Method and device for checking swing shaft parameters of a five-axis laser cutting machine based on vision, processor and storage medium

Abstract

The present application relates to a kind of based on vision realizes the method for five-axis laser cutting machine to carry out swing shaft parameter checking processing, comprising the following steps: laser head is perpendicular to imaging plane, record the coordinate of current light spot center in imaging plane;Using current swing shaft parameter, rotate around certain swing shaft rotation axis, record the coordinate of light spot center in imaging plane;After laser head returns to initial state, rotate the same angle of this rotation axis around swing shaft reverse;If the coordinate after deflection and initial position coordinate differ less than threshold value, then according to the deviation of light spot center coordinate after swing and initial coordinate and current swing shaft parameter, calculate new swing shaft parameter.The method for five-axis laser cutting machine to carry out swing shaft parameter checking processing based on vision, device, processor and its computer readable storage medium of the present application are realized, and the error after swing is obtained by visual means, this error result is accurate, and the deviation of rotation vector is calibrated, and swing shaft parameter can be more accurately corrected.

Description

Technical Field

[0001] This invention relates to the field of laser cutting processing, and more particularly to the field of five-axis laser processing equipment. Specifically, it relates to a method, apparatus, processor, and computer-readable storage medium for performing pendulum axis parameter verification processing on a five-axis laser cutting machine based on vision. Background Technology

[0002] Most existing high-end five-axis laser processing equipment supports RTCP (Redirect Tool Tip Tracking) function. This function uses the rotation vector and rotation center of the oscillating axis to compensate for the tool tip position, keeping it constant. Therefore, to use this function, it is necessary to verify the correctness of the current oscillating axis parameters (rotation vector, rotation center). If the oscillating axis parameters are incorrect due to external factors, the tool tip position will shift during actual processing, resulting in a significant deviation in the final part's processing quality.

[0003] Reference [1] invented a five-axis laser processing equipment RTCP error calibration and compensation method. The method uses a test bar and a dial indicator to measure or calculate the offset vector and vector data of the rotation axis, and writes the offset vector and vector data into the RTCP function.

[0004] Reference [2] invented a five-axis laser equipment RTCP calibration method. The method can install the CCD detector on the pitch adjustment device and the axial adjustment device of the five-axis device to verify the accuracy of the rotation center of the pitch device and the rotary table axis respectively, and correct the parameters according to the offset between the light spot and the center of the CCD detector.

[0005] Reference [3] invented a calibration method for a five-axis machine tool. The method first determines the measurement point of the calibration plate, and determines the offset between the camera coordinate system and the tool tip coordinate system based on the measurement point; rotates the first rotation axis and the second rotation axis respectively, and records the mechanical coordinates of the camera center facing the measurement point after rotation; calculates the coordinates of the rotation center point of the first rotation axis and the second rotation axis in the tool tip coordinate system based on the mechanical coordinates; and calculates the vector between the rotation center point of the first rotation axis and the rotation center point of the second rotation axis based on the coordinates of the rotation center point of the first rotation axis and the second rotation axis in the tool tip coordinate system.

[0006] Reference [4] invented a fast and high-precision calibration method for robot TCP. This method uses a laser measuring instrument to establish the coordinate system of the robot fixed platform, sets a set of initial TCP values, keeps the robot's first five axes stationary, measures the coordinates of the target ball 2 at three positions, calculates the coordinates of the 0 point in the XY plane, and obtains the offset n of the end tool coordinate system relative to the flange center point in the X direction; rotates the end joint to 0°, controls the robot to rotate 60° around the current TCP in the YZ plane, uses a laser measuring instrument to measure the positions of the target ball 1 and target ball 2 at the initial position and the position after they are in place, obtains the coordinates of the TCP point in the ZY plane, compares them with the initially set TCP values, and performs compensation.

[0007] Reference [5] invented a method for zero-point calibration of a double pendulum axis for laser processing. This method uses the movement of the two motors of the double pendulum axis laser processing head, combined with the focus of the output, to etch the laser beam on a transparent material plate and measure the distance of the etched laser spot to obtain the zero-point position of the double pendulum axis motor. The device structure required by this method is simple and can quickly and accurately obtain the zero-point coordinates of the A-axis and C-axis. However, this scheme is mainly for the calibration of the zero-point position of the pendulum axis. It uses manual measurement of the laser etching marks instead of the correction of the pendulum axis parameters, and it does not use CCD vision to correct the deviation of the spot irradiated by the laser red light. The scheme in this reference is not automated enough. Among the current pendulum axis parameter correction methods, the method of using a test bar and dial indicator is simple but has a large error and cannot achieve automated measurement; the scheme of using a laser measuring instrument and target ball is relatively accurate but has a high cost; the CCD scheme is relatively accurate and low cost, but in the current CCD scheme, the pendulum axis rotation vector is used as the standard value and the deviation of the rotation vector is not considered, which leads to the error in the final calibration result. Therefore, there is a need for a method that can accurately measure and correct the error of the pendulum axis parameters (including the rotation vector and the rotation center). To this end, this invention provides a vision-based method for correcting the pendulum axis parameters of a five-axis laser cutting machine.

[0008] [1] Patent name: A method for RTCP error calibration and compensation of five-axis laser processing equipment Authorization announcement number: CN111673292B Patentee: Xi'an Zhongke Micro-Precision Photonics Technology Co., Ltd.

[0009] [2] Patent name: A five-axis laser equipment RTCP calibration device and method Authorization announcement number: CN111408861B Patentee: Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences.

[0010] [3] Patent name: Calibration method for five-axis machine tool, computer equipment and storage medium Authorization announcement number: CN115147484A Patentee: Shenzhen Zhongweixing Technology Co., Ltd.

[0011] [4] Patent name: A method for fast and high-precision TCP calibration of a robot Authorization announcement number: CN115139338B Patentee: Shanghai Ruichu Technology Co., Ltd.

[0012] [5] Patent name: A method for zero-point calibration of double pendulum shaft for laser processing Authorization announcement number: CN114160964B Patentee: Xi’an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences. Summary of the Invention

[0013] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, device, processor and computer-readable storage medium for vision-based calibration of the swing axis parameters of a five-axis laser cutting machine, which is simple to operate, has small error and wide applicability.

[0014] To achieve the above objectives, the present invention provides a vision-based method, apparatus, processor, and computer-readable storage medium for verifying the swing axis parameters of a five-axis laser cutting machine, as follows:

[0015] The main feature of this vision-based method for verifying the swing axis parameters of a five-axis laser cutting machine is that the method includes the following steps:

[0016] (1) Take the state in which the laser head is perpendicular to the imaging plane as the initial state of the laser head, record the coordinates (x0, y0) of the current spot center in the imaging plane, and record the spot center coordinates in this state as the initial coordinates;

[0017] (2) Using the current pendulum axis parameters, rotate around a certain pendulum axis with the spot position as the center. Set the rotation angle as θ and record the coordinates (x1, y1) of the spot center in the imaging plane.

[0018] (3) After the laser head returns to the initial state, use the current swing axis parameters, take the spot position as the center, rotate the swing axis in the opposite direction by the same angle θ, and record the coordinates (x2, y2) of the spot center in the imaging plane.

[0019] (4) Determine whether the difference between the deflected coordinates (x1, y1) and (x2, y2) and the initial position coordinates exceeds the threshold. If so, the parameters of this pendulum axis are determined to be accurate values. Otherwise, correction is required, and step (5) is continued.

[0020] (5) Calculate the new pendulum axis parameters based on the deviation between the center coordinates of the light spot after yaw and the initial coordinates and the current pendulum axis parameters;

[0021] (6) Use the new pendulum axis parameters as the current pendulum axis parameters and continue with step (2).

[0022] Preferably, step (6) further includes the following steps:

[0023] If the calculated new pendulum axis parameters still exceed the threshold of (4), then continue to step (5) until the threshold condition of (4) is met.

[0024] Preferably, step (5) specifically includes the following steps:

[0025] By substituting the center coordinates of the three light spots recorded in the imaging plane, the rotation angle, and the initially set pendulum axis parameters into the system of equations, the new pendulum axis parameters are calculated.

[0026] Preferably, the calculation of the new pendulum axis parameters in step (5) specifically involves:

[0027] Assume the new pendulum axis rotation vector is (V x V y V z ), the center of rotation is (O) x O y O z The initially set rotation vector of the pendulum axis is (V). x0 V y0 V z0 ), the center of rotation is (O) x0 O y0 O z0 Calculate the new pendulum axis parameters using the following formula:

[0028]

[0029] in,

[0030] D = V x O x +V y O y +V z O z ;

[0031] D0 = V x0 O x0 +V y0 O y0 +V z0 O z0 ;

[0032] J 11 =O x0 (1-cosθ)-(V y0 O z0 -V z0 O y0 sinθ-V x D0(1-cosθ);

[0033] J 12 =O z0 (1-cosθ)-(V x0 O y0 -V y0 O x0 )sinθ-V z D0(1-cosθ);

[0034] J 21 =O x0 (1-cosθ)+(V y0 O z0 -V z0 O y0 )sinθ-V x D0(1-cosθ);

[0035] J 22 =O z0 (1-cosθ)+(V x0 O y0 -V y0 O x0 )sinθ-V z D0(1-cosθ);

[0036] K 11 =O y0 (1-cosθ)-(V z0 O x0 -V x0 O z0 )sinθ-V y D0(1-cosθ);

[0037] K 12 =O z0 (1-cosθ)-(V x0 O y0 -V y0 O x0 )sinθ-V z D0(1-cosθ);

[0038] K 21 =O y0 (1-cosθ)+(V z0 O x0 -V x0 O z0 )sinθ-V y D0(1-cosθ);

[0039] K 22 =O z0 (1-cosθ)+(V x0 O y0 -V y0 Ox0 sinθ-V z D0(1-cosθ).

[0040] The device for performing vision-based calibration of the swing axis parameters of a five-axis laser cutting machine is characterized by comprising:

[0041] A processor is configured to execute computer-executable instructions;

[0042] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of the above-described vision-based method for verifying the swing axis parameters of a five-axis laser cutting machine.

[0043] The processor used to implement vision-based calibration of the swing axis parameters of a five-axis laser cutting machine is characterized in that the processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the various steps of the vision-based calibration of the swing axis parameters of a five-axis laser cutting machine.

[0044] The computer-readable storage medium is characterized in that it stores a computer program that can be executed by a processor to implement the various steps of the above-described vision-based method for verifying the swing axis parameters of a five-axis laser cutting machine.

[0045] This invention employs a vision-based method, apparatus, processor, and computer-readable storage medium for verifying the swing axis parameters of a five-axis laser cutting machine. It obtains the error after swing through visual means, resulting in a more accurate error assessment. This method can calibrate the deviation of the rotation vector, and compared to existing solutions, the swing axis parameters can be corrected more accurately. Using this solution for correction eliminates the need for recalibration, saving time. A key technical feature of this invention is the generation of new parameters from old parameters without re-performing the entire calibration process (which is typically time-consuming), enabling faster parameter determination. A common example is when a user replaces a nozzle, but recalibration is time-consuming each time. Using this method, it's possible to first verify whether parameter changes are needed; if changes are required, new parameters can be quickly and accurately generated using the old parameters. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the swing axis parameter correction process of the vision-based method for verifying the swing axis parameters of a five-axis laser cutting machine according to the present invention.

[0047] Figure 2This is a schematic diagram of the initial position of the swing axis in the vision-based method for verifying the swing axis parameters of a five-axis laser cutting machine according to the present invention.

[0048] Figure 3 This is a schematic diagram of the method for verifying the swing axis parameters of a five-axis laser cutting machine based on vision, according to the present invention, with the current swing axis parameters and a certain angle of deflection.

[0049] Figure 4 This is a schematic diagram illustrating the method of vision-based verification of the swing axis parameters of a five-axis laser cutting machine according to the present invention, where the swing axis is deflected by a certain angle in the opposite direction with the current swing axis parameters. Detailed Implementation

[0050] To more clearly describe the technical content of the present invention, the following description is provided in conjunction with specific embodiments.

[0051] The present invention provides a vision-based method for verifying the swing axis parameters of a five-axis laser cutting machine, comprising the following steps:

[0052] (1) Take the state in which the laser head is perpendicular to the imaging plane as the initial state of the laser head, record the coordinates (x0, y0) of the current spot center in the imaging plane, and record the spot center coordinates in this state as the initial coordinates;

[0053] (2) Using the current pendulum axis parameters, rotate around a certain pendulum axis with the spot position as the center. Set the rotation angle as θ and record the coordinates (x1, y1) of the spot center in the imaging plane.

[0054] (3) After the laser head returns to the initial state, use the current swing axis parameters, take the spot position as the center, rotate the swing axis in the opposite direction by the same angle θ, and record the coordinates (x2, y2) of the spot center in the imaging plane.

[0055] (4) Determine whether the difference between the deflected coordinates (x1, y1) and (x2, y2) and the initial position coordinates exceeds the threshold. If so, the parameters of this pendulum axis are determined to be accurate values. Otherwise, correction is required, and step (5) is continued.

[0056] (5) Calculate the new pendulum axis parameters based on the deviation between the center coordinates of the light spot after yaw and the initial coordinates and the current pendulum axis parameters;

[0057] (6) Use the new pendulum axis parameters as the current pendulum axis parameters and continue with step (2).

[0058] In a preferred embodiment of the present invention, step (6) further includes the following steps:

[0059] If the calculated new pendulum axis parameters still exceed the threshold of (4), then continue to step (5) until the threshold condition of (4) is met.

[0060] In a preferred embodiment of the present invention, step (5) specifically includes the following steps:

[0061] By substituting the center coordinates of the three light spots recorded in the imaging plane, the rotation angle, and the initially set pendulum axis parameters into the system of equations, the new pendulum axis parameters are calculated.

[0062] In a preferred embodiment of the present invention, the calculation of the new pendulum axis parameters in step (5) specifically includes:

[0063] Assume the new pendulum axis rotation vector is (V x V y V z ), the center of rotation is (O) x O y O z The initially set rotation vector of the pendulum axis is (V). x0 V y0 V z0 ), the center of rotation is (O) x0 O y0 O z0 Calculate the new pendulum axis parameters using the following formula:

[0064]

[0065] in,

[0066] D = V x O x +V y O y +V z O z ;

[0067] D0 = V x0 O x0 +V y0 O y0 +V z0 O z0 ;

[0068] J 11 =O x0 (1-cosθ)-(V y0 O z0 -V z0 O y0 sinθ-V x D0(1-cosθ);

[0069] J 12 =O z0(1-cosθ)-(V x0 O y0 -V y0 O x0 )sinθ-VD0(1-cosθ);

[0070] J 21 =O x0 (1-cosθ)+(V y0 O z0 -V z0 O y0 )sinθ-V x D0(1-cosθ);

[0071] J 22 =O z0 (1-cosθ)+(V x0 O y0 -V y0 O x0 )sinθ-V z D0(1-cosθ);

[0072] K 11 =O y0 (1-cosθ)-(V z0 O x0 -V x0 O z0 )sinθ-V y D0(1-cosθ);

[0073] K 12 =O z0 (1-cosθ)-(V x0 O y0 -V y0 O x0 )sinθ-V z D0(1-cosθ);

[0074] K 21 =O y0 (1-cosθ)+(V z0 O x0 -V x0 O z0 )sinθ-V y D0(1-cosθ);

[0075] K 22 =O z0 (1-cosθ)+(V x0 O y0 -V y0 O x0 )sinθ-V zD0(1-cosθ).

[0076] The present invention relates to an apparatus for performing vision-based calibration of the swing axis parameters of a five-axis laser cutting machine, wherein the apparatus comprises:

[0077] A processor is configured to execute computer-executable instructions;

[0078] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of the above-described vision-based method for verifying the swing axis parameters of a five-axis laser cutting machine.

[0079] The present invention provides a processor for performing vision-based calibration of the oscillating axis parameters of a five-axis laser cutting machine. The processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the various steps of the aforementioned vision-based method for performing calibration of the oscillating axis parameters of a five-axis laser cutting machine.

[0080] The computer-readable storage medium of the present invention stores a computer program that can be executed by a processor to implement the various steps of the above-described method for vision-based verification of the swing axis parameters of a five-axis laser cutting machine.

[0081] This invention provides a vision-based method for calibrating the swing axis parameters of a five-axis laser cutting machine, which verifies the accuracy of the swing axis parameters and can automatically correct the swing axis parameters based on the verification error.

[0082] To verify and correct the accuracy of the laser machine's pendulum axis parameters, this invention provides a pendulum axis parameter correction method. This method is based on a vision system, requiring the vision system to identify the light spot formed by the red light emitted by the laser within its imaging plane. Simultaneously, the system can calculate the coordinates of the light spot's center.

[0083] Based on this vision system, the correction of the pendulum axis parameters in this invention mainly consists of two parts: 1) correction of the pendulum axis rotation vector parameters; 2) correction of the pendulum axis rotation center parameters. The flowchart of this method is shown below. Figure 1 As shown, the specific feature steps are as follows:

[0084] S1, taking the state where the laser head is perpendicular to the imaging plane as the initial state of the laser head, record the coordinates (x0, y0) of the current spot center in the imaging plane, and record the spot center coordinates in this state as the initial coordinates, such as... Figure 2 As shown.

[0085] S2, using the current pendulum axis parameters (initial set pendulum axis parameters), rotate the light spot around a certain pendulum axis with the light spot position as the center. Let the rotation angle be θ, and record the coordinates (x1, y1) of the light spot center in the imaging plane. Figure 3 As shown.

[0086] S3, the laser head returns to its initial state and rotates the axis in the opposite direction by the same angle θ, recording the coordinates (x2, y2) of the spot center in the imaging plane. Figure 4 As shown.

[0087] S4. If the deflected coordinates (x1, y1) and (x2, y2) differ from the initial position coordinates by less than a certain threshold, then the parameters of this pendulum axis are determined to be accurate values; otherwise, correction is required, and proceed to S5.

[0088] S5. According to the Rodriguez rotation formula, the following system of equations can be established. By substituting the coordinates of the three light spot centers recorded in the imaging plane, the rotation angle, and the initially set pendulum axis parameters into the system of equations, the new pendulum axis parameters can be calculated. Assume the new pendulum axis rotation vector (unit vector) is (V... x V y V z ), the center of rotation is (O) x O y O z The initially set rotation vector (unit vector) of the pendulum axis is (V). x0 V y0 V z0 ), the center of rotation is (O) x0 O y0 O z0 ).

[0089]

[0090] in:

[0091] D = V x O x +V y O y +V z O z

[0092] D0 = V x0 O x0 +V y0 O y0 +V z0 O z0

[0093] J 11 =O x0 (1-cosθ)-(V y0 Oz0 -V z0 O y0 )sinθ-V x D0(1-cosθ)

[0094] J 12 =O z0 (1-cosθ)-(V x0 O y0 -V y0 O x0 )sinθ-V z D0(1-cosθ)

[0095] J 21 =O x0 (1-cosθ)+(V y0 O z0 -V z0 O y0 )sinθ-V x D0(1-cosθ)

[0096] J 22 =O z0 (1-cosθ)+(V x0 O y0 -V y0 O x0 )sinθ-V z D0(1-cosθ)

[0097] K 11 =O y0 (1-cosθ)-(V z0 O x0 -V x0 O z0 )sinθ-V y D0(1-cosθ)

[0098] K 12 =O z0 (1-cosθ)-(V x0 O y0 -V y0 O x0 )sinθ-V z D0(1-cosθ)

[0099] K 21 =O y0 (1-cosθ)+(V z0 O x0 -V x0 O z0 )sinθ-V y D0(1-cosθ)

[0100] K 22 =O z0 (1-cosθ)+(V x0 O y0 -V y0 O x0 sinθ-V z D0(1-cosθ)

[0101] It is important to note that:

[0102] There are a total of 6 parameters for the pendulum axis, while the above system of equations consists of 4 equations. However, due to the structural characteristics of the pendulum head, the number of unknowns can be reduced. For example, for a pendulum axis rotating around the X-axis (A-axis), the O parameter in its pendulum axis parameters... x =0. Meanwhile, since the rotation vector of the pendulum axis is a unit vector, that is: This means that the number of equations in the original system can be increased to 5, while the number of unknowns can be reduced to 5, thus the system of equations has a unique solution.

[0103] Since the system of equations has a unique solution, the system of equations can be solved iteratively using Newton's iteration method, and the initial value of Newton's iteration method can be set to the current pendulum axis parameter.

[0104] S6. Using the new pendulum axis parameters calculated in step S5, perform steps S1-S4 again to verify the accuracy of the calculated parameters. If the threshold requirement of S4 is still not met, repeat step S5 until the threshold condition of S4 is met.

[0105] In a specific embodiment of the present invention, the machine tool used in this example is a five-axis CNC machine tool with a double swing axis structure. In addition to being able to translate in the X, Y, and Z directions, the laser head can also rotate around the X and Z axes respectively (hereinafter referred to as the A and C axes).

[0106] The method of the present invention can be implemented within the machine tool control system, and the basic steps involved are as follows:

[0107] S1. Rotate the machine tool cutting head to be perpendicular to the imaging plane. Turn on the red laser and manually move the X, Y, and Z axes of the machine tool to make a clear light spot appear in the imaging plane.

[0108] S2, the machine tool control system records the coordinates (x0, y0) of the center of the light spot in the imaging plane.

[0109] S3. Using the current A-axis pendulum axis parameters (initial set pendulum axis parameters), rotate the light spot around a certain pendulum axis with the light spot position as the center. Let the rotation angle be θ, and record the coordinates (x1, y1) of the light spot center in the imaging plane.

[0110] S4, in the same manner, rotate the A-axis in the opposite direction by the same angle θ, and record the coordinates (x2, y2) of the spot center in the imaging plane, such as... Figure 4 As shown.

[0111] S5. If the difference between the deflected coordinates (x1, y1) and (x2, y2) and the initial position coordinates is less than a certain threshold, then the parameters of this pendulum axis are determined to be accurate values; otherwise, correction is required, and proceed to S6.

[0112] S6, substitute the center coordinates of the three light spots recorded in the imaging plane, their rotation angles, and the initially set pendulum axis parameters into the equation system established by this method. Assume the new pendulum axis rotation vector (unit vector) is (V x V y V z ), the center of rotation is (O) x O y O z The initially set rotation vector (unit vector) of the pendulum axis is (V). x0 V y0 V z0 ), the center of rotation is (O) x0 O y0 O z0 Since the pendulum axis structure is A-axis, the O parameter in its pendulum axis parameters is... x =0, O x0 If = 0, then the original system of equations can be simplified to:

[0113]

[0114] in:

[0115] D = V y O y +V z O z

[0116] D0 = V y0 O y0 +V z0 O z0

[0117] J 11 =-(V y0 O z0 -V z0 O y0 sinθ-V x D0(1-cosθ)

[0118] J 12 =O z0 (1-cosθ)-V x0 O y0 sinθ-Vz D0(1-cosθ)

[0119] J 21 =(V y0 O z0 -V z0 O y0 sinθ-V x D0(1-cosθ)

[0120] J 22 =O z0 (1-cosθ)+V x0 O y0 sinθ-V z D0(1-cosθ)

[0121] K 11 =O y0 (1-cosθ)+V x0 O z0 sinθ-V y D0(1-cosθ)

[0122] K 12 =O z0 (1-cosθ)-V x0 O y0 sinθ-V z D0(1-cosθ)

[0123] K 21 =O y0 (1-cosθ)-V x0 O z0 sinθ-V y D0(1-cosθ)

[0124] K 22 =O z0 (1-cosθ)-V x0 O y0 sinθ-V z D0(1-cosθ)

[0125] S7. Using the calculated new pendulum axis parameters, repeat S2 to S5 to verify the accuracy of the new parameters. If the threshold requirement of S4 is still not met, repeat step S6 until the threshold condition of S4 is met.

[0126] S8. In a similar manner, correct the oscillation parameters of the C-axis.

[0127] This concludes the pendulum axis parameter calibration process.

[0128] It is important to note that:

[0129] In this example, the swivel head structure of the machine tool is A and C axes, but the method of the present invention is also applicable to swivel head structures, such as A and B structure swivel heads.

[0130] The method of this invention is not only applicable to the double-swing head structure in the example, but also to other swing head structures, such as the single-swing head + single-turntable structure.

[0131] For the specific implementation scheme of this embodiment, please refer to the relevant descriptions in the above embodiments, which will not be repeated here.

[0132] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0133] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means at least two.

[0134] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0135] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution device. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0136] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The corresponding program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0137] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0138] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0139] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0140] This invention employs a vision-based method, apparatus, processor, and computer-readable storage medium for verifying the swing axis parameters of a five-axis laser cutting machine. It obtains the error after swing through visual means, resulting in a more accurate error assessment. This method can calibrate the deviation of the rotation vector, and compared to existing solutions, the swing axis parameters can be corrected more accurately. Using this method for correction eliminates the need for recalibration, saving time. The technical feature of this invention is that it generates new parameters based on old parameters without re-performing the entire calibration process (which is usually time-consuming), enabling faster parameter determination. A common example is when a user changes a nozzle, but recalibration is time-consuming each time. Using this method, it is possible to first verify whether parameters need to be changed; if so, new parameters can be quickly and accurately generated using old parameters.

[0141] In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations can be made without departing from the spirit and scope of the invention. Therefore, the specification and drawings should be considered illustrative rather than restrictive.

Claims

1. A method for verifying the swing axis parameters of a five-axis laser cutting machine based on vision, characterized in that, The method includes the following steps: (1) Take the state in which the laser head is perpendicular to the imaging plane as the initial state of the laser head, record the coordinates (x0, y0) of the current spot center in the imaging plane, and record the spot center coordinates in this state as the initial coordinates; (2) Using the current pendulum axis parameters, rotate around a certain pendulum axis with the spot position as the center, and let the rotation angle be . Record the coordinates (x1, y1) of the center of the light spot in the imaging plane. (3) After the laser head returns to the initial state, using the current pendulum axis parameters, rotate the pendulum axis in the opposite direction by the same angle, with the spot position as the center. Record the coordinates (x2, y2) of the center of the light spot in the imaging plane. (4) Determine whether the difference between the deflected coordinates (x1, y1) and (x2, y2) and the initial position coordinates exceeds the threshold. If so, the parameters of this pendulum axis are determined to be accurate values. Otherwise, correction is required, and step (5) is continued. (5) Calculate the new pendulum axis parameters based on the deviation between the center coordinates of the light spot after yaw and the initial coordinates and the current pendulum axis parameters; (6) Use the new pendulum axis parameters as the current pendulum axis parameters and continue with step (2); The calculation of the new pendulum axis parameters in step (5) is specifically as follows: Assume the rotation vector of the new pendulum axis is The center of rotation is The initially set rotation vector of the pendulum axis is The center of rotation is Calculate the new pendulum axis parameters using the following formula: in, ； ； ； ； ； ； ； ； ； 。 2. The method for verifying the swing axis parameters of a five-axis laser cutting machine based on vision, as described in claim 1, is characterized in that... Step (6) further includes the following steps: If the calculated new pendulum axis parameters still exceed the threshold of (4), then continue to step (5) until the threshold condition of (4) is met.

3. The method for verifying the swing axis parameters of a five-axis laser cutting machine based on vision, as described in claim 1, is characterized in that... Step (5) specifically includes the following steps: By substituting the center coordinates of the three light spots recorded in the imaging plane, the rotation angle, and the initially set pendulum axis parameters into the system of equations, the new pendulum axis parameters are calculated.

4. A device for performing vision-based calibration of the swing axis parameters of a five-axis laser cutting machine, characterized in that, The device includes: A processor is configured to execute computer-executable instructions; The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the steps of the vision-based method for verifying the swing axis parameters of a five-axis laser cutting machine as described in any one of claims 1 to 3.

5. A processor for performing vision-based calibration of the swing axis parameters of a five-axis laser cutting machine, characterized in that, The processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the steps of the vision-based method for verifying the swing axis parameters of a five-axis laser cutting machine as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, It stores a computer program that can be executed by a processor to implement the steps of the vision-based method for verifying the swing axis parameters of a five-axis laser cutting machine as described in any one of claims 1 to 3.

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