CN113989369A - A high-precision calibration method and device for a laser processing system - Google Patents
A high-precision calibration method and device for a laser processing system Download PDFInfo
- Publication number
- CN113989369A CN113989369A CN202111227161.0A CN202111227161A CN113989369A CN 113989369 A CN113989369 A CN 113989369A CN 202111227161 A CN202111227161 A CN 202111227161A CN 113989369 A CN113989369 A CN 113989369A
- Authority
- CN
- China
- Prior art keywords
- galvanometer
- distortion
- pattern
- image
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012545 processing Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000012937 correction Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 9
- 238000007781 pre-processing Methods 0.000 claims description 9
- 230000011218 segmentation Effects 0.000 claims description 9
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 150000002843 nonmetals Chemical class 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a high-precision calibration method and a high-precision calibration device for a laser processing system, wherein an image of the high-precision calibration method and the high-precision calibration device for the laser processing system is obtained according to a designed pattern for calibrating a vision system, and the distortion calibration of a correction camera is completed, so that the image after distortion correction can be obtained; then controlling a laser and a deflection lens in a galvanometer system, marking a specific galvanometer distortion calibration pattern on the marking paper, acquiring an image shot by a camera, and calculating to obtain a distortion value of the galvanometer system; and then controlling the laser and the deflection lens in the galvanometer, marking a coordinate system calibration pattern which passes through the distortion data processing module on the marking paper, acquiring an image shot by the camera, and calculating to obtain a corresponding relation between the image coordinate system and the galvanometer coordinate system.
Description
Technical Field
The invention belongs to the technical field of laser processing systems, and particularly relates to a high-precision calibration method and device of a laser processing system.
Background
The laser processing technology is a one-step processing technology for cutting, welding, surface processing, punching, micro-processing and the like of materials (including metals and non-metals) by utilizing the interaction characteristic of a laser beam and a substance. As an advanced manufacturing technology, laser processing has been widely applied to national economic important departments such as automobiles, electronics, electrical appliances, aviation, metallurgy, mechanical manufacturing and the like, and plays an increasingly important role in improving product quality, labor productivity, automation, no pollution, reducing material consumption and the like.
The laser processing system includes: the laser processing device comprises a camera, a lens, a light source, a laser, a galvanometer, an industrial personal computer and other components, wherein the galvanometer is a device of laser processing equipment and is used for changing a light emitting path of the laser. The coordinate system where the galvanometer is located is called a galvanometer coordinate system, the galvanometer coordinate system is a two-dimensional coordinate system, the origin of the galvanometer coordinate system is the scanning center of the galvanometer, the X axis of the galvanometer coordinate system is parallel to the X direction scanned by the galvanometer, and the Y axis of the galvanometer coordinate system is parallel to the Y direction scanned by the galvanometer.
The precision of the whole machining system needs to be calibrated before machining, and the existing calibration method is low in precision and cannot meet the requirement of high-precision machining.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for automatically correcting the distortion of a galvanometer system through a vision system and a galvanometer distortion data processing module, thereby realizing the high-precision consistent marking of the galvanometer system in the whole marking work area and simplifying the calibration of the galvanometer system.
In order to achieve the purpose, the invention provides the following technical scheme: a high-precision calibration method for a laser processing system comprises the following steps:
s1, according to the camera calibration pattern designed in advance, the camera calibration pattern shot by the camera is obtained by the vision system, the distortion of the vision system is corrected, the distortion data of the vision system is obtained, and the image after distortion removal is obtained;
s2, controlling a laser and a deflection lens in a galvanometer according to a preset galvanometer distortion calibration pattern, marking the galvanometer distortion calibration pattern on a marking paper, acquiring the galvanometer distortion calibration pattern shot by a camera through a vision system, calculating to obtain a distortion value of the galvanometer system, and writing the distortion value into a galvanometer distortion data processing module;
s3, controlling the laser and the deflection lens in the galvanometer system according to the coordinate system calibration pattern edited in advance, marking the coordinate system calibration pattern passing through the galvanometer distortion data processing module on the calibration paper, acquiring the image of the coordinate system calibration pattern shot by the camera through the vision system, and calculating to obtain the mapping relation between the image coordinate system and the galvanometer coordinate system.
And further, the camera calibration pattern is an array pattern, the peripheral area of the array pattern is provided with a pattern for marking the direction, an image of the camera calibration pattern is obtained through a vision system, and the corresponding relation M of an image coordinate system and a world coordinate system is calculated.
The galvanometer distortion calibration pattern further comprises a first pattern and a second pattern, the range size of the first pattern covers the working space range of the whole galvanometer system, and the second pattern is located in the center of the galvanometer distortion calibration pattern and used for indicating the coordinate system center of the working area of the galvanometer system.
Further, the first pattern in the galvanometer distortion calibration pattern is a circle of the array, the second pattern is a square, and the step of obtaining the center and distortion of the galvanometer system comprises the following steps:
a) acquiring an image of a galvanometer distortion calibration pattern after correcting the distortion of the camera;
b) carrying out image preprocessing such as threshold segmentation and denoising on the obtained image;
c) extracting a rectangular graph at the center of the pattern according to a maximum external rectangle method, obtaining a local rectangular graph image, and fitting to obtain a central coordinate (u) of the rectangular graph0，v0) I.e. of galvanometer systemsA coordinate system center;
d) extracting all circles in the image according to a maximum circumscribed circle method, and calculating to obtain the relative (u) of each circle0，v0) Image coordinate position (u)c，vc) Obtaining the actual center coordinate (x) of each circle according to the corresponding relation M between the image coordinate system and the world coordinate systemc，yc) Coordinates (x) of the galvanometer system preset according to each circle in the pre-designed patterni，yi) Obtaining (x)c-xi)，(yc-yi) And writing each difference value into the distorted data processing module.
Further, the first graph in the galvanometer distortion calibration pattern is a grid of an array, the second graph is a circle, and the step of acquiring the center and distortion of the galvanometer system comprises the following steps:
a) acquiring an image of a galvanometer distortion calibration pattern after correcting the distortion of the camera;
b) carrying out image preprocessing such as threshold segmentation and denoising on the obtained image;
c) extracting a circular figure at the center of the pattern according to a maximum external circle method to obtain a local circular image, and fitting to obtain a central coordinate (u) of the circular figure0，v0) Namely the coordinate system center of the galvanometer system;
d) extracting horizontal and vertical grid lines according to a maximum gradient method, and sequencing the vertical lines from left to right to obtainv1，lv2……lviThe transverse lines are sequenced from top to bottom,. lh1，lh2……lhiThe relative (u) of the intersection points of the horizontal and vertical lines is obtained0，v0) Image coordinates (u) ofc，vc) Obtaining the actual coordinate (x) of each intersection point according to the corresponding relation M between the image coordinate system and the world coordinate systemc，yc) Based on coordinates (x) of a galvanometer system of intersections of grid lines in the pre-designed patterni，yi) Obtaining (x)c-xi)，(yc-yi) And writing each difference value into the distorted data processing module.
The coordinate system calibration pattern is further an array of circular patterns, the arrangement of the patterns is symmetrical about the galvanometer coordinate system, and the steps of acquiring the image coordinate system and the galvanometer coordinate system are as follows:
a) acquiring an image of a coordinate system calibration pattern after correcting the distortion of the camera;
b) carrying out image preprocessing such as threshold segmentation and denoising on the obtained image;
c) according to the maximum circumscribed circle method, the center coordinates (u) of all array graphs are obtained by fittingi，vi) Sorting the coordinates from left to right, from top to bottom, with the first circle center at the top left corner as the starting point, and presetting the coordinates (x) of the galvanometer system according to the patterni，yi) And calculating to obtain the corresponding relation between the image coordinate system and the galvanometer coordinate system.
A high-precision calibration device for a laser processing system comprises:
a marking module: controlling a laser and a galvanometer system according to a preset calibration pattern, and marking a galvanometer distortion calibration pattern and a coordinate system calibration pattern on the calibration paper;
an image acquisition module: the system comprises a camera, a lens distortion calibration pattern, a coordinate system calibration pattern and a control module, wherein the camera is used for shooting images, and the images comprise an image of the camera calibration pattern, an image of the galvanometer distortion calibration pattern and an image of the coordinate system calibration pattern; the device is arranged below or on the side of the galvanometer system;
a camera calibration module: calculating and correcting the distortion of the camera according to the set camera calibration pattern, and obtaining the relation between an image coordinate system and a world coordinate system;
the galvanometer distortion calibration module: acquiring an image of the distortion calibration pattern according to the set distortion calibration pattern, and calculating to obtain a galvanometer system; marking distortion in the range, and writing a distortion value into a galvanometer distortion data processing module;
the galvanometer distortion data processing module: storing a galvanometer distortion numerical value for processing the laser control system to send to the galvanometer system;
a coordinate system calibration module: and calibrating the pattern according to the set coordinate system, acquiring the image of the pattern, and calculating to obtain the relation between the image coordinate system and the galvanometer coordinate system.
The galvanometer distortion calibration module further comprises a host communication unit and a galvanometer system distortion correction unit; the host communication unit adopts usb, serial port or network port communication and can perform interactive reading and writing of data with a computer; the distortion correction unit of the galvanometer system can calculate the distortion value of a coordinate point in the marking range of the galvanometer system.
Compared with the prior art, the invention has the beneficial effects that: the distortion of the galvanometer system is automatically corrected through the vision system and the galvanometer distortion data processing module, so that high-precision consistency marking of the galvanometer system in the whole marking work area is realized, and the marking of the galvanometer system is simplified.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic diagram of the operation of a galvanometer distortion data processing module of the present invention;
FIG. 3 is a schematic diagram of a camera calibration pattern according to the present invention;
FIG. 4 is a diagram of a galvanometer distortion calibration pattern according to a first embodiment of the present invention;
FIG. 5 is a diagram of a second exemplary embodiment of a galvanometer distortion calibration pattern of the present invention;
FIG. 6 is a schematic diagram of a coordinate system calibration pattern according to the present invention.
Detailed Description
Embodiments of the present invention for high precision calibration of a laser processing system and apparatus thereof are further described with reference to fig. 1 to 6.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate that the orientation and positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the features, and in the description of the invention, "a number" or "a number" means two or more unless explicitly specified otherwise.
A high-precision calibration method for a laser processing system comprises the following steps:
s1, according to the camera calibration pattern designed in advance, the camera calibration pattern shot by the camera is obtained by the vision system, the distortion of the vision system is corrected, the distortion data of the vision system is obtained, and the image after distortion removal is obtained; (ii) a
S2, controlling a laser and a deflection lens in a galvanometer according to a preset galvanometer distortion calibration pattern, marking the galvanometer distortion calibration pattern on a marking paper, acquiring the galvanometer distortion calibration pattern shot by a camera through a vision system, calculating to obtain a distortion value of the galvanometer system, and writing the distortion value into a galvanometer distortion data processing module;
s3, controlling the laser and the deflection lens in the galvanometer system according to the coordinate system calibration pattern edited in advance, marking the coordinate system calibration pattern passing through the galvanometer distortion data processing module on the calibration paper, acquiring the image of the coordinate system calibration pattern shot by the camera through the vision system, and calculating to obtain the mapping relation between the image coordinate system and the galvanometer coordinate system.
As shown in fig. 3, the camera calibration pattern in the present embodiment is preferably an array pattern, and a peripheral region of the array pattern has a pattern indicating a direction, in the present embodiment, the camera calibration pattern is a circle of the array, and a left upper corner region of the periphery of the array has a triangular pattern indicating a direction; and acquiring an image of the camera calibration pattern through a vision system, and calculating the corresponding relation M between an image coordinate system and a world coordinate system.
The galvanometer distortion calibration pattern preferably includes a first pattern and a second pattern, a range size of the first pattern covers a working space range of the entire galvanometer system, and the second pattern is located at a center of the galvanometer distortion calibration pattern and is used for indicating a coordinate system center of a working area of the galvanometer system.
As shown in fig. 4, which shows a first embodiment of the galvanometer distortion calibration pattern of the present invention, the first pattern in the galvanometer distortion calibration pattern is a circle in an array, and the second pattern is a square, and the step of obtaining the center and distortion of the galvanometer system includes:
a) acquiring an image of a galvanometer distortion calibration pattern after correcting the distortion of the camera;
b) carrying out image preprocessing such as threshold segmentation and denoising on the obtained image;
c) extracting a rectangular graph at the center of the pattern according to a maximum external rectangle method, obtaining a local rectangular graph image, and fitting to obtain a central coordinate (u) of the rectangular graph0，v0) Namely the coordinate system center of the galvanometer system;
d) extracting all circles in the image according to a maximum circumscribed circle method, and calculating to obtain the relative (u) of each circle0，v0) Image coordinate position (u)c，vc) Obtaining the actual center coordinate (x) of each circle according to the corresponding relation M between the image coordinate system and the world coordinate systemc，yc) Coordinates (x) of the galvanometer system preset according to each circle in the pre-designed patterni，yi) Obtaining (x)c-xi)，(yc-yi) And writing each difference value into the distorted data processing module.
As shown in fig. 5, which shows a second embodiment of the galvanometer distortion calibration pattern of the present invention, the first pattern in the galvanometer distortion calibration pattern is a grid of an array, and the second pattern is a circle, and the step of obtaining the center and distortion of the galvanometer system includes:
a) acquiring an image of a galvanometer distortion calibration pattern after correcting the distortion of the camera;
b) carrying out image preprocessing such as threshold segmentation and denoising on the obtained image;
c) extracting a circular figure at the center of the pattern according to a maximum external circle method to obtain a local circular image, and fitting to obtain a central coordinate (u) of the circular figure0，v0) Namely the coordinate system center of the galvanometer system;
d) extracting horizontal and vertical grid lines according to a maximum gradient method, and sequencing the vertical lines from left to right to obtainv1，lv2……lviThe transverse lines are sequenced from top to bottom,. lh1，lh2……lhiThe relative (u) of the intersection points of the horizontal and vertical lines is obtained0，v0) Image coordinates (u) ofc，vc) Obtaining the actual coordinate (x) of each intersection point according to the corresponding relation M between the image coordinate system and the world coordinate systemc，yc) Based on coordinates (x) of a galvanometer system of intersections of grid lines in the pre-designed patterni，yi) Obtaining (x)c-xi)，(yc-yi) And writing each difference value into the distorted data processing module.
As shown in fig. 6, the coordinate system calibration pattern in this embodiment is an array of circular patterns, the arrangement of the patterns is symmetrical with respect to the galvanometer coordinate system, and the steps of acquiring the image coordinate system and the galvanometer coordinate system are as follows:
a) acquiring an image of a coordinate system calibration pattern after correcting the distortion of the camera;
b) carrying out image preprocessing such as threshold segmentation and denoising on the obtained image;
c) according to the maximum circumscribed circle method, the center coordinates (u) of all array graphs are obtained by fittingi，vi) Sorting the coordinates from left to right, from top to bottom, with the first circle center at the top left corner as the starting point, and presetting the coordinates (x) of the galvanometer system according to the patterni，yi) And calculating to obtain the corresponding relation between the image coordinate system and the galvanometer coordinate system.
A high-precision calibration device for a laser processing system comprises:
a marking module: controlling a laser and a galvanometer system according to a preset calibration pattern, and marking a galvanometer distortion calibration pattern and a coordinate system calibration pattern on the calibration paper;
an image acquisition module: the system comprises a camera, a lens distortion calibration pattern, a coordinate system calibration pattern and a control module, wherein the camera is used for shooting images, and the images comprise an image of the camera calibration pattern, an image of the galvanometer distortion calibration pattern and an image of the coordinate system calibration pattern; the device is arranged below or on the side of the galvanometer system;
a camera calibration module: calculating and correcting the distortion of the camera according to the set camera calibration pattern, and obtaining the relation between an image coordinate system and a world coordinate system;
the galvanometer distortion calibration module: acquiring an image of the distortion calibration pattern according to the set distortion calibration pattern, and calculating to obtain a galvanometer system; marking distortion in the range, and writing a distortion value into a galvanometer distortion data processing module;
the galvanometer distortion data processing module: storing a galvanometer distortion numerical value for processing the laser control system to send to the galvanometer system;
a coordinate system calibration module: and calibrating the pattern according to the set coordinate system, acquiring the image of the pattern, and calculating to obtain the relation between the image coordinate system and the galvanometer coordinate system.
The galvanometer distortion data processing module is connected into a laser processing system and is formed by connecting a laser control card, the galvanometer distortion data processing module and the galvanometer system in series, and the galvanometer distortion data processing module can store distortion data, process data signals of the laser control card and send the data signals to the galvanometer system.
As shown in fig. 2, in this embodiment, the galvanometer distortion data processing module may receive a data signal sent to the galvanometer system by the laser control system, and send the processed data signal after the galvanometer distortion removal to the galvanometer system, so as to implement distortion correction of the galvanometer system.
In this embodiment, preferably, the galvanometer distortion calibration module includes a host communication unit and a galvanometer system distortion correction unit; the host communication unit adopts usb, serial port or network port communication and can perform interactive reading and writing of data with a computer; the distortion correction unit of the galvanometer system can calculate the distortion value of a coordinate point in the marking range of the galvanometer system.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (8)
1. A high-precision calibration method for a laser processing system is characterized by comprising the following steps:
s1, according to the camera calibration pattern designed in advance, the camera calibration pattern shot by the camera is obtained by the vision system, the distortion of the vision system is corrected, the distortion data of the vision system is obtained, and the image after distortion removal is obtained;
s2, controlling a laser and a deflection lens in a galvanometer according to a preset galvanometer distortion calibration pattern, marking the galvanometer distortion calibration pattern on a marking paper, acquiring the galvanometer distortion calibration pattern shot by a camera through a vision system, calculating to obtain a distortion value of the galvanometer system, and writing the distortion value into a galvanometer distortion data processing module;
s3, controlling the laser and the deflection lens in the galvanometer system according to the coordinate system calibration pattern edited in advance, marking the coordinate system calibration pattern passing through the galvanometer distortion data processing module on the calibration paper, acquiring the image of the coordinate system calibration pattern shot by the camera through the vision system, and calculating to obtain the mapping relation between the image coordinate system and the galvanometer coordinate system.
2. The high-precision calibration method for the laser processing system according to claim 1, wherein: the camera calibration pattern is an array pattern, the peripheral area of the array pattern is provided with a pattern for marking the direction, an image of the camera calibration pattern is obtained through a visual system, and the corresponding relation M of an image coordinate system and a world coordinate system is calculated.
3. The high-precision calibration method for the laser processing system according to claim 2, wherein: the galvanometer distortion calibration pattern comprises a first pattern and a second pattern, the range size of the first pattern covers the working space range of the whole galvanometer system, and the second pattern is located at the center of the galvanometer distortion calibration pattern and used for indicating the coordinate system center of the working area of the galvanometer system.
4. The high-precision calibration method for the laser processing system according to claim 3, wherein: the first graph in the galvanometer distortion calibration pattern is a circle of an array, the second graph is a square, and the step of acquiring the center and distortion of the galvanometer system comprises the following steps:
a) acquiring an image of a galvanometer distortion calibration pattern after correcting the distortion of the camera;
b) carrying out image preprocessing such as threshold segmentation and denoising on the obtained image;
c) extracting a rectangular graph at the center of the pattern according to a maximum external rectangle method, obtaining a local rectangular graph image, and fitting to obtain a central coordinate (u) of the rectangular graph0，v0) Namely the coordinate system center of the galvanometer system;
d) extracting all circles in the image according to a maximum circumscribed circle method, and calculating to obtain the relative (u) of each circle0，v0) Image coordinate position (u)c，vc) Obtaining the actual center coordinate (x) of each circle according to the corresponding relation M between the image coordinate system and the world coordinate systemc，yc) Coordinates (x) of the galvanometer system preset according to each circle in the pre-designed patterni，yi) Obtaining (x)c-xi)，(yc-yi) And writing each difference value into the distorted data processing module.
5. The high-precision calibration method for the laser processing system according to claim 3, wherein: the first graph in the galvanometer distortion calibration pattern is a grid of an array, the second graph is a circle, and the step of acquiring the center and distortion of the galvanometer system comprises the following steps:
a) acquiring an image of a galvanometer distortion calibration pattern after correcting the distortion of the camera;
b) carrying out image preprocessing such as threshold segmentation and denoising on the obtained image;
c) extracting a circular figure at the center of the pattern according to a maximum external circle method to obtain a local circular image, and fitting to obtain a central coordinate (u) of the circular figure0，v0) Namely the coordinate system center of the galvanometer system;
d) extracting horizontal and vertical grid lines according to a maximum gradient method, and sequencing the vertical lines from left to right to obtainv1，lv2……lviThe transverse lines are sequenced from top to bottom,. lh1，lh2……lhiThe relative (u) of the intersection points of the horizontal and vertical lines is obtained0，v0) Image coordinates (u) ofc，vc) Obtaining the actual coordinate (x) of each intersection point according to the corresponding relation M between the image coordinate system and the world coordinate systemc，yc) Based on coordinates (x) of a galvanometer system of intersections of grid lines in the pre-designed patterni，yi) Obtaining (x)c-xi)，(yc-yi) And writing each difference value into the distorted data processing module.
6. The high-precision calibration method for the laser processing system according to claim 5, wherein: the coordinate system calibration pattern is an array circular pattern, the arrangement of the pattern is symmetrical about the galvanometer coordinate system, and the steps of acquiring the image coordinate system and the galvanometer coordinate system are as follows:
a) acquiring an image of a coordinate system calibration pattern after correcting the distortion of the camera;
b) carrying out image preprocessing such as threshold segmentation and denoising on the obtained image;
c) according to the maximum circumscribed circle method, the center coordinates (u) of all array graphs are obtained by fittingi，vi) Taking the first circle center of the upper left corner as a starting point, and carrying out the steps of starting from left to right, starting fromUpper and lower ordering, coordinates (x) of galvanometer system preset according to patterni，yi) And calculating to obtain the corresponding relation between the image coordinate system and the galvanometer coordinate system.
7. A high-precision calibration device for a laser processing system is characterized by comprising:
a marking module: controlling a laser and a galvanometer system according to a preset calibration pattern, and marking a galvanometer distortion calibration pattern and a coordinate system calibration pattern on the calibration paper; an image acquisition module: the system comprises a camera, a lens distortion calibration pattern, a coordinate system calibration pattern and a control module, wherein the camera is used for shooting images, and the images comprise an image of the camera calibration pattern, an image of the galvanometer distortion calibration pattern and an image of the coordinate system calibration pattern; the device is arranged below or on the side of the galvanometer system;
a camera calibration module: calculating and correcting the distortion of the camera according to the set camera calibration pattern, and obtaining the relation between an image coordinate system and a world coordinate system;
the galvanometer distortion calibration module: acquiring an image of the distortion calibration pattern according to the set distortion calibration pattern, and calculating to obtain a galvanometer system; marking distortion in the range, and writing a distortion value into a galvanometer distortion data processing module;
the galvanometer distortion data processing module: storing a galvanometer distortion numerical value for processing the laser control system to send to the galvanometer system;
a coordinate system calibration module: and calibrating the pattern according to the set coordinate system, acquiring the image of the pattern, and calculating to obtain the relation between the image coordinate system and the galvanometer coordinate system.
8. The high precision calibration device for the laser processing system according to claim 7, wherein: the galvanometer distortion calibration module comprises a host communication unit and a galvanometer system distortion correction unit; the host communication unit adopts usb, serial port or network port communication and can perform interactive reading and writing of data with a computer; the distortion correction unit of the galvanometer system can calculate the distortion value of a coordinate point in the marking range of the galvanometer system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111227161.0A CN113989369A (en) | 2021-10-21 | 2021-10-21 | A high-precision calibration method and device for a laser processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111227161.0A CN113989369A (en) | 2021-10-21 | 2021-10-21 | A high-precision calibration method and device for a laser processing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113989369A true CN113989369A (en) | 2022-01-28 |
Family
ID=79739917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111227161.0A Pending CN113989369A (en) | 2021-10-21 | 2021-10-21 | A high-precision calibration method and device for a laser processing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113989369A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115138962A (en) * | 2022-07-26 | 2022-10-04 | 武汉逸飞激光股份有限公司 | Automatic deviation rectifying method and device for galvanometer welding |
| CN115737272A (en) * | 2022-11-16 | 2023-03-07 | 南京博视医疗科技有限公司 | Calibration method and device of laser treatment system |
| CN116329768A (en) * | 2023-05-22 | 2023-06-27 | 广东麦特维逊医学研究发展有限公司 | Calibration method of laser marking system |
| CN117644294A (en) * | 2024-01-29 | 2024-03-05 | 北京金橙子科技股份有限公司 | Laser processing method and control device based on visual preview guidance |
| CN118485722A (en) * | 2024-07-15 | 2024-08-13 | 爱睿思(厦门)科技有限公司 | Pattern transfer position correction method based on visual image coordinate system |
| CN120085612A (en) * | 2025-05-06 | 2025-06-03 | 北京金橙子科技股份有限公司 | Flying vision laser processing method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050071424A (en) * | 2005-06-15 | 2005-07-07 | (주)영원테크 | Adjustment file making apparatus for laser marking system and the method thereof |
| CN104439698A (en) * | 2014-11-26 | 2015-03-25 | 北京凌云光技术有限责任公司 | Calibration method and device used for laser processing system |
| CN111009013A (en) * | 2019-10-12 | 2020-04-14 | 苏州辰正太阳能设备有限公司 | Galvanometer calibration method for scribing machine |
| CN111536902A (en) * | 2020-04-22 | 2020-08-14 | 西安交通大学 | Galvanometer scanning system calibration method based on double checkerboards |
| CN111872544A (en) * | 2020-07-31 | 2020-11-03 | 深圳市学而用科技有限公司 | Calibration method and device for laser light-emitting indication point and galvanometer coaxial vision system |
-
2021
- 2021-10-21 CN CN202111227161.0A patent/CN113989369A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050071424A (en) * | 2005-06-15 | 2005-07-07 | (주)영원테크 | Adjustment file making apparatus for laser marking system and the method thereof |
| CN104439698A (en) * | 2014-11-26 | 2015-03-25 | 北京凌云光技术有限责任公司 | Calibration method and device used for laser processing system |
| CN111009013A (en) * | 2019-10-12 | 2020-04-14 | 苏州辰正太阳能设备有限公司 | Galvanometer calibration method for scribing machine |
| CN111536902A (en) * | 2020-04-22 | 2020-08-14 | 西安交通大学 | Galvanometer scanning system calibration method based on double checkerboards |
| CN111872544A (en) * | 2020-07-31 | 2020-11-03 | 深圳市学而用科技有限公司 | Calibration method and device for laser light-emitting indication point and galvanometer coaxial vision system |
Non-Patent Citations (1)
| Title |
|---|
| 黄湛;徐杜;蒋永平;: "高精度图像尺寸检测镜头畸变校正方法与实现", 电子科技, no. 08 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115138962A (en) * | 2022-07-26 | 2022-10-04 | 武汉逸飞激光股份有限公司 | Automatic deviation rectifying method and device for galvanometer welding |
| CN115737272A (en) * | 2022-11-16 | 2023-03-07 | 南京博视医疗科技有限公司 | Calibration method and device of laser treatment system |
| CN115737272B (en) * | 2022-11-16 | 2023-09-29 | 南京博视医疗科技有限公司 | Calibration method and device of laser treatment system |
| CN116329768A (en) * | 2023-05-22 | 2023-06-27 | 广东麦特维逊医学研究发展有限公司 | Calibration method of laser marking system |
| CN117644294A (en) * | 2024-01-29 | 2024-03-05 | 北京金橙子科技股份有限公司 | Laser processing method and control device based on visual preview guidance |
| CN117644294B (en) * | 2024-01-29 | 2024-05-03 | 北京金橙子科技股份有限公司 | Laser processing method and control device based on visual preview guidance |
| CN118485722A (en) * | 2024-07-15 | 2024-08-13 | 爱睿思(厦门)科技有限公司 | Pattern transfer position correction method based on visual image coordinate system |
| CN118485722B (en) * | 2024-07-15 | 2024-10-01 | 爱睿思(厦门)科技有限公司 | Pattern transfer position correction method based on visual image coordinate system |
| CN120085612A (en) * | 2025-05-06 | 2025-06-03 | 北京金橙子科技股份有限公司 | Flying vision laser processing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113989369A (en) | A high-precision calibration method and device for a laser processing system | |
| CN100547351C (en) | A method of machine vision positioning | |
| CN107240090B (en) | Method for extracting plate profile | |
| CN114022370B (en) | A kind of galvanometer laser processing distortion correction method and system | |
| CN111982921A (en) | Hole defect detection method and device, conveying platform and storage medium | |
| CN110653489A (en) | A fast calibration method for multi-galvo mirrors | |
| CN112862815B (en) | Reconstituted cut stem width detection method based on monocular vision | |
| CN111062940A (en) | Screw positioning and identifying method based on machine vision | |
| CN109974979B (en) | Automatic correction method and system for laser equipment galvanometer mark | |
| CN110695520B (en) | Vision-based full-automatic galvanometer field calibration system and calibration method thereof | |
| CN113838144A (en) | Method for positioning object on UV printer based on machine vision and deep learning | |
| CN114111624B (en) | Handheld three-dimensional scanning method, equipment and medium with mark point projection device | |
| CN115555648A (en) | Numerical control cutting method, system, equipment and medium | |
| CN112184804A (en) | Method and device for positioning high-density welding spots of large-volume workpiece, storage medium and terminal | |
| CN112729112A (en) | Engine cylinder bore diameter and hole site detection method based on robot vision | |
| CN112348756A (en) | Image distortion correction method | |
| CN117952871A (en) | Large-breadth image correction system based on planar grid method | |
| CN118015004A (en) | Laser cutting scanning system and method | |
| CN112381888A (en) | Dynamic compensation method for H-shaped steel cutting path | |
| CN116309325A (en) | Patch detection method and system based on deep learning | |
| CN114295056B (en) | Rapid correction method and application of visual positioning system of laser processing equipment | |
| CN113538399A (en) | Method for obtaining accurate contour of workpiece, machine tool and storage medium | |
| CN112665528B (en) | Correction method for laser scanning three-dimensional imaging | |
| CN111738936A (en) | Image processing-based multi-plant rice spike length measuring method | |
| CN117086878A (en) | Groove cutting method, system, electronic equipment, storage medium and product |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220128 |
|
| RJ01 | Rejection of invention patent application after publication |