A laser marking method, apparatus and system

Abstract

This application provides a laser marking method, apparatus, and system. The laser marking system includes a marking machine, a vision positioning device, and a computing device. The relative positions of the marking machine and the vision positioning device are fixed. The marking machine is used to mark the surface of the workpiece according to the marking pattern. First, the vision positioning device acquires a first image, which includes the surface of the workpiece. Second, the computing device determines the marking trajectory based on the first image. The marking trajectory is used to indicate the scanning trajectory of the laser beam generated by the marking machine. The laser marking method provided in this application can achieve high-precision and high-flexibility laser marking operations on large-format workpieces by real-time positioning of the relative position and posture of the marking machine during the marking process.

Description

Technical Field

[0001] This application relates to the field of system control, and in particular to a laser marking method, apparatus and system. Background Technology

[0002] Laser marking machines utilize the interaction between a laser beam and the material being marked. By controlling the energy and focus of the laser beam, they can perform operations such as engraving, marking, and marking on the surface of objects. This technology is characterized by high precision, high speed, and high reliability, and is widely used in industrial production. Handheld laser marking machines, due to their portability, have a significant advantage over tabletop laser marking machines in certain scenarios, and are therefore more widely used in various industries. Currently, handheld laser marking machines mainly support marking on flat surfaces and curved surfaces with slight curvature. During marking operations, the marking machine needs to be kept relatively fixed to the workpiece being marked. Summary of the Invention

[0003] This application proposes a laser marking method, apparatus, and system. By fixing the visual positioning device relative to the marking head, image information is collected in real time during the marking process to locate the relative position and posture of the marking head and the workpiece being marked. This ensures that the trajectory direction of the laser beam generated by the marking head can accurately scan to the position corresponding to the marked area. Furthermore, high-precision marking operations are completed by hand-holding the marking machine while moving it smoothly.

[0004] Firstly, a laser marking method is proposed and applied to a laser marking system. This system includes a marking machine, a vision positioning device, and a computing device. The relative positions of the marking machine and the vision positioning device are fixed. The marking machine is used to mark the surface of the workpiece according to a marking pattern. First, the vision positioning device acquires a first image, which includes the surface of the workpiece. Second, the computing device determines the marking trajectory based on the first image, whereby the marking trajectory indicates the scanning path of the laser beam generated by the marking machine.

[0005] In some possible embodiments, the marking machine marks the surface of the workpiece within the visual positioning field of view established by the visual positioning device, wherein the visual positioning field of view includes the spatial range covered by the image acquired by the visual positioning device.

[0006] In some possible embodiments, the specific method for the computing device to determine the marking trajectory based on the first image, as mentioned above, includes the following steps: First, the computing device acquires the first image, which is an image captured by a visual positioning device during the marking operation. The first image includes multiple auxiliary marker points on the surface of the workpiece to be marked, and these auxiliary marker points are positioned around the marking area on the surface of the workpiece. Second, the computing device determines a first positional orientation of the visual positioning device relative to the surface of the workpiece based on the multiple auxiliary marker points in the first image. This first positional orientation includes the spatial position and angle of the visual positioning device relative to the surface of the workpiece. Finally, the computing device determines the marking trajectory based on the first positional orientation.

[0007] In some possible embodiments, the specific method for the computing device to determine the marking trajectory based on the first position orientation, as mentioned above, includes the following steps: First, the computing device determines a second position orientation based on the first position orientation and a calibration conversion relationship, wherein the calibration conversion relationship includes the conversion relationship between the position orientation of the visual positioning device and the position orientation of the marking machine, and the second position orientation includes the spatial position and angle of the marking machine relative to the surface of the workpiece. Second, the computing device determines the marking range based on the second position orientation, wherein the marking range includes the area within the workpiece area where the marking machine can perform effective marking operations under the second position orientation. Finally, the computing device determines the marking trajectory based on the marking range.

[0008] In some possible embodiments, the specific method by which the computing device, mentioned above, determines the marking trajectory based on the marking range includes the following steps: First, the computing device determines a first marking point set from a first set of graphic points based on the marking range. This first marking point set includes some or all of the coordinate points corresponding to the unmarked portion of the graphic. The first graphic point set includes the coordinate points corresponding to the graphic on the surface of the workpiece in a visual positioning coordinate system, which is a coordinate system established based on a visual positioning device. Second, the computing device determines a second marking point set based on a calibration transformation relationship and the first marking point set. This second marking point set includes the coordinates of each point in the first marking point set in the marking coordinate system. The calibration transformation relationship is a coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system, which 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, where the marking trajectory includes the scanning trajectory of the laser beam generated by the marking machine.

[0009] In some possible embodiments, after the computing device acquires the first image, the method further includes the following steps: First, the computing device acquires a second set of graphic points corresponding to the marking pattern in the workpiece coordinate system, wherein the workpiece coordinate system includes a coordinate system established based on the surface of the marked workpiece. Second, the computing device determines a positioning transformation relationship based on multiple auxiliary marker points included in the first image; wherein the positioning transformation relationship includes a coordinate transformation relationship between the workpiece coordinate system and the visual positioning coordinate system. Finally, the computing device determines a first set of graphic points based on the positioning transformation relationship and the second set of graphic points, wherein the first set of graphic points includes part or all of the coordinate point set corresponding to the marking pattern in the visual positioning coordinate system.

[0010] In some possible embodiments, before the computing device determines the first marking point set from the first graphic point set based on the marking range, the laser marking method may further include the following steps: First, the computing device acquires one or more second images, wherein the second image is an image collected by a visual positioning device containing a marking area and multiple auxiliary marking points, the marking area being the area on the surface of the workpiece used for laser marking, and the multiple auxiliary marking points being set around the marking area. Second, the computing device edits the marking graphic using one or more second images and determines the second graphic point set, wherein the second graphic point set includes a set of multiple coordinate points of the marking graphic in the workpiece coordinate system, the workpiece coordinate system including a coordinate system established with a point on the surface of the workpiece as the origin.

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

[0012] In some possible embodiments, before the computing device acquires the first image, the laser marking method further includes the following calibration steps. First, the marking machine marks a calibration pattern on a test marking plate, wherein the calibration pattern includes a checkerboard pattern. Second, a visual positioning device acquires the first calibration image, wherein the first calibration image includes an image acquired by the visual positioning device, and the visual positioning device is fixed in relative position to the marking machine during the marking process. Third, the computing device determines the set of coordinate points of the calibration pattern in the visual positioning coordinate system based on the first calibration image, wherein the first calibration image includes image information of the calibration pattern. Finally, the computing device determines a calibration transformation relationship based on the corresponding set of calibration trajectory points of the calibration pattern in the marking coordinate system and the set of coordinate points of the calibration pattern in the visual positioning coordinate system, wherein the calibration transformation relationship includes the transformation relationship between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system includes a coordinate system established with the laser beam emission port of the marking machine as the origin.

[0013] Secondly, a laser marking device is proposed. First, an acquisition unit is used to acquire a first image, which is an image captured by a vision positioning device during the marking operation. The first image includes multiple auxiliary marking points on the surface of the workpiece to be marked, with these auxiliary marking points positioned around the marking area on the workpiece surface. Second, a processing unit is used to determine a first positional orientation of the vision positioning device relative to the surface of the workpiece based on the multiple auxiliary marking points in the first image. This first positional orientation includes the spatial position and angle of the vision positioning device relative to the surface of the workpiece. The processing unit is further used to determine a second positional orientation based on the first positional orientation and a calibration conversion relationship. This calibration conversion relationship includes a conversion relationship between the positional orientation of the vision positioning device and the positional orientation of the marking machine. The second positional orientation includes the spatial position and angle of the marking machine relative to the surface of the workpiece. The processing unit is also used to determine a markingable range based on the second positional orientation. This markingable range includes the area within the workpiece area where the marking machine can effectively perform marking operations under the second positional orientation. The processing unit is further configured to determine the marking trajectory based on the marking range, wherein the marking trajectory includes a scanning trajectory for controlling the laser beam generated by the marking machine. Finally, a sending unit is configured to send the marking trajectory to the marking machine, wherein the marking machine is used to generate and control the laser beam.

[0014] In some possible embodiments, the processing unit is specifically used for the following operations. First, a first marking point set is determined from a first set of graphic points based on the marking range. This first marking point set includes part or all of the coordinate points corresponding to the unmarked portion of the graphic. The first graphic point set includes the coordinate points corresponding to the graphic on the surface of the workpiece in a visual positioning coordinate system, which is a coordinate system established based on a visual positioning device. Second, a second marking point set is determined based on a calibration transformation relationship and the first marking point set. This second marking point set includes the coordinates of each point in the first marking point set in the marking coordinate system. The calibration transformation relationship is a coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system, which is a coordinate system established based on the marking machine. Finally, a marking trajectory is determined based on the second marking point set. This marking trajectory includes the scanning trajectory for controlling the laser beam generated by the marking machine.

[0015] Thirdly, a marking machine is proposed, which includes the laser marking device of the second aspect, for implementing the method implemented by the computing device in any embodiment of the first aspect.

[0016] Fourthly, a laser marking system is proposed, which includes a marking machine, a vision positioning device, and a computing device. The marking machine is used to mark the surface of the workpiece according to the marking pattern.

[0017] A visual positioning device is used to acquire a first image, wherein the first image includes image information of the surface of the workpiece to be marked. A computing device is used to determine a marking trajectory based on the first image, wherein the marking trajectory is used to indicate the scanning trajectory of the laser beam generated by the marking machine.

[0018] In some possible embodiments, the relative position of the visual positioning device and the marking machine is fixed. The marking machine is used to mark the surface of the workpiece within the visual positioning field of view established by the visual positioning device, wherein the visual positioning field of view includes the spatial range covered by the image acquired by the visual positioning device.

[0019] Specifically, the computing device is used to: first, acquire a first image, which is an image captured by a vision positioning device during the marking operation. The first image includes multiple auxiliary marker points on the surface of the workpiece to be marked, with these auxiliary marker points positioned around the marking area on the workpiece surface. Second, determine a first positional orientation of the vision positioning device relative to the workpiece surface based on the multiple auxiliary marker points in the first image. This first positional orientation includes the spatial position and angle of the vision positioning device relative to the workpiece surface. Third, determine a second positional orientation based on the first positional orientation and a calibration conversion relationship. This calibration conversion relationship includes the conversion relationship between the positional orientation of the vision positioning device and the positional orientation of the marking machine. The second positional orientation includes the spatial position and angle of the marking machine relative to the workpiece surface. Subsequently, determine the marking range based on the second positional orientation. This marking range includes the area within the workpiece area where the marking machine can effectively perform marking operations under the second positional orientation. Finally, determine the marking trajectory based on the marking range.

[0020] Specifically, the computing device is used to: first, determine a first marking point set from a first set of graphic points based on the marking range. This first marking point set includes some or all of the coordinate points corresponding to the unmarked portion of the graphic. The first graphic point set includes the coordinate points corresponding to the graphic on the workpiece surface in a visual positioning coordinate system, which is a coordinate system established based on a visual positioning device. Second, determine a second marking point set based on a calibration transformation relationship and the first marking point set. This second marking point set includes the coordinates of each point in the first marking point set in the marking coordinate system. The calibration transformation relationship is the coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system, which is a coordinate system established based on the marking machine. Finally, determine the marking trajectory based on the second marking point set.

[0021] Fifthly, a computing device is proposed, comprising a processor and a memory, the memory for storing instructions and the processor for executing the instructions, such that the computing device implements the method implemented by the computing device in any embodiment of the first aspect.

[0022] In a sixth aspect, a computer-readable storage medium is provided, which stores instructions that, when executed by a computing device or a cluster of computing devices, implement the method implemented by the computing device in any embodiment of the first aspect. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the operation of a laser marking system provided in this application;

[0024] Figure 2 This is a schematic diagram of another laser marking system provided in this application;

[0025] Figure 3 This is a schematic diagram of a laser-marked QR code graphic provided in this application;

[0026] Figure 4 This is a schematic diagram of the various coordinate systems in a laser marking system provided in this application;

[0027] Figure 5 This is a flowchart of a laser marking system calibration method provided in this application;

[0028] Figure 6 This is a flowchart of a laser marking method provided in this application;

[0029] Figure 7 This is a schematic diagram of a laser marking device provided in this application;

[0030] Figure 8 This is a schematic diagram of the structure of a computing device provided in this application;

[0031] Figure 9 This is a schematic diagram of the structure of a computing device cluster provided in this application;

[0032] Figure 10 This is a schematic diagram of another structure of a computing device cluster provided in this application. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] In the description of this application, unless otherwise expressly defined, terms such as "setup" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0035] Common handheld laser marking equipment requires the marking head to be relatively fixed to the workpiece during marking operations. This is achieved using a bracket or semi-transparent protective cover, relying on the marking machine's own weight or continuous pressure from the operator to keep the marking head in contact with the workpiece. However, with existing handheld marking machines, any relative displacement between the machine and the workpiece can lead to misalignment of the marking pattern and marking failure, making operation difficult. Furthermore, the need for relative fixation during marking limits the marking range, supporting only marking patterns within the range of the marking galvanometer, thus preventing the marking of large-sized patterns. Moreover, handheld marking machines cannot accurately set the specific position of the marking pattern during the marking process, resulting in deviations or skewed markings from the ideal position. The reason is that the position and orientation relationship between the laser marking machine and the workpiece being marked is unknown. The laser marking pattern is referenced to the coordinate system of the laser marking machine. Therefore, once the relative position and orientation of the laser marking machine and the workpiece change, the trajectory left by the laser marking pattern on the workpiece will be interrupted or misaligned, resulting in marking failure. Furthermore, when performing laser marking on ultra-large parts or relatively complex curved surfaces (such as car bodies, ship hulls, and wind turbine blades), large-format laser marking operations (or laser surface treatment, laser metasurface micro / nano structure processing), or laser marking operations at complex angles and positions, often the laser marking machine head cannot perform multiple rounds of laser marking, thus failing to achieve the laser marking task.

[0036] To address the shortcomings of the existing technology, this application proposes a laser marking method, apparatus, and system. By fixing the visual positioning device relative to the marking head, image information is collected during the marking process to locate the relative position and posture of the marking head and the workpiece in real time. This ensures that the trajectory direction of the laser beam generated by the marking head can accurately scan to the position corresponding to the marking area. Furthermore, high-precision marking operations are completed by hand-holding the marking machine while moving it smoothly.

[0037] The following example will be used to introduce the laser marking system involved in this application and its application scenarios.

[0038] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating the operation of a laser marking system provided in this application. The laser marking system of this embodiment includes a laser marking machine, which includes a vision positioning device 101, a marking head 102, and a hand grip 105. In addition, the laser marking system of this embodiment also includes a marking area 103 on the surface of the workpiece and multiple auxiliary marking points 104 on the surface of the workpiece.

[0039] First, the visual positioning device 101 is introduced. In this embodiment, the visual positioning device 101 is installed on the side of the laser marking machine, aligned with the direction of the laser emission port of the marking head 102, and can directly acquire image information of the workpiece surface being marked. The visual positioning device 101 is used to determine the position and orientation of the laser marking machine and may include one or more of a camera, an image processing algorithm, and a control system. In some specific embodiments, the industrial camera included in the visual positioning device 101 captures images of the laser marking area. The choice of industrial camera depends on the application's required resolution, frame rate, and light sensitivity. In some specific embodiments, the image processing algorithm included in the visual positioning device 101 processes and analyzes the images captured by the camera and extracts feature information of the laser marking area, including image features such as edges, corners, and template matching. Commonly used image processing algorithms include edge detection, feature extraction, and pattern matching. In some specific embodiments, the control system included in the visual positioning device 101 is responsible for receiving the images captured by the camera and calculating the laser marking position and orientation based on the feature information extracted by the image processing algorithm. The control system can also communicate with the motion control system of the laser marking machine to achieve real-time position and orientation adjustment.

[0040] The vision positioning device 101 enables the laser marking machine to achieve non-contact positioning and alignment, with high precision and high flexibility. It is applicable to workpieces of various shapes and materials, whether flat, curved, or irregular, and can be positioned and aligned using appropriate image processing algorithms. By holding the handheld handle 105, the position and orientation of the laser marking machine can be continuously adjusted to gradually complete the marking operation on the marking area 103.

[0041] Before using the visual positioning device 101, it needs to be calibrated to determine the camera's internal and external parameters. The camera's internal parameters include focal length and distortion, while the external parameters include the camera's position and orientation. Furthermore, after installing and fixing the visual positioning device 101 to the marking head 102, the transformation relationship between the visual positioning coordinate system corresponding to the camera used for image acquisition in the visual positioning device 101 and the marking coordinate system corresponding to the galvanometer used for positioning and moving the laser beam in the marking head 102 needs to be calibrated. The calibration process can be achieved using a calibration test board or calibration object. Multiple images containing the calibration test board or calibration object are acquired at different positions and orientations, and then the camera parameters are calculated using a calibration algorithm. In practical applications, the performance of the visual positioning device 101 is also affected by factors such as ambient light, workpiece surface reflectivity, and camera resolution. Therefore, measures such as adding a light source, using a filter, and adjusting camera parameters may be necessary to improve the performance and stability of the visual positioning device 101.

[0042] The visual positioning device 101 can not only... Figure 1 As shown, the visual positioning device 101 is installed on the side of the laser marking machine. In other possible embodiments, the visual positioning device 101 may also be installed on the top surface of the laser marking machine.

[0043] Please see Figure 2 , Figure 2 This is a schematic diagram illustrating the operation of another laser marking system. Figure 1 Similar to the illustrated embodiment, the laser marking system in this embodiment also includes a vision positioning device 201, a marking head 202, a handheld handle 205, a marking area 203 on the surface of the workpiece, and multiple auxiliary marking points 204 on the surface of the workpiece. In this embodiment, the vision positioning device 201, installed on the top surface of the laser marking machine, can acquire image information through the laser source output port of the marking head 202. (About...) Figure 2 For a detailed description of each component in the laser marking system shown, please refer to [link / reference]. Figure 1 The specific details of the illustrated embodiment will not be repeated. By setting a vision positioning device 101 on the laser marking machine, the relative position and angle of the marking head 102 on the surface of the workpiece can be accurately positioned during the marking operation, thereby achieving high-precision laser marking.

[0044] Next, the marking head 102 is introduced. The marking head 102 shown in this embodiment is used to generate and control the focusing of a laser beam to precisely irradiate the workpiece surface for marking. In some possible examples, it includes one or more of the following: a laser source, a galvanometer scanning module, a focusing lens group, a cooling module, and a protective cover. In some specific embodiments, the laser source included in the marking head 102, as the core component of laser emission, can generate a high-energy and highly focused laser beam. The laser source can be of various types, including one or more combinations of fiber lasers, CO2 lasers, solid-state lasers, and semiconductor lasers. The appropriate laser source type can be selected according to the application requirements of laser marking and the material characteristics of the object being marked. In some specific embodiments, the galvanometer scanning module (Galvo scanner 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 the following types of galvanometers: flat mirror, scanning mirror, acousto-optic modulator (AOM), electro-optic modulator (EOM), resonant mirror, 2D mirror, 3D mirror, micro-electro-mechanical systems (MEMS) mirror, and high-speed mirror. In some possible embodiments, the galvanometer scanning module includes a scanning mirror and a mirror driver. The scanning mirror may include one or more mirrors. They are mounted on a rotatable or tiltable structure, and the direction of the laser beam is controlled by rotating or tilting the mirrors. The scanning mirror is typically made of highly reflective metallic lenses, such as copper, aluminum, or gold-plated silicon. The surface quality and reflectivity of the scanning galvanometer have a significant impact on the quality and energy loss of the laser beam. The galvanometer driver can employ either electromagnetic or electric drive methods to drive and control the scanning galvanometer. An electromagnetic driver uses an electromagnetic coil to generate a magnetic field, controlling the movement of the scanning galvanometer by changing the direction and magnitude of the magnetic field. An electric driver uses a motor and transmission mechanism to achieve the rotation or tilting of the scanning galvanometer. The scanning driver needs to possess high-precision and high-speed control capabilities to ensure accurate laser beam positioning and rapid scanning.

[0045] Next, the marking area 103 will be described. The marking area 103 is located in a certain area on the surface of the workpiece being marked. As can be seen, the marking area shown in this embodiment is a rectangular plane. In other possible embodiments, the marking area 103 can also be set to a two-dimensional planar graphic of different shapes depending on the marking pattern. Moreover, the marking area 103 can also be set to a planar surface, curved surface, or irregular surface, etc., depending on the surface type of the workpiece being marked; no limitation is made here.

[0046] Let's reiterate the auxiliary marking points 104. The auxiliary marking points 104 shown in this embodiment include multiple annular patterns. These auxiliary marking points 104 are evenly distributed around the marking area 103 on the surface of the workpiece. In other possible embodiments, the auxiliary marking points 104 can also be a combination of auxiliary marking patterns composed of multiple planar geometric patterns with high-precision geometric features and clear geometric edge contours. Furthermore, the method of setting multiple auxiliary marking points 104 around the marking area 103 can be the most common sticker application method, or it can include paint spraying, laser irradiation, layer covering, and other temporary or semi-permanent pattern marking methods, without limitation.

[0047] It is understood that after the pattern of multiple auxiliary marker points 104 is superimposed on the surface of the workpiece being marked, the geometric relationships inherent between the multiple auxiliary marker points 104 can be combined into auxiliary marking features. During the laser marking operation, by acquiring image information related to the auxiliary marking features contained in the image through the vision positioning device 101, the laser marking system can determine the coordinates of each coordinate point in the vision positioning coordinate system corresponding to the discrete coordinate point set used for laser marking. This process also includes determining the transformation relationship between the vision positioning coordinate system and the workpiece coordinate system through the aforementioned auxiliary marking features. The workpiece coordinate system includes a coordinate system established with a point on the surface of the workpiece as the origin, and the vision positioning coordinate system includes a coordinate system established with a spatial point within the field of view determined by the vision positioning device 101 as the origin. In this application, this transformation relationship of coordinate points is defined as a positioning transformation relationship. It is understandable that the set of discrete coordinate points corresponding to the marking pattern in the workpiece coordinate system can be imported and edited at the software level, and then the set of discrete coordinate points corresponding to the marking pattern can be transformed into a set of coordinate points based on the vision positioning coordinate system through the positioning transformation relationship.

[0048] Finally, the handheld grip 105 is introduced. The laser marking system provided in this embodiment can determine the relative position of the laser marking machine in real time through the visual positioning device 101 and the auxiliary marking points 104 around the marking area 103. Therefore, in some embodiments, laser marking can be completed in a non-fixed manner, such as by hand, during the smooth movement of the laser marking machine. This handheld laser marking method does not require the marking head 102 and the marking area 103 to be in a relatively stationary state during the marking operation. Therefore, laser marking can be performed on complex marking surfaces, objects with large-sized patterns, and objects that cannot be placed on a marking work platform during handheld operation.

[0049] In more possible embodiments, the laser marking system provided in this application may also include a computing device. This computing device has the function of processing and calculating the data generated by the related functional operations of the marking head 102 and the vision positioning device 101 mentioned above. For more information on the computing device, please refer to [link to relevant documentation]. Figure 8 The specific details of the computing device in the illustrated embodiment will not be elaborated here.

[0050] To facilitate understanding by those in the relevant field, the following specific example will be used to introduce the relevant content of the marking area and auxiliary marking points.

[0051] Please see Figure 3 , Figure 3 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 310, auxiliary marking points 320, a marking graphic 330, and a first marking sub-area 311.

[0052] First, let's introduce the marking area 310. The marking area 310 is the region on the surface of the workpiece where the marking pattern 330 is marked using a laser beam. In some possible embodiments, when the marking area 310 is large or the marking pattern 330 has a fine structure, the marking area 310 can be divided into multiple marking sub-areas, including a first marking sub-area 311. The marking operation is completed through multiple laser marking cycles. The first marking sub-area 311 is the portion of the marking area 310 corresponding to the marking pattern that can be completed in one marking cycle.

[0053] Next, we introduce the auxiliary marker points 320. Multiple auxiliary marker points 320 are distributed around the marking area 310. These auxiliary marker points 320 are set around the marking area 310 before the laser marking operation. The auxiliary marking features formed by the geometric positional relationship between the multiple auxiliary marker points 320 enable the marking machine to locate its current position and angle relative to the marking area 310 through the image acquired by the vision positioning device during the marking process.

[0054] Finally, the marking graphic 330 is introduced. The marking image given in this embodiment is in the form of a QR code. In some possible embodiments, the marking graphic 330 can be completed in one or more marking cycles, and the style of the marking graphic is not limited.

[0055] To realize the laser marking system provided in this application, this application also provides a laser marking system calibration method, used to calibrate the conversion relationship between the position and attitude of the vision positioning device and the position and attitude of the marking head before laser marking operation. It is understood that the laser marking system calibration method provided in this application can be applied to... Figure 1 The laser marking system shown in the embodiment.

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

[0057] Please see Figure 4 , Figure 4 This is a schematic diagram of the coordinate systems in a laser marking system provided in this application. This embodiment includes three coordinate systems: a visual positioning coordinate system 401, a marking coordinate system 402, and a workpiece coordinate system 403. It can be seen that this embodiment uses... Figure 1 The laser marking system of the illustrated embodiment introduces the three coordinate systems involved in this application.

[0058] First, let's introduce the visual positioning coordinate system 401. Figure 4 In the example shown, the visual positioning coordinate system 401 is a coordinate system established with a spatial point within the visual positioning field of view determined by the visual positioning device as its origin. In other possible embodiments, the visual positioning coordinate system 401 may also include a coordinate system established with any point within the field of view covered by the visual positioning device and its surrounding area as its origin, without limitation. Furthermore, the visual positioning coordinate system 401 can determine the coordinate transformation relationship between multiple images captured by the visual positioning device, and utilize the geometric features of auxiliary marker points contained in the acquired images to stitch together the multiple images captured by the visual positioning device.

[0059] Next, we will introduce the 402 marking coordinate system. Figure 4 In the example shown, the marking coordinate system 402 is a coordinate system established with the galvanometer in the marking head used for positioning and moving the laser beam as its origin. In other possible embodiments, the marking coordinate system 402 may also include a coordinate system established with any point within the laser marking machine as its origin, without limitation. Using the marking coordinate system 402, the marking trajectory for controlling the laser beam generated by the marking machine can be determined based on the discrete coordinate point set of the marking pattern in the marking coordinate system at different positions and orientations of the laser marking machine.

[0060] Finally, we introduce the workpiece coordinate system 403. Figure 4 In the example shown, the workpiece coordinate system 403 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 403 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 in the visual positioning field determined by the visual positioning device as the origin; no limitation is made here. The laser marking system's editing function allows for editing and importing / exporting of the marking pattern and discrete coordinate point set within the marking area under the workpiece coordinate system 403.

[0061] Please see below. Figure 5 , Figure 5 This is a flowchart illustrating a laser marking system calibration method provided in this application. The laser marking system calibration method provided in this embodiment can determine the calibration conversion relationship between the position and orientation of the vision positioning device and the position and orientation of the marking head. The specific steps are as follows:

[0062] S501: Mark the calibration pattern on the test marking plate.

[0063] This step is completed by the marking machine in the laser marking system. The marking machine is used to generate and control the laser beam for laser marking. After the vision positioning device is fixed relative to the marking machine head, the laser beam is controlled by the galvanometer of the marking machine head to mark the input calibration pattern onto the test marking plate. The calibration pattern can be some basic geometric shapes, or it can include patterns with obvious geometric features such as checkerboard patterns, without limitation.

[0064] S502: Acquire the first calibration image.

[0065] This step is completed by the vision positioning device in the laser marking system, which is used to acquire one or more first calibration images. After the marking head marks the calibration pattern on the test marking plate, the vision positioning device acquires one or more first calibration images, wherein the first calibration image includes multiple images of the calibration pattern acquired by the vision positioning device. It can be understood that since the pattern marked on the test plate can reflect the position and orientation of the marking head, and the vision positioning device is a device structure whose relative position to the marking machine remains unchanged during the marking process, there is a definite conversion relationship between the position and orientation characteristics of the marking pattern displayed in the first calibration image and the position and orientation of the marking head.

[0066] S503: Determine the set of coordinate points of the calibration graphic in the visual positioning coordinate system based on the first calibration image.

[0067] This step is completed by the computing device or computing unit within the laser marking system. The first 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 the visual positioning device as the origin.

[0068] S504: Determine the calibration transformation relationship based on the calibration trajectory point set corresponding to the calibration graphic in the marking coordinates and the coordinate point set of the calibration graphic in the visual positioning coordinate system.

[0069] This step is completed by the computing device or computing unit within the laser marking system. The calibration transformation relationship here refers to the coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system. This is used to determine the transformation relationship between the position and orientation of the visual positioning device and the marking head in real time during the laser marking operation. In subsequent laser marking processes, by leveraging the relatively fixed positions of the visual positioning device and the marking head, the calibration transformation relationship can be established with the support of image information including the first calibration image and feature matching algorithms. In some possible embodiments, to accelerate the system's calculation speed during laser marking operations, after obtaining the calibration transformation relationship, the two coordinate systems mentioned above (the visual positioning coordinate system and the marking coordinate system) can be unified into the marking coordinate system. In this case, the marking coordinate system can be a coordinate system established with the galvanometer in the marking head used for positioning and moving the laser beam as its origin.

[0070] The laser marking system calibration method shown in this embodiment can be realized by following the specific operations described in steps S501 to S504.

[0071] Next, we will introduce other relevant preparatory work before performing laser marking operations.

[0072] Before laser marking, the vision positioning device and the marking head need to be fixed relative to each other. A standardized calibration method can determine the conversion relationship between the position and orientation of the vision positioning device and the marking head. Figure 5 The calibration method of the laser marking system shown determines the calibration transformation relationship, which is the transformation relationship between the geometric positioning features of the positioning structure and the position and attitude of the marking head. It can be used to realize the transformation between the visual positioning coordinate system and the marking coordinate system during the laser marking operation.

[0073] Before laser marking, multiple auxiliary marking points need to be set on the surface of the workpiece and a workpiece coordinate system needs to be established. These auxiliary marking points are distributed around the marking area, which includes a specific area on the workpiece surface designated for laser marking. The number of auxiliary marking points on the workpiece surface can be determined based on the size and surface shape of the workpiece. Specifically, in some embodiments, the number of auxiliary marking points can be increased when the workpiece surface is curved, and decreased when the workpiece surface is planar. The positional distribution of these auxiliary marking points on the workpiece surface can form specific geometric features, and these geometric features can be detected and identified through images acquired by a visual positioning device. Since the auxiliary markers are graphic markers with clear edges, regular shapes, and consistent shapes among multiple auxiliary markers, specific geometric features can be formed by the positional distribution of the auxiliary markers on the surface of the workpiece based on the image information of the auxiliary markers displayed in the image acquired by the visual positioning device. This allows for the determination of the distance and angle between the visual positioning device and the surface of the workpiece, as well as whether the surface of the marking area is planar or curved, in order to establish a suitable workpiece coordinate system. This workpiece coordinate system can include a coordinate system established with a point on the surface of the workpiece as the origin, or a coordinate system established with a spatial point in the visual positioning field determined by the visual positioning device as the origin, without limitation.

[0074] For more information on auxiliary markers, please refer to [link / reference]. Figures 1 to 3 The specific details of the auxiliary markers in the illustrated embodiments will not be elaborated here.

[0075] The following is an example illustrating a laser marking method provided in this application.

[0076] Please see Figure 6 , Figure 6 This is a flowchart illustrating a laser marking method provided in this application. It can be understood that the laser marking method described in this embodiment can be used to achieve... Figure 1 or Figure 2 The related functions of the laser marking system in the illustrated embodiment.

[0077] It is understood that this embodiment will specifically describe the operation steps of the laser marking method within one marking cycle. For laser marking operations that require multiple laser marking cycles, the process for each laser marking cycle can be found in the workflow of the laser marking method within one marking cycle shown in this embodiment. The specific steps are as follows:

[0078] S601: Obtain the first image.

[0079] The first image here is acquired by a vision positioning device, and the image information in the first image includes the surface of the workpiece to be marked. During the acquisition of the first image by the vision positioning device, the relative position of the marking machine and the vision positioning device is fixed. The marking machine performs laser marking on the surface of the workpiece within the vision positioning field of view established by the vision positioning device, where the vision positioning field of view includes the spatial range covered by the image acquired by the vision positioning device. Subsequently, the computing device acquires multiple first images through this step.

[0080] S602: Determine the first position and orientation of the visual positioning device relative to the surface of the marked workpiece based on multiple auxiliary marker points of the first image.

[0081] The first position and orientation include the spatial position and angle of the visual positioning device relative to the surface of the workpiece to be marked. The laser marking system can determine the spatial position and angle of the visual positioning device relative to the marking area on the surface of the workpiece to be marked based on the image information of multiple auxiliary marker points in the first image.

[0082] In some possible embodiments, if the first position of the marking machine is not ideal, resulting in the first image not containing effective auxiliary marker information, the marking machine issues a prompt message. This prompt message can be further categorized into two scenarios: First, if the current position of the marking machine shown in the first image is not oriented towards the marking area on the workpiece surface, the marking machine issues a prompt message suggesting that the marking machine be aligned with the marking area. Second, if the current position of the marking machine shown in the first image indicates that the marking machine is too close / too far from the marking area, the marking machine issues a prompt message suggesting that the marking machine need to move away / closer to the marking area. The manner in which the marking machine issues the prompt message can include one or more forms such as sound, text, images, and vibration, and is not limited to any particular form.

[0083] S603: Determine the second position attitude based on the first position attitude and the calibration conversion relationship.

[0084] The calibration conversion relationship includes the conversion relationship between the position and orientation of the vision positioning device and the position and orientation of the marking machine. The second position and orientation includes the spatial position and angular orientation of the marking machine relative to the surface of the workpiece being marked. For more details on the calibration conversion relationship, please refer to the specific content described in steps S501 to S504, which will not be repeated here.

[0085] S604: Determine the first set of marking points based on the second position and attitude.

[0086] The first set of marking points includes the coordinates of multiple points in the marking graphic within a visual positioning coordinate system, which is a coordinate system established based on the visual positioning device. In some possible instances, the method may include the following steps:

[0087] First, a first set of graphic points is obtained, which includes the set of coordinate points corresponding to the marking graphic on the surface of the workpiece in the visual positioning coordinate system. The specific method for obtaining the first set of graphic points may include the following: First, obtaining a second set of graphic points corresponding to the marking graphic in the workpiece coordinate system, wherein the workpiece coordinate system includes a coordinate system established based on the surface of the workpiece, or a coordinate system established with a spatial point in the visual positioning field determined by the visual positioning device as the origin. Second, determining the positioning transformation relationship based on multiple auxiliary marker points included in the first image; wherein the positioning transformation relationship includes the coordinate transformation relationship between the workpiece coordinate system and the visual positioning coordinate system, and the multiple auxiliary marker points are set on the surface of the workpiece. Third, obtaining the first set of graphic points based on the positioning transformation relationship and the second set of graphic points, wherein the first set of graphic points includes part or all of the set of coordinate points corresponding to the marking graphic in the visual positioning coordinate system.

[0088] Since laser marking may take one or more marking cycles to complete the marking of a pattern, in some laser marking embodiments that require multiple marking cycles, the method for obtaining the first pattern point set also includes comprehensively considering the continuity of marking points from the previous marking cycle to ensure that the first pattern point set completed in the current marking cycle is continuous and connected with the first pattern point set completed in the previous marking cycle.

[0089] In some possible embodiments, the marking graphic can be imported and edited using the graphic setting software built into the laser marking system to determine the second graphic point set, including setting the position, scaling, and rotation angle of the marking graphic. For ease of understanding by designers, the marking graphic displayed in the graphic setting software can be based on a workpiece coordinate system established on the surface of the workpiece. Finally, appropriate editing can be performed on the marking graphic based on the workpiece coordinate system, such as stretching, transformation, rotation, and surface bonding.

[0090] The method for determining the second graphic point set mentioned above has been determined before the laser marking operation. In some possible instances, the specific operation method for determining the second graphic point set may include the following: First, acquire one or more second images using a vision positioning device; then, edit the marking graphic and determine the second graphic point set using one or more second images. The second image is an image acquired by the vision positioning device that includes the marking area and multiple auxiliary marker points. The marking area is the area on the workpiece surface used for laser marking. Multiple auxiliary marker points are set around the marking area. The second graphic point set includes a set of multiple coordinate points of the marking graphic in the workpiece coordinate system, which can be a coordinate system established with a point on the workpiece surface as the origin. In some possible instances, when the marking area is large and multiple second images are needed to completely cover the marking area, the multiple second images are stitched together based on the image information of the multiple auxiliary marker points contained in the multiple second images.

[0091] Secondly, the marking range is determined based on the second position posture. This marking range includes the area within the workpiece area where the marking machine can effectively perform marking operations in the second position posture. The second position posture includes the spatial position and angle of the marking machine relative to the workpiece surface.

[0092] Finally, based on the markable range and the set of coordinate points corresponding to the marked portion of the marking graphic, a first marking point set is determined from the first graphic point set. This first marking point set includes part or all of the set of coordinate points corresponding to the unmarked portion of the marking graphic. It can be understood that, considering the continuity of marking points from the previous marking cycle, this process can also be implemented in determining the first marking point set. When considering the continuity of marking points from the previous marking cycle, the first marking point set includes a portion of the set of coordinate points corresponding to the unmarked portion of the marking graphic.

[0093] S605: Determine the second set of punctuation points based on the calibration conversion relationship and the first set of punctuation points.

[0094] The second marking point set includes the coordinates of each point in the first marking point set in the marking coordinate system. The calibration transformation relationship is the coordinate transformation 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.

[0095] For more information on the marking coordinate system, please refer to [link / reference]. Figure 4 The specific details of the marking coordinate system 402 in the illustrated embodiment, and further descriptions of the calibration transformation relationship, can be found in steps S501 to S504, and will not be repeated here.

[0096] S606: Determine the marking trajectory based on the second marking point set.

[0097] The marking trajectory includes 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 within the current marking cycle. Second, based on the trajectory planning algorithm and the first speed, the marking trajectory corresponding to the second set of marking points is determined, where the marking trajectory passes through the coordinate points in the second set of marking points.

[0098] Since laser marking operations may require one or more marking cycles to complete the marking of a graphic, in some laser marking embodiments that require multiple marking cycles, the method for determining the marking trajectory also includes comprehensively considering a subset of coordinate points that are allowed to be laser-marked within the duration of the current marking cycle. Specifically, the method includes: first, determining a third set of marking points corresponding to a second set of marking points based on a trajectory planning algorithm and the first speed of the laser marking machine, wherein the third set of marking points includes a subset of the second set of marking points that can complete the laser marking operation within one marking cycle. Then, determining the marking trajectory corresponding to the third set of marking points based on the trajectory planning algorithm.

[0099] After the marking trajectory data 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 in one or more laser marking cycles.

[0100] The laser marking method described in steps S601 to S606 can not only perform highly flexible, large-format laser marking on the surface of complex workpieces, but also realize high-precision laser processing operations such as laser surface treatment of marked workpieces and laser processing of micro-nano structures on metasurfaces. No limitations are made here.

[0101] The following section introduces a laser marking device provided in this application.

[0102] Please see Figure 7 , Figure 7 This is a schematic diagram of a laser marking apparatus provided in this application. The laser marking apparatus 700 provided in this embodiment includes an acquisition unit 710, a processing unit 720, and a transmission unit 730. Details are as follows:

[0103] The acquisition unit 710 is used to acquire a first image, wherein the first image is an image collected by a visual positioning device during the marking operation. The first image includes multiple auxiliary marking points on the surface of the workpiece to be marked, and the multiple auxiliary marking points are set around the marking area on the surface of the workpiece to be marked.

[0104] The processing unit 720 is used to determine a first position orientation of the visual positioning device relative to the surface of the marked workpiece based on a plurality of auxiliary marker points of the first image, wherein the first position orientation includes the spatial position and angle of the visual positioning device relative to the surface of the marked workpiece.

[0105] The processing unit 720 is further configured to determine a second position orientation based on the first position orientation and the calibration conversion relationship, wherein the calibration conversion relationship includes the conversion relationship between the position orientation of the vision positioning device and the position orientation of the marking machine, and the second position orientation includes the spatial position and angle of the marking machine relative to the surface of the workpiece being marked.

[0106] The processing unit 720 is further configured to determine the marking range based on the second position posture, wherein the marking range includes the area within the workpiece area where the marking machine can perform effective marking operations under the second position posture.

[0107] The processing unit 720 is further configured to determine a marking trajectory based on the marking range, wherein the marking trajectory includes a scanning trajectory for controlling the laser beam generated by the marking machine. In some possible embodiments, the processing unit 720 is specifically configured to: First, determine a first marking point set from a first set of graphic points based on the marking range, wherein the position and orientation information includes the distance and angle of the marking machine relative to the workpiece being marked; the first marking point set includes multiple coordinate points in a visual positioning coordinate system, the visual positioning coordinate system including a coordinate system established based on a visual positioning device. Second, determine a second marking point set based on a calibration 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 calibration transformation relationship being a coordinate transformation relationship between the visual positioning coordinate system and the marking coordinate system, the marking coordinate system being 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 indicate the scanning trajectory of the laser beam generated and controlled by the marking machine.

[0108] The transmitting unit 730 is used to send the marking trajectory to the marking machine. The marking machine controls the galvanometer of the marking head to control the emission trajectory of the laser beam according to the marking trajectory, and realizes the marking operation on the surface of the object to be marked.

[0109] The laser marking device described in this embodiment can be applied to... Figure 1 The laser marking system shown includes the laser marking methods described in steps S601 to S606 and the laser marking system calibration methods described in steps S501 to S504. In some specific embodiments, the laser marking device may also be disposed in one or more of a marking machine, a vision positioning device, and a computing device that includes the laser marking system, without limitation.

[0110] The above text combines Figures 1 to 7This application provides a detailed description of the laser marking method, apparatus, and system provided below. Figures 8 to 10 This application describes the computing device and computing device cluster provided in accordance with this application.

[0111] Figure 8 This is a schematic diagram of the structure of a computing device provided in this application, which can be applied to... Figure 1 or Figure 2 The electronic device with computing resources in the laser marking system shown in the embodiment example enables... Figure 1 or Figure 2 The laser marking system in the illustrated embodiment implements the laser marking method described in steps S501 to S504 and the laser marking system calibration method described in steps S601 to S606.

[0112] Furthermore, the computing device includes a processor 801, a storage unit 802, a storage medium 803, and a communication interface 804. The processor 801, the storage unit 802, the storage medium 803, and the communication interface 804 communicate via a bus 805, and also via other means such as wireless transmission.

[0113] Processor 801 comprises one or more general-purpose processors, such as a CPU, NPU, or a combination of a CPU and hardware chips. The aforementioned hardware chips are application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The aforementioned PLDs are complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), generic array logic (GALs), data processing units (DPUs), systems-on-chips (SoCs), or any combination thereof. Processor 801 executes various types of digital memory instructions, such as program code stored in memory unit 802 or one or more within the core, enabling the computing device to provide a wide range of services.

[0114] In a specific implementation, as one example, the processor 801 includes one or more CPUs, for example... Figure 8 CPU0 and CPU1 are shown in the diagram.

[0115] In a specific implementation, as one example, the computing device also includes multiple processors, for example... Figure 8 The processors 801 and 806 are shown. Each of these processors can be a single-core processor or a multi-core processor. Here, a processor refers to one or more devices, circuits, and / or processing cores used to process data (such as computer program instructions).

[0116] Storage unit 802 is used to store program code, and its execution is controlled by processor 801 to perform the above-mentioned tasks. Figures 1 to 7 The laser marking method and system processing steps in any embodiment. The program code includes one or more software units.

[0117] Storage unit 802 includes read-only memory and random access memory, and provides instructions and data to processor 801. Storage unit 802 also includes non-volatile random access memory. Storage unit 802 is volatile memory or non-volatile memory, or a combination of both. The non-volatile memory is read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory is random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It can also refer to hard disks, USB flash drives, flash memory, SD cards, Memory Sticks, etc., where hard disks include hard disk drives (HDDs), solid-state drives (SSDs), and mechanical hard disks (HDDs), etc., and this application does not specifically limit the types used.

[0118] Storage medium 803 is a carrier for storing data, such as hard disk, USB flash drive, flash memory, SD card, memory stick, etc. The hard disk can be a hard disk drive (HDD), solid state disk (SSD), mechanical hard disk (HDD), etc. This application does not make specific limitations.

[0119] The communication interface 804 is a wired interface (e.g., an Ethernet interface), an internal interface (e.g., a Peripheral Component Interconnect express (PCIe) bus interface), a wired interface (e.g., an Ethernet interface), or a wireless interface (e.g., a cellular network interface or a wireless LAN interface), used to communicate with other servers or units.

[0120] The 805 bus is a Peripheral Component Interconnect Express (PCIe) bus, or an Extended Industry Standard Architecture (EISA) bus, a unified bus (Ubus or UB), a Compute Express Link (CXL) bus, a Cache Coherent Interconnect for Accelerators (CCIX) bus, etc. The 805 bus is divided into address bus, data bus, and control bus.

[0121] In addition to the data bus, the 805 bus also includes a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus 805 in the diagram.

[0122] It needs to be explained that, Figure 8 This is merely one possible implementation of an embodiment of this application. In practical applications, the computing device may include more or fewer components, and this is not a limitation. For content not shown or described in the embodiments of this application, please refer to the foregoing. Figures 1 to 7 The relevant descriptions in the embodiments will not be repeated here.

[0123] Figure 9This is a schematic diagram of a computing device cluster provided in this application, 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 specific embodiments, the computing device can also be a desktop computer, a laptop computer, or a smartphone, or other terminal device.

[0124] like Figure 9 As shown, the computing device cluster includes at least one computing device 900. The memory 903 in one or more computing devices 900 of the computing device cluster may store... Figure 7 The same instructions are shown for executing the vehicle trajectory tracking control method.

[0125] In some possible implementations, the memory 903 of one or more computing devices 900 in the computing device cluster may also store partial instructions for executing the laser marking method. In other words, a combination of one or more computing devices 900 can jointly execute the instructions for executing the laser marking method.

[0126] It should be noted that the memory 903 in different computing devices 900 within the computing device cluster can store different instructions, each used to execute a specific function of the laser marking system. That is, the instructions stored in the memory 903 of different computing devices 900 can achieve... Figure 1 or Figure 2 The laser marking system and the embodiment shown are described. Figure 7 The functions of each component of the laser marking device shown are illustrated.

[0127] The computing device 900 includes a processor 901, a communication interface 902, a memory 903, and a bus 904. Further descriptions of the processor 901, communication interface 902, memory 903, and bus 904 can be found in [reference needed]. Figure 8 The descriptions of processor 801, processor 806, storage unit 802, storage medium 803, communication interface 804, and bus 805 in the embodiments will not be repeated here.

[0128] In some possible implementations, one or more computing devices in a computing device cluster can be connected via a network. This network can be a wide area network (WAN), a local area network (LAN), or similar. Figure 10 One possible implementation method is shown. Figure 10 This is another schematic diagram of a computing device cluster provided in this application, such as... Figure 10As shown, two computing devices 1000A and 1000B are connected via a network. Specifically, they are connected to the network through communication interfaces in each computing device. In this type of possible implementation, the memory 1003 in computing device 1000A stores the implementation... Figure 7 The instructions for the acquisition unit in the illustrated embodiment are shown. Meanwhile, the memory 1003 in the computing device 1000B stores the implementation... Figure 7 Instructions to the processing unit and the sending unit in the illustrated embodiment. Figure 10 Further descriptions of the processor 1001, communication interface 1002, and bus 1004 in the illustrated embodiment can be found in [reference needed]. Figure 8 The descriptions of the processor 801, communication interface 804, and bus 805 in the embodiments will not be repeated here.

[0129] It should be understood that Figure 10 The functions of computing device 1000A shown can also be performed by multiple computing devices. Similarly, the functions of computing device 1000B can also be performed by multiple computing devices.

[0130] It needs to be explained that, Figure 10 The implementation shown may be implemented when the processing power of the computing device 1000A is insufficient, or when the storage space of the computing device 1000A is insufficient, or in other business scenarios. This application does not make any specific limitations.

[0131] This application also provides another computing device cluster. The connection relationships between the computing devices in this computing device cluster can be similarly referred to... Figure 9 and Figure 10 The connection method of the computing device cluster. The difference is that the memory 903 of one or more computing devices 900 in the computing device cluster can store the same instructions for executing the laser marking method.

[0132] In some possible implementations, the memory 903 of one or more computing devices 900 in the computing device cluster may also store partial instructions for executing the laser marking method. In other words, a combination of one or more computing devices 900 can jointly execute the instructions for executing the laser marking method.

[0133] This application also provides a computer program product containing instructions. The computer program product may be a software or program product containing instructions, capable of running on a computing device or stored on any usable medium. When the computer program product is run on at least one computing device, it causes the at least one computing device to perform a laser marking method.

[0134] This application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium capable of being stored by a computing device, or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., high-density digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state drive). The computer-readable storage medium includes instructions that instruct the computing device to perform an information identification method, or instruct the computing device to perform an information identification method.

[0135] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented in software, the above embodiments can be implemented, in whole or in part, as a computer program product. A computer program product includes a plurality of computer instructions. When the computer program instructions are loaded or executed on a computer, all or part of the flow or function according to the embodiments of the present invention is generated. 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.

[0136] 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 substitutions within the technical scope disclosed in the present invention, and these repairs or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A laser marking method, characterized in that, An application is made in a laser marking system, the laser marking system including a marking machine, a vision positioning device, and a computing device, wherein the relative position of the marking machine and the vision positioning device is fixed, and the marking machine is used to mark on the surface of the workpiece according to a marking pattern, the method including: The visual positioning device acquires a first image, wherein the first image includes the surface of the marked workpiece; The computing device acquires the first image, wherein the first image is an image collected by the visual positioning device during the marking operation, and the first image includes a plurality of auxiliary marking points on the surface of the workpiece to be marked, the plurality of auxiliary marking points being disposed around the marking area on the surface of the workpiece to be marked; The computing device determines a first positional orientation of the visual positioning device relative to the surface of the marked workpiece based on the plurality of auxiliary marker points in the first image, wherein the first positional orientation includes the spatial position and angle of the visual positioning device relative to the surface of the marked workpiece. The computing device determines the second position orientation based on the first position orientation and the calibration conversion relationship, wherein the calibration conversion relationship includes the conversion relationship between the position orientation of the vision positioning device and the position orientation of the marking machine, and the second position orientation includes the spatial position and angle of the marking machine relative to the surface of the workpiece being marked; The computing device determines the marking range based on the second position and posture, wherein the marking range includes the area within the marking workpiece area where the marking machine can perform effective marking operations in the second position and posture; The computing device determines the marking trajectory based on the marking range; wherein, the marking trajectory is used to indicate the scanning trajectory of the laser beam generated by the marking machine; After the computing device acquires the first image, the method further includes: The computing device acquires a second set of graphic points corresponding to the marking graphic in the workpiece coordinate system, wherein the workpiece coordinate system includes a coordinate system established based on the surface of the marked workpiece; The computing device determines the positioning transformation relationship based on the plurality of auxiliary marker points included in the first image; wherein, the positioning transformation relationship includes the coordinate transformation relationship between the workpiece coordinate system and the visual positioning coordinate system; The computing device determines the first graphic point set based on the positioning 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.

2. The method according to claim 1, characterized in that, The marking machine performs laser marking on the surface of the workpiece within the visual positioning field of view established by the visual positioning device, wherein the visual positioning field of view includes the spatial range covered by the image acquired by the visual positioning device.

3. The method according to claim 2, characterized in that, The computing device determines the marking trajectory based on the marking range, including: The computing device determines a first marking point set from a first set of graphic points based on the marking range. The first marking point set includes part or all of the coordinate point set corresponding to the unmarked part of the marking graphic. The first set of graphic points includes the coordinate point set corresponding to the marking graphic on the surface of the marking workpiece in a visual positioning coordinate system. The visual positioning coordinate system is a coordinate system established based on the visual positioning device. The computing device determines the second marking point set based on the calibration transformation relationship and the first marking point set. The second marking point set includes the coordinates of each point in the first marking point set in the marking coordinate system. The calibration transformation relationship is the coordinate transformation 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. The computing device determines the marking trajectory based on the second set of marking points.

4. The method according to claim 3, characterized in that, Before the computing device determines the first set of marking points from the first set of graphic points based on the marking range, the method further includes: The computing device acquires one or more second images, wherein the second image is an image collected by the visual positioning device that includes the marking area and the multiple auxiliary marking points, and the marking area is the area on the surface of the workpiece used for laser marking. The computing device edits the marking graphic based on one or more second images and determines a second graphic point set, wherein the second graphic point set includes a set of multiple coordinate points of the marking graphic in the workpiece coordinate system, and the workpiece coordinate system includes a coordinate system established with a certain point on the surface of the marked workpiece as the origin.

5. The method according to claim 3, characterized in that, The computing device determines the marking trajectory based on the second set of marking points, including: The computing device determines a first speed, wherein the first speed is the expected speed of the marking machine in the current marking cycle; The computing device determines the marking trajectory corresponding to the second marking point set based on the trajectory planning algorithm and the first velocity, wherein the marking trajectory passes through the coordinate points in the second marking point set.

6. The method according to any one of claims 1-5, characterized in that, Before the computing device acquires the first image, the method further includes: The marking machine marks the calibration pattern on the test marking plate; The visual positioning device acquires a first calibration image, wherein the first calibration image includes the image acquired by the visual positioning device, and the visual positioning device is fixed in relative position to the marking machine during the marking process; The computing device determines the set of coordinate points of the calibration graphic in the visual positioning coordinate system based on the first calibration image, wherein the first calibration image includes image information of the calibration graphic; The computing device determines the calibration transformation relationship based on the set of calibration trajectory points corresponding to the calibration graphic in the marking coordinate system and the set of coordinate points of the calibration graphic in the visual positioning coordinate system. The calibration transformation relationship includes the transformation relationship between the visual positioning coordinate system and the marking coordinate system. The marking coordinate system includes a coordinate system established with the laser beam emission port of the marking machine as the origin.

7. A laser marking apparatus for implementing the method as described in any one of claims 1-6, characterized in that, include: An acquisition unit is used to acquire the first image, wherein the first image is an image acquired by the visual positioning device during the marking operation, and the first image includes a plurality of auxiliary marking points on the surface of the workpiece to be marked, the plurality of auxiliary marking points being disposed around the marking area on the surface of the workpiece to be marked; The processing unit is configured to determine a first positional orientation of the visual positioning device relative to the surface of the marked workpiece based on the plurality of auxiliary marker points in the first image, wherein the first positional orientation includes the spatial position and angle of the visual positioning device relative to the surface of the marked workpiece. The processing unit is further configured to determine a second position orientation based on the first position orientation and calibration conversion relationship, wherein the calibration conversion relationship includes the conversion relationship between the position orientation of the vision positioning device and the position orientation of the marking machine, and the second position orientation includes the spatial position and angle of the marking machine relative to the surface of the workpiece being marked; The processing unit is further configured to determine the marking range based on the second position posture, wherein the marking range includes the area within the marking workpiece area where the marking machine can perform effective marking operations in the second position posture; The processing unit is further configured to determine a marking trajectory based on the marking range, wherein the marking trajectory includes a scanning trajectory for controlling the laser beam generated by the marking machine; 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.

8. The apparatus according to claim 7, characterized in that, The processing unit is specifically used for: A first marking point set is determined from a first set of graphic points according to the marking range. The first marking point set includes part or all of the coordinate point set corresponding to the unmarked part of the marking graphic. The first graphic point set includes the coordinate point set corresponding to the marking graphic on the surface of the marking workpiece in a visual positioning coordinate system. The visual positioning coordinate system is a coordinate system established based on the visual positioning device. A second set of marking points is determined based on the calibration transformation relationship and the first set of marking points. The second set of marking points includes the coordinates of each point in the first set of marking points in the marking coordinate system. The calibration transformation relationship is the coordinate transformation 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. The marking trajectory is determined based on the second set of marking points.

9. A marking machine, characterized in that, The marking machine includes the laser marking device as described in claim 7 or 8, used to implement the laser marking method as described in any one of claims 1-6.

10. A laser marking system, characterized in that, The laser marking system includes a marking machine, a vision positioning device, and a computing device. The relative positions of the marking machine and the vision positioning device are fixed. The marking machine is used to mark the surface of the workpiece according to the marking pattern, wherein: The visual positioning device is used to acquire a first image, wherein the first image includes image information of the surface of the marked workpiece; The computing device is used to acquire the first image, wherein the first image is an image acquired by the visual positioning device during the marking operation, and the first image includes a plurality of auxiliary marking points on the surface of the workpiece to be marked, the plurality of auxiliary marking points being disposed around the marking area on the surface of the workpiece to be marked; The first position orientation of the visual positioning device relative to the surface of the marked workpiece is determined based on the plurality of auxiliary marker points in the first image, wherein the first position orientation includes the spatial position and angle of the visual positioning device relative to the surface of the marked workpiece. The second position orientation is determined based on the first position orientation and the calibration conversion relationship, wherein the calibration conversion relationship includes the conversion relationship between the position orientation of the vision positioning device and the position orientation of the marking machine, and the second position orientation includes the spatial position and angle of the marking machine relative to the surface of the workpiece being marked; The marking range is determined based on the second position posture, wherein the marking range includes the area within the marking workpiece area where the marking machine can perform effective marking operations in the second position posture; The marking trajectory is determined based on the marked range; The marking trajectory is used to indicate the scanning trajectory of the laser beam generated by the marking machine; After the computing device acquires the first image, the computing device is further configured to: Obtain the second set of graphic points corresponding to the marking graphic in the workpiece coordinate system, wherein the workpiece coordinate system includes a coordinate system established based on the surface of the marked workpiece; The positioning transformation relationship is determined based on the plurality of auxiliary marker points included in the first image; wherein, the positioning transformation relationship includes the coordinate transformation relationship between the workpiece coordinate system and the visual positioning coordinate system; The first graphic point set is determined based on the positioning 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.

11. The system according to claim 10, characterized in that, The visual positioning device and the marking machine are fixed in relative position. The marking machine is used to mark the surface of the workpiece within the visual positioning field of view established by the visual positioning device. The visual positioning field of view includes the spatial range covered by the image acquired by the visual positioning device.

12. The system according to claim 10, characterized in that, The computing device is specifically used for: A first marking point set is determined from a first set of graphic points according to the marking range. The first marking point set includes part or all of the coordinate point set corresponding to the unmarked part of the marking graphic. The first graphic point set includes the coordinate point set corresponding to the marking graphic on the surface of the marking workpiece in a visual positioning coordinate system. The visual positioning coordinate system is a coordinate system established based on the visual positioning device. A second set of marking points is determined based on the calibration transformation relationship and the first set of marking points. The second set of marking points includes the coordinates of each point in the first set of marking points in the marking coordinate system. The calibration transformation relationship is the coordinate transformation 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. The marking trajectory is determined based on the second set of marking points.

13. A computing device, characterized in that, The computing device includes a processor and a memory, the memory being used to store instructions and the processor being used to execute the instructions so that the computing device implements the method implemented by the computing device as claimed in any one of claims 1 to 6.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed by a computing device or a cluster of computing devices, implement the method implemented by the computing device as described in any one of claims 1 to 6.

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