CN116329768B - Calibration method of laser marking system - Google Patents
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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
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention relates to a calibration method of a laser marking system, which comprises the following steps: horizontally placing a calibration plate in a laser-activatable marking area; the laser marking system performs laser marking on the surface area of the calibration plate to obtain a radius ofCircle, line segment of (2)Line segmentThe method comprises the steps of carrying out a first treatment on the surface of the The camera acquires an image of the surface of the calibrated plate after marking; calculating the radius of the circle in the image under the image coordinate systemCenter coordinates of circleAnd longitudinal resolutionThe method comprises the steps of carrying out a first treatment on the surface of the Calculate line segmentNormalized direction vector in image coordinate systemSum line segmentNormalized direction vector in image coordinate systemThe method comprises the steps of carrying out a first treatment on the surface of the According to the parameters in the obtained galvanometer coordinate systemAnd parameters in the resulting image coordinate system、、、、Calculating to obtain transformation parameters of the image coordinate system and the galvanometer coordinate system. The method can simplify the transformation relation between the camera image coordinate system and the laser galvanometer coordinate system, has low cost and high precision, is not influenced by camera distortion, and is simple to operate.
Description
Technical Field
The invention relates to the technical field of opto-mechanical and electrical integration, in particular to a calibration method of a laser marking system.
Background
The laser marking technology is a light-mechanical and electric integrated processing technology integrating electromechanical numerical control, photoelectron, computer and other technologies, and utilizes the thermal effect of high-energy-density laser to locally ablate the surface of a workpiece so as to vaporize surface materials or change colors so as to leave permanent marks. Laser marking has been used in a wide variety of fields such as automobile manufacturing, medical instrument manufacturing, product packaging, cell phone manufacturing, electronic component manufacturing, etc. Compared with other marking technologies, the method has the characteristics of high impact speed, no need of contact, small damage, rich visual effect and the like.
Machine vision is an interdisciplinary subject related to the fields of artificial intelligence, neurobiology, computer science, image processing, pattern recognition and the like, and is one of key technologies for realizing the automation of a production process. Imaging with a camera and then processing the acquired image to meet the actual application needs. The existing machine vision can be suitable for various severe industrial environments, and has quick response and high accuracy for an industrial assembly line running at high speed.
Therefore, the machine vision is combined with the laser marking system, the industrial camera replaces manpower to complete vision positioning, target detection and contour extraction, manpower is saved, misoperation caused by long-term work of workers can be avoided, and error rate can be reduced on the premise of improving work efficiency. The advantage of the system in application provides a wide prospect for future development.
Because the image processed by the machine vision system is based on the image coordinate system and the marking coordinate of the laser marking system is based on the galvanometer coordinate system, one of the keys for realizing the machine vision guiding laser marking system is to establish a transformation relation between the image coordinate system and the galvanometer coordinate system, the process is called system calibration, and the transformation relation is obtained through calibration, so that the coordinate corresponding to any point on the image under the galvanometer coordinate system is calculated.
In the existing calibration method of the laser marking system guided by machine vision, the common method adopts a 3*3 transmission transformation matrix to represent the transformation relation between an image coordinate system and a galvanometer coordinate system, the solving process of the transmission transformation matrix is complex, and some methods need to use standard calibration tools, the standard calibration tools are usually high in price, the flow operation is complex, and the cost is increased; other methods require the use of laser to inscribe complex patterns, increase the computer requirements for image recognition, increase complexity, and fail to guarantee calibration accuracy due to camera distortion.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a calibration method of a laser marking system, which can simplify the transformation relationship between the camera image coordinate system and the laser galvanometer coordinate system, so as to obtain a calibration method that is low in cost, high in precision, free from the influence of camera distortion, and simple to operate.
The invention provides a calibration method of a laser marking system, which comprises the following steps: s1, horizontally placing a calibration plate in a marking area where laser can act;
s2, performing laser marking on the surface area of the calibration plate by using a laser marking system to obtain a radius ofCircle, line segment of (2)Line segment->；
S3, the camera acquires an image of the surface of the calibrated plate after marking is completed;
s4, calculating the radius of the circle in the image of the step S3 under the image coordinate systemCenter coordinates->And longitudinal resolution->；
S5, calculating the line segment in the step S2Normalized direction vector in image coordinate system +.>And line segment->Normalized direction vector in image coordinate system +.>；
S6, obtaining parameters under the vibrating mirror coordinate system according to the step S2And the parameters under the image coordinate system obtained in said step S4 and step S5 +.>、/>、/>、/>、/>Calculating transformation parameters of the image coordinate system and the galvanometer coordinate system>。
Specifically, the calibration plate is any object which is flat and smooth and can leave clear marks under the action of laser.
Specifically, the step S2 includes:
s2-1, marking a radius by taking the origin of a galvanometer coordinate system as a circle centerIs a circle;
s2-2, using points in a galvanometer coordinate systemAnd (4) point->Marking a first line segment for an endpoint；
S2-3, using points in a galvanometer coordinate systemAnd (4) point->Marking the second line segment for the end point +.>。
Specifically, the step S4 includes:
circles in an imageRadius in image coordinate systemThe number of pixels occupied by the length of the circle radius on the image is referred to; circle center coordinates of circle in image under image coordinate system +.>Refers to the pixel coordinates of the center of a circle on the image.
Specifically, the step S4 further includes:
s4-1, carrying out Canny edge detection on the image;
s4-2, calculating Sobel first derivatives in the x and y directions for each non-zero point of the edge image to obtain a gradient of the non-zero point;
step S4-3, traversing each non-zero point of the edge image, and calculating the straight line of the gradient direction；
S4-4, calculating the intersection point coordinates of all the straight linesAnd initialize the accumulatorWhen coordinates->When the intersection point occurs, the accumulator is made；
Step S4-5, finding the accumulator with the largest accumulated valueCoordinates->Namely the center coordinates>；
Step S4-6, each non-zero point of the edge imageCalculating the coordinate of the center of circle>Distance of->And initialize the accumulator +.>Sum distance setWhen->When the time is, let the accumulator->At the same time->Add to collection->In (a) and (b);
step S4-7, finding the accumulator with the largest accumulated valueThen->WhereinRepresenting the set +.>Average of all elements in (a).
Specifically, the step S5 includes:
s5-1, carrying out Canny edge detection on the image;
step S5-2, initializing accumulator The accumulated values of (2) are all 0, while initializing the point set Are empty sets, wherein->The number of pixels that are diagonal lines of the image;
step S5-3, traversing each non-zero point of the edge imageFor all->Calculate->；
Step S5-4, finding the accumulator with the largest accumulated valueThen calculate the point set +.>All points and points +.>And find the point of maximum distance +.>Calculating to obtain->：
；
Step S5-5, finding the accumulator with the second largest accumulated valueThen calculate the point set +.>All points and points +.>And find the point of maximum distance +.>Calculating to obtain->：
。
Specifically, the step S5-3 includes:
when (when)When the time is, let the accumulator->At the same time let->Add point set->Is a kind of medium.
Specifically, the step S6 includes:
the transformation parametersEstablishes the change of the image coordinate system and the galvanometer coordinate systemChanging the relation, arbitrary point on the image coordinate system +.>All can be through transformation parameters->Calculating to obtain the corresponding coordinate +.>The calculation method comprises the following steps:
。
the calibration can be completed by only one piece of photographic paper, and the method has the beneficial effects of low cost; in the calibration process, only a laser marking system is needed to mark very simple patterns (1 circle and 2 straight lines) on a calibration plate, so that the calibration workload is reduced; meanwhile, the pattern is simple, and can be easily and accurately identified by a computer, wherein the identification of the circle center, the radius and the straight line is insensitive to camera distortion, so that the calibration accuracy is ensured.
Drawings
FIG. 1 is a flow chart of a calibration method of a laser marking system of the present invention;
FIG. 2 is a schematic diagram of a calibration pattern consisting of a circle and an asymmetric reticle in a galvanometer coordinate system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an image with a laser inscribed calibration pattern and an image coordinate system according to an embodiment of the present invention.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
Referring to fig. 1, a flowchart of a calibration method of a laser marking system according to a preferred embodiment of the present invention is shown.
In step S1, a piece of arbitrary object (hereinafter referred to as a calibration plate) which is flat and smooth and can leave a clear imprint under the action of laser is placed horizontally in a laser-activatable marking area.
S2, performing laser marking on the surface area of the calibration plate by a laser marking system to obtain a radius ofCircle, line segment->Line segment->. The method specifically comprises the following steps:
s2-1, marking a radius by taking the origin of a galvanometer coordinate system as a circle centerIs a circle of (c).
S2-2, using points in a galvanometer coordinate systemAnd (4) point->Marking a first line segment for an endpoint(please refer to fig. 2).
S2-3, using points in a galvanometer coordinate systemAnd (4) point->Marking the second line segment for the end point +.>(please refer to fig. 2).
In step S3, the camera acquires an image of the surface of the calibration plate after the marking is completed (please refer to fig. 3).
Step S4, calculating the radius of the circle in the image of the step S3 under the image coordinate systemCenter coordinates of circleAnd longitudinal resolution->。
Referring to FIG. 3, the radius of a circle in an image coordinate systemRefers to the number of pixels occupied by the length of the radius of a circle on an image, and the circle center coordinate of the circle in the image is +.>The pixel coordinates of the circle center of the circle on the image are referred to; for lateral resolution +.>Longitudinal resolution of->（/>>/>) Image of->And->The calculation method of (1) is as follows:
and S4-1, carrying out Canny edge detection on the image.
And S4-2, calculating Sobel first derivatives in the x and y directions for each non-zero point of the edge image to obtain the gradient of the non-zero point.
Step S4-3, traversing each non-zero point of the edge image, and calculating the straight line of the gradient direction。
S4-4, calculating the intersection point coordinates of all the straight linesAnd initialize the accumulatorWhen coordinates->When the intersection point occurs, the accumulator is made；
Step S4-5, finding the accumulator with the largest accumulated valueCoordinates->Namely the center coordinates>；
Step S4-6, each non-zero point of the edge imageCalculating the coordinate of the center of circle>Distance of->And initialize the accumulator +.>Sum distance setWhen->When the time is, let the accumulator->At the same time->Add to collection->In (a) and (b);
step S4-7, finding the accumulator with the largest accumulated valueThen->WhereinRepresenting the set +.>Average of all elements in (a).
Step S5, calculating the line segment in the step S2Normalized direction vector in image coordinate system +.>And line segment->Normalized direction vector in image coordinate system +.>. The method specifically comprises the following steps:
and S5-1, carrying out Canny edge detection on the image.
Step S5-2, initializing accumulator The accumulated values of (2) are all 0, while initializing the point set Are empty sets, wherein->The number of pixels that are diagonal to the image.
Step S5-3, traversing each non-zero point of the edge imageFor all->Calculate->When->When the time is, let the accumulator->At the same time let->Add point set->Is a kind of medium.
Step S5-4, finding the accumulator with the largest accumulated valueThen calculate the point set +.>All points and points +.>And find the distance of (2)Point +.>Calculating to obtain->：
Step S5-5, finding the accumulator with the second largest accumulated valueThen calculate the point set +.>All points and points +.>And find the point of maximum distance +.>Calculating to obtain->：
Step S6, according to the parameters under the galvanometer coordinate system obtained in the step S2And the parameters under the image coordinate system obtained in said step S4 and step S5 +.>、/>、/>、/>、/>Calculating transformation parameters of the image coordinate system and the galvanometer coordinate system>：
The transformation parametersEstablishes the transformation relation between the image coordinate system and the galvanometer coordinate system, and any point on the image coordinate system is +.>All can be through transformation parameters->Calculating to obtain the corresponding coordinate +.>The calculation method comprises the following steps:
。
the transformation relation between the image coordinate system and the galvanometer coordinate system can be represented by only 4 parameters, the transmission transformation matrix of 3*3 is replaced, the processing process is simple and quick, and the transformation relation between the camera image coordinate system and the laser galvanometer coordinate system is simplified.
According to the method, a transmission transformation matrix is not required to be calculated, a plurality of corresponding characteristic points (at least 9 pairs) are required to be calculated through transmission transformation matrix calculation, and then complex calibration patterns are required to be laser-etched, so that the workload of a calibration process is increased, the difficulty of identifying images by a computer is increased, the calibration precision is influenced, the 4 parameters used for representing the transformation relation between an image coordinate system and a galvanometer coordinate system can be calculated through simplifying the calibration patterns, the calibration patterns are easily identified by the computer, the calibration workload is reduced, and the calibration precision is improved.
The calibration pattern of the method is only composed of one circle and two straight lines, is not influenced by camera distortion, and improves calibration precision. The transmission transformation matrix is calculated to identify the image coordinates of a plurality of characteristic points on the image, the image coordinates are very sensitive to camera distortion, so that the calibration accuracy is reduced, and although measures are taken to correct the distortion, a large amount of extra operations are introduced at the same time, so that the workload of the calibration process is greatly increased.
The method and the device can simplify the transformation relation between the camera image coordinate system and the laser galvanometer coordinate system, simplify the calibration pattern, have low cost and high precision, are not influenced by camera distortion, and are simple to operate.
While the invention has been described with reference to the presently preferred embodiments, it will be understood by those skilled in the art that the foregoing is by way of illustration and not of limitation, and that any modifications, equivalents, variations and the like which fall within the spirit and scope of the principles of the invention are intended to be included within the scope of the appended claims.
Claims (7)
1. The calibration method of the laser marking system is characterized by comprising the following steps of:
s1, horizontally placing a calibration plate in a marking area where laser can act;
s2, performing laser marking on the surface area of the calibration plate by using a laser marking system to obtain a radius ofCircle, line segment->Line segment->；
S3, the camera acquires an image of the surface of the calibrated plate after marking is completed;
s4, calculating the radius of the circle in the image of the step S3 under the image coordinate systemCenter coordinates->And longitudinal resolution->；
S5, calculating the line segment in the step S2Normalized direction vector in image coordinate system +.>And line segment->Normalized direction vector in image coordinate system +.>；
S6, according to theParameters under the galvanometer coordinate system obtained in the step S2And the parameters under the image coordinate system obtained in said step S4 and step S5 +.>、/>、/>、/>、/>Calculating transformation parameters of the image coordinate system and the galvanometer coordinate system>；
Wherein: the step S2 includes:
s2-1, marking a radius by taking the origin of a galvanometer coordinate system as a circle centerIs a circle;
s2-2, using points in a galvanometer coordinate systemAnd (4) point->Marking a first line segment for the end point +.>；
Step S2-3, under the coordinate system of the galvanometer,in dotsAnd (4) point->Marking out a second line segment for the end point；
In the step S6: calculating to obtain transformation parameters of the image coordinate system and the galvanometer coordinate systemThe method comprises the following steps:
。
2. the method of claim 1, wherein: the calibration plate is any object which is flat and smooth and can leave clear marks under the action of laser.
3. The method of claim 2, wherein said step S4 comprises:
radius of circle in image under image coordinate systemThe number of pixels occupied by the length of the circle radius on the image is referred to; circle center coordinates of circle in image under image coordinate system +.>Refers to the pixel coordinates of the center of a circle on the image.
4. The method of claim 3, wherein said step S4 further comprises:
s4-1, carrying out Canny edge detection on the image;
s4-2, calculating Sobel first derivatives in the x and y directions for each non-zero point of the edge image to obtain a gradient of the non-zero point;
step S4-3, traversing each non-zero point of the edge image, and calculating the straight line of the gradient direction；
S4-4, calculating the intersection point coordinates of all the straight linesAnd initialize the accumulatorWhen coordinates->When the intersection point occurs, the accumulator is made；
Step S4-5, finding the accumulator with the largest accumulated valueCoordinates->Namely the center coordinates；
Step S4-6, each non-zero point of the edge imageCalculating the coordinate of the center of circle>Distance of->And initialize the accumulator +.>And distance set->When (when)When the time is, let the accumulator->At the same time->Add to collection->In (a) and (b);
step S4-7, finding the accumulator with the largest accumulated valueThen->Wherein->Representing the set +.>Average of all elements in (a).
5. The method of claim 4, wherein said step S5 comprises:
s5-1, carrying out Canny edge detection on the image;
step S5-2, initializing accumulator The accumulated values of (2) are all 0, while initializing the point set Are empty sets, wherein->The number of pixels that are diagonal lines of the image;
step S5-3, traversing each non-zero point of the edge imageFor all->Calculation of；
Step S5-4, finding the accumulator with the largest accumulated valueThen calculate the point set +.>All points and points +.>And find the point of maximum distance +.>Calculating to obtain->：
；
Step S5-5, finding the accumulator with the second largest accumulated valueThen calculate the point set +.>All points and points +.>And find the point of maximum distance +.>Calculating to obtain->：
。
6. The method of claim 5, wherein said step S5-3 comprises:
when (when)When the time is, let the accumulator->At the same time let->Add point set->Is a kind of medium.
7. The method of claim 6, wherein said step S6 comprises:
the transformation parametersEstablishes the transformation relation between the image coordinate system and the galvanometer coordinate system, and any point on the image coordinate system is +.>All can be through transformation parameters->Calculating to obtain the corresponding coordinates of the vibrating mirror under the coordinate systemThe calculation method comprises the following steps:
。
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