Laser marking method, device and system

Abstract

The present application provides a laser marking method, device, and system. First, multiple visual positioning devices respectively capture a first image to obtain multiple first images. The multiple first images include a positioning structure and the surface of the marking workpiece. The positioning structure is a three-dimensional geometric structure in which the relative position of the marking machine and the marking machine is fixed. Subsequently, the computing device determines the marking trajectory based on the multiple first images. The marking trajectory is used to indicate the scanning trajectory of the laser beam generated by the marking machine. The laser marking method of the present application can achieve high-precision and high-precision laser marking operations for large-sized and complex-surface marking workpieces by locating the relative position and posture of the marking machine in real time during the marking process.

Description

Technical Field

[0001] The present application relates to the field of system control, and in particular to a laser marking method, device and system. Background Art

[0002] Laser marking machines utilize the interaction between a laser beam and the material being used, controlling the energy and focus of the laser beam to create markings, engravings, and logos on surfaces. This technology boasts high precision, speed, and reliability, making it widely used in industrial production. Summary of the Invention

[0003] This application proposes a laser marking method, device and system, which use multiple visual positioning devices to collect image information during the marking process to locate the relative position and posture of the marking head and the marking workpiece in real time, ensuring that the trajectory direction of the laser beam generated by the marking head can be accurately scanned to the position corresponding to the marking area, and complete high-precision marking operations in a handheld manner while smoothly moving the marking machine.

[0004] In a first aspect, a laser marking method is proposed for use in a laser marking system comprising a marking machine, multiple visual positioning devices, and a computing device. First, the multiple visual positioning devices each capture a first image to produce multiple first images. The multiple first images include a positioning structure and the surface of the workpiece being marked. The positioning structure is a three-dimensional geometric structure fixed relative to the marking machine. Second, the computing device determines a marking trajectory based on the multiple first images. The marking trajectory indicates the scanning trajectory of the laser beam generated by the marking machine.

[0005] In some possible embodiments, the relative positions of multiple visual positioning devices and the surface of the marking workpiece are fixed, and the marking machine marks the surface of the marking workpiece within the range of the visual positioning field of view established by the multiple visual positioning devices, wherein the visual positioning field of view includes the spatial range covered by the images captured by the multiple visual positioning devices.

[0006] In some possible embodiments, the specific method for the computing device mentioned above to determine the marking trajectory based on multiple first images includes the following process: First, the computing device obtains multiple first images. Second, the computing device determines a second image based on the multiple first images, wherein the second image is obtained by stitching the multiple first images, and the second image includes a positioning structure. Third, the computing device determines the position and posture information of the marking machine based on the geometric positioning features of the positioning structure in the second image and the first calibration relationship, wherein the first calibration relationship includes the conversion relationship between the geometric positioning features of the positioning structure and the position and posture of the marking machine, and the position and posture information includes the distance and angle of the marking machine relative to the marking workpiece. Finally, the computing device determines the marking trajectory based on the position and posture information of the marking machine.

[0007] In some possible embodiments, the specific method for the computing device mentioned above to determine the marking trajectory based on the position and posture information of the marking machine includes the following process: First, the computing device determines a first marking point set based on the position and posture information of the marking machine, wherein the first marking point set includes all or part of a plurality of coordinate points corresponding to the marking pattern on the surface of the marking workpiece in the visual positioning coordinate system, and the visual positioning coordinate system includes a coordinate system established based on one of the plurality of visual positioning devices. Secondly, a second marking point set is determined based on the first coordinate conversion relationship and the first marking point set, wherein the second marking point set includes the coordinates of each point in the first marking point set in the marking coordinate system, the first coordinate conversion relationship is the coordinate conversion relationship between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system is a coordinate system established based on the marking machine. Finally, the computing device determines the marking trajectory based on the second marking point set.

[0008] In some possible embodiments, as mentioned above, after the computing device determines the position and posture information of the marking machine based on the geometric positioning features of the positioning structure and the first calibration relationship, the computing device can also determine the first coordinate transformation relationship based on the position and posture information of the marking machine, wherein the first coordinate transformation relationship includes the coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system.

[0009] In some possible embodiments, the method mentioned above in which the computing device determines the first marking point set based on the position and posture of the marking machine may include the following steps. First, the computing device determines the first graphic point set, wherein the first graphic point set includes the coordinate point set corresponding to the marking graphic on the surface of the marking workpiece in the visual positioning coordinate system. Secondly, the computing device determines the markable range based on the position and posture information of the marking machine, wherein the markable range includes the area range in which the marking machine can effectively mark within the marking workpiece area at the position and posture indicated by the position and posture information. Finally, the computing device determines the first marking point set from the first graphic point set based on the markable range and the coordinate point set corresponding to the marked part of the marking graphic, wherein the first marking point set includes part or all of the coordinate point set corresponding to the unmarked part of the marking graphic.

[0010] In some possible embodiments, the method for determining the first graphic point set mentioned above may include the following steps. First, the computing device obtains the second graphic point set of the marking graphic in the workpiece coordinate system, wherein the workpiece coordinate system is a coordinate system established based on the surface of the marking workpiece, or is a coordinate system established with a certain spatial point in the visual positioning field determined by multiple visual positioning devices as the origin, without limitation. Secondly, the computing device determines the second coordinate transformation relationship based on the multiple auxiliary marking points included in the first image; wherein the second coordinate transformation relationship includes the coordinate transformation relationship between the workpiece coordinate system and the visual positioning coordinate system, and the multiple auxiliary marking points are set around the marking area on the surface of the marking workpiece. Finally, the computing device determines the first graphic point set based on the second coordinate transformation relationship and the second graphic point set, wherein the first graphic point set includes part or all of the second graphic point set of the marking graphic in the visual positioning coordinate system.

[0011] In some possible embodiments, the aforementioned method for determining a marking trajectory based on the second marking point set by a computing device may include the following steps: First, the computing device determines a first speed, where the first speed is an expected speed of the marking machine during the current marking cycle. Second, the computing device determines a marking trajectory corresponding to the second marking point set based on a trajectory planning algorithm and the first speed, where the marking trajectory passes through coordinate points in the second marking point set.

[0012] In some possible embodiments, before the computing device performs a laser marking operation, the present application also provides a calibration method for a laser marking system. First, a marking machine marks a calibration pattern on a test marking plate, wherein the calibration pattern includes a checkerboard-like pattern with obvious geometric features. Second, multiple visual positioning devices collect multiple first calibration images, wherein the first calibration image includes image information of the calibration pattern, and each visual positioning device collects at least one first calibration image. Third, the computing device determines a second calibration image, wherein the second calibration image is obtained by splicing multiple first calibration images according to a second calibration relationship, and the second calibration relationship includes a coordinate transformation relationship between the images collected by the multiple visual positioning devices. Subsequently, the computing device determines the coordinate point set corresponding to the calibration pattern in the visual positioning coordinate system based on the second calibration image, wherein the second calibration image includes image information of the calibration pattern. Then, the computing device determines the position and posture of the positioning structure based on the second calibration image, wherein the second calibration image includes image information of the positioning structure. Finally, the computing device determines a first calibration relationship based on the position and posture of the positioning structure and the corresponding coordinate point set of the calibration figure in the visual positioning coordinate system, wherein the first calibration relationship includes a conversion relationship between the geometric positioning features of the positioning structure and the position and posture of the marking machine.

[0013] In the second aspect, a laser marking device is proposed, comprising the following components. First, there is an acquisition unit, which is used to acquire multiple first images, wherein the multiple first images are images captured by multiple visual positioning devices, and the multiple first images include a positioning structure and the surface of the marking workpiece, and the positioning structure is a three-dimensional geometric structure whose relative position is fixed with respect to the marking machine. Secondly, there is a processing unit, which is used to determine a second image based on the multiple first images, wherein the second image is obtained by splicing the multiple first images, and the second image includes a positioning structure. The processing unit is also used to determine the position and posture information of the marking machine based on the geometric positioning features of the positioning structure and a first calibration relationship, wherein the first calibration relationship includes a conversion relationship between the geometric positioning features of the positioning structure and the position and posture of the marking machine, and the position and posture information includes the distance and angle of the marking machine relative to the marking workpiece. The processing unit is also used to determine the marking trajectory based on the position and posture information of the marking machine.

[0014] In some possible embodiments, the processing unit is specifically used to, first, determine a first marking point set based on the position and posture information of the marking machine, wherein the first marking point set includes multiple coordinate points in a visual positioning coordinate system, and the visual positioning coordinate system includes a coordinate system established based on a visual positioning device among multiple visual positioning devices. Secondly, determine a second marking point set based on the first coordinate conversion relationship and the first marking point set, wherein the second marking point set includes the coordinates of each point in the first marking point set in the marking coordinate system, the first coordinate conversion relationship is the coordinate conversion relationship between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system is a coordinate system established based on the marking machine. Finally, determine a marking trajectory based on the second marking point set, wherein the marking trajectory is used to control the scanning trajectory of the laser beam generated by the marking machine.

[0015] In some possible embodiments, the device further includes a sending unit, configured to send the marking trajectory to a marking machine, wherein the marking machine is configured to generate and control a laser beam.

[0016] In a third aspect, a marking machine is proposed, which includes the laser marking device of the second aspect and is used to implement the method implemented by the computing device in any one embodiment of the first aspect.

[0017] In a fourth aspect, a laser marking system is proposed, which includes a marking machine, multiple visual positioning devices and a computing device.

[0018] The multiple visual positioning devices are configured to respectively capture a first image to obtain a plurality of first images, wherein the plurality of first images include a positioning structure and a surface of a workpiece to be marked, wherein the positioning structure is a three-dimensional geometric structure fixed relative to the marking machine. The computing device is configured to determine a marking trajectory based on the plurality of first images, wherein the marking trajectory is configured to indicate a scanning trajectory of a laser beam generated by the marking machine.

[0019] In some possible embodiments, the relative positions of multiple visual positioning devices and the surface of the marking workpiece are fixed, and the marking machine is used to mark the surface of the marking workpiece within the range of the visual positioning field of view established by the multiple visual positioning devices, wherein the visual positioning field of view includes the spatial range covered by the images captured by the multiple visual positioning devices.

[0020] The computing device is specifically configured to first acquire multiple first images and determine a second image based on the multiple first images, wherein the second image is obtained by stitching the multiple first images and includes a positioning structure. Secondly, position and posture information of a marking machine is determined based on the geometric positioning features of the positioning structure and a first calibration relationship, wherein the first calibration relationship includes a conversion relationship between the geometric positioning features of the positioning structure and the position and posture of the marking machine, and the position and posture information includes a distance and angle of the marking machine relative to the workpiece. Finally, a marking trajectory is determined based on the position and posture information of the marking machine.

[0021] The computing device is specifically configured to, first, determine a first marking point set based on the position and posture information of the marking machine, wherein the first marking point set includes all or part of a plurality of coordinate points corresponding to a marking pattern on the surface of the workpiece marked in a visual positioning coordinate system, wherein the visual positioning coordinate system includes a coordinate system established based on one of a plurality of visual positioning devices. Secondly, determine a second marking point set based on a first coordinate transformation relationship and the first marking point set, wherein the second marking point set includes the coordinates of each point in the first marking point set in the marking coordinate system, wherein the first coordinate transformation relationship is a coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system includes a coordinate system established based on the marking machine. Finally, determine a marking trajectory based on the second marking point set.

[0022] In a fifth aspect, a computing device is proposed, which includes a processor and a memory, the memory being used to store instructions, and the processor being used to execute instructions, so that the computing device implements the method implemented by the computing device in any one of the embodiments of the first aspect.

[0023] In a sixth aspect, a computer-readable storage medium is proposed, in which instructions are stored. When the instructions are executed by a computing device or a computing device cluster, the method implemented by the computing device in any one of the embodiments of the first aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a working schematic diagram of a laser marking system provided by this application;

[0025] Figure 2 This is a schematic diagram of a laser-marked QR code graphic provided by this application;

[0026] Figure 3 It is a schematic diagram of various coordinate systems in a laser marking system provided by this application;

[0027] Figure 4 This is a flow chart of a laser marking system calibration method provided by this application;

[0028] Figure 5This is a flow chart of a laser marking method provided by this application;

[0029] Figure 6 A schematic diagram of a laser marking device provided in this application;

[0030] Figure 7 It is a structural diagram of a computing device provided by this application;

[0031] Figure 8 This is a schematic diagram of the structure of a computing device cluster provided by this application;

[0032] Figure 9 This is another structural diagram of a computing device cluster provided by this application. DETAILED DESCRIPTION

[0033] The following will describe the technical solutions in the embodiments of this application in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0034] In the description of this application, unless otherwise clearly defined, words such as "setting" should be understood in a broad sense, and technical personnel in the relevant technical field can reasonably determine the specific meaning of the above words in this application based on the specific content of the technical solution.

[0035] Throughout the description of this application, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific embodiments," or "some examples" means that a specific feature or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of this application. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0036] Currently common laser marking equipment usually includes two categories: desktop laser marking machines and handheld laser marking machines. During the marking operation, the handheld laser marking machine needs to keep the marking head and the workpiece to be marked relatively fixed, with a bracket or a translucent protective cover as support, relying on the marking machine's own gravity or continuous pressure applied by the hand to make the marking head and the processed part close together to achieve relative fixation. The desktop laser marking machine can achieve precise displacement control of the laser marking head by installing the laser marking head on a mobile platform. Therefore, through graphic segmentation and coordinate transformation, the function of splicing marking in multiple positions can be realized, and a larger-format laser marking operation can be achieved on the marking workpiece within the machine's motion range. However, the existing laser marking equipment has the following shortcomings:

[0037] First, existing solutions for handheld marking machines require the marking machine and the workpiece to remain relatively fixed during the marking process. Any relative displacement between the marking machine and the workpiece can cause the marking pattern to misalign, leading to marking failure, making operation more difficult. Furthermore, since the marking machine and the workpiece must remain relatively fixed during the marking process, the marking range of the marking machine is limited, supporting only patterns within the range of the galvanometer, making it impossible to mark large-scale patterns. Furthermore, handheld marking machines cannot accurately set the specific position of the marking pattern during the marking process, causing the actual marking pattern to shift or skew relative to the ideal marking position. This is because the position and posture relationship between the laser marking machine and the workpiece being marked is unknown, and the laser marking pattern is based on the laser marking machine's coordinate system. Therefore, if the relative position or posture of the laser marking machine and the workpiece being marked changes, the trajectory of the laser marking pattern on the workpiece will be interrupted or misaligned, causing marking failure.

[0038] Secondly, for desktop laser marking machines, when laser marking oversized parts or relatively complex curved parts (such as car bodies, ship hulls, wind turbine blades, etc.), large-scale laser marking operations (or laser surface treatment, laser super-surface micro-nano structure processing) are required, or laser marking operations need to be performed at complex angles and positions, the existing solutions often lead to insufficient movement range of the laser marking head and marking failure.

[0039] In order to address the deficiencies of the above-mentioned prior art, the present application proposes a laser marking method, device and system, which uses multiple visual positioning devices to collect image information during the marking process to locate the relative position and posture of the marking head and the marking workpiece in real time, ensuring that the trajectory direction of the laser beam generated by the marking head can be accurately scanned to the position corresponding to the marking area, and complete high-precision marking operations by hand-held means while smoothly moving the marking machine.

[0040] Next, an example will be used to introduce the application scenario of the laser marking system involved in this application.

[0041] See Figure 1 , Figure 1 This is a schematic diagram of the operation of a laser marking system provided in this application. The laser marking system of this embodiment includes multiple visual positioning devices 101, a marking head 102, a handheld handle 103, and a positioning structure 104. In addition, the laser marking system of this embodiment also includes a marking area 105 for marking the surface of the workpiece and multiple auxiliary marking points 106 for marking the surface of the workpiece.

[0042] First, the visual positioning device 101 is introduced. The multiple visual positioning devices 101 shown in this embodiment are installed at various locations in the laser marking system and are capable of capturing image information within the visual positioning field of view, including the marking head 102, the handheld handle 103, the positioning structure 104, and the marking area 105 on the surface of the workpiece. In some specific embodiments, the visual positioning device 101 may include an industrial camera for capturing optical images. The choice of industrial camera depends on the resolution, frame rate, and light sensitivity requirements of the application. In some specific embodiments, the visual positioning device 101 may also include an image processing algorithm for processing and analyzing the images captured by the camera and extracting feature information of the laser marking area, including image features such as edges, corners, and template matching. Common image processing algorithms include edge detection, feature extraction, pattern matching, and so on. In some specific embodiments, the visual positioning device 101 may also include a control system for receiving images captured by the industrial camera, calculating the marking trajectory based on the feature information extracted by the image processing algorithm, and controlling the marking head to perform the marking operation. The control system may also communicate with the motion control system of the marking machine to achieve real-time position and posture adjustment. The visual positioning device 101 enables non-contact positioning and alignment of the marking machine, offering high precision and flexibility. It is applicable to workpieces of various shapes and materials, whether flat, curved, or contoured. Using appropriate image processing algorithms, it can perform positioning and alignment. Using the handheld handle 103, the position and orientation of the marking head 102 can be continuously adjusted, effectively marking the marking area 105.

[0043] Before using the visual positioning device 101, it needs to be calibrated to determine the internal and external parameters of the camera. The internal parameters of the camera include focal length, distortion, etc., and the external parameters include the position and posture of the camera. In some possible instances, after the marking head 102 and the positioning structure 104 in this embodiment are installed and fixed and before the laser marking operation, it is necessary to use multiple visual positioning devices 101 to collect calibration images, calibrate the conversion relationship between the geometric posture of the positioning structure 104 fixed with the marking head 102 and the position posture of the marking head 102, and determine the marking coordinate system, wherein the marking coordinate system includes a coordinate system established with the galvanometer in the marking head 102 used to position and move the laser beam as the origin, which is not limited here. In some other embodiments, after the multiple visual positioning devices 101 in this embodiment are installed and fixed and before the laser marking operation, it is also necessary to calibrate the image conversion relationship between the images captured by the multiple visual positioning devices 101 and determine the visual positioning coordinate system through a similar calibration method, wherein the visual positioning coordinate system includes a coordinate system established with a certain spatial point within the visual positioning field of view determined by the multiple visual positioning devices 101 as the origin, which is not limited here. The above-mentioned calibration process can be achieved by using a calibration test board or a calibration object, by collecting images containing the calibration test board or calibration object in multiple different positions and postures, and then using a calibration algorithm to calculate the parameters of the camera. In actual applications, since the performance of the visual positioning device 101 is also affected by factors such as ambient lighting, workpiece surface reflectivity, and camera resolution, it may be necessary to take measures such as adding light sources, using filters, and adjusting camera parameters to improve the performance and stability of the visual positioning device 101.

[0044] Next, the marking head 102 is introduced. The marking head 102 shown in this embodiment is used to generate and control the focus of the laser beam and accurately irradiate the workpiece surface for marking. In some possible examples, it includes one or more of a laser generator, a galvanometer scanning module, a focusing lens group, a cooling module, and a protective cover. In some specific embodiments, the laser generator included in the marking head 102 can generate a high-energy and highly focused laser beam as a core component of laser emission. The type of laser generator can be in various forms, including one or more combinations of laser generators such as fiber laser, CO2 laser, solid-state laser, and semiconductor laser. The appropriate type of laser generator can be selected according to the application requirements of laser marking and the material characteristics of the marking workpiece. In some specific embodiments, the galvoscanner system included in the marking head 102 is responsible for controlling the movement and positioning of the laser beam. Depending on the application requirements of the marking head, it can be one or more of a flat mirror, a scanning mirror, an acoustic-optical modulator (AOM), an electro-optical modulator (EOM), a resonant mirror, a two-dimensional mirror (2D Mirror), a three-dimensional mirror (3D Mirror), a micro-electro-mechanical system (MEMS Mirror), and a high-speed mirror. In some possible embodiments, the galvoscanner scanning module includes a scanning galvanometer and a galvanometer driver, wherein the scanning galvanometer may include one or more reflectors. They are mounted on a rotatable or tiltable structure, and the direction of the laser beam is controlled by rotating or tilting the angle of the reflector. The material of the scanning galvanometer is usually a metal lens with high reflectivity, such as copper, aluminum or gold-plated silicon. The surface quality and reflectivity of the scanning mirror have an important impact on the quality and energy loss of the laser beam. The galvanometer driver can use electromagnetic drive or electric drive to drive and control the scanning galvanometer. The electromagnetic drive uses an electromagnetic coil to generate a magnetic field and controls the movement of the scanning mirror by changing the direction and size of the magnetic field. The electric drive uses an electric motor and a transmission device to realize the rotation or tilt of the scanning mirror. The scanning drive needs to have high-precision and high-speed control capabilities to ensure accurate positioning and rapid scanning of the laser beam.

[0045] The handheld handle 103 is then introduced. The laser marking system provided in this embodiment can determine the relative position and posture of the marking head 102 in real time through the image information of the positioning structure 104 and the auxiliary marking points 106 around the marking area 105 contained in the images captured by multiple visual positioning devices 101. Therefore, in some embodiments, the laser marking operation can be completed in a non-fixed manner, such as by hand, during the smooth movement of the marking machine relative to the surface of the marking workpiece. This handheld laser marking method does not require the marking head 102 and the marking area 105 to be in a relatively static state during the marking operation. Therefore, during the handheld process, laser marking operations can be achieved for some complex surfaces, workpieces with large-scale pattern marking requirements, and workpieces that cannot be placed on the marking work platform.

[0046] Next, the positioning structure 104 is introduced. Figure 1 As shown, the positioning structure 104 shown in this embodiment can be a tetrahedron composed of a spherical object and a rod-shaped object. In other possible embodiments, the positioning structure 104 can also be a device composed of a three-dimensional geometric structure with obvious geometric features, such as a hexahedron, an octahedron, a decahedron, etc. In some possible embodiments, these three-dimensional geometric structures can also be devices that can actively emit light (visible light or invisible light). The visual positioning device 101 obtains a clear outline of the positioning structure 104 based on the light-emitting points contained in the collected image, and uses a feature matching algorithm to identify the position and posture of the positioning structure 104 in the visual positioning system. The positioning structure 104 can be relatively fixed with the marking head 102 in a fitting manner. The visual laser marking system can determine the relative position and posture of the marking head 102 through the image information containing the positioning structure 104 collected by the visual positioning device 101 during the marking operation. At the same time, within the duration of a single marking cycle, the coordinate conversion relationship between the visual positioning coordinate system and the marking coordinate system is updated according to the relative position and posture of the marking head 102, wherein the marking coordinate system includes a coordinate system established with the galvanometer used for positioning and moving the laser beam in the marking head 102 as the origin, and the visual positioning coordinate system includes a coordinate system established with a certain spatial point within the visual positioning field of view determined by multiple visual positioning devices 101 as the origin. In this application, the coordinate conversion relationship is defined as the first coordinate conversion relationship. In the actual application of the laser marking system, the duration of a single marking cycle can be set to be small enough so that the marking head 102 can be approximately regarded as stationary within the duration of a single marking cycle during the handheld laser marking process.

[0047] The marking area 105 is then introduced. The marking area 105 is located on the surface of the workpiece for laser marking. Figure 1As shown, the marking area in this embodiment is a rectangular plane. In other possible embodiments, the marking area 105 can also be configured as a two-dimensional plane with different shapes depending on the marking pattern. Furthermore, the marking area 105 can also be configured as a plane, a curved surface, or a special-shaped surface depending on the surface type of the workpiece being marked, and this is not limited here.

[0048] Finally, we introduce the auxiliary marking point 106. Figure 1 As shown, the auxiliary marking points 106 shown in this embodiment include multiple circular patterns evenly distributed around the marking area 105 on the surface of the workpiece. In other possible embodiments, the auxiliary marking points 106 can also be a combination of auxiliary marking patterns composed of planar geometric patterns with multiple high-precision geometric features and clear geometric edge contours. Furthermore, the method of setting multiple auxiliary marking points 106 around the marking area 105 can be the most common marking method of sticking stickers, but can also include paint spraying, laser irradiation, layer covering, and other temporary or semi-permanent pattern marking methods, without limitation.

[0049] It can be understood that after the pattern of multiple auxiliary marking points 106 is superimposed on the surface of the marking workpiece, the geometric relationship contained in the multiple auxiliary marking points 106 can be combined into auxiliary marking features. During the laser marking operation, the image information about the auxiliary marking features contained in the image is collected by the visual positioning device 101, and the laser marking system can determine the coordinates of each coordinate point in the visual positioning coordinate system of the discrete coordinate point set corresponding to the marking graphic used for the laser marking operation. In this process, it also includes determining the conversion relationship between the visual positioning coordinate system and the workpiece coordinate system through the auxiliary marking features mentioned above, wherein the workpiece coordinate system includes a coordinate system established with a certain point on the surface of the marking workpiece as the origin, and the visual positioning coordinate system includes a coordinate system established with a certain spatial point within the visual positioning field of view determined by multiple visual positioning devices 101 as the origin. In this application, the coordinate conversion relationship is defined as the second coordinate conversion relationship. It can be understood that the discretized coordinate point set corresponding to the marking pattern in the workpiece coordinate system can be imported and edited at the software level, and then the discretized coordinate point set corresponding to the marking pattern can be converted to the coordinate point set based on the visual positioning coordinate system through the second coordinate transformation relationship. In more possible embodiments, the laser marking system provided by this application can also include a computing device that has the computing function of processing and calculating the data generated by the relevant functional operations of the marking head 102 and the multiple visual positioning devices 101 mentioned above. For more information about the computing device, please refer to Figure 7 The specific content of the computing device in the illustrated embodiment is not described in detail here.

[0050] To facilitate understanding by people in related fields, the following describes the relevant contents of the marking area and auxiliary marking points with a specific embodiment.

[0051] See Figure 2 , Figure 2 This is a schematic diagram of a laser-marked QR code graphic provided in this application. The laser-marked QR code graphic provided in this embodiment includes a marking area 210, auxiliary marking points 220, a marking graphic 230, and a first marking sub-area 211. It can be understood that the marking area 210 and the auxiliary marking points 220 in this embodiment correspond to Figure 1 The marking area 105 and auxiliary marking points 106 in the illustrated embodiment.

[0052] First, let's introduce marking area 210. Marking area 210 is the area on the surface of the workpiece where a laser beam is used to mark a marking pattern 230. In some possible embodiments, if marking area 210 is large or the marking pattern 230 has a relatively fine structure, marking area 210 can be divided into multiple marking sub-areas. Laser marking can be completed through multiple marking cycles, with each marking cycle marking one sub-area. Marking area 210 includes a first marking sub-area 211, which is used to complete the marking of the workpiece through multiple laser marking cycles. First marking sub-area 211 is the portion of marking area 210 corresponding to the marking pattern that can be completed within a single marking cycle.

[0053] Next, we will introduce the auxiliary marking points 220. A plurality of auxiliary marking points 220 with high-precision geometric contour features are distributed around the marking area 210. These auxiliary marking points 220 are set around the marking area 210 before the laser marking operation. The auxiliary marking features formed by the geometric position relationship between the plurality of auxiliary marking points 220 enable the marking machine to locate the current position and angle relative to the marking area 210 through the image collected by the visual positioning device during the marking process. For more information about the auxiliary marking points 220, please refer to Figure 1 The specific content of the auxiliary marking point 106 in the illustrated embodiment will not be described in detail.

[0054] Finally, the marking pattern 230 is introduced. The marking image provided in this embodiment is in the form of a QR code. In some possible embodiments, the marking pattern 230 can be completed in one or more marking cycles. At the same time, the graphic style of the marking pattern 230 can be arbitrary and is not limited.

[0055] In order to realize the laser marking system provided by this application, this application also provides a laser marking system calibration method, which is used to calibrate the conversion relationship between the geometric posture of the positioning structure and the position posture of the marking head according to the image collected by the visual positioning device before the laser marking operation. It can be understood that the laser marking system calibration method provided by this application can be applied to Figure 1 The laser marking system in the illustrated embodiment.

[0056] To facilitate understanding by relevant personnel, the laser marking system calibration method of the present application will be introduced with two examples below.

[0057] See Figure 3 , Figure 3 This is a schematic diagram of the various coordinate systems in a laser marking system provided by this application. This embodiment includes three coordinate systems, namely the visual positioning coordinate system 301, the marking coordinate system 302 and the workpiece coordinate system 303. It can be seen that this embodiment is based on Figure 1 The laser marking system of the illustrated embodiment introduces three coordinate systems involved in this application.

[0058] First, we introduce the visual positioning coordinate system 301. Figure 3 In the example shown, the visual positioning coordinate system 301 is a coordinate system established with a certain spatial point within the visual positioning field of view determined by multiple visual positioning devices as the origin. In other possible embodiments, the visual positioning coordinate system 301 may also include a coordinate system established with the visual positioning field of view covered by multiple visual positioning devices and any point around it as the origin, without limitation.

[0059] Next, we introduce the marking coordinate system 302. Figure 3 In the example shown, marking coordinate system 302 is established with the galvanometer used to position and move the laser beam in the marking head as its origin. In other possible embodiments, marking coordinate system 302 may also include a coordinate system established with any point within the laser marking machine as its origin, without limitation. Marking coordinate system 302 can be used to determine the marking trajectory for controlling the laser beam generated by the marking machine, based on the discretized coordinate point set of the marking pattern in the marking coordinate system, at different positions and postures of the laser marking machine.

[0060] Finally, we introduce the workpiece coordinate system 303. Figure 3In the example shown, the workpiece coordinate system 303 is a coordinate system established with the auxiliary coordinate point on the surface of the workpiece being marked as the origin. In other possible embodiments, the workpiece coordinate system 303 can also be a coordinate system established with any point on the surface of the workpiece being marked, or a coordinate system established with a spatial point within the visual positioning field determined by multiple visual positioning devices as the origin, without limitation. The laser marking system's editing function for marking patterns enables editing, importing, and exporting the pattern and discrete coordinate point sets of the marking pattern within the marking area in the workpiece coordinate system 303.

[0061] See next Figure 4 , Figure 4 This is a flowchart of a laser marking system calibration method provided in this application. The laser marking system calibration method provided in this embodiment can calibrate a second calibration relationship between images captured by multiple visual positioning devices, and also calibrate a first calibration relationship between the geometric posture of the positioning structure and the position posture of the marking head based on the images captured by the visual positioning devices. The specific steps are as follows:

[0062] S401: Marking a calibration pattern on a test marking board.

[0063] This step is performed by the marking machine within the laser marking system, which generates and controls the laser beam used for the marking operation. After the positioning structure and the marking head are relatively fixed, the marking head's galvanometer controls the laser beam to mark the input calibration pattern onto the test marking board. The calibration pattern can be some basic geometric shapes, or patterns with distinct geometric features such as a checkerboard pattern, without limitation.

[0064] S402: Acquire multiple first calibration images.

[0065] This step is completed by multiple visual positioning devices in the laser marking system, which are used to collect multiple first calibration images. After the marking head marks the calibration pattern on the test marking board, multiple first calibration images are collected by multiple visual positioning devices, wherein the first calibration image includes images of the calibration pattern collected by multiple visual positioning devices, and each visual positioning device collects at least one first calibration image. It can be understood that since the pattern marked by the calibration pattern on the test board can reflect the position and posture of the marking head, and the positioning structure is a three-dimensional geometric structure with a fixed relative position to the marking machine, the characteristics of the geometric posture of the positioning structure in the multiple first calibration images have a definite conversion relationship with the position and posture of the marking head.

[0066] S403: Determine a second calibration image.

[0067] This step is completed by the computing device or computing means in the laser marking system. The second calibration image is obtained by splicing multiple first calibration images according to the second calibration relationship. The second calibration relationship here includes the coordinate transformation relationship of the images captured by multiple visual positioning devices. After the relative position relationship of the multiple visual positioning devices is fixed, the images captured by each visual positioning device can be spliced ​​according to the second calibration relationship through the position of each visual positioning device and the orientation of the image acquisition port. The specific position and posture of the positioning structure or calibration figure that appears simultaneously in the multiple second calibration images within the visual positioning field of view covered by the multiple visual positioning devices can also be determined by combining the multiple second calibration images.

[0068] S404: Determine the coordinates of the calibration figure in the visual positioning coordinate system according to the second calibration image.

[0069] This step is completed by a computing device or computing apparatus in the laser marking system. The second calibration image includes image information of the calibration pattern, wherein the visual positioning coordinate system can be a coordinate system established with a spatial point within the visual positioning field of view determined by multiple visual positioning devices as the origin.

[0070] S405: Determine the position and posture of the positioning structure according to the second calibration image.

[0071] This step is performed by a computing device or apparatus within the laser marking system. The second calibration image includes image information of the positioning structure. It is understood that in other possible embodiments, the order of step S404 and step S405 can be reversed, and in actual operation, these two steps are not performed in a specific order.

[0072] S406: Determine a first calibration relationship according to the position and posture of the positioning structure and the coordinates of the calibration figure in the visual positioning coordinate system.

[0073] This step is completed by the computing device or computing means in the laser marking system. The first calibration relationship here is the conversion relationship between the geometric positioning features of the positioning structure and the position posture of the marking head. By taking advantage of the relatively fixed position characteristics of the positioning structure and the marking head, a first calibration relationship describing the geometric position relationship between the marking head (which can be understood in more detail as the galvanometer in the marking head) and the positioning structure can be established with the support of image information including the second calibration image and the feature matching algorithm, and the marking coordinate system can be determined by the first calibration relationship, wherein the marking coordinate system can be a coordinate system established with the galvanometer in the marking head used to position and move the laser beam as the origin.

[0074] The laser marking system calibration method described in this embodiment can be implemented according to the specific operations described in steps S401 to S406. The first calibration relationship and the second calibration relationship determined by the above calibration method can enable the coordinates corresponding to the coordinate point set of the marking pattern in the workpiece coordinate system to be first transformed to the feature coordinate system of the visual marking device through the second coordinate transformation relationship between the workpiece coordinate system and the visual positioning coordinate system, and then transformed back to the marking coordinate system through the first coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system, thereby controlling the laser marking machine to perform marking operations on the pattern point set.

[0075] Next, we will introduce other relevant preparations before laser marking.

[0076] Before laser marking, multiple visual positioning devices need to be fixed. After the workpiece is fixed, multiple visual sensors are arranged around the marking area on the surface of the workpiece to establish a visual positioning field of view. By adjusting the number, spacing, and distance of the visual sensors to the workpiece, a clear and complete visual positioning field of view that covers the entire area to be marked is established, so that positioning and measurement functions can be achieved within the entire visual positioning field of view. After the relative positions and postures of the multiple visual positioning devices are fixed, the conversion relationship between the images collected by the multiple visual positioning devices can be determined through standardized calibration methods, that is, Figure 4 The second calibration relationship in the embodiment shown. In some possible embodiments, multiple visual positioning devices can be unified based on the coordinate system established by a certain visual positioning device through the second calibration relationship. At this time, the unified coordinate system is the visual positioning coordinate system. After this, Figure 4 The laser marking system calibration method shown determines a first calibration relationship, which is a conversion relationship between the geometric positioning features of the positioning structure and the position and posture of the marking head. It can be used to realize the conversion between the visual positioning coordinate system and the marking coordinate system during the laser marking operation.

[0077] Before laser marking, it is necessary to set multiple auxiliary marking points on the surface of the workpiece to be marked and establish a workpiece coordinate system. These auxiliary marking points are distributed around the marking area, where the marking area includes a specific area on the surface of the workpiece to be marked for laser marking. The number of auxiliary marking points distributed on the surface of the workpiece to be marked can be determined based on the size and surface shape of the workpiece to be marked. Specifically, in some embodiments, the number of auxiliary marking points can be increased when the surface of the workpiece to be marked is curved, and the number of auxiliary marking points can be reduced when the surface of the workpiece to be marked is flat. The position distribution of these auxiliary marking points on the surface of the workpiece to be marked can form specific geometric features, and these geometric features can be detected and identified through images collected by multiple visual positioning devices. Since the size and shape of the auxiliary marking points are graphic marking points with clear edges, regular shapes, and consistent shapes among multiple auxiliary marking points, it is possible to form specific geometric features based on the image information of the auxiliary marking points displayed in the image captured by the visual positioning device and the position distribution of the auxiliary marking points on the surface of the marked workpiece to judge the distance and angular posture between the visual positioning device and the surface of the marked workpiece, as well as to judge whether the surface of the marking area is flat or curved, so as to establish a suitable workpiece coordinate system, wherein the workpiece coordinate system includes a coordinate system established with a certain point on the surface of the marked workpiece as the origin, and can also be a coordinate system established with a certain spatial point in the visual positioning field determined by multiple visual positioning devices as the origin, without limitation.

[0078] For more information about auxiliary markers, please refer to Figure 1 and Figure 2 The specific contents of the auxiliary marking points in the illustrated embodiment will not be described in detail here.

[0079] Next, a laser marking method provided by the present application is introduced with an example.

[0080] See Figure 5 , Figure 5 This is a flow chart of a laser marking method provided by this application. The laser marking method introduced in this embodiment can be used to achieve Figure 1 Relevant functions of the laser marking system of the illustrated embodiment.

[0081] It is understood that this embodiment will specifically introduce the specific operation steps of the laser marking method within a marking cycle. For laser marking operations that require multiple laser marking cycles, the process of each laser marking cycle can refer to the relevant content of the workflow of the laser marking method within a marking cycle shown in this embodiment. The specific steps are as follows:

[0082] S501: Acquire multiple first images and determine a second image.

[0083] The multiple first images herein are obtained by capturing first images separately from multiple visual positioning devices, where each visual positioning device captures at least one first image. The image information in the multiple first images includes one or more of a positioning structure and the surface of the marked workpiece. The positioning structure is a three-dimensional geometric structure that is fixed relative to the marking machine.

[0084] During the process of multiple visual positioning devices capturing multiple images, the relative positions of the multiple visual positioning devices and the surface of the marking workpiece are fixed, and the marking machine marks on the surface of the marking workpiece within the range of the visual positioning field of view established by the multiple visual positioning devices, wherein the visual positioning field of view includes the spatial range covered by the images captured by the multiple visual positioning devices.

[0085] Subsequently, the computing device acquires multiple first images as shown in this step and determines a second image based on the multiple first images, where the second image includes the positioning structure. In some possible embodiments, the second image is obtained by stitching the multiple first images together according to the second calibration relationship. Regarding the method for stitching the multiple first images together to obtain the second image, please refer to the second calibration relationship in steps S401 to S406 and will not be further described here.

[0086] S502: Determine position and posture information of the marking machine according to the geometric positioning features of the positioning structure in the second image and the first calibration relationship.

[0087] The first calibration relationship includes a conversion relationship between the geometric positioning features of the positioning structure and the position and posture of the marking machine. The position and posture information includes the distance and angle of the marking machine relative to the workpiece. After determining the position and posture information of the marking machine based on the geometric positioning features of the positioning structure in the second image and the first calibration relationship, a first coordinate conversion relationship is determined based on the position and posture information of the marking machine. The first coordinate conversion relationship includes a coordinate conversion relationship between the visual positioning coordinate system and the marking coordinate system.

[0088] S503: Determine a first marking point set according to the position and posture information of the marking machine.

[0089] The first marking point set includes coordinates of a plurality of coordinate points in the marking pattern in a vision positioning coordinate system, and the vision positioning coordinate system includes a coordinate system established based on one of a plurality of vision positioning devices.

[0090] First, a first graphic point set is determined. The first graphic point set includes coordinate points corresponding to the marking pattern on the surface of the workpiece in a visual positioning coordinate system. It will be appreciated that if multiple laser marking cycles are required to complete the laser marking operation, the step of determining the first graphic point set can be performed only once within the multiple marking cycles.

[0091] Specifically, the method for determining the first graphic point set may include the following steps: First, obtaining a second graphic point set corresponding to the marking pattern in a workpiece coordinate system, wherein the workpiece coordinate system may be a coordinate system established with a spatial point within a visual positioning field determined by multiple visual positioning devices as its origin. In some possible embodiments, the marking pattern is imported and edited using the graphics setup software provided by the laser marking system, including operations such as setting the position, scale, and rotation angle of the pattern to be marked. To facilitate understanding by designers, the marking pattern displayed by the graphics setup software may be a workpiece coordinate system established based on the surface of the workpiece being marked. If the marking area corresponding to the surface of the workpiece being marked is a curved or irregular surface, a workpiece coordinate system based on the surface of the workpiece being marked may also be established by importing a model of the workpiece being marked, or by capturing an image of the surface of the workpiece being marked containing multiple auxiliary marking points and simulating the structure of the surface of the workpiece being marked. Appropriate editing of the marking pattern is then performed based on the workpiece coordinate system, such as stretching, transformation, rotation, and surface fitting. The second step is to determine a second coordinate transformation relationship based on the plurality of auxiliary marking points included in the first image; wherein the second coordinate transformation relationship includes a coordinate transformation relationship between the workpiece coordinate system and the visual positioning coordinate system, and the plurality of auxiliary marking points are arranged around the marking area on the surface of the marked workpiece. The third step is to determine a first graphic point set based on the second coordinate transformation relationship and the second graphic point set, wherein the first graphic point set includes part or all of the coordinate point set corresponding to the marking graphic in the visual positioning coordinate system.

[0092] During the laser marking process, one or more marking cycles may be required to complete the laser marking of the marking pattern. Therefore, in some laser marking embodiments that require multiple marking cycles to complete, the method for determining the first graphic point set further includes comprehensively considering the continuity of the marking points from the previous marking cycle to ensure that the first graphic point set completed in the current marking cycle is continuous and connected with the first graphic point set completed in the previous marking cycle.

[0093] Secondly, determining a markable range based on the position and posture information of the marking machine, wherein the markable range includes an area within the marking workpiece area where the marking machine can effectively perform a marking operation when the marking machine is at the position and posture indicated by the position and posture information;

[0094] Finally, a first marking point set is determined from the first graphic point set based on the markable range and the coordinate point set corresponding to the marked portion of the marking graphic. The first marking point set includes some or all of the coordinate point set corresponding to the unmarked portion of the marking graphic. It is understood that the operating method that comprehensively considers the continuity of the marking points from the previous marking cycle can also be implemented in the process of determining the first marking point set through this step. In the case of the operating method that considers the continuity of the marking points from the previous marking cycle, the first marking point set includes some of the point sets from the coordinate point set corresponding to the unmarked portion of the marking graphic.

[0095] According to the specific contents of the method described in steps S501 to S503, the relevant operations of the computing device acquiring the first marking point set can be implemented.

[0096] S504: Determine a first coordinate transformation relationship.

[0097] Before determining the first coordinate transformation relationship, the position and posture information of the marking machine needs to be determined through the first image. When the position and posture information of the marking machine can be determined based on the geometric positioning features of the positioning structure and the first calibration relationship, the relevant operations for determining the first coordinate transformation relationship are performed.

[0098] In some possible embodiments, if the position and posture information of the marking machine cannot be determined based on the geometric positioning features of the positioning structure and the first calibration relationship, the marking machine terminates the marking process and issues a first type of prompt message. This prompt message can be further divided into the following two situations: if the first image does not contain image information of the marking machine, a prompt message is issued to move the marking machine to within the visual positioning field of view established by multiple visual positioning devices; and if the first image does not contain image information of the positioning structure with obvious geometric features, a prompt message is issued that the positioning structure of the marking machine is obscured in its current position and posture. The marking machine may issue a prompt message in one or more forms, including sound, text, image, vibration, etc., without limitation.

[0099] Once the position and posture of the marking machine—that is, the distance and angle of the marking machine relative to the workpiece—are determined, the transformation relationship between the visual positioning coordinate system and the marking coordinate system for the discretized coordinate point set corresponding to the marking pattern can be determined. In this application, this transformation relationship is referred to as the first coordinate transformation relationship. It is understood that since the position and posture of the handheld marking machine relative to the multiple visual positioning devices constantly change during the laser marking process, the first coordinate transformation relationship needs to be determined once during each laser marking cycle.

[0100] In some possible embodiments, when the marking machine's position and posture information is less than ideal, the marking machine issues a second type of prompt. This prompt can be further categorized into the following two situations: if the marking machine's current position and posture displayed in the first image is not facing the marking area on the workpiece surface, the prompt is to align the marking machine with the marking area; and if the marking machine's current position and posture displayed in the first image indicates that the marking machine is too close to / too far from the marking area, the prompt is to move the marking machine away from / closer to the marking area. The prompt can include one or more forms, such as sound, text, image, and vibration, without limitation.

[0101] S505: Determine a second marking point set according to the first coordinate transformation relationship and the first marking point set.

[0102] The second marking point set includes the coordinates of each point in the first marking point set in the marking coordinate system. The first coordinate conversion relationship is the coordinate conversion relationship between the visual positioning coordinate system and the marking coordinate system. The marking coordinate system is a coordinate system established based on the marking machine.

[0103] For more description of the marking coordinate system, please refer to Figure 3 For the specific content of the marking coordinate system 302 in the illustrated embodiment, more description of the first coordinate transformation relationship can be found in the description of the first coordinate transformation relationship in steps S401 to S406 , which will not be repeated here.

[0104] S506: Determine a marking trajectory according to the second marking point set.

[0105] The marking trajectory is used to control the scanning trajectory of the laser beam generated by the marking machine. First, a first speed is determined, where the first speed is the expected speed of the marking machine during the current marking cycle. Then, based on the trajectory planning algorithm and the first speed, a marking trajectory corresponding to a second set of marking points is determined, where the marking trajectory passes through coordinate points in the second set of marking points.

[0106] During the laser marking process, it may take one or more marking cycles to complete the laser marking of the marking pattern. Therefore, in some laser marking embodiments that require multiple marking cycles to complete, the method for determining the marking trajectory also includes comprehensively considering the partial coordinate point set that is allowed to be laser marked within the time length of this marking cycle. The specific method includes: first, based on the trajectory planning algorithm and the first speed of the laser marking machine, determining the third marking point set corresponding to the second marking point set, wherein the third marking point set includes a subset of the second marking point set that can complete the laser marking operation within the time length of one marking cycle. Subsequently, the marking trajectory corresponding to the third marking point set is determined according to the trajectory planning algorithm.

[0107] After the data of the marking trajectory is sent to the marking machine, the marking machine controls the scanning trajectory of the generated laser beam according to the marking trajectory and completes the laser marking operation within one or more laser marking cycles.

[0108] According to the laser marking method introduced in steps S501 to S506, not only large-scale laser marking can be performed on the surface of large-size workpieces, but also high-precision laser processing operations such as laser surface treatment of the marked workpiece, laser super-surface micro-nano structure processing, etc. can be realized, which are not limited here.

[0109] Next, a laser marking device provided by this application is introduced.

[0110] See Figure 6 , Figure 6 This is a schematic diagram of a laser marking device provided in this application. The laser marking device 600 provided in this embodiment includes an acquisition unit 610, a processing unit 620, and a sending unit 630. The details are as follows:

[0111] The acquisition unit 610 is used to acquire multiple first images, wherein the multiple first images are images captured by multiple visual positioning devices, and the multiple first images include a positioning structure and a marking workpiece surface. The positioning structure is a three-dimensional geometric structure with a fixed relative position to the marking machine.

[0112] The processing unit 620 is configured to determine a second image based on the multiple first images, wherein the second image is obtained by splicing the multiple first images, and the second image includes a positioning structure.

[0113] The processing unit 620 is also used to determine the position and posture information of the marking machine based on the geometric positioning features of the positioning structure and the first calibration relationship, wherein the first calibration relationship includes the conversion relationship between the geometric positioning features of the positioning structure and the position and posture of the marking machine, and the position and posture information includes the distance and angle of the marking machine relative to the marking workpiece.

[0114] The processing unit 620 is further configured to determine a marking trajectory based on the position and posture information of the marking machine. In some possible embodiments, the processing unit 620 is specifically configured to: first, determine a first marking point set based on the position and posture information of the marking machine, wherein the position and posture information includes the distance and angle of the marking machine relative to the marking workpiece; the first marking point set includes multiple coordinate points in a visual positioning coordinate system, and the visual positioning coordinate system includes a coordinate system established based on one of multiple visual positioning devices. Secondly, determine a second marking point set based on the first coordinate transformation relationship and the first marking point set, wherein the second marking point set includes the coordinates of each point in the first marking point set in the marking coordinate system, the first coordinate transformation relationship being the coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system is a coordinate system established based on the marking machine. For more information on how the acquisition unit 610 determines the second marking point set, please refer to the relevant description of step S505, which will not be repeated here. Finally, determine a marking trajectory based on the second marking point set, wherein the marking trajectory is used to indicate the scanning trajectory of the laser beam generated and controlled by the marking machine. For more information about how the acquisition unit 610 determines the marking trajectory, please refer to the relevant introduction of step S506, which will not be repeated here.

[0115] The sending unit 630 is used to send the marking trajectory to the marking machine, wherein the marking machine is used to generate and control the laser beam.

[0116] The laser marking device described in this embodiment can be applied to Figure 1 The laser marking system shown in FIG. 1 is used to implement the laser marking method described in steps S501 to S506 and the laser marking system calibration method described in steps S401 to S406. In some specific embodiments, the laser marking device may also be provided in one or more of a marking machine, a plurality of visual positioning devices, and a computing device, without limitation.

[0117] Combined with the above Figures 1 to 6 , describes in detail the laser marking method, device and system provided by this application, and will be combined with Figures 7 to 9 , describing the computing device and computing device cluster provided according to the present application.

[0118] Figure 7 This is a schematic diagram of a computing device provided by this application. The computing device can be applied to Figure 1 The electronic device with computing resources in the laser marking system in the embodiment shown in FIG. Figure 1 The laser marking system in the illustrated embodiment implements the laser marking method described in steps S501 to S506 and the laser marking system calibration method described in steps S401 to S406 .

[0119] Furthermore, the computing device includes a processor 701, a storage unit 702, a storage medium 703 and a communication interface 704, wherein the processor 701, the storage unit 702, the storage medium 703 and the communication interface 704 communicate through a bus 705, and also communicate through other means such as wireless transmission.

[0120] The processor 701 is composed of one or more general-purpose processors, such as a CPU, an NPU, or a combination of a CPU and a hardware chip. The hardware chip is an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD is a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), a data processing unit (DPU), a system on chip (SoC), or any combination thereof. The processor 701 executes various types of digital storage instructions, such as one or more of the software, program code, kernel, or firmware programs stored in the storage unit 702, which enables the computing device to provide a wide variety of services.

[0121] In a specific implementation, as an embodiment, the processor 701 includes one or more CPUs, such as Figure 7 CPU0 and CPU1 are shown in the figure.

[0122] In a specific implementation, as an embodiment, the computing device also includes multiple processors, such as Figure 7 1 and 706. Each of these processors can be a single-CPU or a multi-CPU. A processor herein refers to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0123] The storage unit 702 is used to store program codes, and is controlled by the processor 701 to execute the above Figures 1 to 3 The processing steps of the laser marking method, device and system in any embodiment of the present invention include one or more software units.

[0124] The storage unit 702 includes a read-only memory and a random access memory, and provides instructions and data to the processor 701. The storage unit 702 also includes a non-volatile random access memory. The storage unit 702 is a volatile memory or a non-volatile memory, or includes both volatile and non-volatile memories. Among them, the non-volatile memory is a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), or a flash memory. The volatile memory is a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are used, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). A hard disk, a universal serial bus (USB), a flash memory, a secure digital memory card (SD card), a memory stick, etc., and a hard disk can be a hard disk drive (HDD), a solid state drive (SSD), a mechanical hard disk (HDD), etc., which is not specifically limited in this application.

[0125] The storage medium 703 is a carrier for storing data, such as a hard disk, a USB flash drive (universal serialbus), a flash memory, an SD card (secure digital memory card, SD card), a memory stick, etc. The hard disk can be a hard disk drive (HDD), a solid state disk (SSD), a mechanical hard disk (HDD), etc., and this application does not make specific limitations.

[0126] The communication interface 704 is a wired interface (such as an Ethernet interface), an internal interface (such as a high-speed serial computer expansion bus (Peripheral Component Interconnect express, PCIe) bus interface), a wired interface (such as an Ethernet interface) or a wireless interface (such as a cellular network interface or a wireless local area network interface) for communicating with other servers or units.

[0127] Bus 705 is a Peripheral Component Interconnect Express (PCIe) bus, an Extended Industry Standard Architecture (EISA) bus, a unified bus (UBus or UB), a Compute Express Link (CXL), or a Cache Coherent Interconnect for Accelerators (CCIX). Bus 705 is divided into an address bus, a data bus, and a control bus.

[0128] In addition to the data bus, the bus 705 also includes a power bus, a control bus, a status signal bus, etc. However, for the sake of clarity, various buses are labeled as bus 705 in the figure.

[0129] Need to explain, Figure 7 This is only one possible implementation of the embodiment of the present application. In actual applications, the computing device may also include more or fewer components, which is not limited here. Figures 1 to 6 The relevant explanations in the embodiments will not be repeated here.

[0130] Figure 8The present application provides a schematic diagram of a computing device cluster structure, which includes at least one computing device. The computing device can be a server, such as a central server, an edge server, or a local server in a local data center. In some possible embodiments, the computing device can also be a terminal device such as a desktop computer, a laptop computer, or a smartphone.

[0131] like Figure 8 As shown, the computing device cluster includes at least one computing device 800. The memory 803 in one or more computing devices 800 in the computing device cluster may store Figure 6 In the illustrated embodiment, all or part of the components of the laser marking device are used to execute instructions of the laser marking method.

[0132] In some possible implementations, the memory 803 of one or more computing devices 800 in the computing device cluster may also store partial instructions for executing the laser marking method. In other words, the combination of one or more computing devices 800 can jointly execute the instructions for executing the laser marking method.

[0133] It should be noted that the memory 803 in different computing devices 800 in the computing device cluster can store different instructions, which are respectively used to execute part of the functions of the laser marking system. That is, the instructions stored in the memory 803 in different computing devices 800 can be implemented. Figure 1 The laser marking system and Figure 6 The specific functions of all or part of the components of the laser marking device shown.

[0134] The computing device 800 includes a processor 801, a communication interface 802, a memory 803, and a bus 804. For further description of the processor 801, the communication interface 802, the memory 803, and the bus 804, please refer to Figure 7 The descriptions of the processor 701 , the processor 706 , the storage unit 702 , the storage medium 703 , the communication interface 704 , and the bus 705 in the embodiment are not repeated here.

[0135] In some possible implementations, one or more computing devices in a computing device cluster may be connected via a network, which may be a wide area network or a local area network. Figure 9 A possible implementation is shown. Figure 9 This is another structural diagram of a computing device cluster provided by this application, such as Figure 9As shown, two computing devices 900A and 900B are connected via a network. Specifically, the connection to the network is made via a communication interface in each computing device. In this possible implementation, the memory 903 in the computing device 900A stores the implementation Figure 6 In the embodiment shown, the instructions of the acquisition unit 610 are obtained. Meanwhile, the memory 903 in the computing device 900B stores the instructions for implementing Figure 6 Instructions to the processing unit 620 and the sending unit 630 in the illustrated embodiment. Figure 9 In the illustrated embodiment, further description of the processor 901, the communication interface 902, and the bus 904 may be referred to in Figure 7 The descriptions of the processor 701 , the communication interface 704 , and the bus 705 in the embodiment are not repeated here.

[0136] It should be understood that Figure 9 The functions of the computing device 900A shown in FIG. 1 may also be completed by multiple computing devices. Similarly, the functions of the computing device 900B may also be completed by multiple computing devices.

[0137] Need to explain, Figure 9 The implementation method shown may be an implementation method for when the processing power of the computing device 900A is insufficient, or when the storage space of the computing device 900A is insufficient, or an implementation method for other business scenarios, and this application does not make specific limitations.

[0138] The present application embodiment also provides another computing device cluster. The connection relationship between the computing devices in the computing device cluster can be similarly referred to as Figure 8 and Figure 9 The connection mode of the computing device cluster is different in that the memory 803 of one or more computing devices 800 in the computing device cluster may store the same instructions for executing the laser marking method.

[0139] In some possible implementations, the memory 803 of one or more computing devices 800 in the computing device cluster may also store partial instructions for executing the laser marking method. In other words, the combination of one or more computing devices 800 can jointly execute the instructions for executing the laser marking method.

[0140] The present application also provides a computer program product including instructions. The computer program product may be software or a program product including instructions that can be executed on a computing device or stored on any available medium. When the computer program product is executed on at least one computing device, the at least one computing device is caused to perform a laser marking method.

[0141] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that can be stored by a computing device or a data storage device such as a data center that contains one or more available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a high-density digital video disc (DVD)), or a semiconductor medium (for example, a solid-state drive). The computer-readable storage medium includes instructions that instruct the computing device to execute the information identification method, or instruct the computing device to execute the information identification method.

[0142] The above embodiments can be implemented in whole or in part through software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. A computer program product includes multiple computer instructions. When the computer program instructions are loaded or executed on a computer, the processes or functions according to the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0143] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent repairs or replacements within the technical scope disclosed in the present invention, and such repairs or replacements should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A laser marking method, characterized in that: Applied to a laser marking system, the laser marking system includes a marking machine, multiple visual positioning devices, and a computing device, the method includes: The plurality of visual positioning devices respectively capture the first image to obtain a plurality of first images, wherein the plurality of first images include a positioning structure and a surface of a marked workpiece, and the positioning structure is a three-dimensional geometric structure fixed in position relative to the marking machine; The computing device determines a marking trajectory based on the plurality of first images, wherein the marking trajectory is used to indicate a scanning trajectory of a laser beam generated by the marking machine; The computing device determining the marking trajectory according to the plurality of first images includes: The computing device acquires the plurality of first images; The computing device determines a second image based on the multiple first images, wherein the second image is obtained by stitching the multiple first images, and the second image includes the positioning structure; The computing device determines position and posture information of the marking machine based on the geometric positioning features of the positioning structure in the second image and a first calibration relationship, wherein the first calibration relationship includes a conversion relationship between the geometric positioning features of the positioning structure and the position and posture of the marking machine, and the position and posture information includes a distance and an angle of the marking machine relative to the marking workpiece; The computing device determines the marking trajectory according to the position and posture information of the marking machine; The computing device determining the marking trajectory according to the position and posture information of the marking machine includes: The computing device determines a first marking point set based on the position and posture information of the marking machine, wherein the first marking point set includes all or part of a plurality of coordinate points corresponding to a marking pattern on a surface of a workpiece in a visual positioning coordinate system, and the visual positioning coordinate system includes a coordinate system established based on one of the plurality of visual positioning devices; The computing device determines a second marking point set based on a first coordinate transformation relationship and the first marking point set, wherein the second marking point set includes coordinates of each point in the first marking point set in a marking coordinate system, the first coordinate transformation relationship is a coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system includes a coordinate system established based on the marking machine; The computing device determines the marking trajectory according to the second marking point set.

2. The method according to claim 1, characterized in that The relative positions of the multiple visual positioning devices and the surface of the marking workpiece are fixed, and the marking machine marks the surface of the marking workpiece within the range of the visual positioning field of view established by the multiple visual positioning devices, wherein the visual positioning field of view includes the spatial range covered by the images captured by the multiple visual positioning devices.

3. The method according to claim 2, characterized in that After the computing device determines the position and posture information of the marking machine according to the geometric positioning feature of the positioning structure and the first calibration relationship, the method further includes: The computing device determines a first coordinate transformation relationship according to the position and posture information of the marking machine, wherein the first coordinate transformation relationship includes a coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system.

4. The method according to claim 2, characterized in that The computing device determines a first marking point set according to the position and posture information of the marking machine, including: The computing device determines a first graphic point set, wherein the first graphic point set includes a coordinate point set corresponding to the marking graphic on the surface of the marking workpiece in the visual positioning coordinate system; The computing device determines a markable range based on the position and posture information of the marking machine, wherein the markable range includes an area within the marking workpiece area where the marking machine can perform effective marking operations at the position and posture indicated by the position and posture information; The computing device determines the first marking point set from the first graphic point set based on the markable range and the coordinate point set corresponding to the marked part of the marking graphic, wherein the first marking point set includes part or all of the coordinate point set corresponding to the unmarked part of the marking graphic.

5. The method according to claim 4, characterized in that The computing device determines a first set of graphic points, including: The computing device obtains a second graphic point set corresponding to the marking graphic in a workpiece coordinate system, wherein the workpiece coordinate system includes a coordinate system established based on the marked workpiece surface; The computing device determines a second coordinate transformation relationship based on a plurality of auxiliary marking points included in the second image; wherein the second coordinate transformation relationship includes a coordinate transformation relationship between the workpiece coordinate system and the vision positioning coordinate system, and the plurality of auxiliary marking points are arranged around a marking area on the surface of the marked workpiece; The computing device determines a first graphic point set based on the second coordinate transformation relationship and the second graphic point set, wherein the first graphic point set includes part or all of a coordinate point set corresponding to the marking graphic in the visual positioning coordinate system.

6. The method according to any one of claims 1 to 5, characterized in that The computing device determines the marking trajectory according to the second marking point set, including: The computing device determines a first speed, wherein the first speed is an expected speed of the marking machine during a current marking cycle; The computing device determines a marking trajectory corresponding to the second marking point set according to a trajectory planning algorithm and the first speed, wherein the marking trajectory passes through coordinate points in the second marking point set.

7. The method according to any one of claims 1 to 5, characterized in that Before the computing device acquires the plurality of first images, the method further includes: The marking machine marks a calibration pattern on the test marking board; The multiple visual positioning devices collect multiple first calibration images, wherein the first calibration images include the calibration pattern, and each of the visual positioning devices collects at least one first calibration image; The computing device determines a second calibration image, wherein the second calibration image is obtained by stitching the plurality of first calibration images according to a second calibration relationship, the second calibration relationship including a coordinate transformation relationship between images captured by the plurality of visual positioning devices; The computing device determines, based on the second calibration image, a set of coordinate points corresponding to the calibration figure in the visual positioning coordinate system, wherein the second calibration image includes image information of the calibration figure; The computing device determines a position and posture of a positioning structure based on the second calibration image, wherein the second calibration image includes image information of the positioning structure, and the positioning structure is a three-dimensional geometric structure whose relative position to the marking machine remains fixed during the marking process; The computing device determines a first calibration relationship based on the position and posture of the positioning structure and the coordinate point set corresponding to the calibration figure in the visual positioning coordinate system, wherein the first calibration relationship includes a conversion relationship between the geometric positioning feature of the positioning structure and the position and posture of the marking machine.

8. A laser marking device, characterized in that: include: an acquisition unit, configured to acquire a plurality of first images, wherein the plurality of first images are images acquired by a plurality of visual positioning devices, the plurality of first images include a positioning structure and a surface of a marked workpiece, the positioning structure being a three-dimensional geometric structure fixed in position relative to the marking machine; a processing unit, configured to determine a second image based on the plurality of first images, wherein the second image is obtained by stitching the plurality of first images, and the second image includes the positioning structure; The processing unit is further configured to determine position and posture information of the marking machine based on the geometric positioning features of the positioning structure and a first calibration relationship, wherein the first calibration relationship includes a conversion relationship between the geometric positioning features of the positioning structure and the position and posture of the marking machine, and the position and posture information includes a distance and an angle of the marking machine relative to the marking workpiece; The processing unit is further configured to determine a marking trajectory according to the position and posture information of the marking machine, wherein the marking trajectory is used to indicate a scanning trajectory of a laser beam generated by the marking machine: The method includes determining a first marking point set according to the position and posture information of the marking machine, wherein the first marking point set includes all or part of a plurality of coordinate points corresponding to a marking pattern on the surface of the workpiece in a visual positioning coordinate system, and the visual positioning coordinate system includes a coordinate system established based on one of the plurality of visual positioning devices; Determining a second marking point set based on a first coordinate transformation relationship and the first marking point set, wherein the second marking point set includes the coordinates of each point in the first marking point set in a marking coordinate system, the first coordinate transformation relationship being a coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system being a coordinate system established based on the marking machine; determining the marking trajectory according to the second marking point set; A sending unit is used to send the marking trajectory to a marking machine, wherein the marking machine is used to generate and control a laser beam.

9. A marking machine, characterized in that: The marking machine comprises the laser marking device according to claim 8, and is used to implement the method implemented by the computing device according to any one of claims 1 to 7.

10. A laser marking system, characterized in that: The laser marking system includes a marking machine, a plurality of visual positioning devices and a computing device, wherein: The multiple visual positioning devices are used to respectively capture the first image to obtain multiple first images, wherein the multiple first images include a positioning structure and a marking workpiece surface, and the positioning structure is a three-dimensional geometric structure fixed relative to the marking machine; The computing device is configured to determine a marking trajectory based on the plurality of first images, wherein the marking trajectory is used to indicate a scanning trajectory of a laser beam generated by the marking machine, specifically comprising: acquiring the plurality of first images; determining a second image based on the plurality of first images, wherein the second image is obtained by stitching the plurality of first images, and the second image includes the positioning structure; determining position and posture information of the marking machine based on the geometric positioning features of the positioning structure in the second image and a first calibration relationship, wherein the first calibration relationship includes a conversion relationship between the geometric positioning features of the positioning structure and the position and posture of the marking machine, and the position and posture information includes a distance and an angle of the marking machine relative to the marking workpiece; Determining a first marking point set based on the position and posture information of the marking machine, wherein the first marking point set includes all or part of a plurality of coordinate points corresponding to a marking pattern on the surface of the workpiece in a visual positioning coordinate system, wherein the visual positioning coordinate system includes a coordinate system established based on one of the plurality of visual positioning devices; Determining a second marking point set based on a first coordinate transformation relationship and the first marking point set, wherein the second marking point set includes coordinates of each point in the first marking point set in a marking coordinate system, the first coordinate transformation relationship is a coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system includes a coordinate system established based on the marking machine; The marking trajectory is determined according to the second marking point set.

11. The system according to claim 10, wherein: The relative positions of the multiple visual positioning devices and the surface of the marking workpiece are fixed, and the marking machine is used to mark the surface of the marking workpiece within the range of the visual positioning field of view established by the multiple visual positioning devices, wherein the visual positioning field of view includes the spatial range covered by the images captured by the multiple visual positioning devices.

12. A computing device, characterized in that The computing device includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to execute the instructions, so that the computing device implements the method implemented by the computing device according to any one of claims 1 to 7.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and when the instructions are executed by a computing device or a computing device cluster, the method implemented by the computing device according to any one of claims 1 to 7 is implemented.

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