A method and apparatus for calibrating a three-dimensional laser.

Abstract

This invention relates to a method and apparatus for calibrating a three-dimensional laser. The method involves: based on a calibrated three-dimensional laser device, obtaining 3D coordinate calibration data of the calibrated 3D laser device, deflection calibration data of the laser component, stereo calibration data of the binocular camera, and conversion calibration data between the laser component and the binocular camera based on the difference between theoretical and actual values, thereby completing the calibration. The method then uses the binocular camera to acquire a first pattern and calculates the 3D data of a first workpiece in the binocular coordinate system, further obtaining the 3D data of a second workpiece in the laser coordinate system, thus generating trajectory points. These trajectory points are then corrected based on the 3D coordinate calibration data, and laser processing is performed using the corrected trajectory points. Therefore, not only are trajectory points corrected based on the 3D coordinate calibration data, but the laser component is also controlled based on the calculated deflection calibration data to complete the laser processing, improving the accuracy of laser processing.

Description

Technical Field

[0001] This invention relates to the field of laser processing technology, and in particular to a method and apparatus for calibrating a three-dimensional laser. Background Technology

[0002] Three-dimensional lasers consist of a focusing lens group and a two-dimensional lens group, which can realize the three-dimensional point positioning and focusing of the laser in space, thereby completing the laser processing of the three-dimensional workpiece surface. During the processing, the three-dimensional laser needs to be precisely aligned with the three-dimensional surface to ensure that the laser has the expected spot size and energy when it reaches the workpiece surface. At the same time, it is necessary to ensure that the processed pattern is clear and the whole is not deformed. Therefore, it is necessary to calibrate before use.

[0003] Traditional manual calibration methods are inefficient and inaccurate. Existing 3D laser calibration is complex, involves many steps, and some steps need to be repeated multiple times, resulting in low efficiency. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: to provide a method and apparatus for calibrating three-dimensional lasers, thereby improving the efficiency and accuracy of three-dimensional laser calibration.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, the present invention provides a method for three-dimensional laser calibration and application, comprising:

[0007] Mechanical correction is performed on the 3D laser device to obtain a corrected 3D laser device;

[0008] Based on the corrected 3D laser device, the 3D coordinate calibration data of the corrected 3D laser device, the deflection calibration data of the laser component, the stereo calibration data of the binocular camera, and the conversion calibration data between the laser component and the binocular camera are obtained according to the difference between the theoretical and actual values.

[0009] The first pattern projected by the laser component is acquired, and the first pattern is captured by a binocular camera. Based on the stereo calibration data, the three-dimensional data of the first workpiece in the binocular coordinate system is calculated. The three-dimensional data of the first workpiece is calculated with the transformation calibration data to obtain the three-dimensional data of the second workpiece in the laser coordinate system. Trajectory points are generated according to the two-dimensional workpiece data. The trajectory points are corrected according to the three-dimensional coordinate calibration data to obtain the corrected trajectory points. The laser component is controlled to complete the laser processing according to the corrected trajectory points and the deflection calibration data.

[0010] The beneficial effects of this invention are as follows: Before the calibration of the three-dimensional laser, the three-dimensional laser equipment is mechanically calibrated to ensure the accuracy of the subsequently calculated three-dimensional coordinate calibration data and the deflection calibration data of the laser component. Furthermore, when using the three-dimensional laser equipment to complete laser processing, the trajectory points generated by the three-dimensional data of the workpiece in the laser coordinate system are corrected according to the three-dimensional coordinate calibration data, and the laser component is controlled according to the deflection calibration data calculated by calibration, thereby completing the laser processing and improving the accuracy of laser processing.

[0011] Optionally, the mechanical correction of the three-dimensional laser device to obtain a corrected three-dimensional laser device includes:

[0012] The laser head of the three-dimensional laser device projects a cross pattern. Based on the cross pattern, the fine-tuning device of the three-dimensional laser device is adjusted so that the optical axis of the laser head is perpendicular to the plane, thus obtaining a preliminary correction of the three-dimensional laser device.

[0013] The laser head of the preliminary correction 3D laser device marks a straight line on the plane with a laser. The first camera of the preliminary correction 3D laser device is aligned with the straight line and moves according to the movement distance. The angle between the laser Y-axis and the platform Y-axis is calculated based on the end coordinates after the movement and the starting coordinates before the movement, thus obtaining the corrected 3D laser device.

[0014] As described above, the initial correction of the three-dimensional laser device's marking line is obtained by making the optical axis of the laser head of the three-dimensional laser device perpendicular to the plane. Based on this line, the first camera is adjusted in combination with the activity distance to ensure that the first camera of the corrected three-dimensional laser device acquires data with a large field of view and high precision.

[0015] Optionally, obtaining the three-dimensional coordinate calibration data of the calibrated three-dimensional laser device based on the difference between theoretical and actual values ​​includes:

[0016] The laser head of the corrected 3D laser device is moved vertically until the distance between the laser head and the focal plane reaches a first distance threshold, which is taken as the zero focal plane;

[0017] Based on the difference between the theoretical and actual values, the x-coordinate calibration data and y-coordinate calibration data of the corrected three-dimensional laser device in the zero focal plane, the x-coordinate calibration data and y-coordinate calibration data of the upper and lower planes located on both sides of the zero focal plane, and the z-coordinate calibration data are obtained sequentially.

[0018] or

[0019] Based on the difference between theoretical and actual values, the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the corrected three-dimensional laser device in the zero focal plane, the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the upper plane located above the zero focal plane, and the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the lower plane located below the zero focal plane are obtained sequentially.

[0020] As described above, the three-dimensional coordinate calibration data includes x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data. Furthermore, two different methods can be used to calculate the calibration data for each coordinate, thereby improving the flexibility of three-dimensional coordinate calibration data calculation while ensuring accuracy and comprehensiveness.

[0021] Optionally, obtaining the three-dimensional coordinate calibration data of the calibrated three-dimensional laser device based on the difference between theoretical and actual values ​​includes:

[0022] Adjust the focus button of the laser head of the corrected 3D laser device so that the laser head is focused on the center point of the zero focal plane and the laser head uses laser to project a first dot matrix pattern on the zero focal plane;

[0023] The actual x-space and actual y-space of each point on the first dot matrix are measured using the first camera of the calibrated 3D laser device.

[0024] Obtain the theoretical x-space and theoretical y-space of each point on the first dot matrix. Calculate the x-difference between the theoretical x-coordinate value and the actual x-coordinate value of each point, as well as the y-difference between the theoretical y-coordinate value and the actual y-coordinate value of each point. Subtract the corresponding x-difference and y-difference from the theoretical x-coordinate value and y-coordinate value of each point to generate new coordinates for each point.

[0025] A second dot matrix is ​​created based on the new coordinates of each point, and the second dot matrix is ​​printed out and looped until the accuracy of the latest dot matrix reaches the expected effect. The x-difference and y-difference of each point on the latest dot matrix that has reached the expected effect are used as the x-coordinate calibration data and y-coordinate calibration data in the three-dimensional coordinate calibration data, respectively.

[0026] As described above, the calculation of the x-coordinate calibration data and y-coordinate calibration data of the zero focal plane is carried out by calculating the x-difference and y-difference corresponding to the theoretical x-coordinate value and y-coordinate value of each point and the actual x-coordinate value and y-coordinate value, and then cyclically printing out the dot matrix until the expected effect is achieved, thereby ensuring the accuracy of the x-coordinate calibration data and y-coordinate calibration data of the zero focal plane.

[0027] Optionally, obtaining the three-dimensional coordinate calibration data of the calibrated three-dimensional laser device based on the difference between theoretical and actual values ​​further includes:

[0028] The laser head of the corrected 3D laser device is moved to an upper plane at a distance of a second distance threshold from the zero focal plane. The number of points in the first dot matrix, the theoretical x-coordinate and the theoretical y-coordinate of each point are obtained. Based on the number of points, the theoretical x-coordinate and the theoretical y-coordinate, the laser head uses a laser to project a third dot matrix onto the upper plane.

[0029] The actual vertex spacing and actual center point coordinates on the third dot matrix are measured using the first camera of the calibrated 3D laser device.

[0030] The ratio between the actual vertex spacing and the theoretical vertex spacing is used as the planar ratio coefficient of the second distance threshold, and the center difference between the actual center point and the theoretical center point is used as the planar translation coefficient of the second distance threshold.

[0031] Based on the planar scaling factor and planar translation factor of the second distance threshold, recalculate the new coordinates of all points on the third dot matrix. Based on the new coordinates of each point, establish a fourth dot matrix and print out the fourth dot matrix for looping until the accuracy of the latest dot matrix reaches the expected effect. Use the planar scaling factor and planar translation factor of the latest dot matrix that has reached the expected effect as the planar scaling factor and planar translation factor under the second distance threshold in the three-dimensional coordinate calibration data.

[0032] The laser head of the corrected 3D laser device is moved to a lower plane at a distance of the third distance threshold from the zero focal plane. The number of points in the first dot matrix, the theoretical x-coordinate and the theoretical y-coordinate of each point are obtained. Based on the number of points, the theoretical x-coordinate and the theoretical y-coordinate, the laser head uses a laser to project a fifth dot matrix onto the lower plane.

[0033] The actual vertex spacing and actual center point coordinates on the fifth dot matrix are measured using the first camera of the calibrated 3D laser device.

[0034] The ratio between the actual vertex spacing and the theoretical vertex spacing is used as the planar ratio coefficient of the third distance threshold, and the center difference between the actual center point and the theoretical center point is used as the planar translation coefficient of the third distance threshold.

[0035] Based on the planar scaling factor and planar translation factor of the third distance threshold, recalculate the new coordinates of all points on the fifth dot matrix. Based on the new coordinates of each point, establish a sixth dot matrix and print out the sixth dot matrix. Repeat this process until the accuracy of the latest dot matrix reaches the expected effect. Use the planar scaling factor and planar translation factor of the latest dot matrix that has reached the expected effect as the planar scaling factor and planar translation factor under the third distance threshold in the three-dimensional coordinate calibration data.

[0036] As described above, the x-coordinate calibration data and y-coordinate calibration data of the upper and lower planes on both sides of the zero focal plane are calculated separately. This fully considers that the laser emitted by the laser head presents a linear model. The field of view is divided into planes of different heights. The accuracy of the x-coordinate calibration data and y-coordinate calibration data of the upper and lower planes on both sides of the zero focal plane is ensured by calculating the number of points in the dot matrix generated by calculating the x-coordinate calibration data and y-coordinate calibration data of the zero focal plane, as well as the theoretical x-coordinate and theoretical y-coordinate of each point.

[0037] Optionally, obtaining the three-dimensional coordinate calibration data of the corrected three-dimensional laser device based on the difference between the theoretical and actual values ​​includes:

[0038] Several theoretical calibration points are randomly selected, and the theoretical optical path corresponding to each theoretical calibration point is calculated using the optical path formula. The corresponding theoretical z-displacement is calculated based on the theoretical optical path. The z-laser galvanometer is moved according to the theoretical z-displacement for calibration to obtain a calibration pattern. The positive and negative defocusing difference of the calibration pattern is calculated. The theoretical z-displacement is added to the positive and negative defocusing difference to obtain the actual z-displacement. The calibration is performed again based on the actual z-displacement to obtain a new calibration pattern. This process continues until the positive and negative defocusing difference of the new calibration pattern reaches the positive and negative defocusing threshold. The actual z-displacement that reaches the positive and negative defocusing threshold is used as the z-coordinate calibration data of the corresponding theoretical calibration point.

[0039] As described above, the z-coordinate calibration data in the three-dimensional coordinate calibration data is obtained by continuously calibrating the positive and negative defocus difference until the positive and negative defocus difference reaches the positive and negative defocus threshold, thus ensuring the accuracy of the z-coordinate calibration data.

[0040] Optionally, the laser component includes a gamma laser galvanometer and an x-laser galvanometer, and the deflection calibration data of the laser component includes gamma laser galvanometer deflection calibration data and x-laser galvanometer deflection calibration data. The step of obtaining the deflection calibration data of the laser component of the calibrated 3D laser device based on the difference between theoretical and actual values ​​includes:

[0041] Obtain the theoretical y of the first calibration to be calibrated, substitute the theoretical y of the first calibration into the y deflection angle formula to calculate the first y deflection angle corresponding to the theoretical y of the first calibration, and rotate the y laser galvanometer according to the first y deflection angle to obtain the actual y of the first calibration.

[0042] The first y difference between the first calibration theoretical y and the first calibration actual y is calculated. The first y difference is subtracted from the first calibration theoretical y to obtain the next calibration theoretical y. The next calibration actual y is calculated based on the next calibration theoretical y, and the next y difference between the next calibration theoretical y and the next calibration actual y is calculated. This process is repeated until the latest y difference reaches the y difference threshold. Then, all the first calibration theoretical y that need to be calibrated are repeated. Each first calibration theoretical y and the corresponding y deflection angle are summarized to generate y laser galvanometer deflection calibration data.

[0043] Obtain the unmarked original marking theory y, calculate the y deflection angle of the original marking theory y based on the two marking theories y adjacent to the original marking theory y and the corresponding y deflection angle, add the original marking theory y and its corresponding y deflection angle to the y laser galvanometer deflection calibration data, and generate the final y laser galvanometer deflection calibration data.

[0044] Obtain the uncalibrated first calibration theory x, substitute the first calibration theory x into the x deflection angle formula to calculate the first x deflection angle corresponding to the first calibration theory x, and rotate the x laser galvanometer according to the first x deflection angle to obtain the first calibration actual x;

[0045] The first x difference between the first calibration theoretical x and the first calibration actual x is calculated. The first x difference is subtracted from the first calibration theoretical x to obtain the next calibration theoretical x. The next calibration actual x is calculated based on the next calibration theoretical x, and the next x difference between the next calibration theoretical x and the next calibration actual x is calculated. This process is repeated until the latest x difference reaches the x difference threshold. Then, all the first calibration theoretical x that need to be calibrated are repeated. Each first calibration theoretical x and the corresponding x deflection angle are summarized to generate x laser galvanometer deflection calibration data.

[0046] Obtain the unmarked original marking theory x, calculate the x-deflection angle of the original marking theory x based on the two marking theories x adjacent to the original marking theory x and their corresponding x-deflection angles, add the original marking theory x and its corresponding x-deflection angle to the x-laser galvanometer deflection calibration data, and generate the final x-laser galvanometer deflection calibration data.

[0047] As described above, the x-axis and y-axis deflection angles of the x-laser galvanometer and y-laser galvanometer are calculated respectively. The final y-axis laser galvanometer deflection calibration data and the final x-axis laser galvanometer deflection calibration data contain the corresponding deflection angles for all x-coordinates and y-coordinates, thereby improving the completeness and accuracy of the deflection calibration data.

[0048] Optionally, the step of obtaining the stereo calibration data of the binocular camera and the conversion calibration data between the laser component and the binocular camera based on the difference between theoretical and actual values ​​using a calibrated 3D laser device includes:

[0049] The rotation and translation matrices of the left and right cameras of the binocular camera of the corrected 3D laser device relative to the same world coordinate system are calculated using the optical axis parallel model. Based on the rotation and translation matrices, the binocular camera positioning of the binocular camera of the corrected 3D laser device is completed.

[0050] A second pattern of known size is created using a laser head of a calibrated 3D laser device;

[0051] The second pattern is acquired by the left and right cameras of the binocular camera of the calibrated 3D laser device, and the calibration points are identified from the second pattern. The second pattern and the calibration points are input into the optical axis parallel model for stereo matching to obtain stereo calibration data.

[0052] The laser coordinates of the second pattern are obtained, and the conversion relationship between the laser coordinates and the stereo calibration data is calculated to obtain the conversion calibration data. The conversion calibration data is used as the conversion calibration data between the laser component and the binocular camera.

[0053] As described above, using the optical axis parallel model to achieve dual-target calibration improves the image matching speed between the two cameras of the binocular camera, and obtaining stereo calibration data through the optical axis parallel model ensures the accuracy of the stereo calibration data, thereby ensuring the accuracy of the converted calibration data.

[0054] Optionally, generating trajectory points based on the second workpiece's three-dimensional data includes:

[0055] The three-dimensional data of the second workpiece is preprocessed to calculate the normal, triangulation and patch parameterization of the preprocessed three-dimensional data of the second workpiece, and to generate the first patch and the corresponding first mapping map.

[0056] Texture mapping is performed on the first mapping map to generate a second mapping map. The pixels of the second mapping map are mapped to a first patch in three-dimensional space to obtain a second patch. The second patch is discretized to obtain the final three-dimensional data of the second workpiece. Trajectory points are generated based on the final three-dimensional data of the second workpiece.

[0057] The preprocessing includes noise reduction, smoothing, and sampling.

[0058] As described above, the three-dimensional data of the second workpiece in the laser coordinate system was subjected to denoising, smoothing, and sampling processing to ensure the authenticity and stability of the three-dimensional data of the second workpiece, thereby improving the accuracy of the trajectory points generated based on the three-dimensional data of the second workpiece.

[0059] In a second aspect, a calibration device for a three-dimensional laser is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the calibration method for a three-dimensional laser as described in the first aspect.

[0060] The technical effects of the calibration device for a three-dimensional laser provided in the second aspect are described in the relevant description of the calibration method for a three-dimensional laser provided in the first aspect. Attached Figure Description

[0061] Figure 1 A flowchart illustrating a three-dimensional laser calibration method provided in an embodiment of the present invention;

[0062] Figure 2 This is an overall flowchart of a three-dimensional laser calibration method provided in an embodiment of the present invention;

[0063] Figure 3 This is a three-dimensional schematic diagram of the three-dimensional laser device involved in the embodiments of the present invention;

[0064] Figure 4 This is a partial schematic diagram of the three-dimensional laser device involved in the embodiments of the present invention;

[0065] Figure 5 This is the first dot matrix pattern involved in the embodiments of the present invention;

[0066] Figure 6 These are the x-difference and y-difference values ​​for each point involved in the embodiments of the present invention;

[0067] Figure 7 This is the third dot matrix pattern involved in the embodiments of the present invention;

[0068] Figure 8 This is a schematic diagram illustrating the calculation of the plane translation coefficient and plane scaling coefficient involved in the embodiments of the present invention;

[0069] Figure 9 This is a comparison diagram of the marking pattern based on the theoretical z-displacement and the marking pattern when the positive and negative defocusing difference reaches the positive and negative defocusing threshold, as involved in the embodiments of the present invention.

[0070] Figure 10 This is a schematic diagram of the optical path calculation involved in the embodiments of the present invention;

[0071] Figure 11 This is a schematic diagram illustrating the calculation of z-coordinate calibration data involved in an embodiment of the present invention;

[0072] Figure 12 This is a schematic diagram of a three-dimensional laser calibration device provided in an embodiment of the present invention.

[0073] [Explanation of Labels in the Attached Image]

[0074] 1. A calibration device for three-dimensional lasers;

[0075] 2. Processor;

[0076] 3. Memory. Detailed Implementation

[0077] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0078] Example 1

[0079] Please refer to Figures 1 to 11 This invention provides a method for calibrating and using three-dimensional lasers, comprising the following steps:

[0080] S1. Perform mechanical correction on the three-dimensional laser equipment to obtain the corrected three-dimensional laser equipment;

[0081] At this point, step S1 includes:

[0082] S11. A cross pattern is projected by the laser head of the three-dimensional laser device. Based on the cross pattern, the fine-tuning device of the three-dimensional laser device is adjusted so that the optical axis of the laser head is perpendicular to the plane, thereby obtaining a preliminary correction of the three-dimensional laser device.

[0083] In this embodiment, as Figure 3 As shown, a cross pattern is projected onto a wall or plane by the laser head of the 3D laser device. The fine-tuning device of the 3D laser device is adjusted so that the platform of the 3D laser device moves up and down, so that the cross pattern projected by the laser each time can coincide with the cross pattern on the wall or plane. This achieves the goal of making the laser head's illumination perpendicular to the plane, thus obtaining the initial correction of the 3D laser device.

[0084] S12. Using the laser head of the preliminary correction 3D laser device, a straight line is marked on the plane with a laser. The first camera of the preliminary correction 3D laser device is aligned with the straight line and moved according to the movement distance. The angle between the laser Y-axis and the platform Y-axis is calculated based on the end coordinates after the movement and the starting coordinates before the movement, thus obtaining the corrected 3D laser device.

[0085] In this embodiment, as Figure 4 As shown, where Figure 4 Camera 3 in the diagram represents the first camera. The preliminary correction 3D laser device obtained in step S11 uses a laser to mark a straight line. Camera 3, i.e., the first camera, is then aligned with this straight line. The fine-tuning device is adjusted according to the movement distance to ensure the first camera moves along the line. Figure 3 The movement is shown along the y-axis. The movement distance is preset. The angle between the laser y-axis and the platform y-axis is calculated based on the endpoint coordinates after the movement and the starting coordinates before the movement, thus obtaining the corrected 3D laser device.

[0086] S2. Based on the corrected three-dimensional laser device, obtain the three-dimensional coordinate calibration data of the corrected three-dimensional laser device, the deflection calibration data of the laser component, the stereo calibration data of the binocular camera, and the conversion calibration data between the laser component and the binocular camera according to the difference between the theoretical value and the actual value.

[0087] In this embodiment, the three-dimensional coordinate calibration data includes x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data. Figure 4 The galvanometer module in the application is the laser component described in this application, which includes an x-laser galvanometer, a y-laser galvanometer, and a z-laser galvanometer.

[0088] Step S2 is divided into three parts:

[0089] (a) S21. Based on the corrected three-dimensional laser device, obtain the three-dimensional coordinate calibration data of the corrected three-dimensional laser device according to the difference between the theoretical value and the actual value;

[0090] Step S21 includes:

[0091] S210. Move the laser head of the corrected three-dimensional laser device vertically until the distance between the laser head and the focal plane reaches a first distance threshold, which is taken as the zero focal plane;

[0092] In this embodiment, the first distance threshold is set to 500mm, which means that the laser head of the corrected 3D laser device is moved vertically to a distance of 500mm from the focal plane, which is taken as the zero focal plane.

[0093] There are two ways to calculate the three-dimensional coordinate calibration data of the corrected three-dimensional laser device based on step S210:

[0094] S2101. Based on the difference between theoretical and actual values, obtain the x-coordinate calibration data and y-coordinate calibration data of the corrected three-dimensional laser device in the zero focal plane, the x-coordinate calibration data and y-coordinate calibration data of the upper and lower planes located on both sides of the zero focal plane, and the z-coordinate calibration data in sequence.

[0095] or

[0096] S2102. Based on the difference between theoretical and actual values, obtain the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the corrected three-dimensional laser device in the zero focal plane, the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the upper plane located above the zero focal plane, and the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the lower plane located below the zero focal plane.

[0097] In this embodiment, there are two ways to calculate the three-dimensional coordinate calibration data. Method 1 is to calculate the x-coordinate calibration data and y-coordinate calibration data of the zero focal plane, the x-coordinate calibration data and y-coordinate calibration data of the upper and lower planes located on both sides of the zero focal plane, and the z-coordinate calibration data in sequence. Method 2 is to calculate the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the zero focal plane, the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the upper plane located above the zero focal plane, and the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the lower plane located below the zero focal plane in sequence.

[0098] At this point, step S21 includes:

[0099] S211. Adjust the focus button of the laser head of the corrected three-dimensional laser device so that the laser head is focused on the center point of the zero focal plane and the laser head uses laser to project a first dot matrix image on the zero focal plane. The actual x-distance and actual y-distance of each point on the first dot matrix image are measured by the first camera of the corrected three-dimensional laser device.

[0100] In this embodiment, the laser head first projects eight squares on each side of the zero-focal plane. The laser head's focus button is then adjusted for coarse focusing until the colors of the eight squares are similar. This indicates that the laser head is now focused on the center point of the zero-focal plane. The laser then projects a first dot matrix pattern onto this zero-focal plane, which is then 11. The 11-dot matrix diagram has a theoretical x-space and y-space of 30mm between each dot.

[0101] S212. Obtain the theoretical x-space and theoretical y-space of each point on the first dot matrix diagram, calculate the x-difference between the theoretical x-coordinate value and the actual x-coordinate value of each point, and the y-difference between the theoretical y-coordinate value and the actual y-coordinate value of each point, and subtract the corresponding x-difference and y-difference from the theoretical x-coordinate value and y-coordinate value of each point to generate new coordinates for each point.

[0102] S213. Based on the new coordinates of each point, establish a second dot matrix diagram and print out the second dot matrix diagram for looping until the accuracy of the latest dot matrix diagram reaches the expected effect. Use the x-coordinate and y-coordinate calibration data of each point on the latest dot matrix diagram that has reached the expected effect as the x-coordinate calibration data and y-coordinate calibration data in the three-dimensional coordinate calibration data, respectively.

[0103] In this embodiment, as Figure 5 As shown, the center of the first dot matrix image is taken as the first origin, i.e., (0,0,0) is taken as the first origin. According to step S212, the theoretical x-space and theoretical y-space of each point on the first dot matrix image are 30mm. The actual x-space and actual y-space of each point on the first dot matrix image are measured by the first camera, and the x-difference and y-difference of each point are calculated. Figure 6 As shown, △x represents the x-difference and △y represents the y-difference. Subtracting the x-difference from the theoretical point's x-coordinate and the y-difference from the theoretical point's y-coordinate generates new x- and y-coordinates for each point, as shown below. Figure 7 As shown, a second dot matrix is ​​created, and this process is repeated until the accuracy of the latest dot matrix reaches the expected effect. Here, reaching the expected effect means that the x-difference and y-difference reach the set x-difference threshold and y-difference threshold, respectively. For example, if the x-difference threshold and y-difference threshold are both set to 0.1, that is, when the x-difference and y-difference of the latest dot matrix are both 0.1, the x-difference and y-difference at this time are used as the x-coordinate calibration data and y-coordinate calibration data in the three-dimensional coordinate calibration data.

[0104] In one specific embodiment, the first camera measures the actual x-space between each point on the first dot matrix image to be 28mm and the actual y-space between each point to be 27mm. The difference between the theoretical x-space between the theoretical and actual x-space is 30-28=2mm, and the difference between the theoretical and actual y-space is 30-27=3mm. The original coordinates of a certain point are (-300, -300, 0), and the new coordinates of that point are (-302, -303, 0). This process is repeated to calculate the new coordinates of all points and establish the second dot matrix image.

[0105] At this point, step S21 includes:

[0106] S214. Move the laser head of the corrected 3D laser device to an upper plane where the distance from the zero focal plane reaches a second distance threshold, obtain the number of points in the first dot matrix, the theoretical x-coordinate and the theoretical y-coordinate of each point, and use the laser head to project a third dot matrix onto the upper plane based on the number of points, the theoretical x-coordinate and the theoretical y-coordinate. Measure the actual vertex spacing and the actual center point coordinates on the third dot matrix using the first camera of the corrected 3D laser device.

[0107] In this embodiment, the upper plane refers to the upper plane of the field of view used for z-coordinate. The second distance threshold is set to 50mm, which means that the laser head of the corrected 3D laser device is moved to a distance of 50mm from the focal plane. The number of points in the third dot matrix, the theoretical x-coordinate of each point, and the theoretical y-coordinate of each point are the same as those in the first dot matrix, i.e., all are 11. A dot matrix pattern of 11.

[0108] S215. The ratio coefficient between the actual vertex spacing and the theoretical vertex spacing is used as the planar ratio coefficient of the second distance threshold, and the center difference between the actual center point and the theoretical center point is used as the planar translation coefficient of the second distance threshold.

[0109] S216. Recalculate the new coordinates of all points on the third dot matrix based on the plane scale coefficient and plane translation coefficient of the second distance threshold. Establish a fourth dot matrix based on the new coordinates of each point and print out the fourth dot matrix for looping until the accuracy of the latest dot matrix reaches the expected effect. Use the plane scale coefficient and plane translation coefficient of the latest dot matrix that has reached the expected effect as the plane scale coefficient and plane translation coefficient under the second distance threshold in the three-dimensional coordinate calibration data.

[0110] In this embodiment, (0,0,50) is selected as the theoretical center point of the third dot matrix image, with a theoretical vertex spacing of 300mm. The actual vertex spacing measured by the first camera is 299mm. Therefore, the planar scaling factor of the second distance threshold is 300 / 299 = 1.003. Simultaneously, the deviation between the actual center point and the theoretical center point of the third dot matrix image is calculated. For example, if the actual center point of the third dot matrix image is (0,0,48), then the planar translation factor of the second distance threshold is 2. Based on the calculated planar scaling factor and planar translation factor, the new coordinates of all points on the third dot matrix image are recalculated, and the new coordinates of each point are determined accordingly. The coordinate system establishes a fourth point map and iterates until the accuracy of the latest point map reaches the expected effect. The expected effect at this time refers to the plane scale coefficient reaching the plane scale coefficient threshold and the plane translation coefficient reaching the plane translation coefficient threshold. For example, if the plane scale coefficient threshold is 1.000 and the plane translation coefficient threshold is 0.1, then when the plane scale coefficient is 1.000 and the plane translation coefficient is 0.1, the accuracy of the latest point map reaches the expected effect. The plane scale coefficient and plane translation coefficient that have reached the expected effect at this time are used as the plane scale coefficient and plane translation coefficient under the second distance threshold in the three-dimensional coordinate calibration data.

[0111] S217. Move the laser head of the corrected 3D laser device to a lower plane where the distance from the zero focal plane reaches a third distance threshold, obtain the number of points in the first dot matrix, the theoretical x-coordinate and the theoretical y-coordinate of each point, and use the laser head to project a fifth dot matrix onto the lower plane based on the number of points, the theoretical x-coordinate and the theoretical y-coordinate. Measure the actual vertex spacing and the actual center point coordinates on the fifth dot matrix using the first camera of the corrected 3D laser device.

[0112] In this embodiment, the lower plane refers to the lower plane of the field of view used by the z-coordinate. The third distance threshold is set to 50mm, which means that the laser head of the rectified 3D laser device is moved to a distance of 50mm from the focal plane. The number of points in the fifth dot matrix, the theoretical x-coordinate of each point, and the theoretical y-coordinate of each point are the same as those in the first dot matrix, i.e., all are 11. A dot matrix pattern of 11.

[0113] S218. The ratio coefficient between the actual vertex spacing and the theoretical vertex spacing is used as the planar ratio coefficient of the third distance threshold, and the center difference between the actual center point and the theoretical center point is used as the planar translation coefficient of the third distance threshold.

[0114] S219. Recalculate the new coordinates of all points on the fifth dot matrix based on the plane scale coefficient and plane translation coefficient of the third distance threshold. Establish a sixth dot matrix based on the new coordinates of each point and print out the sixth dot matrix for looping until the accuracy of the latest dot matrix reaches the expected effect. Use the plane scale coefficient and plane translation coefficient of the latest dot matrix that has reached the expected effect as the plane scale coefficient and plane translation coefficient under the third distance threshold in the three-dimensional coordinate calibration data.

[0115] In this embodiment, (0,0,-50) is selected as the theoretical center point of the fifth dot matrix image, with a theoretical vertex spacing of 300mm. The actual vertex spacing measured by the first camera is 299mm. Therefore, the planar scaling factor of the third distance threshold is 300 / 299 = 1.003. Simultaneously, the deviation between the theoretical and actual center points of the fifth dot matrix image is calculated. For example, if the actual center point of the fifth dot matrix image is (0,0,-48), then the planar translation factor of the third distance threshold is 2. Based on the calculated planar scaling factor and planar translation factor under the third distance threshold, the fifth dot matrix image is recalculated. The new coordinates of all points on the dot matrix are used to create a sixth dot matrix based on the new coordinates of each point. This process is repeated until the accuracy of the latest dot matrix reaches the expected effect. The expected effect at this point refers to the plane scale coefficient and plane translation coefficient of the latest dot matrix reaching the plane scale coefficient threshold. For example, if the plane scale coefficient is 1.000 and the plane translation coefficient threshold is 0.1, then the expected effect is achieved. The plane scale coefficient and plane translation coefficient that have achieved the expected effect at this point are used as the plane scale coefficient and plane translation coefficient under the third distance threshold in the 3D coordinate calibration data.

[0116] At this point, step S21 includes:

[0117] S220. Randomly select several theoretical calibration points, calculate the theoretical optical path corresponding to each theoretical calibration point using the optical path formula, calculate the corresponding theoretical z-displacement based on the theoretical optical path, move the z-laser galvanometer according to the theoretical z-displacement to perform calibration, obtain a calibration pattern, calculate the positive and negative defocusing difference of the calibration pattern, add the theoretical z-displacement to the positive and negative defocusing difference to obtain the actual z-displacement, recalibrate according to the actual z-displacement to obtain a new calibration pattern, until the positive and negative defocusing difference of the new calibration pattern reaches the positive and negative defocusing threshold, and use the actual z-displacement that reaches the positive and negative defocusing threshold as the z-coordinate calibration data of the corresponding theoretical calibration point.

[0118] In this embodiment, the optical path formula is used:

[0119]

[0120] Where L represents the optical path, s represents the distance from the focusing lens to the x-axis galvanometer, e represents the distance from the x-axis galvanometer to the y-axis galvanometer, h represents the distance from the y-axis galvanometer to the zero plane, and x, y, and z represent the x, y, and z coordinates of the theoretical calibration point.

[0121] Using the conversion formula between optical path length and theoretical z-displacement:

[0122]

[0123] Where d represents the theoretical z-displacement, a = 1 / f, where f represents the distance from the focusing lens to the focal plane, b = d0 - (R / tanθ), where d0 represents the distance from the focusing lens to the dynamic lens, R is the distance from the incident light to the X-axis, and k represents the error coefficient;

[0124] In this embodiment, as Figure 10 As shown, the theoretical optical path corresponding to each theoretical calibration point is calculated, and the corresponding theoretical z-displacement is calculated based on the theoretical optical path. The z-laser galvanometer is moved according to the theoretical z-displacement for calibration. The positive and negative defocusing difference of the calibration pattern is calculated. Here, the positive and negative defocusing difference is obtained by dividing the calibration pattern symmetrically into a left and right calibration pattern. The defocusing amount of the left calibration pattern is subtracted from the defocusing amount of the right calibration pattern; this difference is the positive and negative defocusing difference. The theoretical z-displacement is added to the positive and negative defocusing difference to obtain the actual z-displacement. Calibration is then performed again based on the actual z-displacement. This process is repeated until the positive and negative defocusing difference reaches the positive and negative defocusing threshold. Figure 9 As shown, the left side is the marking pattern made by moving the z-laser galvanometer according to the theoretical z-displacement, and the right side is the marking pattern when the positive and negative defocus difference reaches the positive and negative defocus threshold. At this time, the positive and negative defocus threshold is set to 0.01. That is, when the positive and negative defocus difference reaches 0.01, the actual z-displacement that reaches the positive and negative defocus threshold is used as the z-laser galvanometer deflection calibration data of the corresponding theoretical calibration point.

[0125] (ii) S22. Based on the corrected three-dimensional laser device, obtain the deflection calibration data of the laser component of the corrected three-dimensional laser device according to the difference between the theoretical value and the actual value;

[0126] In this embodiment, the laser assembly includes a gamma laser mirror and an x ​​laser mirror.

[0127] At this point, step S22 includes:

[0128] S221. Obtain the theoretical y of the first calibration to be calibrated, substitute the theoretical y of the first calibration into the y deflection angle formula to calculate the first y deflection angle corresponding to the theoretical y of the first calibration, and rotate the y laser galvanometer according to the first y deflection angle to obtain the actual y of the first calibration.

[0129] In this embodiment, the formula for the y-deflection angle is:

[0130] θy=arctan(y / (z+h))

[0131] Where θy represents the y-deflection angle, y represents the ordinate of the calibrated theoretical y, z represents the z-coordinate of the calibrated theoretical y, and h represents the distance from the y-axis galvanometer to the zero focal plane.

[0132] S222. Calculate the first y difference between the first calibration theoretical y and the first calibration actual y. Subtract the first y difference from the first calibration theoretical y to obtain the next calibration theoretical y. Calculate the next calibration actual y based on the next calibration theoretical y, and calculate the next y difference between the next calibration theoretical y and the next calibration actual y. Repeat this process until the latest y difference reaches the y difference threshold. Then repeat all the first calibration theoretical y that need to be calibrated. Summarize each first calibration theoretical y and the corresponding y deflection angle to generate y laser galvanometer deflection calibration data.

[0133] In this embodiment, the range of the y-difference threshold is [-0.01, 0.01]. After calculating the first y-difference, the next calibration theoretical y is calculated based on the first y-difference using the formula for the next calibration theoretical y:

[0134] y i =Theoretical y i-1 -(Y i-1 -y i-1 )

[0135] Where i represents the i-th theoretical calibration, Y i-1 -y i-1 This represents the difference at the (i-1)th time.

[0136] S223. Obtain the unmarked original marking theory y, calculate the y-deflection angle of the original marking theory y based on the two marking theories y adjacent to the original marking theory y and the corresponding y-deflection angle, add the original marking theory y and its corresponding y-deflection angle to the y laser galvanometer deflection calibration data, and generate the final y laser galvanometer deflection calibration data.

[0137] In this embodiment, the formula for calculating the y-deflection angle of the unmarked original marked theoretical y is:

[0138] Θy' = θy1 + (θy2 - θy1) (y'-y1) / (y2-y1)

[0139] Where y' represents the unmarked original marked theory y, Θy' represents the y-deflection angle of the unmarked original marked theory y, y1 and y2 represent the two adjacent marked theories of the unmarked original marked theory y, and θy1 and θy2 represent the y-deflection angles of the two adjacent marked theories.

[0140] S224. Obtain the uncalibrated first calibration theoretical x, substitute the first calibration theoretical x into the x deflection angle formula to calculate the first x deflection angle corresponding to the first calibration theoretical x, and rotate the x laser galvanometer according to the first x deflection angle to obtain the first calibration actual x.

[0141] In this embodiment, the formula for the x-deflection angle is:

[0142] θx=arctan(x / (e+ ))

[0143] Where θx represents the x-angle, x represents the abscissa of the calibrated theoretical x, z represents the z-coordinate of the calibrated theoretical x, h represents the distance from the x-axis galvanometer to the zero focal plane, and e represents the distance from the x-axis galvanometer to the y-axis galvanometer.

[0144] S225. Calculate the first x difference between the first calibration theoretical x and the first calibration actual x. Subtract the first x difference from the first calibration theoretical x to obtain the next calibration theoretical x. Calculate the next calibration actual x based on the next calibration theoretical x, and calculate the next x difference between the next calibration theoretical x and the next calibration actual x. Repeat this process until the latest x difference reaches the x difference threshold. Then repeat the process for all the first calibration theoretical x that need to be calibrated. Summarize each first calibration theoretical x and the corresponding x deflection angle to generate x-laser galvanometer deflection calibration data.

[0145] In this embodiment, the range of the first difference threshold is [-0.01, 0.01]. After calculating the first x difference, the next calibration theoretical x is calculated based on the first x difference using the formula for the next calibration theoretical x:

[0146] x i =Theoretical x i-1 -(X i-1 -x i-1 )

[0147] Where i represents the i-th theoretical calibration, X i-1 -x i-1 This represents the difference at the (i-1)th time.

[0148] S226. Obtain the unmarked original marking theory x, calculate the x-deflection angle of the original marking theory x based on the two marking theories x adjacent to the original marking theory x and the corresponding x-deflection angle, add the original marking theory x and its corresponding x-deflection angle to the x-laser galvanometer deflection calibration data, and generate the final x-laser galvanometer deflection calibration data.

[0149] In this embodiment, the formula for calculating the x-deflection angle of the unmarked original theoretical x is:

[0150] Θx' = θx1 + (θx2 - θx1) (x'-x1) / (x2-x1)

[0151] Where x' represents the unlabeled original labeled theory x, Θx' represents the x-deflection angle of the unlabeled original labeled theory x, x1 and x2 represent the two adjacent labeled theories of the unlabeled original labeled theory x, and θx1 and θx2 represent the x-deflection angles of the two adjacent labeled theories.

[0152] (iii) S23. Based on the corrected three-dimensional laser device, the stereo calibration data of the binocular camera and the conversion calibration data between the laser component and the binocular camera are obtained according to the difference between the theoretical value and the actual value;

[0153] At this point, step S23 includes:

[0154] S231. Calculate the rotation and translation matrices of the left and right cameras of the binocular camera of the corrected 3D laser device relative to the same world coordinate system using the optical axis parallel model, and complete the binocular positioning of the binocular camera of the corrected 3D laser device based on the rotation and translation matrices.

[0155] In this embodiment, as Figure 4 As shown, Figure 4 Camera 1 and Camera 2 in this application correspond to the left and right cameras of the stereo camera, respectively. The calibration parameters of the optical axis parallel model include: the intrinsic parameter matrix, distortion coefficient matrix, intrinsic matrix, fundamental matrix, rotation matrix, and translation matrix of the stereo camera, which have been predetermined. The intrinsic parameter matrix and distortion coefficient matrix of the stereo camera are calibrated and confirmed by the single-camera calibration method.

[0156] S232. A second pattern of known size is projected using a laser using the laser head of a calibrated 3D laser device;

[0157] In this embodiment, the second pattern of known size is a checkerboard pattern, which can be set according to the actual situation.

[0158] S233. The second pattern is acquired by the left and right cameras of the binocular camera of the corrected three-dimensional laser device, and the calibration point is identified from the second pattern. The second pattern and the calibration point are input into the optical axis parallel model for stereo matching to obtain stereo calibration data.

[0159] In this embodiment, the second pattern used is a checkerboard pattern, so the corner points of the checkerboard pattern are the calibration points.

[0160] S234. Obtain the laser coordinates of the second pattern, calculate the conversion relationship between the laser coordinates and the stereo calibration data, and obtain the conversion calibration data. The conversion calibration data is used as the conversion calibration data between the laser component and the binocular camera.

[0161] In this embodiment, since the second pattern of known size is preset by the user, the laser coordinates of the second pattern are known and can be directly obtained. In this application, the conversion calibration data between the laser component and the binocular camera is 4. A homogeneous transformation matrix of 4.

[0162] S3. Obtain the first pattern projected by the laser component. The first pattern is captured by a binocular camera, and the three-dimensional data of the first workpiece in the binocular coordinate system is calculated based on the stereo calibration data. The three-dimensional data of the first workpiece is calculated with the transformation calibration data to obtain the three-dimensional data of the second workpiece in the laser coordinate system. Trajectory points are generated according to the three-dimensional coordinate calibration data. The trajectory points to be traced are corrected according to the three-dimensional coordinate calibration data to obtain the corrected trajectory points. The laser component is controlled to complete the laser processing according to the corrected trajectory points and the deflection calibration data.

[0163] In this embodiment, the trajectory points generated from the three-dimensional data of the second workpiece in the laser coordinate system are corrected according to the calculated x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data. At the same time, the x-laser mirror and y-laser mirror are rotated according to the calculated y-laser mirror deflection calibration data and x-laser mirror deflection calibration data, thereby completing the laser processing. The first pattern acquired by the binocular camera is binarized and extracted to obtain the skeleton center of the first pattern. The three-dimensional data of the first workpiece in the binocular coordinate system is then calculated based on the skeleton center and the stereo calibration data.

[0164] At this point, the step S3 of generating trajectory points based on the three-dimensional data of the second workpiece includes:

[0165] S31. Preprocess the three-dimensional data of the second workpiece, calculate the normal, triangulation and patch parameterization of the preprocessed three-dimensional data of the second workpiece, and generate the first patch and the corresponding first mapping map.

[0166] S32. Apply texture mapping to the first mapping map to generate a second mapping map. Map the pixels of the second mapping map to a first patch in three-dimensional space to obtain a second patch. Discretize the second patch to obtain the final three-dimensional data of the second workpiece. Generate trajectory points based on the final three-dimensional data of the second workpiece.

[0167] S33, wherein the preprocessing includes noise reduction, smoothing and sampling.

[0168] Example 2

[0169] Please refer to Figure 12 A calibration device 1 for a three-dimensional laser includes a memory 3, a processor 2, and a computer program stored in the memory 3 and executable on the processor 2. When the processor 2 executes the computer program, it implements the steps in Embodiment 1 above.

[0170] Since the systems / devices described in the above embodiments of the present invention are systems / devices used to implement the methods of the above embodiments of the present invention, those skilled in the art can understand the specific structure and modifications of the systems / devices based on the methods described in the above embodiments of the present invention, and therefore will not be repeated here. All systems / devices used in the methods of the above embodiments of the present invention fall within the scope of protection of the present invention.

[0171] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0172] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0173] It should be noted that any reference numerals placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In claims that enumerate several means, several of these means may be embodied by the same hardware. The use of the terms first, second, third, etc., is merely for convenience of expression and does not indicate any order. These terms can be understood as part of the component names.

[0174] Furthermore, it should be noted that in the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0175] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the claims should be interpreted to include both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0176] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, then this invention should also include these modifications and variations.

Claims

1. A method for calibrating a three-dimensional laser, characterized in that, include: Mechanical correction is performed on the 3D laser device to obtain a corrected 3D laser device; Based on the corrected 3D laser device, the 3D coordinate calibration data of the corrected 3D laser device, the deflection calibration data of the laser component, the stereo calibration data of the binocular camera, and the conversion calibration data between the laser component and the binocular camera are obtained according to the difference between the theoretical and actual values. The first pattern emitted by the laser component is acquired, the first pattern is captured by a binocular camera, and the three-dimensional data of the first workpiece in the binocular coordinate system is calculated based on the stereo calibration data. The three-dimensional data of the first workpiece is calculated with the transformation calibration data to obtain the three-dimensional data of the second workpiece in the laser coordinate system. Trajectory points are generated according to the two-dimensional workpiece data, and the trajectory points are corrected according to the three-dimensional coordinate calibration data to obtain the corrected trajectory points. The laser component is controlled to complete the laser processing according to the corrected trajectory points and the deflection calibration data. The process of obtaining the three-dimensional coordinate calibration data of the corrected three-dimensional laser device based on the difference between theoretical and actual values ​​includes: The laser head of the corrected 3D laser device is moved vertically until the distance between the laser head and the focal plane reaches a first distance threshold, which is taken as the zero focal plane; Based on the difference between the theoretical and actual values, the x-coordinate calibration data and y-coordinate calibration data of the corrected three-dimensional laser device in the zero focal plane, the x-coordinate calibration data and y-coordinate calibration data of the upper and lower planes located on both sides of the zero focal plane, and the z-coordinate calibration data are obtained sequentially. or Based on the difference between theoretical and actual values, the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the corrected three-dimensional laser device in the zero focal plane, the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the upper plane located above the zero focal plane, and the x-coordinate calibration data, y-coordinate calibration data, and z-coordinate calibration data of the lower plane located below the zero focal plane are obtained sequentially. The laser assembly includes a y-laser galvanometer and an x-laser galvanometer, and the deflection calibration data of the laser assembly includes y-laser galvanometer deflection calibration data and x-laser galvanometer deflection calibration data; The method of obtaining stereo calibration data of the binocular camera and conversion calibration data between the laser component and the binocular camera based on the difference between theoretical and actual values ​​using a calibrated 3D laser device includes: The rotation and translation matrices of the left and right cameras of the binocular camera of the corrected 3D laser device relative to the same world coordinate system are calculated using the optical axis parallel model. Based on the rotation and translation matrices, the binocular camera positioning of the binocular camera of the corrected 3D laser device is completed. A second pattern of known size is created using a laser head of a calibrated 3D laser device; The second pattern is acquired by the left and right cameras of the binocular camera of the calibrated 3D laser device, and the calibration points are identified from the second pattern. The second pattern and the calibration points are input into the optical axis parallel model for stereo matching to obtain stereo calibration data. The laser coordinates of the second pattern are obtained, and the conversion relationship between the laser coordinates and the stereo calibration data is calculated to obtain the conversion calibration data. The conversion calibration data is used as the conversion calibration data between the laser component and the binocular camera.

2. The calibration method for a three-dimensional laser as described in claim 1, characterized in that, The mechanical correction of the three-dimensional laser device to obtain a corrected three-dimensional laser device includes: The laser head of the three-dimensional laser device projects a cross pattern. Based on the cross pattern, the fine-tuning device of the three-dimensional laser device is adjusted so that the optical axis of the laser head is perpendicular to the plane, thus obtaining a preliminary correction of the three-dimensional laser device. The laser head of the preliminary correction 3D laser device marks a straight line on the plane with a laser. The first camera of the preliminary correction 3D laser device is aligned with the straight line and moves according to the movement distance. The angle between the laser Y-axis and the platform Y-axis is calculated based on the end coordinates after the movement and the starting coordinates before the movement, thus obtaining the corrected 3D laser device.

3. The calibration method for a three-dimensional laser as described in claim 1, characterized in that, The process of obtaining the three-dimensional coordinate calibration data of the corrected three-dimensional laser device based on the difference between theoretical and actual values ​​includes: Adjust the focus button of the laser head of the corrected 3D laser device so that the laser head is focused on the center point of the zero focal plane and the laser head uses laser to project a first dot matrix pattern on the zero focal plane; The actual x-space and actual y-space of each point on the first dot matrix are measured using the first camera of the calibrated 3D laser device. Obtain the theoretical x-space and theoretical y-space of each point on the first dot matrix. Calculate the x-difference between the theoretical x-coordinate value and the actual x-coordinate value of each point, as well as the y-difference between the theoretical y-coordinate value and the actual y-coordinate value of each point. Subtract the corresponding x-difference and y-difference from the theoretical x-coordinate value and y-coordinate value of each point to generate new coordinates for each point. A second dot matrix is ​​created based on the new coordinates of each point, and the second dot matrix is ​​printed out and looped until the accuracy of the latest dot matrix reaches the expected effect. The x-difference and y-difference of each point on the latest dot matrix that has reached the expected effect are used as the x-coordinate calibration data and y-coordinate calibration data in the three-dimensional coordinate calibration data, respectively.

4. The calibration method for a three-dimensional laser as described in claim 3, characterized in that, The process of obtaining the three-dimensional coordinate calibration data of the corrected three-dimensional laser device based on the difference between theoretical and actual values ​​also includes: The laser head of the corrected 3D laser device is moved to an upper plane at a distance of a second distance threshold from the zero focal plane. The number of points in the first dot matrix, the theoretical x-coordinate and the theoretical y-coordinate of each point are obtained. Based on the number of points, the theoretical x-coordinate and the theoretical y-coordinate, the laser head uses a laser to project a third dot matrix onto the upper plane. The actual vertex spacing and actual center point coordinates on the third dot matrix are measured using the first camera of the calibrated 3D laser device. The ratio between the actual vertex spacing and the theoretical vertex spacing is used as the planar ratio coefficient of the second distance threshold, and the center difference between the actual center point and the theoretical center point is used as the planar translation coefficient of the second distance threshold. Based on the planar scaling factor and planar translation factor of the second distance threshold, recalculate the new coordinates of all points on the third dot matrix. Based on the new coordinates of each point, establish a fourth dot matrix and print out the fourth dot matrix for looping until the accuracy of the latest dot matrix reaches the expected effect. Use the planar scaling factor and planar translation factor of the latest dot matrix that has reached the expected effect as the planar scaling factor and planar translation factor under the second distance threshold in the three-dimensional coordinate calibration data. The laser head of the corrected 3D laser device is moved to a lower plane at a distance of the third distance threshold from the zero focal plane. The number of points in the first dot matrix, the theoretical x-coordinate and the theoretical y-coordinate of each point are obtained. Based on the number of points, the theoretical x-coordinate and the theoretical y-coordinate, the laser head uses a laser to project a fifth dot matrix onto the lower plane. The actual vertex spacing and actual center point coordinates on the fifth dot matrix are measured using the first camera of the calibrated 3D laser device. The ratio between the actual vertex spacing and the theoretical vertex spacing is used as the planar ratio coefficient of the third distance threshold, and the center difference between the actual center point and the theoretical center point is used as the planar translation coefficient of the third distance threshold. Based on the planar scaling factor and planar translation factor of the third distance threshold, recalculate the new coordinates of all points on the fifth dot matrix. Based on the new coordinates of each point, establish a sixth dot matrix and print out the sixth dot matrix. Repeat this process until the accuracy of the latest dot matrix reaches the expected effect. Use the planar scaling factor and planar translation factor of the latest dot matrix that has reached the expected effect as the planar scaling factor and planar translation factor under the third distance threshold in the three-dimensional coordinate calibration data.

5. The calibration method for a three-dimensional laser as described in claim 1, characterized in that, The process of obtaining the three-dimensional coordinate calibration data of the corrected three-dimensional laser device based on the difference between theoretical and actual values ​​includes: Several theoretical calibration points are randomly selected. The theoretical optical path corresponding to each theoretical calibration point is calculated using the optical path formula. The corresponding theoretical z-displacement is calculated based on the theoretical optical path. The z-laser galvanometer is moved according to the theoretical z-displacement for calibration to obtain a calibration pattern. The positive and negative defocusing difference of the calibration pattern is calculated. The theoretical z-displacement is added to the positive and negative defocusing difference to obtain the actual z-displacement. The calibration is performed again based on the actual z-displacement to obtain a new calibration pattern. This process continues until the positive and negative defocusing difference of the new calibration pattern reaches the positive and negative defocusing threshold. The actual z-displacement that reaches the positive and negative defocusing threshold is used as the z-coordinate calibration data of the corresponding theoretical calibration point.

6. The calibration method for a three-dimensional laser as described in claim 1, characterized in that, The laser component includes a gamma laser galvanometer and an x ​​laser galvanometer. The deflection calibration data of the laser component includes gamma laser galvanometer deflection calibration data and x laser galvanometer deflection calibration data. The deflection calibration data of the laser component of the calibrated 3D laser device, obtained based on the difference between theoretical and actual values, includes: Obtain the theoretical y of the first calibration to be calibrated, substitute the theoretical y of the first calibration into the y deflection angle formula to calculate the first y deflection angle corresponding to the theoretical y of the first calibration, and rotate the y laser galvanometer according to the first y deflection angle to obtain the actual y of the first calibration. The first y difference between the first calibration theoretical y and the first calibration actual y is calculated. The first y difference is subtracted from the first calibration theoretical y to obtain the next calibration theoretical y. The next calibration actual y is calculated based on the next calibration theoretical y, and the next y difference between the next calibration theoretical y and the next calibration actual y is calculated. This process is repeated until the latest y difference reaches the y difference threshold. Then, all the first calibration theoretical y that need to be calibrated are repeated. Each first calibration theoretical y and the corresponding y deflection angle are summarized to generate y laser galvanometer deflection calibration data. Obtain the unmarked original marking theory y, calculate the y deflection angle of the original marking theory y based on the two marking theories y adjacent to the original marking theory y and the corresponding y deflection angle, add the original marking theory y and its corresponding y deflection angle to the y laser galvanometer deflection calibration data, and generate the final y laser galvanometer deflection calibration data. Obtain the uncalibrated first calibration theory x, substitute the first calibration theory x into the x deflection angle formula to calculate the first x deflection angle corresponding to the first calibration theory x, and rotate the x laser galvanometer according to the first x deflection angle to obtain the first calibration actual x; The first x difference between the first calibration theoretical x and the first calibration actual x is calculated. The first x difference is subtracted from the first calibration theoretical x to obtain the next calibration theoretical x. The next calibration actual x is calculated based on the next calibration theoretical x, and the next x difference between the next calibration theoretical x and the next calibration actual x is calculated. This process is repeated until the latest x difference reaches the x difference threshold. Then, all the first calibration theoretical x that need to be calibrated are repeated. Each first calibration theoretical x and the corresponding x deflection angle are summarized to generate x laser galvanometer deflection calibration data. Obtain the unmarked original marking theory x, calculate the x-deflection angle of the original marking theory x based on the two marking theories x adjacent to the original marking theory x and their corresponding x-deflection angles, add the original marking theory x and its corresponding x-deflection angle to the x-laser galvanometer deflection calibration data, and generate the final x-laser galvanometer deflection calibration data.

7. The calibration method for a three-dimensional laser as described in claim 1, characterized in that, The step of generating trajectory points based on the three-dimensional data of the second workpiece includes: The three-dimensional data of the second workpiece is preprocessed to calculate the normal, triangulation and patch parameterization of the preprocessed three-dimensional data of the second workpiece, and to generate the first patch and the corresponding first mapping map. Texture mapping is performed on the first mapping map to generate a second mapping map. The pixels of the second mapping map are mapped to a first patch in three-dimensional space to obtain a second patch. The second patch is discretized to obtain the final three-dimensional data of the second workpiece. Trajectory points are generated based on the final three-dimensional data of the second workpiece. The preprocessing includes noise reduction, smoothing, and sampling.

8. A calibration device for a three-dimensional laser, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 7.

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