102，具有振鏡模組；三維資訊擷取裝置104；承載移動系統111，其包含承載移動裝置106及路徑規劃模組107，其中，路徑規劃模組107電性連結至承載移動裝置106；以及控制器108，電性連結至雷射源101及路徑規劃模組107，其包含振鏡控制模組103及視覺演算法運算模組105，其中，振鏡控制模組103電性連結至雷射刻印頭102，視覺演算法運算模組105電性連結至三維資訊擷取裝置104。Please refer to FIG. 12, which is a structural diagram of a laser three-dimensional modeling laser flying marking system according to a twelfth embodiment of the present invention. As shown in FIG. 12, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a laser marking head 102 having a galvanometer module; and a three-dimensional information capturing device 104. The bearer mobile system 111 includes a bearer mobile device 106 and a path planning module 107, wherein the path planning module 107 is electrically coupled to the bearer mobile device 106; and the controller 108 is electrically coupled to the laser source 101 and the path. The planning module 107 includes a galvanometer control module 103 and a visual algorithm computing module 105. The galvanometer control module 103 is electrically connected to the laser marking head 102, and the visual algorithm computing module 105 is electrically connected. Up to the three-dimensional information capture device 104.
請參閱圖13，是本發明的第十三實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖13所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；三維資訊擷取裝置104；雷射刻印系統109，其包含雷射刻印頭102及振鏡控制模組103，其中，雷射刻印頭102具有振鏡模組，振鏡控制模組103電性連結至雷射刻印頭102；承載移動系統111，其包含承載移動裝置106及路徑規劃模組107，其中，路徑規劃模組107電性連結至承載移動裝置106；以及控制器108，電性連結至雷射源101、振鏡控制模組103及路徑規劃模組107，其包含視覺演算法運算模組105，其中，視覺演算法運算模組105電性連結至三維資訊擷取裝置104。Please refer to FIG. 13, which is a schematic structural diagram of a laser three-dimensional modeling laser flying marking system according to a thirteenth embodiment of the present invention. As shown in FIG. 13, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a three-dimensional information capturing device 104; a laser marking system 109, which includes laser marking The head 102 and the galvanometer control module 103, wherein the laser marking head 102 has a galvanometer module, the galvanometer control module 103 is electrically coupled to the laser marking head 102, and the carrying mobile system 111 includes a carrying mobile device 106. And a path planning module 107, wherein the path planning module 107 is electrically coupled to the carrier mobile device 106; and the controller 108 is electrically coupled to the laser source 101, the galvanometer control module 103, and the path planning module 107. The visual algorithm computing module 105 is electrically coupled to the three-dimensional information capturing device 104.
請參閱圖14，是本發明的第十四實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖14所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；雷射刻印頭102，具有振鏡模組；三維視覺系統110，其包含三維資訊擷取裝置104及視覺演算法運算模組105，其中，視覺演算法運算模組105電性連結至三維資訊擷取裝置104；承載移動系統111，其包含承載移動裝置106及路徑規劃模組107，其中，路徑規劃模組107電性連結至承載移動裝置106；以及控制器108，電性連結至雷射源101、視覺演算法運算模組105及路徑規劃模組107，其包含振鏡控制模組103，其中，振鏡控制模組103電性連結至雷射刻印頭102。Please refer to FIG. 14, which is a structural diagram of a laser three-dimensional modeling laser flying marking system according to a fourteenth embodiment of the present invention. As shown in FIG. 14, the present invention further provides another instant three-dimensional modeling laser flying marking system 10, comprising: a laser source 101; a laser marking head 102 having a galvanometer module; a three-dimensional vision system 110, The three-dimensional information capture device 104 and the visual algorithm operation module 105 are included, wherein the visual algorithm operation module 105 is electrically coupled to the three-dimensional information capture device 104; the bearer mobile system 111 includes the bearer mobile device 106 and the path plan. The module 107, wherein the path planning module 107 is electrically coupled to the carrier mobile device 106; and the controller 108 is electrically coupled to the laser source 101, the visual algorithm computing module 105, and the path planning module 107, which includes The galvanometer control module 103 is electrically coupled to the laser marking head 102.
請參閱圖15，是本發明的第十五實施例的即時三維建模之雷射飛行打標系統的結構示意圖。如圖15所示，本發明更提供另一種即時三維建模之雷射飛行打標系統10，包括：雷射源101；承載移動裝置106；雷射刻印系統109，其包含雷射刻印頭102及振鏡控制模組103，其中，雷射刻印頭102具有振鏡模組，振鏡控制模組103電性連結至雷射刻印頭102；三維視覺系統110，其包含三維資訊擷取裝置104及視覺演算法運算模組105，其中，視覺演算法運算模組105電性連結至三維資訊擷取裝置104；以及控制器108，電性連結至雷射源101、振鏡控制模組103及視覺演算法運算模組105，其包含路徑規劃模組107，其中，路徑規劃模組107電性連結至承載移動裝置106。Referring to FIG. 15, which is a schematic structural diagram of a laser three-dimensional modeling laser flying marking system according to a fifteenth embodiment of the present invention. As shown in FIG. 15, the present invention further provides another instant three-dimensional modeling laser flight marking system 10, comprising: a laser source 101; a carrying mobile device 106; and a laser marking system 109 including a laser marking head 102. And the galvanometer control module 103, wherein the laser marking head 102 has a galvanometer module, the galvanometer control module 103 is electrically coupled to the laser marking head 102, and the three-dimensional vision system 110 includes a three-dimensional information capturing device 104. And a visual algorithm computing module 105, wherein the visual algorithm computing module 105 is electrically coupled to the three-dimensional information capturing device 104; and the controller 108 is electrically coupled to the laser source 101, the galvanometer control module 103, and The visual algorithm computing module 105 includes a path planning module 107, wherein the path planning module 107 is electrically coupled to the bearer mobile device 106.
如圖1至圖15所示，在本發明的即時三維建模之雷射飛行打標系統中，其雷射源101用以發射雷射光；雷射刻印頭102用以對工件進行雷射飛行打標；振鏡控制模組103用以控制振鏡模組，使雷射刻印頭102打標於工件上的不同位置；三維資訊擷取裝置104用以擷取工件的三維資訊；承載移動裝置106，用以承載及移動雷射刻印頭102及三維資訊擷取裝置104。As shown in FIG. 1 to FIG. 15, in the laser three-dimensional modeling laser flying marking system of the present invention, the laser source 101 is used for emitting laser light; the laser marking head 102 is used for laser flying of the workpiece. The galvanometer control module 103 is configured to control the galvanometer module to mark the laser marking head 102 at different positions on the workpiece; the three-dimensional information capturing device 104 is configured to capture three-dimensional information of the workpiece; and carry the mobile device 106, for carrying and moving the laser marking head 102 and the three-dimensional information capturing device 104.
如圖1至圖15所示，在本發明的即時三維建模之雷射飛行打標系統中，其視覺演算法運算模組105用以建構工件的三維模型並進行紋理貼合；另外，視覺演算法運算模組105建構工件的三維模型是採局部建模的方式，而不對工件進行完整建模；視覺演算法運算模組105在局部建模完成後，即將局部建模的三維資訊附加至要打標的紋理圖樣上；以及視覺演算法運算模組105在紋理貼合後，保留具三維資訊的新紋理圖樣，而不保留原始的三維資訊。As shown in FIG. 1 to FIG. 15, in the laser three-dimensional modeling laser flying marking system of the present invention, the visual algorithm computing module 105 is used to construct a three-dimensional model of the workpiece and perform texture fitting; The algorithm operation module 105 constructs the three-dimensional model of the workpiece by adopting a local modeling method without completely modeling the workpiece; after the partial modeling is completed, the visual algorithm operation module 105 attaches the three-dimensional information of the local modeling to The texture algorithm to be marked; and the visual algorithm operation module 105 retains the new texture pattern with the three-dimensional information after the texture is pasted, without retaining the original three-dimensional information.
如圖1至圖15所示，在本發明的即時三維建模之雷射飛行打標系統中，其路徑規劃模組107用以計算雷射刻印頭102及三維資訊擷取裝置104的路徑；另外，路徑規劃模組107更會計算雷射刻印頭102的姿態；以及路徑規劃模組107更會計算雷射飛行打標時的位移偏移。As shown in FIG. 1 to FIG. 15 , in the laser three-dimensional modeling laser marking system of the present invention, the path planning module 107 is configured to calculate the paths of the laser marking head 102 and the three-dimensional information capturing device 104; In addition, the path planning module 107 further calculates the attitude of the laser marking head 102; and the path planning module 107 further calculates the displacement offset of the laser flying marking.
如圖1至圖15所示，在本發明的即時三維建模之雷射飛行打標系統中，其控制器108用以控制雷射源101、振鏡控制模組103、視覺演算法運算模組105及路徑規劃模組107。As shown in FIG. 1 to FIG. 15, in the laser three-dimensional modeling laser marking system of the present invention, the controller 108 is used to control the laser source 101, the galvanometer control module 103, and the visual algorithm operation mode. Group 105 and path planning module 107.
如圖1至圖15所示，在本發明的即時三維建模之雷射飛行打標系統中，其承載移動裝置106是機械手臂或工具機其中任一，但不以此為限制。As shown in FIG. 1 to FIG. 15 , in the laser three-dimensional modeling laser flying marking system of the present invention, the carrying mobile device 106 is any one of a robot arm or a machine tool, but is not limited thereto.
如圖1至圖15所示，在本發明的即時三維建模之雷射飛行打標系統中，其三維資訊擷取裝置是攝影機、三維掃描儀或具有擷取三維資訊功能的裝置等，但不以此為限制。As shown in FIG. 1 to FIG. 15 , in the laser three-dimensional modeling laser marking system of the present invention, the three-dimensional information capturing device is a camera, a three-dimensional scanner or a device having the function of capturing three-dimensional information, but Not limited to this.
如圖2至圖15所示，在本發明的即時三維建模之雷射飛行打標系統中，其振鏡控制模組、視覺演算法運算模組105及路徑規劃模組107其中任一者以上是存在於控制器108中。As shown in FIG. 2 to FIG. 15, in the laser three-dimensional modeling laser flight marking system of the present invention, any one of the galvanometer control module, the visual algorithm computing module 105 and the path planning module 107 The above is present in the controller 108.
如圖9至圖15所示，在本發明的即時三維建模之雷射飛行打標系統中，其雷射刻印頭102與振鏡控制模組103是存在於雷射刻印系統109中；或者三維資訊擷取裝置104與視覺演算法運算模組105是存在於三維視覺系統110中；或者承載移動裝置106與路徑規劃模組107是存在於承載移動系統111中。As shown in FIG. 9 to FIG. 15, in the laser three-dimensional modeling laser flight marking system of the present invention, the laser marking head 102 and the galvanometer control module 103 are present in the laser marking system 109; The three-dimensional information capture device 104 and the visual algorithm computing module 105 are present in the three-dimensional vision system 110; or the bearer mobile device 106 and the path planning module 107 are present in the bearer mobile system 111.
如圖1至圖15所示，在本發明的即時三維建模之雷射飛行打標系統中，其三維資訊擷取裝置擷取工件的三維資訊及雷射刻印頭打標工件是同時運作。As shown in FIG. 1 to FIG. 15 , in the laser three-dimensional modeling laser marking system of the present invention, the three-dimensional information capturing device captures the three-dimensional information of the workpiece and the laser marking head marking workpiece simultaneously operates.
在本發明的即時三維建模之雷射飛行打標系統中，其雷射飛行打標是指雷射刻印頭102相對於工件的表面朝一方向移動，且所述的方向會不斷變化。In the laser three-dimensional modeling laser flying marking system of the present invention, the laser flying marking means that the laser marking head 102 moves in a direction with respect to the surface of the workpiece, and the direction is constantly changing.
在本發明的即時三維建模之雷射飛行打標系統中，其三維資訊擷取裝置104在擷取工件的局部的三維資訊後，雷射刻印頭102才進行雷射飛行打標。In the laser three-dimensional modeling laser marking system of the present invention, after the three-dimensional information capturing device 104 captures the partial three-dimensional information of the workpiece, the laser marking head 102 performs laser flying marking.
接著，請同時參閱圖1至圖16，圖16是本發明的即時三維建模之雷射飛行打標方法的示意圖。如圖16所示，本發明更提供一種即時三維建模之雷射飛行打標方法，包括以下步驟：步驟201：開始步驟，啟動即時三維建模之雷射飛行打標系統10；接著，步驟202：三維資訊擷取裝置104依照估測出的路徑移動至工件上，擷取工件的三維資訊；接著，步驟203：建構工件的三維模型並進行紋理貼合；在紋理貼合後，同時執行步驟204：估測雷射刻印頭102及三維資訊擷取裝置104的路徑，以及步驟205：估測雷射刻印頭102的姿態；之後，步驟206：雷射刻印頭102依照估測出的路徑及姿態，對工件進行雷射飛行打標；接著，步驟207：判斷是否打標完成，若打標完成，則執行步驟208：結束步驟，反之，若打標尚未完成，則回到步驟202，繼續執行上述步驟。Next, please refer to FIG. 1 to FIG. 16 at the same time. FIG. 16 is a schematic diagram of a laser marking method for real-time three-dimensional modeling of the present invention. As shown in FIG. 16, the present invention further provides a laser marking method for real-time three-dimensional modeling, comprising the following steps: Step 201: Start step, start a laser three-dimensional modeling laser flight marking system 10; 202: The three-dimensional information capturing device 104 moves to the workpiece according to the estimated path, and extracts three-dimensional information of the workpiece; then, step 203: constructs a three-dimensional model of the workpiece and performs texture fitting; and after the texture is pasted, simultaneously executes Step 204: estimating the path of the laser marking head 102 and the three-dimensional information capturing device 104, and step 205: estimating the posture of the laser marking head 102; thereafter, step 206: the laser marking head 102 follows the estimated path. And posture, performing laser flight marking on the workpiece; then, step 207: determining whether the marking is completed, if the marking is completed, performing step 208: ending the step; otherwise, if the marking is not completed, returning to step 202, Continue with the above steps.
在本發明的即時三維建模之雷射飛行打標方法中，其建構工件的三維模型與及對工件進行雷射飛行打標是同時進行。In the laser three-dimensional modeling method for real-time three-dimensional modeling of the present invention, the three-dimensional model of the constructed workpiece and the laser marking of the workpiece are simultaneously performed.
以下將詳細說明即時三維建模之雷射飛行打標方法的各步驟。The steps of the laser three-dimensional modeling laser flight marking method will be described in detail below.
在本發明的即時三維建模之雷射飛行打標方法中，其步驟203包含以下步驟：根據所擷取到的三維資訊，建構工件的局部三維模型；估算出局部三維模型的三維資訊；附加紋理圖樣至三維資訊中；以及獲得新局部三維模型；在取得新局部三維模型後，即刪除原始的局部三維模型。In the laser three-dimensional modeling laser marking method of the present invention, the step 203 includes the following steps: constructing a local three-dimensional model of the workpiece according to the captured three-dimensional information; estimating three-dimensional information of the local three-dimensional model; The texture pattern is added to the three-dimensional information; and the new partial three-dimensional model is obtained; after the new partial three-dimensional model is obtained, the original local three-dimensional model is deleted.
接著，請參閱圖17及圖18，圖17是本發明的紋理貼合後的四維陣列的示意圖；以及圖18是本發明的紋理圖樣具有方向連續性的示意圖。如圖17所示，根據所建構的局部三維模型，計算出三維資訊x 、y 、z 後，將三維資訊x 、y 、z 配置給紋理圖樣中的每個對應的像素(pixel)，即可得到具有灰階資訊G及三維資訊x 、y 、z 所形成的四維陣列的新紋理圖樣，從而得到新局部三維模型，接著，系統將不保留原始的三維局部模型，而是直接存取具有灰階資訊G及三維資訊x 、y 、z 的新局部三維模型，如此，即可得知新局部三維模型中的哪些體素(voxel)已經被使用過，其中，體素是指在新局部三維模型中的每個點。需說明的是，三維資訊x 、y 、z 是相對於原點的實際距離，而非指陣列的座標(index)，其中，原點是新紋理圖樣的左上角點的三維資訊x 、y 、z ；所要貼附的紋理圖樣是具有方向連續性，如圖18所示，假定紋理圖樣是一個方型紋理圖樣，其紋理為皮革紋路，若所述的紋理圖樣具有方向連續性，則在工件的局部三維模型區塊上貼合第一圖樣O，接著，從第一圖樣O的上下左右方向貼合第二圖樣L、U、D、R，在第一圖樣O與第二圖樣L、U、D、R的接合處不會有任何斷口或者紋理不連續的情況；在局部三維模型上貼合紋理圖樣是以面積為貼合依據，例如紋理圖樣的大小為10×10mm 2 ，但不以此為限制，因此，需從局部三維模型中找出能放入紋理圖樣的區塊。17 and FIG. 18, FIG. 17 is a schematic diagram of a four-dimensional array after texture bonding according to the present invention; and FIG. 18 is a schematic diagram of the texture pattern of the present invention having directional continuity. As shown in FIG. 17, according to the constructed local three-dimensional model, after calculating the three-dimensional information x , y , z , the three-dimensional information x , y , z is assigned to each corresponding pixel (pixel) in the texture pattern, A new texture pattern with a gray-scale information G and a three-dimensional array formed by three-dimensional information x , y , z is obtained, thereby obtaining a new partial three-dimensional model. Then, the system will not retain the original three-dimensional partial model, but directly access the gray The new local 3D model of the order information G and the 3D information x , y , z , so that you can know which voxels (voxel) in the new local 3D model have been used, where the voxel refers to the new part 3D Every point in the model. It should be noted that the three-dimensional information x , y , z is the actual distance from the origin, not the index of the array, wherein the origin is the three-dimensional information x , y , of the upper left corner of the new texture pattern. z ; the texture pattern to be attached has directional continuity, as shown in Fig. 18, assuming that the texture pattern is a square texture pattern, the texture is a leather texture, and if the texture pattern has directional continuity, then the workpiece The first pattern O is attached to the partial three-dimensional model block, and then the second pattern L, U, D, R is attached from the top, bottom, left and right directions of the first pattern O, in the first pattern O and the second pattern L, U There is no break or texture discontinuity at the joint of D, R; the texture pattern is applied to the local 3D model based on the area. For example, the size of the texture pattern is 10×10 mm 2 , but not This is a limitation, so it is necessary to find a block that can be placed in the texture pattern from the local three-dimensional model.
在本發明的即時三維建模之雷射飛行打標方法中，其步驟204包含以下步驟：計算出新局部三維模型的法向量、初始滑動方向及中心點座標；根據法向量、初始滑動方向及中心點座標，計算出新局部三維模型的輪廓；以及計算輪廓在中心點座標的切線向量，而所述的切線向量即為三維資訊擷取裝置104及雷射刻印頭102下一步的移動路徑及方向。In the laser three-dimensional modeling laser marking method of the present invention, the step 204 includes the following steps: calculating a normal vector, an initial sliding direction and a center point coordinate of the new partial three-dimensional model; according to the normal vector, the initial sliding direction and Center point coordinates, calculating a contour of the new partial three-dimensional model; and calculating a tangent vector of the contour at the center point coordinate, and the tangent vector is the next moving path of the three-dimensional information capturing device 104 and the laser marking head 102 direction.
請參閱圖19，是本發明的估測三維資訊擷取裝置及雷射刻印頭的路徑的示意圖。如圖19所示，從新局部三維模型TM中得到法向量、初始滑動方向及中心點座標x 0 後，利用法向量、初始滑動方向及中心點座標x 0 得到局部三維模型TM上的輪廓，接著，計算輪廓在中心點座標x 0 處的切線向量，而所述的切線向量即為即時三維建模之雷射飛行打標系統10中的三維資訊截取裝置104與雷射刻印頭102下一步所要移動的路徑及方向。需說明的是，三維資訊截取裝置104是設置在前面擷取工件的局部三維模型TM，而雷射刻印頭102是設置於三維資訊截取維資訊擷取裝置104後面對工件進行雷射飛行打標，其移動路徑會隨著某一方向接近直線前進，直到所偵測到的資訊滿足路徑變換條件，例如遭遇原點或者偵測不到資訊。Please refer to FIG. 19, which is a schematic diagram of the path of the estimated three-dimensional information capturing device and the laser marking head of the present invention. As shown in Figure 19, the normal vector is obtained from the new local 3D model TM. Initial sliding direction And the center point coordinates x 0 , using the normal vector Initial sliding direction And the center point coordinates x 0 get the contour on the local 3D model TM And then, calculate the outline Tangent vector at coordinate x 0 at center point Tangent vector That is, the path and direction of the next step of the three-dimensional information intercepting device 104 and the laser marking head 102 in the laser three-dimensional modeling laser flying marking system 10. It should be noted that the three-dimensional information intercepting device 104 is a partial three-dimensional model TM that is disposed in front of the workpiece, and the laser marking head 102 is disposed behind the three-dimensional information intercepting dimension information capturing device 104 to perform laser flying on the workpiece. The target moves along a straight line in a certain direction until the detected information satisfies the path change condition, such as encountering the origin or detecting no information.
在本發明的即時三維建模之雷射飛行打標方法中，其步驟205包含以下步驟：計算出新局部三維模型的法向量及中心點座標；以及根據法向量的反向向量及中心點座標，計算出雷射刻印頭102的姿態。In the laser three-dimensional modeling laser marking method of the present invention, the step 205 includes the following steps: calculating a normal vector and a center point coordinate of the new local three-dimensional model; and an inverse vector and a center point coordinate according to the normal vector The posture of the laser marking head 102 is calculated.
請參閱圖20，是本發明的估測雷射刻印頭的姿態的示意圖。如圖20所示，從新局部三維模型TM中得到法向量及中心點座標x 0 後，利用法向量的反向向量及中心點座標x 0 得到雷射刻印頭102的姿態。Referring to Figure 20, there is shown a schematic diagram of the attitude of the laser marking head of the present invention. As shown in Figure 20, the normal vector is obtained from the new local 3D model TM. And the center point coordinates x 0 , using the normal vector The inverse vector and the center point coordinate x 0 result in the attitude of the laser marking head 102.
雖然本發明以前述之較佳實施例揭露如上，然其並非用以限定本發明，任何熟習所屬技術領域之技藝者，在不脫離本發明之精神和範圍內，當可作些許之更動與潤飾，因此本發明之專利保護範圍須視本說明書所附之申請專利範圍所界定者為準。While the present invention has been described above in terms of the preferred embodiments thereof, it is not intended to limit the present invention, and those skilled in the art can make some modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of patent protection of the present invention is defined by the scope of the patent application attached to the specification.
10‧‧‧即時三維建模之雷射飛行打標系統
101‧‧‧雷射源
102‧‧‧雷射刻印頭
103‧‧‧振鏡控制模組
104‧‧‧三維資訊擷取裝置
105‧‧‧視覺演算法運算模組
106‧‧‧承載移動裝置
107‧‧‧路徑規劃模組
108‧‧‧控制器
109‧‧‧雷射刻印系統
110‧‧‧三維視覺系統
111‧‧‧承載移動系統
TM‧‧‧新局部三維模型
x、y、z‧‧‧三維資訊
‧‧‧輪廓
G‧‧‧灰階資訊
‧‧‧法向量
‧‧‧初始滑動方向
‧‧‧切線向量
x 0‧‧‧中心點座標
O‧‧‧第一圖樣
L、U、D、R‧‧‧第二圖樣
201~208‧‧‧步驟10‧‧‧Infrared 3D Modeling Laser Flying Marking System
101‧‧‧Laser source
102‧‧‧Laser marking head
103‧‧‧ galvanometer control module
104‧‧‧Three-dimensional information capture device
105‧‧‧Visual algorithm computing module
106‧‧‧ Carrying mobile devices
107‧‧‧Path Planning Module
108‧‧‧ Controller
109‧‧‧Laser marking system
110‧‧‧Three-dimensional vision system
111‧‧‧ Carrying mobile system
TM‧‧‧ new partial 3D model
x , y , z ‧‧‧3D information
‧‧‧profile
G‧‧‧ Grayscale information
‧‧‧French vector
‧‧‧Initial sliding direction
‧‧‧tangential vector
x 0 ‧‧‧Center point coordinates
O‧‧‧ first pattern
L, U, D, R‧‧‧ second pattern
201~208‧‧‧Steps
圖1 是本發明的第一實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖2 是本發明的第二實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖3 是本發明的第三實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖4 是本發明的第四實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖5 是本發明的第五實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖6 是本發明的第六實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖7 是本發明的第七實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖8 是本發明的第八實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖9 是本發明的第九實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖10 是本發明的第十實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖11 是本發明的第十一實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖12 是本發明的第十二實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖13 是本發明的第十三實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖14 是本發明的第十四實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖15 是本發明的第十五實施例的即時三維建模之雷射飛行打標系統的結構示意圖。 圖16 是本發明的即時三維建模之雷射飛行打標方法的流程示意圖。 圖17 是本發明的紋理貼合後的四維陣列的示意圖。 圖18 是本發明的紋理圖樣具有方向連續性的示意圖。 圖19 是本發明的估測三維資訊擷取裝置及雷射刻印頭的路徑的示意圖。 圖20 是本發明的估測雷射刻印頭的姿態的示意圖。1 is a schematic structural view of a laser three-dimensional modeling laser flying marking system according to a first embodiment of the present invention. 2 is a schematic structural view of a laser three-dimensional modeling laser flying marking system according to a second embodiment of the present invention. 3 is a schematic structural view of a laser three-dimensional modeling laser flying marking system according to a third embodiment of the present invention. 4 is a schematic structural view of a laser three-dimensional modeling laser flying marking system according to a fourth embodiment of the present invention. FIG. 5 is a schematic structural view of a laser three-dimensional modeling laser flying marking system according to a fifth embodiment of the present invention. 6 is a schematic structural view of a laser three-dimensional modeling laser flying marking system according to a sixth embodiment of the present invention. 7 is a schematic structural view of a laser three-dimensional modeling laser flying marking system according to a seventh embodiment of the present invention. 8 is a schematic structural view of a laser three-dimensional modeling laser flying marking system according to an eighth embodiment of the present invention. 9 is a schematic structural view of a laser three-dimensional modeling laser flying marking system according to a ninth embodiment of the present invention. 10 is a schematic structural view of a laser three-dimensional modeling laser flying marking system according to a tenth embodiment of the present invention. Figure 11 is a block diagram showing the structure of a laser three-dimensional modeling laser flying marking system according to an eleventh embodiment of the present invention. Figure 12 is a block diagram showing the structure of a laser three-dimensional modeling laser flying marking system according to a twelfth embodiment of the present invention. Figure 13 is a block diagram showing the structure of a laser three-dimensional modeling laser flying marking system according to a thirteenth embodiment of the present invention. Figure 14 is a block diagram showing the structure of a laser three-dimensional modeling laser flying marking system according to a fourteenth embodiment of the present invention. 15 is a schematic structural view of a laser three-dimensional modeling laser flying marking system according to a fifteenth embodiment of the present invention. 16 is a schematic flow chart of a laser flight marking method for instant three-dimensional modeling of the present invention. Figure 17 is a schematic illustration of a four-dimensional array of texture-bonded in accordance with the present invention. Figure 18 is a schematic illustration of the texture pattern of the present invention having directional continuity. 19 is a schematic diagram of the path of the estimated three-dimensional information capturing device and the laser marking head of the present invention. Figure 20 is a schematic illustration of the attitude of the laser marking head of the present invention.
10‧‧‧即時三維建模之雷射飛行打標系統 10‧‧‧Infrared 3D Modeling Laser Flying Marking System
101‧‧‧雷射源 101‧‧‧Laser source
102‧‧‧雷射刻印頭 102‧‧‧Laser marking head
103‧‧‧振鏡控制模組 103‧‧‧ galvanometer control module
104‧‧‧三維資訊擷取裝置 104‧‧‧Three-dimensional information capture device
105‧‧‧視覺演算法運算模組 105‧‧‧Visual algorithm computing module
106‧‧‧承載移動裝置 106‧‧‧ Carrying mobile devices
107‧‧‧路徑規劃模組 107‧‧‧Path Planning Module
108‧‧‧控制器 108‧‧‧ Controller
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109175716A (en) * | 2018-10-12 | 2019-01-11 | 常州英诺激光科技有限公司 | Laser marking control method, device, computer equipment and storage medium |
| TWI650914B (en) * | 2017-08-30 | 2019-02-11 | 新代科技股份有限公司 | Laser marking machine and its correction method |
| CN109459979A (en) * | 2017-12-07 | 2019-03-12 | 苏州新代数控设备有限公司 | Laser marking driving and controlling integrated machine and control method thereof |
| CN112743238A (en) * | 2020-12-10 | 2021-05-04 | 苏州铁人光学技术有限公司 | Technological method of texture embossing imprinter |
| TWI730664B (en) * | 2020-03-12 | 2021-06-11 | 新代科技股份有限公司 | Laser marking system and controlling method thereof |
| CN113182701A (en) * | 2021-03-29 | 2021-07-30 | 大族激光科技产业集团股份有限公司 | Laser processing method, apparatus, device and storage medium |
| TWI786128B (en) * | 2017-06-29 | 2022-12-11 | 瑞士商Ｇｆ機械公司 | Method for defining a sequence of relative positionings of a laser head in relation to a part, method for machining the surface of a part by the laser ray from a laser head, computer program product implementing the methods, and computer-readable storage medium including the computer program product |
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| US6281471B1 (en) * | 1999-12-28 | 2001-08-28 | Gsi Lumonics, Inc. | Energy-efficient, laser-based method and system for processing target material |
| US20030024913A1 (en) * | 2002-04-15 | 2003-02-06 | Downes Joseph P. | Laser scanning method and system for marking articles such as printed circuit boards, integrated circuits and the like |
| US7119351B2 (en) * | 2002-05-17 | 2006-10-10 | Gsi Group Corporation | Method and system for machine vision-based feature detection and mark verification in a workpiece or wafer marking system |
| KR20040046422A (en) * | 2002-11-27 | 2004-06-05 | 주식회사 이오테크닉스 | Laser system for 1064/532 nm wave length and chip scale marker having thereof |
| JP4519105B2 (en) * | 2006-03-10 | 2010-08-04 | 株式会社ニレコ | Marking apparatus and marking method |
| FR2898528B1 (en) * | 2006-03-14 | 2008-05-30 | Datacard Corp | HIGH CADENCE LASER MARKING MACHINE |
| TWI419298B (en) * | 2007-05-17 | 2013-12-11 | Hortek Crystal Co Ltd | Sample holding device for laser marking machine |
| TWM390192U (en) * | 2010-06-10 | 2010-10-11 | E-Sun Precision Industrial Co Ltd | Laser processing apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI786128B (en) * | 2017-06-29 | 2022-12-11 | 瑞士商Ｇｆ機械公司 | Method for defining a sequence of relative positionings of a laser head in relation to a part, method for machining the surface of a part by the laser ray from a laser head, computer program product implementing the methods, and computer-readable storage medium including the computer program product |
| TWI650914B (en) * | 2017-08-30 | 2019-02-11 | 新代科技股份有限公司 | Laser marking machine and its correction method |
| CN109459979A (en) * | 2017-12-07 | 2019-03-12 | 苏州新代数控设备有限公司 | Laser marking driving and controlling integrated machine and control method thereof |
| CN109175716A (en) * | 2018-10-12 | 2019-01-11 | 常州英诺激光科技有限公司 | Laser marking control method, device, computer equipment and storage medium |
| TWI730664B (en) * | 2020-03-12 | 2021-06-11 | 新代科技股份有限公司 | Laser marking system and controlling method thereof |
| CN112743238A (en) * | 2020-12-10 | 2021-05-04 | 苏州铁人光学技术有限公司 | Technological method of texture embossing imprinter |
| CN113182701A (en) * | 2021-03-29 | 2021-07-30 | 大族激光科技产业集团股份有限公司 | Laser processing method, apparatus, device and storage medium |
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