Laser printing control method and system

Abstract

The embodiment of the present application relates to the technical field of laser printing, and discloses a laser printing control method, comprising: receiving to-be-printed information transmitted by a user terminal; sending a movement signal to a mechanical arm to move a laser module at the movement end of the mechanical arm to a printing position; transmitting the to-be-printed information to a printing system to perform format conversion to obtain laser printing information; transmitting the laser printing information to a corresponding laser printing module through a laser printing server to perform a printing operation on a to-be-printed workpiece at the printing position; acquiring workpiece image information of the to-be-printed workpiece through a camera module, and performing image recognition on the workpiece image information to obtain recognition result information, and if the recognition result information does not meet the set requirements, a warning is given. The laser printing control method in the embodiment of the present application has technical effects such as automation, flexibility, quality control and intelligent management, improves printing efficiency and quality, reduces production cost, and creates greater value for enterprises.

Description

Technical Field

[0001] The present invention relates to the technical field of laser printing, and in particular to a laser printing control method and system. Background Art

[0002] The currently commonly used VIN code marking method has some obvious shortcomings. First of all, although the pneumatic marking machine can engrave the VIN code on the automobile beam, because it uses a pneumatic needle for operation, the needle wears out quickly and needs to be replaced frequently. In addition, there is a method of directly pasting the paper QR code, which not only increases labor costs and the production cost of the paper version of the QR code, but also affects production efficiency. In addition, the pneumatic needle is in direct contact with the beam, and the vibration generated may cause the marking head to loosen, thereby affecting the marking quality and increasing the cost of rework. At the same time, because the marking head itself is heavy, the labor intensity of the workers during operation is also relatively high. In addition, the existing printing method is not flexible and the overall efficiency is not high. Summary of the Invention

[0003] In response to the above-mentioned defects, an embodiment of the present invention discloses a laser printing control method, which can greatly improve the workpiece printing efficiency.

[0004] A first aspect of an embodiment of the present invention discloses a laser printing control method, comprising:

[0005] When it is detected that the production state has been entered, the information to be printed is received from the user end;

[0006] sending a movement signal to the robotic arm to move the laser module at the moving end of the robotic arm to a printing position;

[0007] Transmitting the information to be printed to a printing system for format conversion to obtain laser printing information, and transmitting the laser printing information to a laser printing server;

[0008] Transmitting laser printing information to a corresponding laser printing module through the laser printing server so as to perform a printing operation on the workpiece to be printed at the printing position;

[0009] The workpiece image information of the workpiece to be printed is obtained through a camera module, and image recognition is performed on the workpiece image information to obtain recognition result information. If the recognition result information does not meet the set requirements, an early warning reminder is issued.

[0010] As an optional implementation manner, in the first aspect of the embodiment of the present invention, the workpiece image information includes a laser printing result and a workpiece structure image; after the workpiece image information of the workpiece to be printed is obtained by the camera module, the method further includes:

[0011] Determining deflection angle information of corresponding workpiece image information through the workpiece structure image;

[0012] The laser printing result is calibrated according to the deflection angle information to obtain a calibrated laser printing result.

[0013] As an optional implementation, in the first aspect of the embodiment of the present invention, performing image recognition on the laser printing result to obtain recognition result information, and issuing an early warning if the recognition result information does not meet the set requirements, includes:

[0014] Performing image recognition on the laser printing result to obtain recognition result information;

[0015] Segmenting the recognition result information based on a position segmentation algorithm to obtain a first position area and a second position area corresponding to the recognition result information, wherein the workpiece identity image is printed in the first position area, and the production time information is printed in the second position area;

[0016] Identify the workpiece identity image in the first position area to determine whether the workpiece identity image meets the first set requirement, if so, execute the next step, if not, issue an early warning reminder;

[0017] The production time information in the second location area is identified to determine whether the production time information meets the second setting requirement. If not, an early warning reminder is issued.

[0018] As an optional implementation manner, in the first aspect of the embodiment of the present invention, identifying the workpiece identity image in the first position area to determine whether the workpiece identity image meets the first set requirement includes:

[0019] Acquire an identity image of a workpiece in the first position area, wherein the identity image of the workpiece is a QR code of the workpiece;

[0020] Performing regional recognition on the workpiece identity image to determine position information of the identification image in the workpiece QR code;

[0021] Determine the identification image and coded image information corresponding to the workpiece two-dimensional code according to the position information of the identification image in the workpiece two-dimensional code and the workpiece identity image;

[0022] Determine first quality information of the corresponding workpiece QR code according to the identification image;

[0023] Determining second quality information of the corresponding workpiece QR code according to the recognition image;

[0024] Identify the recognition image according to preset recognition rules to determine the version and format information of the QR code, and match the corresponding decoding algorithm according to the QR code version and format information to identify the encoded image information to obtain corresponding decoding information;

[0025] Determine third quality information of the corresponding workpiece QR code according to the decoded information;

[0026] It is determined whether the workpiece identification image meets a first set requirement according to the first quality information, the second quality information, and the third quality information.

[0027] As an optional implementation manner, in the first aspect of the embodiment of the present invention, identifying the production time information in the second location area to determine whether the generation time information meets the second set requirement includes:

[0028] The production time information in the second position area is identified by OCR character recognition to obtain time text information, and the time text information is matched with the preset text. If the match is successful, it is determined that the second setting requirement is met.

[0029] As an optional implementation, in the first aspect of the embodiment of the present invention, after sending a movement signal to the robotic arm to move the laser module at the moving end of the robotic arm to a printing position, the method further includes:

[0030] Determining a simulated motion trajectory of the robotic arm;

[0031] Collecting motion posture information of corresponding collection points of the robotic arm during movement;

[0032] Determining a first position of the motion posture information during the movement;

[0033] Determining a second position matching the first position in the simulated motion trajectory, and setting posture information corresponding to the second position;

[0034] Based on the motion posture information and the set posture information, a correction transformation matrix is ​​determined to achieve posture correction.

[0035] As an optional implementation, in the first aspect of the embodiment of the present invention, after sending a movement signal to the robotic arm to move the laser module at the moving end of the robotic arm to a printing position, the method further includes:

[0036] Acquire a current workpiece image through a camera module, and determine bending angle information based on the current workpiece image;

[0037] The printing process of the laser printing module is corrected according to the bending angle information.

[0038] A second aspect of an embodiment of the present invention discloses a laser printing control system, comprising:

[0039] base;

[0040] A robotic arm, the robotic arm comprising a robotic arm body, the robotic arm body comprising a mechanical fixed end and a mechanical movable end, the mechanical fixed end being fixed to the base;

[0041] A connecting mechanism, the connecting structure being mounted on the mechanical moving end;

[0042] A laser printing module, which is installed at the connecting mechanism and is used to print the workpiece to be printed;

[0043] a camera module, the camera module being installed at the connecting mechanism;

[0044] A control module, the laser printing module, the robotic arm and the camera module are all electrically connected to the control module, the camera module is used to transmit the acquired workpiece image to the control module, the robotic arm is used to move according to the movement signal transmitted by the control module, and the control module is used to execute the laser printing control method as described in any one of the first aspects of the embodiments of the present invention.

[0045] A third aspect of an embodiment of the present invention discloses an electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the processor calls the executable program code stored in the memory to execute the laser printing control method disclosed in the first aspect of the embodiment of the present invention.

[0046] A fourth aspect of an embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the laser printing control method disclosed in the first aspect of the embodiment of the present invention.

[0047] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0048] The laser printing control method in this embodiment of the present invention uses the automated movement of a robotic arm to precisely position the laser module for printing, significantly improving the automation of the printing process. Furthermore, the information to be printed is directly transmitted to the laser print server after format conversion, enabling fast and accurate printing and improving production efficiency.

[0049] Because it uses laser printing technology, this method can adapt to various materials and shapes of workpieces to be printed, making the printing process more flexible. In addition, the laser printing information can be flexibly adjusted according to the information to be printed transmitted by the user end to meet different printing needs.

[0050] The camera module captures the image information of the workpiece to be printed and performs image recognition to ensure the accuracy of the printing result. If the recognition result does not meet the set requirements, the system will issue an early warning, helping to promptly identify and resolve the problem and ensure printing quality.

[0051] The entire printing process is automated through control methods, reducing manual intervention and the possibility of human error. At the same time, the early warning function enables problems to be discovered and handled in a timely manner, improving the intelligence level of the production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] Figure 1 It is a flow chart of the laser printing control method disclosed in an embodiment of the present invention;

[0054] Figure 2 This is a schematic diagram of the process of performing identification and early warning disclosed in an embodiment of the present invention;

[0055] Figure 3 is a schematic diagram of a process for determining printing quality disclosed in an embodiment of the present invention;

[0056] Figure 4 is a schematic diagram of a QR code display image disclosed in an embodiment of the present invention;

[0057] Figure 5 1 is a schematic structural diagram of a laser printing mechanism provided by an embodiment of the present invention;

[0058] Figure 6 1 is a schematic structural diagram of a laser printing mechanism other than a robotic arm provided by an embodiment of the present invention;

[0059] Figure 7 is another structural schematic diagram of a laser printing mechanism other than the robotic arm provided in an embodiment of the present invention;

[0060] Figure 8 is a schematic diagram of the exploded structure of the laser printing mechanism excluding the robotic arm provided in an embodiment of the present invention;

[0061] Figure 9 is a structural diagram of a fixing assembly provided by an embodiment of the present invention;

[0062] Figure 101 is a schematic structural diagram of a laser printing system provided by an embodiment of the present invention;

[0063] Figure 11 It is a structural diagram of an electronic device provided by an embodiment of the present invention.

[0064] Figure numerals: 1. Base; 2. Robotic arm; 21. Mechanical fixed end; 22. Mechanical moving end; 3. Connecting mechanism; 31. First connecting part; 32. Second connecting part; 4. Laser printing module; 5. Camera module; 6. Visual light source module; 7. Fixing component; 71. Fixing hole; 72. Arc hole; 8. Printing room; 9. Moving mechanism; 91. Jig table; 10. AGV track; 11. Control cabinet; 12. Laser control cabinet; 13. Robot control cabinet. DETAILED DESCRIPTION

[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0066] It should be noted that the terms "first," "second," "third," "fourth," etc. in the description and claims of the present invention are used to distinguish different objects rather than to describe a specific order. The terms "including" and "having," as well as any variations thereof, in the embodiments of the present invention, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0067] The current commonly used VIN code marking method has some obvious shortcomings. First, the pneumatic marking machine can mark VIN code on the automobile beam, but because it uses a pneumatic needle for operation, the needle is worn out quickly and needs to be replaced frequently, which not only increases the maintenance cost, but also affects the production efficiency. In addition, the pneumatic needle directly contacts the beam, and the vibration generated may cause the marking head to loosen, thereby affecting the marking quality and increasing the cost of repair. At the same time, due to the relatively heavy marking head, the labor intensity of workers during operation is also relatively large. Moreover, the existing printing method is not flexible and the overall efficiency is not high. Based on this, the embodiment of the application discloses a laser printing control method, system, electronic equipment and storage medium, which accurately moves the laser module to the printing position through the automatic movement of the mechanical arm, greatly improving the automation degree of the printing process. At the same time, the to-be-printed information is directly transmitted to the laser printing server after format conversion, realizing fast and accurate printing operation and improving production efficiency.

[0068] Embodiment one

[0069] Please refer to Figure 1 , Figure 1 is a flowchart of the laser printing control method disclosed by the embodiment of the application. The execution subject of the method described in the embodiment of the application is an execution subject composed of software or / and hardware, which can receive relevant information through wired or / and wireless mode and can send certain instructions. Of course, it can also have certain processing function and storage function. The execution subject can control multiple devices, such as remote physical servers or cloud servers and related software, or it can be a local host or server and related software that performs related operations on a device placed somewhere. In some scenarios, multiple storage devices can also be controlled, and the storage devices can be placed in the same place or different places as the devices.

[0070] As Figure 1 shown, the laser printing control method comprises the following steps:

[0071] S101: When it is detected that the production state is entered, the to-be-printed information transmitted by the user end is received;

[0072] S102: A movement signal is sent to the mechanical arm to move the laser module at the movement end of the mechanical arm to the printing position;

[0073] S103: The to-be-printed information is transmitted to the printing system for format conversion to obtain laser printing information, and the laser printing information is transmitted to the laser printing server;

[0074] S104: The laser printing information is transmitted by the laser printing server to the corresponding laser printing module to perform printing operation on the to-be-printed workpiece at the printing position.

[0075] S105: obtaining workpiece image information of the workpiece to be printed through a camera module, and performing image recognition on the workpiece image information to obtain recognition result information. If the recognition result information does not meet the set requirements, an early warning reminder is issued.

[0076] The above-mentioned printing method of combining laser printing with a robotic arm can make it more suitable for assembly line production; this method greatly improves the overall production efficiency, and setting the laser printing module and the camera module at the same structural position can enable the images obtained by the two to be directly transformed and matched, which also improves the detection efficiency to a certain extent.

[0077] More preferably, the workpiece image information includes a laser printing result and a workpiece structure image; after acquiring the workpiece image information of the workpiece to be printed by the camera module, the method further includes:

[0078] Determining deflection angle information of corresponding workpiece image information through the workpiece structure image;

[0079] The laser printing result is calibrated according to the deflection angle information to obtain a calibrated laser printing result.

[0080] Incorporating both the workpiece structure image and the laser print result image provides a more comprehensive and detailed description of the workpiece. This facilitates subsequent accurate analysis and processing of the workpiece. Automatically capturing workpiece image information through the camera module reduces manual steps, improves the automation level of the production line, and contributes to increased production efficiency. Using the workpiece structure image to determine deflection angle information is more accurate than traditional manual judgment or simple mechanical testing. Accurately acquiring this angle information is crucial for subsequent print calibration.

[0081] More preferably, Figure 2 This is a schematic diagram of the process of identifying and warning according to an embodiment of the present invention. Figure 2 As shown, the image recognition is performed on the laser printing result to obtain recognition result information, and if the recognition result information does not meet the set requirements, an early warning reminder is issued, including:

[0082] S1051: Performing image recognition on the laser printing result to obtain recognition result information;

[0083] S1052: Segmenting the recognition result information based on a position segmentation algorithm to obtain a first position area and a second position area corresponding to the recognition result information, wherein the workpiece identity image is printed in the first position area, and the production time information is printed in the second position area;

[0084] S1053: Identify the workpiece identity image in the first position area to determine whether the workpiece identity image meets the first set requirement, if so, execute the next step, if not, issue an early warning reminder;

[0085] S1054: Identify the production time information in the second location area to determine whether the production time information meets the second setting requirement. If not, issue an early warning.

[0086] In the embodiment of the present invention, the workpiece here refers to a car bumper. During the specific implementation, since the information at different positions is different, the general laser printing result prints two kinds of information, one is the vehicle identification code, and the other is time information. The vehicle identification code here generally includes the vehicle manufacturer, year, model, type and code, engine code and assembly location and other information; that is, it can be determined that the information of the vehicle identification code here is more important, and it needs to be identified as more important information during identification, and its requirements on identification accuracy and printing effect are higher than those on generating time information; therefore, they can be processed separately during the specific implementation; this can further improve the detection efficiency.

[0087] The above solution is mainly reflected in the improvement of recognition accuracy, information structured processing, multiple verification mechanisms, timely warning, operational convenience and enhanced flexibility. These effects jointly improve the recognition accuracy of workpiece printing results and the performance of the early warning system, which helps to achieve more efficient and reliable production process monitoring.

[0088] More preferably, Figure 3 FIG. 1 is a flow chart of determining printing quality according to an embodiment of the present invention. Figure 3 As shown, the identifying of the workpiece identity image in the first position area to determine whether the workpiece identity image meets the first set requirement includes:

[0089] S1053a: Acquire an identity image of the workpiece in the first position area, where the workpiece identity image is a QR code of the workpiece;

[0090] S1053b: Performing region recognition on the workpiece identity image to determine position information of the identification image in the workpiece QR code;

[0091] S1053c: Determine the identification image and coded image information corresponding to the workpiece QR code according to the position information of the identification image in the workpiece QR code and the workpiece identity image;

[0092] S1053d: Determine first quality information of the corresponding workpiece QR code according to the identification image;

[0093] S1053e: Determine second quality information of the corresponding workpiece QR code according to the recognition image;

[0094] S1053f: Identify the recognition image according to a preset recognition rule to determine the version and format information of the QR code, and match a corresponding decoding algorithm according to the QR code version and format information to identify the encoded image information to obtain corresponding decoding information;

[0095] S1053g: Determine third quality information of the corresponding workpiece QR code according to the decoded information;

[0096] S1053h: Determine whether the workpiece identity image meets a first set requirement based on the first quality information, the second quality information, and the third quality information.

[0097] QR codes have different version numbers and formats according to their different encoding rules. Different versions of QR codes have different version number information and format information. As for the format information of a QR code, the format information can be represented by two graphics located in different areas of the QR code. The format information represented by the graphics in one area can be a backup of the format information represented by the graphics in the other area. If the graphics in one area are partially or completely damaged or contaminated and cannot be recognized, the format information represented by the damaged or contaminated part can be verified based on the information recognized by the graphics in the other undamaged or uncontaminated area. This helps to improve the recognition of the format information. The specific display content is as follows: Figure 4 shown.

[0098] During specific implementation, the identification image here generally refers to the circular position of the QR code. This is mainly to achieve the positioning of the QR code. Then the corresponding QR code version and format information are all attached near the circular position, which also makes it easier to obtain the corresponding version information. The quality information here can be judged by the ratio difference of the pixel points. For example, the number of pixels in the first direction and the number of pixels in the second direction of the circular mark can be obtained. Then, the number of pixels in the first direction and the number of pixels in the second direction of the circular mark of the captured image can be obtained. The corresponding quality information is determined by obtaining the ratio of the two. Different threshold intervals can be set to correspond to different quality scores. The first direction and the second direction here can be the horizontal direction and the vertical direction.

[0099] QR codes represent information in the form of graphics. By identifying the QR code's graphic, the "0" or "1" data represented by each position can be obtained, thereby obtaining the encoded information. QR codes have unique encoding rules, of which version number and format information are two essential pieces of information required for decoding. Therefore, based on the obtained version number and format information, the encoded information must be decoded using preset decoding rules. Decoding involves identifying the "0" or "1" data represented by each position in the QR code graphic, interpreting the data according to specific decoding rules, and obtaining the decoded information. The decoded result is then used to make appropriate judgments.

[0100] More preferably, the identifying the production time information in the second location area to determine whether the production time information meets the second set requirement includes:

[0101] The production time information in the second position area is identified by OCR character recognition to obtain time text information, and the time text information is matched with the preset text. If the match is successful, it is determined that the second setting requirement is met.

[0102] OCR character recognition technology can adapt to production time information in a variety of fonts, sizes and layouts, so the solution has strong flexibility and can adapt to different printing requirements and working environments.

[0103] The technical benefits of the above solution are primarily reflected in improved recognition accuracy, enhanced automation, the introduction of a matching verification mechanism, enhanced early warning reliability, and expanded flexibility. These benefits collectively enhance the accuracy and efficiency of production time information recognition, providing strong technical support for production process monitoring and early warning.

[0104] More preferably, after sending a movement signal to the robot arm to move the laser module at the moving end of the robot arm to the printing position, the method further includes:

[0105] Determining a simulated motion trajectory of the robotic arm;

[0106] Collecting motion posture information of corresponding collection points of the robotic arm during movement;

[0107] Determining a first position of the motion posture information during the movement;

[0108] Determining a second position matching the first position in the simulated motion trajectory, and setting posture information corresponding to the second position;

[0109] Based on the motion posture information and the set posture information, a correction transformation matrix is ​​determined to achieve posture correction.

[0110] By determining the simulated motion trajectory of the robotic arm, the robot's motion path can be simulated and planned in advance, ensuring that it can accurately reach the predetermined printing position during actual movement. This helps reduce errors during the robot's movement and improve printing accuracy.

[0111] By collecting motion information from corresponding collection points during the movement of the robotic arm in real time, we can understand the robotic arm's motion status in real time. By determining the first position of the motion information during the movement and matching it with the second position in the simulated motion trajectory, deviations in the robotic arm's posture can be detected in a timely manner.

[0112] Based on the motion and set posture information, a correction transformation matrix is ​​determined to achieve posture correction. This precisely adjusts the robot arm's posture to match the expected posture. This ensures the robot arm has the correct posture when it reaches the printing position, providing an accurate positioning foundation for subsequent laser printing operations.

[0113] The above-mentioned technologies ensure that the robot arm always maintains the correct posture and motion trajectory during the printing process, thereby improving printing quality and efficiency. This helps to reduce printing errors and repeated operations caused by inaccurate robot arm posture or trajectory, thereby reducing production costs.

[0114] This technology also enhances the robustness of the entire printing system. Even if unforeseen factors are encountered during actual production (such as slight vibrations of the robotic arm or external interference), the system can still maintain high stability and accuracy thanks to the precise trajectory planning and posture correction mechanism.

[0115] More preferably, after sending a movement signal to the robot arm to move the laser module at the moving end of the robot arm to the printing position, the method further includes:

[0116] Acquire a current workpiece image through a camera module, and determine bending angle information based on the current workpiece image;

[0117] The printing process of the laser printing module is corrected according to the bending angle information.

[0118] By capturing the current workpiece image and determining its curvature angle, the workpiece's actual shape can be accurately understood. This helps the laser printing module adapt to the workpiece's curvature, ensuring that the printed content fits accurately onto the workpiece surface, thereby improving printing accuracy.

[0119] Since the scheme is based on real-time acquisition of workpiece images to determine the bending angle information, it has strong adaptability. Whether it is for workpieces of different shapes and different bending degrees, or for the morphological changes that may occur to the workpieces during the production process, the scheme can quickly and accurately respond and adjust.

[0120] The entire correction process relies on image acquisition and automatic analysis of the camera module, without human intervention, achieving high automation. This not only improves production efficiency, but also reduces errors caused by human factors.

[0121] The laser printing control method in the embodiment of the application moves the laser module accurately to the printing position through the automatic movement of the mechanical arm, greatly improving the automation degree of the printing process. At the same time, the information to be printed is directly transmitted to the laser printing server after format conversion, realizing fast and accurate printing operation and improving production efficiency.

[0122] Since laser printing technology is used, the method can adapt to various materials and shapes of workpieces to be printed, making the printing process more flexible. In addition, the laser printing information can be flexibly adjusted according to the information to be printed transmitted by the user end, meeting different printing needs.

[0123] By acquiring image information of the workpiece to be printed through the camera module and performing image recognition, the accuracy of the printing result can be ensured. If the recognition result does not meet the set requirements, the system will timely issue a warning reminder, which helps to discover and solve problems in time and ensure the printing quality.

[0124] The entire printing process is automatically managed through the control method, reducing manual intervention and reducing the possibility of human error. At the same time, the warning reminder function makes problems be discovered and handled in time, improving the intelligent level of the production process.

[0125] Embodiment two

[0126] As shown in Figure 10 The embodiment of the application provides a laser printing system, which comprises:

[0127] A printing room 8, the printing room 8 is used for accommodating the laser printing mechanism and the moving mechanism 9 as described in any one of the first aspect of the embodiment of the application;

[0128] The moving mechanism 9, the moving mechanism 9 is provided with a jig table 91, the jig table 91 is used for fixing the workpiece to be printed; the moving mechanism 9 is used for moving the workpiece to be printed to a printing position along a set movement direction and moving the workpiece to be printed from the printing position to a next position node;

[0129] The laser printing mechanism is arranged on one side of the moving mechanism 9; the laser printing mechanism is used to perform coding operations on the workpiece to be printed.

[0130] The laser printing system realizes efficient and automated coding operations by integrating the printing room 8, the moving mechanism 9 and the laser printing mechanism. The design of the moving mechanism 9 enables the workpiece to be printed to be moved to the printing position quickly and accurately, and quickly moves to the next position node after printing is completed, thereby realizing continuous operation on the production line and greatly improving production efficiency. The setting of the printing room 8 helps to maintain the stability of the laser printing mechanism and the moving mechanism 9, reduce the impact of external environmental factors on the operation of the equipment, and thus ensure the long-term stable operation of the system. The laser printing mechanism is specially used for coding operations on the workpiece to be printed, and its precise control and adjustment capabilities ensure the consistency and accuracy of the printing quality. The integrated design of the entire system simplifies the operating process. The operator only needs to place the workpiece to be printed on the jig table 91 to automatically complete the subsequent printing work, which improves the convenience of operation.

[0131] More preferably, it further comprises an AGV trolley and an AGV track 10, wherein the AGV trolley moves along the AGV track 10, and the AGV trolley is used to transport the corresponding frame to be printed to the corresponding position;

[0132] There are two laser printing mechanisms;

[0133] It also includes a control cabinet 11, a laser control cabinet 12 and a robot control cabinet 13; the control cabinet 11 is provided with a third control module, the laser control cabinet 12 is provided with a second control module, and the robot control cabinet 13 is provided with a first control module; the control cabinet 11, the laser control cabinet 12 and the robot control cabinet 13 are all provided outside the printing room 8.

[0134] The AGV trolley can automatically move along the AGV track 10, quickly and accurately transporting the frame to be printed to the designated location, reducing the time and labor intensity of manual handling, thereby improving overall production efficiency. By setting up a dedicated control cabinet 11, laser control cabinet 12 and robot control cabinet 13, and placing them outside the printing room 8, it helps to maintain the stable operation of the system and reduce the risk of production interruption. The use of the AGV trolley simplifies the material handling process. The operator only needs to place the workpiece on the AGV trolley to automatically complete the subsequent transportation and printing work, greatly improving the convenience of operation. Placing equipment such as the control cabinet 11 outside the printing room 8 helps to make more rational use of space, and also facilitates equipment maintenance and upgrades.

[0135] like Figure 5-Figure 9 As shown, an embodiment of the present invention provides a laser printing mechanism, comprising:

[0136] Base 1;

[0137] The robotic arm 2 includes a robotic arm 2 body, the robotic arm 2 body includes a mechanical fixed end 21 and a mechanical movable end 22, and the mechanical fixed end 21 is fixed to the base 1;

[0138] A connecting mechanism 3, the connecting structure is installed on the mechanical moving end 22;

[0139] A laser printing module 4 is installed at the connecting mechanism 3 and is used to print the workpiece to be printed;

[0140] A camera module 5 is installed on the connecting mechanism 3;

[0141] The control module, the laser printing module 4, the robotic arm 2 and the camera module 5 are all electrically connected to the control module, the camera module 5 is used to transmit the acquired workpiece image to the control module, and the robotic arm 2 is used to move according to the movement signal transmitted by the control module.

[0142] In this embodiment, the robotic arm 2 typically has multiple axes of freedom, meaning it can position itself with high precision in three-dimensional space. This flexibility and accuracy are crucial for laser printing, which requires precise control of the laser head's position to ensure high-quality print results. The robotic arm 2 can be customized to specific application requirements, for example, by adding additional joints or adjusting its working range to meet different production environments and task requirements. In contrast, modular robots may be more standardized in design, limiting their applicability and flexibility. Due to the high flexibility and precision of the robotic arm 2, they are capable of performing complex motion trajectories and tasks that may be beyond the capabilities of modular robots. The robotic arm 2 can precisely print on irregular surfaces or perform tasks requiring delicate manipulation. In the above solution, the integration of the camera module 5 with the robotic arm 2 provides real-time visual feedback, enabling the system to automatically correct the printing position and path, improving the level of automation. The flexibility of the robotic arm 2 allows the camera module 5 to capture images from different angles, providing more comprehensive monitoring of the work area.

[0143] Robotic arms are typically more compact, with a smaller footprint, making them suitable for operation within limited spaces. This is particularly important in laser printing environments, where efficient space utilization directly impacts production line layout and costs. Robotic arms can be programmed and reprogrammed to adapt to different tasks and workpieces, making them highly adaptable in production environments. In contrast, modular robots may require physical modifications or hardware replacement to adapt to new tasks.

[0144] More preferably, the connecting mechanism 3 includes a first connecting member 31 and a second connecting member 32, the first connecting member 31 and the second connecting member 32 are detachably installed, the first connecting member 31 is fixed to the moving end of the robotic arm 2, and the second connecting member 32 is provided with a first mounting position and a second mounting position, the laser printing module 4 is detachably installed on the second connecting member 32 through the first mounting position, and the camera module 5 is installed on the second connecting member 32 through the second mounting position.

[0145] This technical solution realizes the rapid switching and maintenance of the laser printing module 4 and the camera module 5 through the design of a detachable connecting mechanism 3, thereby improving the flexibility and working efficiency of the equipment. The detachable connection method allows the laser printing module 4 and the camera module 5 to be quickly disassembled and maintained or replaced when a failure occurs or an upgrade is required, reducing downtime and improving production efficiency. Since the design of the connecting mechanism 3 allows for rapid disassembly and installation, the operator can complete the position adjustment of the laser printing module 4 and the camera module 5 in a short time to adapt to different printing tasks and workpiece requirements. The first connecting member 31 is fixed to the moving end of the robot arm 2, and the second connecting member 32 is provided with a special first mounting position and a second mounting position. This design ensures the stability of the laser printing module 4 and the camera module 5 during operation, thereby ensuring printing quality and accuracy.

[0146] More preferably, the camera module 5 and the laser printing module 4 are arranged in parallel.

[0147] The technical effect of the parallel arrangement of the camera module 5 and the laser printing module 4 is to improve the accuracy and stability of the measurement. The parallel arrangement of the laser printing module 4 and the camera module 5 can adjust their relative positions and angles according to actual needs to adapt to different working distances and field of view requirements. This flexibility enables the equipment to cope with a wider range of measurement scenarios and application challenges. The real-time self-calibration method based on parallel laser ranging can use a high-precision laser rangefinder to continuously measure during the image capture process to obtain real-time position information of the surface of the object being measured. This method simplifies the complex operations that rely on external features, special postures and calibration objects in traditional image calibration, and improves the efficiency and accuracy of calibration. On the basis of the parallel arrangement, by quantitatively analyzing factors such as laser ranging error, laser inclination error, and bias error, the key factors affecting the measurement accuracy can be found, and corresponding error avoidance methods can be adopted to further improve the measurement performance of the system.

[0148] More preferably, it further includes a visual light source module 6 electrically connected to the control module, and the visual light source module 6 is used to provide an illumination light source for the camera module 5; the visual light source module 6 is arranged on one side of the second connecting member 32 through a fixing component 7.

[0149] By adding the visual light source module 6 electrically connected to the control module in the laser printing mechanism, the mechanism can provide higher quality image acquisition and processing capabilities, thereby improving the overall measurement accuracy and system reliability. The visual light source module 6 provides illumination for the camera module 5, which helps to obtain images with high contrast, good uniformity, and true reflection of the characteristics of the measured object. This is crucial for subsequent image analysis and processing, as good image quality is the basis for accurate measurement and identification. The flexibility of the visual light source module 6 allows it to adapt to diverse application requirements, such as adjusting the angle or intensity of the light source to accommodate different workpieces and environmental conditions. This adaptability enables the laser printing mechanism to be more widely used in different industrial scenarios. The design of the visual light source module 6 takes into account the cooperation with the camera module 5 and how to maximize the measurement accuracy and reliability of the system. This not only enhances the functionality of the device, but also may reduce long-term operating costs.

[0150] More preferably, the fixing assembly 7 includes a first fixing member and a second fixing member symmetrically arranged, and the first fixing member and the second fixing member are symmetrically provided with a fixing hole 71 and an arc-shaped hole 72. The fixing hole 71 is used for positioning one end of the visual light source module 6, and the arc-shaped hole 72 is used for adjusting the other end of the visual light source module 6.

[0151] The scheme of the embodiment can achieve precise installation by positioning one end of the visual light source module 6 through the fixing hole 71, ensuring the stability and accuracy of the light source module. The arc-shaped hole 72 design allows for fine adjustment of the other end of the visual light source module 6, which enables the light source module to be adjusted according to actual needs to adapt to different working environments and conditions. The symmetrically arranged fixing members make the installation process more convenient, and the operator can quickly complete the installation and adjustment of the visual light source module 6. Precise positioning and flexible adjustment capabilities help to improve the working efficiency and printing quality of the entire laser printing mechanism.

[0152] In specific implementation, two fixing holes 71 can also be provided on both sides, but the design of providing two fixing holes 71 will determine the optimal angle during specific position configuration, so as to achieve the desired effect.

[0153] More preferably, the control module includes a first control module electrically connected to the mechanical arm 2, a second control module electrically connected to the laser printing module 4, and a third control module electrically connected to the camera module 5.

[0154] The technical scheme subdivides the control module into three sub-control modules electrically connected with the mechanical arm 2, the laser printing module 4 and the camera module 5 respectively, thereby achieving higher control accuracy and system stability. The separate design of the control module not only improves the control accuracy and system stability of the laser printing mechanism, but also improves the maintenance efficiency and the flexibility of the system, thereby providing better technical effects in actual application.

[0155] More preferably, the camera module 5 is further configured to identify the external environment and transmit the obtained identification signal to the control module, so that the control module moves the laser printing module 4 above the surface of the workpiece to be printed according to the identification signal; wherein the identification signal includes the position of the workpiece to be printed and the relative position of the laser printing module 4 and the surface of the workpiece to be printed.

[0156] The technical scheme identifies the external environment through the camera module 5 and transmits the obtained identification signal to the control module, so that the control module can move the laser printing module 4 above the surface of the workpiece to be printed according to the identification signal, thereby achieving accurate printing. The transmission and processing of the identification signal provide a precondition for laser printing, ensuring the smooth progress of the printing process and optimizing the entire workflow. Through the environmental identification function of the camera module 5 and the synergistic effect with the control module, the technical scheme realizes accurate positioning and automatic operation of the laser printing module 4, improves the printing accuracy and efficiency, and enhances the adaptability of the equipment and the coherence of the workflow.

[0157] More preferably, it further includes a printing selection module electrically connected with the control module, wherein the printing selection module is configured to allow a user to select a print image and send the print image to the laser printing module 4, and the laser printing module 4 performs laser printing operation according to the print image.

[0158] The technical scheme adds a printing selection module to provide users with diversified printing options and improve the operation convenience. Users can directly select the image they want to print through the printing selection module, which greatly simplifies the printing process and enables users to quickly perform printing operations without complex settings or conversion steps. The close integration of the printing selection module with the control module and the laser printing module 4 ensures that once the user selects the print image, the control module can quickly respond and instruct the laser printing module 4 to start working, which improves the efficiency of the entire printing process. The addition of the printing selection module enables the laser printing mechanism not only to perform accurate printing tasks, but also to perform customized printing according to the individual needs of users, increasing the functional diversity of the system.

[0159] The embodiment of the present application realizes the automation of the printing process by integrating the mechanical arm 2, the laser printing module 4 and the camera module 5. The mechanical arm 2 can automatically grab and move the workpiece to be printed according to the instructions sent by the control module, the laser printing module 4 automatically performs printing processing, and the camera module 5 is responsible for real-time acquisition of the workpiece image for the control module to analyze and adjust. The entire printing process does not require manual intervention, greatly improving the printing efficiency.

[0160] Embodiment three

[0161] Please refer to Figure 11 , Figure 11 is a structural schematic diagram of an electronic device disclosed by the embodiment of the present application. The electronic device can be a computer, a server and the like, and of course, under certain circumstances, it can also be a mobile phone, a tablet computer, a smart monitoring terminal and the like, and an image acquisition device with processing function. As shown in Figure 11 , the electronic device can include:

[0162] a memory 510 storing executable program codes;

[0163] a processor 520 coupled with the memory 510;

[0164] The processor 520 calls the executable program codes stored in the memory 510 to execute part or all of the steps in the laser printing control method in embodiment one.

[0165] The embodiment of the present application discloses a computer readable storage medium storing a computer program, wherein the computer program causes a computer to execute part or all of the steps in the laser printing control method in embodiment one.

[0166] The embodiment of the present application further discloses a computer program product, wherein when the computer program product runs on a computer, it causes the computer to execute part or all of the steps in the laser printing control method in embodiment one.

[0167] The embodiment of the present application further discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product, wherein when the computer program product runs on a computer, it causes the computer to execute part or all of the steps in the laser printing control method in embodiment one.

[0168] In various embodiments of the present application, it should be understood that the size of the serial number of the processes does not mean the inevitable sequence of execution, and the execution sequence of the processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0169] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the objectives of this embodiment.

[0170] In addition, the functional units in the embodiments of the present invention may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The integrated unit may be implemented in the form of hardware or software functional units.

[0171] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a memory and includes several requests for causing a computer device (which can be a personal computer, server, or network device, specifically a processor in the computer device) to execute some or all of the steps of the method described in each embodiment of the present invention.

[0172] In the embodiments provided herein, it should be understood that "B corresponding to A" means that B is associated with A and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B based solely on A; B can also be determined based on A and / or other information.

[0173] Those skilled in the art will appreciate that some or all of the steps in the various methods of the embodiments may be performed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0174] The laser printing control method, system, electronic device and storage medium disclosed in the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A laser printing control method, characterized in that: include: When it is detected that the production state has been entered, the information to be printed is received from the user end; sending a movement signal to the robotic arm to move the laser module at the moving end of the robotic arm to a printing position; Transmitting the information to be printed to a printing system for format conversion to obtain laser printing information, and transmitting the laser printing information to a laser printing server; Transmitting laser printing information to a corresponding laser printing module through the laser printing server so as to perform a printing operation on the workpiece to be printed at the printing position; Acquire the workpiece image information of the workpiece to be printed by a camera module, and perform image recognition on the workpiece image information to obtain recognition result information, and issue an early warning if the recognition result information does not meet the set requirements; The image recognition is performed on the workpiece image information to obtain recognition result information, and if the recognition result information does not meet the set requirements, an early warning reminder is issued, including: Performing image recognition on the laser printing result to obtain recognition result information; Segmenting the recognition result information based on a position segmentation algorithm to obtain a first position area and a second position area corresponding to the recognition result information, wherein the workpiece identity image is printed in the first position area, and the production time information is printed in the second position area; Identify the workpiece identity image in the first position area to determine whether the workpiece identity image meets the first set requirement, if so, execute the next step, if not, issue an early warning reminder; The production time information in the second location area is identified to determine whether the production time information meets the second set requirement. If not, an early warning reminder is issued.

2. The laser printing control method according to claim 1, wherein: The workpiece image information includes a laser printing result and a workpiece structure image; after the workpiece image information of the workpiece to be printed is obtained by the camera module, the method further includes: Determining deflection angle information of corresponding workpiece image information through the workpiece structure image; The laser printing result is calibrated according to the deflection angle information to obtain a calibrated laser printing result.

3. The laser printing control method according to claim 1, wherein: The identifying of the workpiece identity image in the first position area to determine whether the workpiece identity image meets a first set requirement includes: Acquire an identity image of a workpiece in the first position area, wherein the identity image of the workpiece is a QR code of the workpiece; Performing regional recognition on the workpiece identity image to determine position information of the identification image in the workpiece QR code; Determine the identification image and coded image information corresponding to the workpiece two-dimensional code according to the position information of the identification image in the workpiece two-dimensional code and the workpiece identity image; Determine first quality information of the corresponding workpiece QR code according to the identification image; Determining second quality information of the corresponding workpiece QR code according to the recognition image; Identify the recognition image according to preset recognition rules to determine the version and format information of the QR code, and match the corresponding decoding algorithm according to the QR code version and format information to identify the encoded image information to obtain corresponding decoding information; Determine third quality information of the corresponding workpiece QR code according to the decoded information; It is determined whether the workpiece identification image meets a first set requirement according to the first quality information, the second quality information, and the third quality information.

4. The laser printing control method according to claim 1, wherein: The identifying the production time information in the second location area to determine whether the production time information meets the second set requirement includes: The production time information in the second position area is identified by OCR character recognition to obtain time text information, and the time text information is matched with the preset text. If the match is successful, it is determined that the second setting requirement is met.

5. The laser printing control method according to claim 1, wherein: After sending a movement signal to the robotic arm to move the laser module at the moving end of the robotic arm to a printing position, the method further includes: Determining a simulated motion trajectory of the robotic arm; Collecting motion posture information of corresponding collection points of the robotic arm during movement; Determining a first position of the motion posture information during the movement; Determining a second position matching the first position in the simulated motion trajectory, and setting posture information corresponding to the second position; Based on the motion posture information and the set posture information, a correction transformation matrix is ​​determined to achieve posture correction.

6. The laser printing control method according to claim 1, wherein: After sending a movement signal to the robotic arm to move the laser module at the moving end of the robotic arm to a printing position, the method further includes: Acquire a current workpiece image through a camera module, and determine bending angle information based on the current workpiece image; The printing process of the laser printing module is corrected according to the bending angle information.

7. A laser printing control system, characterized in that: include: base; A robotic arm, the robotic arm comprising a robotic arm body, the robotic arm body comprising a mechanical fixed end and a mechanical movable end, the mechanical fixed end being fixed to the base; A connecting mechanism, the connecting mechanism being mounted on the mechanical moving end; A laser printing module, which is installed at the connecting mechanism and is used to print the workpiece to be printed; a camera module, the camera module being installed at the connecting mechanism; A control module, wherein the laser printing module, the robotic arm and the camera module are all electrically connected to the control module, the camera module is used to transmit the acquired workpiece image to the control module, the robotic arm is used to move according to the movement signal transmitted by the control module, and the control module is used to execute the laser printing control method as described in any one of claims 1 to 6.

8. An electronic device, characterized in that: include: a memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the laser printing control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein the computer program enables a computer to execute the laser printing control method according to any one of claims 1 to 6.

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