Laser scribing trajectory following control method and device

Abstract

The present invention relates to the field of laser processing technology, and in particular to a laser scribing trajectory following control method and device, receiving the laser scribing line spacing set by a human-machine interface, following the motion trajectory of the image data of the visual module of the human-machine interface according to the laser scribing line spacing; determining the driving instruction data of the laser scribing line spacing according to the motion trajectory of the image data of the visual module of the human-machine interface following the laser scribing line spacing; receiving the optical lens adjustment index of the human-machine interface under the driving instruction data; determining the slope of the laser scribing line of the laser scribing line spacing from the optical lens adjustment index of the human-machine interface; generating a following control trajectory for recording the slope of the laser scribing line of the human-machine interface according to the scribing line processed by the process of the human-machine interface corresponding to the slope of the laser scribing line. The present invention fully considers that the front section line is not a complete straight line, so that the lines drawn are equally spaced, and the product quality and yield are high.

Description

Technical Field

[0001] The present invention relates to the field of laser processing technology, and in particular to a laser scribing trajectory following control method and device. Background Art

[0002] Laser scribing is a key process in the manufacturing of perovskite photovoltaic cells. Perovskite cells need to go through three scribing processes in the entire production process, commonly known as P1, P2, and P3 scribing processes. P2 scribing has strict parallelism and spacing accuracy requirements relative to P1 scribing, and P3 scribing has strict parallelism and spacing accuracy requirements relative to P2 scribing.

[0003] The traditional control method is to position the entire piece of glass, calculate the angle of rotation of the glass after positioning, and then use two-axis interpolation to carve it in a straight line.

[0004] This process ignores the fact that the first line is not a complete straight line, but is distorted, resulting in uneven spacing between the lines, which seriously affects product quality and yield. Summary of the invention

[0005] In order to achieve the purpose of improving product quality and yield, this application provides the following technical solutions:

[0006] According to a first aspect of the present invention, the present invention claims protection for a laser scribing trajectory following control method, characterized in that it comprises:

[0007] Receiving the laser scribing line spacing set by the human-machine interface, and following the motion trajectory of the image data of the visual module of the human-machine interface according to the laser scribing line spacing;

[0008] Determining driving instruction data of the laser scribing line spacing according to the movement trajectory of the laser scribing line spacing following the image data of the visual module of the human-machine interface;

[0009] Receiving the optical lens adjustment index of the human-machine interface under the driving instruction data;

[0010] Determining the slope of the laser scribing line of the laser scribing line spacing from the optical lens adjustment index of the human-machine interface;

[0011] According to the scribing line processed by the process of the human-machine interface corresponding to the slope of the laser scribing line, a follow-up control trajectory of the human-machine interface recording the slope of the laser scribing line is generated.

[0012] Further, the image data of the visual module following the human-machine interface according to the laser scribing line spacing includes:

[0013] Obtaining a cavity structure model of a ventilation setting index air inlet hole, a ventilation index air inlet hole, a ventilation index exhaust hole, a set ventilation index air inlet hole, an output index exhaust hole, and an exhaust hole of a previous ventilation layer that have been determined through training;

[0014] The laser scribing line spacing of the current timestamp R+1 is set in the cavity construction model to obtain the current ventilation layer exhaust hole according to the ventilation setting index air inlet hole, the laser scribing line spacing, the ventilation index air inlet hole, the previous ventilation layer exhaust hole and the ventilation index exhaust hole, and the laser scribing line spacing is obtained according to the set ventilation index air inlet hole, the current ventilation layer exhaust hole and the output index exhaust hole. The image data of each visual module of the human-machine interface is obtained, and R is an integer greater than 1.

[0015] Furthermore, the method also includes:

[0016] Obtaining the completed following cavity electrodes and their corresponding visual module labels of the human-machine interface from the R-1th timestamp to the Rdth timestamp, where d is an integer greater than 0;

[0017] The cavity electrodes that have been completed following the human-machine interface from the R-1 time stamp to the Rd time stamp are respectively set to the cavity structure model, and the image data of the visual module of the human-machine interface that has been completed following the cavity electrodes from the R-1 time stamp to the Rd time stamp is obtained;

[0018] Training the cavity structure model according to the image data and the corresponding visual module labels of the visual modules of the human-machine interface that have been followed by the cavity electrodes from the R-1 time stamp to the Rd time stamp;

[0019] Obtain the completed following cavity electrodes and their corresponding visual module labels of the human-machine interface at the Rth time stamp;

[0020] Setting the cavity electrode that has been completed following the human-machine interface at the Rth time stamp to the trained cavity structure model, and obtaining the image data of the visual module of the human-machine interface that has been completed following the cavity electrode at the Rth time stamp;

[0021] According to the image data of the visual module of the human-machine interface that has completed following the cavity electrode at the Rth timestamp and its corresponding visual module label, the cavity structure model is evaluated to determine the ventilation setting index inlet hole, ventilation index inlet hole, ventilation index exhaust hole, set ventilation index inlet hole, output index exhaust hole and previous ventilation layer exhaust hole of the cavity structure model.

[0022] Further, receiving the optical lens adjustment index of the human-machine interface under the driving instruction data includes:

[0023] Obtaining the scribing line processed by the process of the human-machine interface and its corresponding completed follow-up cavity electrode, the scribing line processed by the process includes the adjustment index of the optical lens that has been controlled, and the adjustment index of the optical lens that has been controlled includes the name of the completed scribing track that has been controlled, key point information of the completed scribing track, the area where the completed scribing track is located, the attributes of the area where the completed scribing track is located, and the attributes of the completed scribing track;

[0024] According to the name of the completed scribing track that has been controlled, the key point information of the completed scribing track, the area where the completed scribing track is located, the attributes of the area where the completed scribing track is located, and the attributes of the completed scribing track, determine the visual module to which the completed following cavity electrode belongs and the name of the completed scribing track corresponding thereto;

[0025] According to the visual module to which the cavity electrode has been completed and the name of the completed marking trajectory corresponding to it, the optical lens adjustment index of the human-machine interface under the driving instruction data is obtained.

[0026] Further, determining the slope of the laser scribing line of the laser scribing line spacing from the optical lens adjustment index of the human-machine interface includes:

[0027] Obtaining completed operation behavior information of the human-machine interface for adjusting the optical lens index;

[0028] Setting the completed operation behavior information to the line drawing trajectory based model, so as to output the image data corresponding to the optical lens adjustment index through the line drawing trajectory based model;

[0029] Displaying the optical lens adjustment indicators in descending order according to the image data corresponding to the optical lens adjustment indicators;

[0030] In response to an operation instruction for adjusting the optical lens index, a slope of the laser-engraved straight line is determined from the optical lens adjustment index.

[0031] Further, according to the scribing line processed by the process of the human-machine interface corresponding to the slope of the laser scribing line, a follow-up control trajectory of the human-machine interface recording the slope of the laser scribing line is generated, including:

[0032] The scribing line of the process processing of the human-machine interface corresponding to the slope of the laser scribing line is set to the control planning model, so as to select a follow control trajectory from the scribing line of the process processing of the human-machine interface corresponding to the slope of the laser scribing line through the control planning model;

[0033] The slope of the laser-engraved straight line corresponds to the engraved line processed in the process of the human-machine interface, which includes the completed control trajectory information, the completed geographical location information and the optical lens adjustment index.

[0034] Further, receiving the laser scribing line spacing set by the human-machine interface includes:

[0035] Receiving current follow-up information set by the human-machine interface;

[0036] The current following information is subjected to precision extraction processing to obtain the laser scribing line spacing.

[0037] According to a second aspect of the present invention, the present invention claims protection for a laser scribing trajectory following control method, characterized in that it comprises:

[0038] Display control interface, the control interface includes a line track setting area;

[0039] In response to a setting instruction for setting a scribing track area, receiving current following information set by the human-machine interface, the current following information including the laser scribing line spacing;

[0040] According to the current following information, the optical lens adjustment index that follows the same driving instruction data as the laser scribing line spacing is displayed on the control interface, and the optical lens adjustment index is the scribing line trajectory information in the process processing of the human-machine interface;

[0041] In response to an operation instruction for the displayed optical lens adjustment index, determining a slope of the laser-scribed straight line from the optical lens adjustment index;

[0042] The human-machine interface records the following control trajectory of the slope of the laser-engraved straight line according to the slope of the laser-engraved straight line.

[0043] According to a third aspect of the present invention, the present invention claims protection for a laser scribing trajectory following control device, characterized in that it comprises:

[0044] Human-machine interface module: used to set the spacing of laser scribing lines;

[0045] Control system: used to receive the spacing set by the human-machine interface, locate the image data of the visual module, follow the image data of the visual module, and send it to the position following motor drive module for execution;

[0046] Position follower motor drive module: using bus high response DC drive, high acceleration linear motor or ceramic motor or voice coil motor;

[0047] Drive module: used to receive the position command of the control system and send it to the motor module for control. The motor adopts air floating method to improve the acceleration and setting time performance of the axis;

[0048] Optical lens module: installed on the motor module, the optical lens is driven to move by the operation of the motor, and the spacing between the engraved lines is adjusted in real time.

[0049] Positioning vision module: By selecting appropriate camera module, lens module, and light source module, the MARK point of the glass can be grasped and the slope of the laser engraved line can be roughly calculated.

[0050] Following vision module: By selecting appropriate camera modules, lens modules, and light source modules, the scribing lines processed in the previous process can be clearly photographed. Through the high frame rate camera, more pictures can be obtained in a short time for data processing, realizing real-time high-speed trajectory following.

[0051] The present invention relates to the field of laser processing technology, and in particular to a laser scribing trajectory following control method and device, receiving the laser scribing line spacing set by a human-machine interface, following the motion trajectory of the image data of the visual module of the human-machine interface according to the laser scribing line spacing; determining the driving instruction data of the laser scribing line spacing according to the motion trajectory of the image data of the visual module of the human-machine interface following the laser scribing line spacing; receiving the optical lens adjustment index of the human-machine interface under the driving instruction data; determining the slope of the laser scribing line of the laser scribing line spacing from the optical lens adjustment index of the human-machine interface; generating a following control trajectory for recording the slope of the laser scribing line of the human-machine interface according to the scribing line processed by the process of the human-machine interface corresponding to the slope of the laser scribing line. The present invention fully considers that the front section line is not a complete straight line, so that the lines drawn are equally spaced, and the product quality and yield are high. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A flow chart of a laser scribing trajectory following control method claimed in an embodiment of the present application;

[0053] Figure 2 A second flow chart of a laser scribing trajectory following control method claimed in an embodiment of the present application;

[0054] Figure 3 This is a second module structure diagram of a laser scribing trajectory following control device claimed for protection in an embodiment of the present application. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0056] The terms "first", "second" and "third" in this application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second" and "third" can explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. All directional indications in the embodiments of the present application (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0057] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0058] It is understandable that the user device mentioned in the embodiments of the present disclosure may be a computer device, and the computer device in the embodiments of the present disclosure includes but is not limited to a terminal device or a server. In other words, the computer device may be a server or a terminal device, or a system composed of a server and a terminal device. Among them, the terminal device mentioned above may be an electronic device, including but not limited to a mobile phone, a tablet computer, an intelligent voice interaction device, a smart home appliance, a vehicle terminal, a desktop computer, a laptop computer, a PDA, a vehicle device, an augmented reality / virtual reality (AR / VR) device, a helmet display, a smart TV, a wearable device, a smart speaker, a digital camera, a camera and other mobile Internet devices (mobile Internet device, MID) with network access capability, or terminal devices in scenarios such as trains, ships, and flights.

[0059] Optionally, the data involved in the embodiments of the present disclosure may be stored in a computer device, or the data may be stored based on cloud storage technology or blockchain technology, which is not limited here.

[0060] Figure 1 1 is a flow chart of a laser scribing trajectory following control method provided by an embodiment of the present disclosure. The method provided by an embodiment of the present disclosure may be executed by a computer device and / or a user device in the embodiment.

[0061] like Figure 1 As shown, the method provided by the embodiment of the present disclosure may include the following steps.

[0062] In step S310, the laser scribing line spacing set by the human-machine interface is received.

[0063] In step S320, the motion trajectory of the image data of the visual module of the human-machine interface is followed according to the laser scribing line spacing.

[0064] In step S330, the driving instruction data of the laser scribing line spacing is determined according to the movement trajectory of the laser scribing line spacing following the image data of the visual module of the human-machine interface.

[0065] In step S340, the optical lens adjustment index of the human-machine interface under the driving instruction data is received.

[0066] In an exemplary embodiment, receiving an optical lens adjustment index of a human-machine interface under driving instruction data may include: obtaining a scribing line processed by a process of the human-machine interface and its corresponding completed following cavity electrode, the scribing line processed by the process including an optical lens adjustment index of a completed control, the optical lens adjustment index of a completed control including a name of a completed scribing track of the completed control, key point information of the completed scribing track, an area where the position of the completed scribing track is located, attributes of the area where the completed scribing track is located, and attributes of the completed scribing track; determining a visual module to which the completed following cavity electrode belongs and a name of the completed scribing track corresponding to the visual module to which the completed following cavity electrode belongs and a name of the completed scribing track corresponding to the visual module to which the completed following cavity electrode belongs, obtaining the optical lens adjustment index of the human-machine interface under the driving instruction data.

[0067] In the disclosed embodiment, the attribute of the area where the completed marking trajectory is located refers to the attribute of the area where the completed marking trajectory is located, which refers to the functional attribute of a large area. The attribute of the completed marking trajectory refers to the attribute of the completed marking trajectory, which refers to the functional attribute of a small area. In the disclosed embodiment, the attribute of the area where the completed marking trajectory is located and the attribute of the completed marking trajectory are combined to determine the visual module to which the completed following cavity electrode belongs and its corresponding completed marking trajectory name, which can improve the accuracy of determining the visual module to which the completed following cavity electrode belongs. In addition, after subsequently determining the slope of the laser engraved line, the accuracy of control following can also be improved based on the attribute of the area where the completed marking trajectory is located and the attribute of the completed marking trajectory contained in the engraved line processed by the process.

[0068] In step S350, the slope of the laser scribing line of the laser scribing line spacing is determined from the optical lens adjustment index of the human-machine interface.

[0069] In an exemplary embodiment, determining the slope of a laser-etched straight line of the laser-etched line spacing from an optical lens adjustment index of a human-machine interface may include: obtaining completed operation behavior information of the human-machine interface for the optical lens adjustment index; setting the completed operation behavior information to a scribing trajectory based model to output image data corresponding to the optical lens adjustment index through the scribing trajectory based model; displaying the optical lens adjustment index in descending order according to the image data corresponding to the optical lens adjustment index; and determining the slope of the laser-etched straight line from the optical lens adjustment index in response to an operation instruction for the optical lens adjustment index.

[0070] In the disclosed embodiment, the scribing trajectory model is obtained by training a machine learning model based on the completed operation behavior information for the optical lens adjustment index in the scribing line processed by the human-machine interface, and can be used based on the image data of the completed scribing trajectory previously controlled by the human-machine interface. The completed operation behavior information may include relevant operation behavior information of the human-machine interface in the completed control.

[0071] For example, since the optical lens adjustment index corresponding to each visual module can be determined when constructing each visual module, and the visual module includes driving instruction data, after determining the driving instruction data of the laser scribing line spacing, the optical lens adjustment index under the driving instruction data can be found, and the image data of each optical lens adjustment index under the driving instruction data can be determined according to the number of times, time and other information of the optical lens adjustment index recorded by the human-machine interface in the completed control. Then, the image data of each optical lens adjustment index under the driving instruction data can be displayed in the control interface in sequence from large to small for user selection. The optical lens adjustment index selected by the user is called the slope of the laser scribing line.

[0072] In step S360, a follow-up control trajectory of the human-machine interface recording the slope of the laser-decorated straight line is generated according to the scribing line processed by the process of the human-machine interface corresponding to the slope of the laser-decorated straight line.

[0073] In an exemplary embodiment, generating a follow-up control trajectory for recording the slope of the laser engraved line on the human-machine interface based on the engraved lines of the process processing of the human-machine interface corresponding to the slope of the laser engraved line may include: setting the engraved lines of the process processing of the human-machine interface corresponding to the slope of the laser engraved line to a control planning model, so as to select a follow-up control trajectory from the engraved lines of the process processing of the human-machine interface corresponding to the slope of the laser engraved line through the control planning model; wherein the engraved lines of the process processing of the human-machine interface corresponding to the slope of the laser engraved line include completed control trajectory information, completed geographic location information and optical lens adjustment indicators thereof.

[0074] In the disclosed embodiment, the control planning model is obtained by training a machine learning model based on the scoring lines of the process processing of the human-machine interface, and can be used to follow the control trajectory according to the slope of the laser-scored straight line. That is, based on the scoring lines of the process processing of the human-machine interface, an optimal route can be selected as the target control route for the slope of the laser-scored straight line, and the following control trajectory can be obtained by planning for the target control route.

[0075] The control method provided by the embodiment of the present disclosure, on the one hand, by receiving the laser scribing line spacing set by the human-machine interface, and according to the image data of the visual module of the human-machine interface following the laser scribing line spacing, according to the image data of the visual module of the human-machine interface following the laser scribing line spacing, determining the driving instruction data of the laser scribing line spacing, it is possible to perform precision reasoning on the laser scribing line spacing set by the human-machine interface, and according to the degree of similarity of the precision between the laser scribing line spacing and each visual module of the human-machine interface (represented by the image data between the visual modules), it is possible to realize control through precision reasoning, even if the name of the scribing track location set by the human-machine interface is not the name of the desired scribing track location, it is possible to infer the laser scribing line spacing set by the human-machine interface. The real intention behind the distance can be obtained, thereby improving the accuracy of control, and there is no need for the human-machine interface to manually set or modify the set information multiple times, thereby improving the user experience; on the one hand, by receiving the optical lens adjustment index of the human-machine interface under the drive instruction data, the slope of the laser-marked straight line of the laser-marked line spacing can be determined from the optical lens adjustment index of the human-machine interface, so that the human-machine interface can generate a following control trajectory for recording the slope of the laser-marked straight line according to the marking lines processed by the process of the human-machine interface corresponding to the slope of the laser-marked straight line, that is, by combining precision reasoning with the marking lines processed by the process of the human-machine interface, the following control trajectory most suitable for the human-machine interface can be planned, thereby further improving the accuracy of control.

[0076] Step S401 is the data collection stage. The user's process processing scoring lines are received from the map background management system. The process processing scoring lines may include completed control trajectory information, completed geographic location information, and optical lens adjustment indicators. In subsequent steps, the completed control trajectory information, completed geographic location information, and optical lens adjustment indicators may be used as cavity information data, and training samples and test samples may be constructed based on these cavity information data to construct an RDD precision inference model.

[0077] The completed geographic location information may include, but is not limited to: location key point information of each control trajectory, location longitude and latitude information, etc.

[0078] The optical lens adjustment indicators may include but are not limited to: the name of the completed marking trajectory point, the key point information of the completed marking trajectory point, the area where the completed marking trajectory is located, the attributes of the area where the completed marking trajectory is located, and the attributes of the completed marking trajectory.

[0079] Step S402 is a stage for constructing a precision reasoning cavity path segment library related to locations.

[0080] Specifically, the cavity information data of the completed control in step S401 is set, the cavity content related to the location in the cavity information data is marked, and the property category label of the cavity content is marked to determine the visual module label corresponding to each completed following cavity electrode with a completed timestamp.

[0081] After determining the visual module label corresponding to each completed cavity electrode with a completed timestamp, a path fragment library can be constructed, which includes the mapping relationship between the completed cavity electrode (cavity content related to the location) - visual module label - completed marking trajectory name, which is called the location-related precision reasoning cavity path fragment library.

[0082] Step S403 is the stage of constructing training samples and test samples.

[0083] Specifically, each completed follow-up cavity electrode with a completed time stamp in step S402 is set as, and a time series sample set of period R-1 is selected therefrom to construct training samples and test samples.

[0084] Step S406 is the stage of setting the path segment to be followed in the map follow box. The user sets the path segment to be followed in the map follow box at the current time stamp as the current follow information.

[0085] Step S407 is a sample extraction phase.

[0086] Set the {User id, visual module, image data} of step S409 and the location-related precision reasoning cavity path fragment library constructed in step S402, determine the visual module with the largest image data in the {User id, visual module, image data} of step S409 as the driving instruction data, match it based on the location-related precision reasoning cavity path fragment library constructed in step S402, and obtain the adjustment indicators of each optical lens under the driving instruction data, such as the name of the completed marking trajectory, that is, obtain: {User id, driving instruction data, name of the completed marking trajectory}.

[0087] Then, {User id, driving instruction data, name of the completed marking track} is matched with the geographic location information database to obtain {User id, driving instruction data, name of the completed marking track, area where the completed marking track is located, attributes of the area where the completed marking track is located, attributes of the completed marking track, key point information of the marking track}.

[0088] Step S41 1, obtaining image data of the completed line drawing tracks under the corresponding category, matching the completed line drawing tracks under the corresponding category with the geographic location information database, and obtaining the corresponding image data and geographic location information under each completed line drawing track.

[0089] Specifically, after determining the driving instruction data for the image data of the category, the LR can be used to construct a model based on the line drawing track through the user's click behavior, payment behavior and other completed operation behavior information on each completed line drawing track name, and the image data of each completed line drawing track name under the driving instruction data can be used to sort the image data in descending order. If there is only one completed line drawing track name under the driving instruction data, it is not necessary to construct the line drawing track based model.

[0090] Step S41 2, according to the image data of each completed line drawing track name under the driving instruction data, the completed line drawing track and key point information corresponding to the following path segment are recommended to the user map client in descending order for the user to select.

[0091] Step S413 is the target line trajectory determination and control stage.

[0092] When the user selects a target marking trajectory from the recommended completed marking trajectory names, the slope of the laser-marked straight line is determined, and the map background generates the optimal control route for control based on the geographical location information of the matching target marking trajectory.

[0093] Figure 2 This is a flow chart of another laser scribing trajectory following control method provided by an embodiment of the present disclosure.

[0094] like Figure 2 As shown, the method provided by the embodiment of the present disclosure may include the following steps.

[0095] In step S510, a control interface is displayed, and the control interface includes a stroke trajectory setting area.

[0096] In step S520, in response to a setting instruction for setting a scribing track area, current following information set by a human-machine interface is received, wherein the current following information includes a laser scribing line spacing.

[0097] In step S530, according to the current following information, the optical lens adjustment index that follows the same driving instruction data as the laser scribing line spacing is displayed on the control interface. The optical lens adjustment index is the scribing line trajectory information in the process processing of the human-machine interface.

[0098] In step S540, in response to an operation instruction for the displayed optical lens adjustment index, the slope of the laser-marked straight line is determined from the optical lens adjustment index.

[0099] In step S550, the human-machine interface records the following control trajectory of the slope of the laser-carved straight line according to the slope of the laser-carved straight line.

[0100] Figure 2 The specific implementation of the embodiment may refer to the contents of other embodiments mentioned above.

[0101] Figure 3 It is a schematic structural diagram of a laser scribing trajectory following control device involved in the third embodiment given in the present invention.

[0102] Human-machine interface module 10: used to set the spacing of laser scribing lines

[0103] Control system 2 0: used to receive the spacing set by the human-machine interface module 1 0, locate the image data of the visual module 5 0, follow the image data of the visual module 60, and send it to the position following motor drive module 30 for execution

[0104] Motor drive module 30: uses a high-response DC driver with bus, a high-acceleration linear motor or ceramic motor or voice coil motor. The drive module 31 is used to receive the position command of the control system and send it to the motor module 32 for control. The motor adopts air floating to improve the acceleration of the axis, setting time and other performance.

[0105] Optical lens module 40: installed on the motor module 32, the optical lens is driven to move by the operation of the motor, and the spacing between the engraved lines is adjusted in real time.

[0106] Positioning vision module 5 0: By selecting a suitable camera module 5 1, lens module 5 2, and light source module 53, the MARK point of the glass is captured and the slope of the laser-engraved straight line is roughly calculated.

[0107] Following vision module 6 0: By selecting appropriate camera module 6 1, lens module 6 2, and light source module 6 3, the scoring lines processed in the previous process can be clearly photographed. By using a high frame rate camera, more pictures can be obtained in a short time for data processing, and real-time high-speed trajectory following has been achieved.

[0108] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0109] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. The above is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the specification and drawings of this application, or directly or indirectly used in other related technical fields, is also included in the patent protection scope of the present application.

[0110] The specific implementation methods of the invention are described in detail above, but they are only examples, and the present application is not limited to the specific implementation methods described above. For those skilled in the art, any equivalent modification or substitution of the invention is also within the scope of the present application, and therefore, the equalization, modification, and improvement made without departing from the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A laser scribing trajectory following control method, characterized in that: include: Receiving the laser scribing line spacing set by the human-machine interface, and following the motion trajectory of the image data of the visual module of the human-machine interface according to the laser scribing line spacing; Determining driving instruction data of the laser scribing line spacing according to the movement trajectory of the laser scribing line spacing following the image data of the visual module of the human-machine interface; Receiving the optical lens adjustment index of the human-machine interface under the driving instruction data; Determining the slope of the laser scribing line of the laser scribing line spacing from the optical lens adjustment index of the human-machine interface; According to the scribing line processed by the process of the human-machine interface corresponding to the slope of the laser scribing line, a follow-up control trajectory of the human-machine interface recording the slope of the laser scribing line is generated; The method of following the motion trajectory of the image data of the visual module of the human-machine interface according to the laser scribing line spacing includes: Obtaining a cavity structure model of a ventilation setting index air inlet hole, a ventilation index air inlet hole, a ventilation index exhaust hole, a set ventilation index air inlet hole, an output index exhaust hole, and an exhaust hole of a previous ventilation layer that have been determined through training; The laser scribing line spacing of the current timestamp R+1 is set in the cavity construction model to obtain the current ventilation layer exhaust hole according to the ventilation setting index air inlet hole, the laser scribing line spacing, the ventilation index air inlet hole, the previous ventilation layer exhaust hole and the ventilation index exhaust hole, and the laser scribing line spacing is obtained according to the set ventilation index air inlet hole, the current ventilation layer exhaust hole and the output index exhaust hole. The image data of each visual module of the human-machine interface is obtained, and R is an integer greater than 1.

2. The method according to claim 1, characterized in that Also includes: Obtaining the completed following cavity electrodes and their corresponding visual module labels of the human-machine interface from the R-1th timestamp to the Rdth timestamp, where d is an integer greater than 0; The cavity electrodes that have been completed following the human-machine interface from the R-1 time stamp to the Rd time stamp are respectively set to the cavity structure model, and the image data of the visual module of the human-machine interface that has been completed following the cavity electrodes from the R-1 time stamp to the Rd time stamp is obtained; Training the cavity structure model according to the image data and the corresponding visual module labels of the visual modules of the human-machine interface that have been followed by the cavity electrodes from the R-1 time stamp to the Rd time stamp; Obtain the completed following cavity electrodes and their corresponding visual module labels of the human-machine interface at the Rth time stamp; Setting the cavity electrode that has been completed following the human-machine interface at the Rth time stamp to the trained cavity structure model, and obtaining the image data of the visual module of the human-machine interface that has been completed following the cavity electrode at the Rth time stamp; According to the image data of the visual module of the human-machine interface that has completed following the cavity electrode at the Rth timestamp and its corresponding visual module label, the cavity structure model is evaluated to determine the ventilation setting index inlet hole, ventilation index inlet hole, ventilation index exhaust hole, set ventilation index inlet hole, output index exhaust hole and previous ventilation layer exhaust hole of the cavity structure model.

3. The method according to claim 1, characterized in that Receiving the optical lens adjustment index of the human-machine interface under the driving instruction data includes: Obtaining the scribing line processed by the process of the human-machine interface and its corresponding completed follow-up cavity electrode, the scribing line processed by the process includes the adjustment index of the optical lens that has been controlled, and the adjustment index of the optical lens that has been controlled includes the name of the completed scribing track that has been controlled, key point information of the completed scribing track, the area where the completed scribing track is located, the attributes of the area where the completed scribing track is located, and the attributes of the completed scribing track; According to the name of the completed scribing track that has been controlled, the key point information of the completed scribing track, the area where the completed scribing track is located, the attributes of the area where the completed scribing track is located, and the attributes of the completed scribing track, determine the visual module to which the completed following cavity electrode belongs and the name of the completed scribing track corresponding thereto; According to the visual module to which the cavity electrode has been completed and the name of the completed marking trajectory corresponding to it, the optical lens adjustment index of the human-machine interface under the driving instruction data is obtained.

4. The method according to claim 1, characterized in that Determining the slope of the laser scribing line of the laser scribing line spacing from the optical lens adjustment index of the human-machine interface includes: Obtaining completed operation behavior information of the human-machine interface for adjusting the optical lens index; Setting the completed operation behavior information to the line drawing trajectory based model, so as to output the image data corresponding to the optical lens adjustment index through the line drawing trajectory based model; Displaying the optical lens adjustment indicators in descending order according to the image data corresponding to the optical lens adjustment indicators; In response to an operation instruction for adjusting the optical lens index, a slope of the laser-engraved straight line is determined from the optical lens adjustment index.

5. The method according to claim 1, characterized in that According to the scribing line processed by the process of the human-machine interface corresponding to the slope of the laser scribing line, a follow-up control trajectory of the human-machine interface recording the slope of the laser scribing line is generated, including: The scribing line of the process processing of the human-machine interface corresponding to the slope of the laser scribing line is set to the control planning model, so as to select a follow control trajectory from the scribing line of the process processing of the human-machine interface corresponding to the slope of the laser scribing line through the control planning model; The slope of the laser-engraved straight line corresponds to the engraved line processed in the process of the human-machine interface, which includes the completed control trajectory information, the completed geographical location information and the optical lens adjustment index.

6. The method according to claim 1, characterized in that Receiving the laser scribing line spacing set by the human-machine interface, comprising: Receiving current follow-up information set by the human-machine interface; The current following information is subjected to precision extraction processing to obtain the laser scribing line spacing.

7. A laser scribing trajectory following control method, characterized in that: include: Display control interface, the control interface includes a line track setting area; In response to a setting instruction for setting a scribing track area, receiving current following information set by a human-machine interface, the current following information including a laser scribing line spacing; According to the current following information, the optical lens adjustment index that follows the same drive instruction data as the laser scribing line spacing is displayed on the control interface. The optical lens adjustment index is the scribing line trajectory information in the process processing of the human-machine interface; In response to an operation instruction for the displayed optical lens adjustment index, determining the slope of the laser-scribed straight line from the optical lens adjustment index; According to the slope of the laser engraved straight line, the human-machine interface displays the following control trajectory of the slope of the laser engraved straight line.

8. A laser scribing trajectory following control device, characterized in that: include: Human-machine interface module: used to set the spacing of laser scribing lines; Control system: used to receive the spacing set by the human-machine interface, locate the image data of the visual module, follow the image data of the visual module, and send it to the position following motor drive module for execution; Position following motor drive module: using bus-responsive DC drive, linear motor or ceramic motor or voice coil motor; Drive module: used to receive the position command of the control system and send it to the motor module for control. The motor adopts air floating mode; Optical lens module: installed on the motor module, the motor drives the optical lens to move and adjusts the spacing of the marking lines in real time; Positioning vision module: by selecting camera module, lens module, light source module, grabbing the MARK point of the glass, and roughly calculating the slope of the laser engraved line; Following vision module: by selecting camera module, lens module and light source module, the scribing line processed in the previous process is photographed, and the picture is obtained through the frame rate camera for data processing and real-time trajectory tracking.

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