Iterative calibration method and system for optical distortion and pose of laser scanning system

A technology of laser scanning and optical distortion, which is applied in the direction of optical device, image analysis, image enhancement, etc., can solve the problems of inability to jointly optimize distortion and pose parameters, inconvenient, poor calibration effect, etc., to improve the efficiency of equipment debugging , Reduce labor cost, high reliability effect

Pending Publication Date: 2022-06-17
杭州凌像科技有限公司
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Problems solved by technology

[0008] The purpose of the present invention is to overcome the problem that in the prior art, the traditional calibration method usually calibrates the distortion and relative pose of the laser scanning system separately, which is not only inconvenient, but also unable to jointly optimize the distortion and pose parameters, which easily leads to poor final calibration results. To solve the problem, an iterative calibration method and system for the optical distortion and pose of the laser scanning system are provided which are easy to operate and high precision

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  • Iterative calibration method and system for optical distortion and pose of laser scanning system
  • Iterative calibration method and system for optical distortion and pose of laser scanning system
  • Iterative calibration method and system for optical distortion and pose of laser scanning system

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Embodiment 1

[0064] like figure 1 As shown, an iterative calibration method for optical distortion and pose of a laser scanning system, including the following steps

[0065] In step S1, N ideal points are generated in the laser scanning system coordinate system, and the unit of the ideal point should be the actual length unit, such as um, mm, etc. In addition, the N ideal points are required to be non-overlapping and not on the same straight line. demand, N can be 25-121; such as figure 2 As shown, in this embodiment, N=81, and the distribution of ideal points is a matrix with 9 rows and 9 columns;

[0066] Step S2, the order of distortion transformation is predetermined, and the order number can be 1-5, preferably order 3; in this embodiment, order 3 is taken as an example, using the distortion transformation coefficient matrix F obtained in the previous iteration, according to the following formula to perform two steps on the ideal point: Dimensional coordinate transformation, get P ...

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Abstract

The invention belongs to the technical field of laser processing, and particularly relates to an iterative calibration method and system for optical distortion and poses of a laser scanning system. The method comprises the following steps: S1, generating N ideal points; s2, performing two-dimensional coordinate transformation on the ideal point; s3, N actual points are printed on the target paper on the translation table; s4, calculating target coordinates of the N translation stages; s5, measuring the coordinate of the current target coordinate point in the camera coordinate system; s6, performing data processing by using the rotation matrix; s7, calculating the transformed rotation matrix and a vector from the original point of the camera to the original point of the laser scanning system; s8, calculating to obtain a distortion coefficient matrix obtained by current iteration; s9, fusing the data obtained by the current iteration with the value of the last iteration, and taking the fused value as the input value of the next iteration; and S10, repeating the steps S2 to S9 to obtain a final calibration result. The method has the advantages of being convenient to operate and high in calibration precision.

Description

technical field [0001] The invention belongs to the technical field of laser processing, and in particular relates to an iterative calibration method and system for optical distortion and pose of a laser scanning system. Background technique [0002] In the laser processing industry, a galvanometer and a field mirror are commonly used to form a laser scanning system. The former realizes beam scanning and the latter realizes beam focusing. This processing device has high scanning efficiency, so it has a wide range of uses in laser marking, laser drilling, laser cutting and laser 3D printing. The ideal field lens conforms to the f-θ model, that is, when the galvanometer deflects the beam to an angle θ with the optical axis of the field lens, the distance between the focal point and the optical axis on the working surface after the beam passes through the field lens is d=f*θ , that is, the declination angle of the beam is linearly related to the position of the focal point of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/73G06T5/00G01B11/00
CPCG06T7/80G06T7/73G06T5/006G01B11/005
Inventor 李华兵孙东明林汇文杨恺伦
Owner 杭州凌像科技有限公司
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