Calibration method of laser galvanometer processing system under guidance of binocular stereoscopic vision

Abstract

The invention discloses a calibration method of a laser galvanometer processing system under the guidance of binocular stereoscopic vision. The calibration method comprises the following steps: predetermining a laser galvanometer processing pattern containing a plurality of two-dimensional mark points; acquiring dense space mark points in different depths in a depth-of-field of the laser galvanometer processing system through laser marking by adopting the laser galvanometer processing pattern; measuring by a binocular vision sensor to obtain three-dimensional coordinates of each space mark point; acquiring a transfer matrix representing a mapping relation between the binocular vision sensor and the laser galvanometer processing system according to the correspondence relation between coordinates of the corresponding two-dimensional mark point on the laser galvanometer processing pattern and the three-dimensional coordinates of the corresponding space mark point. According to the calibration method disclosed by the invention, the robust mapping relation between the binocular vision sensor and the laser galvanometer processing system can be effectively established, and the vision feedback processing precision is improved. The calibration method is convenient to operate and high in stability.

Description

technical field [0001] The invention relates to the technical field of precision laser processing, in particular to a calibration method for a laser vibrating mirror processing system guided by binocular stereo vision. Background technique [0002] The laser galvanometer processing system guided by binocular stereo vision is a new type of laser processing equipment that processes workpieces with complex shapes by using binocular vision sensors to provide visual guidance to traditional laser galvanometer processing systems. The laser galvanometer processing system guided by binocular stereo vision is composed of two parts: a binocular vision sensor and a laser galvanometer processing system. Among them, the binocular vision sensor is generally installed on both sides of the laser galvanometer processing system at a certain angle. Composed of two left and right cameras, the laser galvanometer processing system includes two parts: a high-power laser and a galvanometer. The lase...

AI Technical Summary

Problems solved by technology

[0003] The existing binocular vision-guided laser galvanometer system does not have the ability to accurately map the three-dimensional image of the processed object reconstructed by the binocular vision sensor to the galvanometer image, resulting in the actual processing path of the object in laser processing being different from the preset The processing path is deviated, and the precision of laser processing is not high

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