Tool positioning method, device, equipment and storage medium

Abstract

The present invention relates to the field of laser cleaning technology, and in particular to a tool positioning method, device, equipment and storage medium, the method comprising: obtaining position information and size information of a fixed table for placing a tool, adjusting the focal position of a laser according to the position information, and generating a laser marking scheme based on the size information; laser marking the surface of the fixed table on which the tool to be cleaned is placed based on the laser marking scheme; after the laser marking is completed, obtaining and processing an image of the surface of the fixed table to obtain a marked image, and extracting blade feature information from the marked image; generating a cutting path for laser cleaning based on the blade feature information and design information of the tool to be cleaned; when laser cleaning is required, obtaining a tool position image, and generating an angle adjustment scheme based on the tool position image and the marked image; the method disclosed in the present application has the advantage of high cutting accuracy, and can generate an angle adjustment scheme to achieve fast and accurate positioning before laser cleaning.

Description

Technical Field

[0001] The present invention relates to the field of laser cleaning technology, and in particular to a tool positioning method, device, equipment and storage medium. Background Art

[0002] There is a high probability that there will be an oxide layer on the surface of the saw blade after laser cutting. This is because during the laser cutting process, the metal material reacts with the oxygen in the air at high temperature to form an oxide layer on the metal surface. The presence of the oxide layer may affect the quality and performance of the saw blade, such as reducing its sharpness and increasing friction resistance. Therefore, it is necessary to clean the saw blade after laser cutting.

[0003] Some existing workshops use chemical cleaning methods. Since chemical agents or cleaning agents are required, wastewater, waste and other pollutants will be generated during the cleaning process, which is not in line with the green and environmentally friendly production concept. Therefore, some workshops have begun to use laser cleaning methods. Laser cleaning is a non-contact cleaning method that uses a laser beam to irradiate the surface of the workpiece and remove stains through photothermal and photochemical effects. Since it will not cause mechanical damage or chemical corrosion to the tool, the integrity and performance of the tool are guaranteed.

[0004] During the laser cleaning process, if the laser cleaning beam is irradiated onto the blade of the tool, it may cause blade defects and affect the cutting ability of the blade. Therefore, before each tool cleaning, the placement of the tool needs to be adjusted to ensure that the laser cleaning path avoids the blade position; the existing tool placement position is generally adjusted manually, which has problems such as inaccurate adjustment and low adjustment efficiency, affecting the laser cleaning effect of the tool.

[0005] It can be seen that the existing technology still needs to be improved and enhanced. Summary of the invention

[0006] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a tool positioning method, device, equipment and storage medium, which have the advantages of high cutting accuracy and can generate angle adjustment schemes to achieve fast and accurate positioning before laser cleaning.

[0007] The first aspect of the present invention provides a tool positioning method, comprising: obtaining position information and size information of a fixed table for placing a tool, adjusting the focal position of a laser according to the position information, and generating a laser marking scheme based on the obtained size information; when the tool to be cleaned is placed on the fixed table, laser marking the surface of the fixed table based on the laser marking scheme; after the laser marking is completed, obtaining a surface image of the fixed table fed back by a camera device, processing the surface image of the fixed table to obtain a marked image; performing feature extraction processing on the marked image to obtain blade feature information; obtaining design information of the tool to be cleaned, and generating a cutting path for laser cleaning based on the blade feature information and the design information; when laser cleaning is required, obtaining a tool position image fed back by a camera device, and generating an angle adjustment scheme based on the tool position image and the marked image.

[0008] Optionally, in a first embodiment of the first aspect of the present invention, the acquiring of position information and size information of a fixed table for placing a tool, adjusting the focal position of the laser according to the position information, and generating a laser marking scheme based on the acquired size information specifically includes: acquiring the position information and size information of a fixed table for placing a tool, wherein the position information is the distance between the tool and the laser device; using a level to confirm whether the fixed table is horizontal, and when the fixed table is horizontal, using an automatic focusing function of the laser device to adjust the focal length of the laser device according to the position information; generating a laser marking scheme based on the size information of the fixed table, wherein the laser marking scheme includes the spot size, the number of spots and the position of each spot.

[0009] Optionally, in a second embodiment of the first aspect of the present invention, after the tool to be cleaned is placed on the fixed table, the surface of the fixed table is laser marked based on the laser marking scheme, specifically including: adjusting the laser power based on the spot size, and adjusting the laser scanning speed based on the number of spots and size information of the fixed table; when the tool to be cleaned is placed on the fixed table, controlling the laser device to perform a laser marking operation based on the adjusted laser power, the adjusted laser scanning speed and the position of each spot.

[0010] Optionally, in a third embodiment of the first aspect of the present invention, after the laser marking is completed, the fixed table surface image fed back by the camera device is obtained, and the fixed table surface image is processed to obtain a marked image, which specifically includes: after the laser marking is completed, the fixed table surface image fed back by the camera device is obtained; the fixed table surface image is denoised and contrast enhanced in sequence to obtain a first preprocessed image; an edge detection algorithm is used to identify shadow edges in the first preprocessed image, and the shadow edges are marked to obtain a marked image.

[0011] Optionally, in a fourth embodiment of the first aspect of the present invention, the feature extraction processing of the marked image to obtain blade feature information specifically includes: performing feature extraction processing on the marked image through an image processing library to extract key features of the shadow edge; based on the extracted key features, using a support vector machine to determine the shape of the blade and the position of each blade in the image; integrating the key features, the shape of the blade and the position information of each blade to obtain the blade feature information.

[0012] Optionally, in a fifth embodiment of the first aspect of the present invention, the obtaining of design information of the tool to be cleaned and generating a cutting path for laser cleaning based on the blade feature information and the design information specifically include: obtaining the design information of the tool to be cleaned, the design information including the size of the tool to be cleaned, the number of blades and the arrangement of the blades; based on the blade feature information, using reverse engineering technology to reconstruct a three-dimensional model of the tool and obtaining reconstructed model information; determining whether the reconstructed model information is consistent with the design information, and if so, using a path planning algorithm to generate a cutting path for laser cleaning.

[0013] Optionally, in a sixth embodiment of the first aspect of the present invention, when laser cleaning is required, the tool position image fed back by the camera device is obtained, and an angle adjustment scheme is generated based on the tool position image and the mark image, specifically including: when laser cleaning is required, the tool position image fed back by the camera device is obtained; the tool position image is denoised and contrast enhanced in sequence to obtain a second preprocessed image; an edge detection algorithm is used to identify the tool edge in the second preprocessed image; key feature points of the tool edge and the shadow edge are extracted, and a feature matching algorithm is used to match the extracted key feature points to confirm the relative transformation relationship between the tool edge and the shadow edge; an angle adjustment scheme is generated based on the confirmed relative transformation relationship.

[0014] The second aspect of the present invention provides a tool positioning device, including: an acquisition module, used to acquire position information and size information of a fixed table for placing a tool, adjust the focal position of the laser according to the position information, and generate a laser marking scheme based on the acquired size information; a marking module, used to laser mark the surface of the fixed table based on the laser marking scheme after the tool to be cleaned is placed on the fixed table; a processing module, used to acquire the surface image of the fixed table fed back by a camera device after the laser marking is completed, and process the surface image of the fixed table to obtain a marked image; an extraction module, used to perform feature extraction processing on the marked image to obtain blade feature information; a generation module, used to acquire the design information of the tool to be cleaned, and generate a cutting path for laser cleaning based on the blade feature information and the design information; an adjustment module, used to acquire the tool position image fed back by the camera device when laser cleaning is required, and generate an angle adjustment scheme based on the tool position image and the marked image.

[0015] The third aspect of the present invention provides a tool positioning device, which includes: a memory and at least one processor, wherein instructions are stored in the memory; at least one of the processors calls the instructions in the memory so that the tool positioning device executes each step of the tool positioning method described in any one of the above items.

[0016] A fourth aspect of the present invention provides a computer-readable storage medium having instructions stored thereon, and the instructions, when executed by a processor, implement the various steps of any one of the above-mentioned tool positioning methods.

[0017] In the technical solution of the present invention, by generating a cutting path for laser cleaning, a high-efficiency and high-precision laser cleaning task can be achieved, thereby avoiding unnecessary damage to the blade of the tool caused by the laser and ensuring the sharpness of the tool after laser cleaning; further, after each placement of the tool to be cleaned, an angle adjustment plan can be generated according to the tool position image to achieve rapid and accurate positioning of the tool before laser cleaning, thereby improving the subsequent laser cleaning effect on the tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A first flow chart of a tool positioning method provided by an embodiment of the present invention;

[0019] Figure 2 A second flow chart of the tool positioning method provided by an embodiment of the present invention;

[0020] Figure 3 A third flow chart of the tool positioning method provided by an embodiment of the present invention;

[0021] Figure 4 A fourth flow chart of a tool positioning method provided by an embodiment of the present invention;

[0022] Figure 5 A fifth flow chart of the tool positioning method provided by an embodiment of the present invention;

[0023] Figure 6 A sixth flow chart of a tool positioning method provided by an embodiment of the present invention;

[0024] Figure 7 A seventh flow chart of a tool positioning method provided by an embodiment of the present invention;

[0025] Figure 8 A schematic diagram of the structure of a tool positioning device provided by an embodiment of the present invention;

[0026] Fig. 9 A schematic structural diagram of a tool positioning device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The present invention provides a tool positioning method, device, equipment and storage medium. The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof 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 necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 , an embodiment of the tool positioning method in the embodiment of the present invention includes:

[0029] 101. Acquire position information and size information of a fixed table for placing a tool, adjust the focal position of the laser according to the position information, and generate a laser marking scheme based on the acquired size information;

[0030] In this embodiment, the fixed table is a position in the laser machine tool for fixing the tool to be cleaned. A connecting rod is provided on the top of the fixed table, and the top of the connecting rod is detachably connected to the tool to be cleaned, that is, the fixed tool to be cleaned is located above the top of the fixed table.

[0031] 102. After the tool to be cleaned is placed on the fixed table, laser marking is performed on the surface of the fixed table based on the laser marking scheme;

[0032] In this embodiment, after the tool to be cleaned is placed on the fixed table, the staff can send a placement completion instruction to the control system through the control panel of the laser device, so that the control system controls the laser device to laser mark the surface of the fixed table based on the laser marking scheme.

[0033] 103. After the laser marking is completed, the surface image of the fixed platform fed back by the camera device is obtained, and the surface image of the fixed platform is processed to obtain a marking image;

[0034] In this embodiment, after laser marking is completed, the laser device itself will feedback a marking completion instruction to the control system, and then the staff will remove the tool to be cleaned from the fixed table, so that the camera device can capture the image of the surface of the fixed table; the camera device can be a CCD coaxial camera.

[0035] 104. Perform feature extraction processing on the marked image to obtain blade feature information;

[0036] 105. Acquire design information of the tool to be cleaned, and generate a cutting path for laser cleaning based on the blade feature information and the design information;

[0037] In this embodiment, steps 101 to 105 are performed before the laser cleaning operation is performed, and are not repeated when the laser cleaning operation is performed, unless the size or type of the tool to be cleaned changes, then steps 101 to 105 are re-executed to generate a cutting path corresponding to the tool to be cleaned.

[0038] 106. When laser cleaning is required, obtain the tool position image fed back by the camera device, and generate an angle adjustment plan according to the tool position image and the mark image;

[0039] In this embodiment, when laser cleaning is required, the staff can send a control instruction to start laser cleaning to the control system through the control panel of the laser equipment, so that the control system can further generate an angle adjustment plan.

[0040] The present application discloses a tool positioning method, which can realize high-efficiency and high-precision laser cleaning tasks by generating a cutting path for laser cleaning, avoid unnecessary damage to the blade of the tool caused by the laser, and ensure the sharpness of the tool after laser cleaning; further, after each placement of the tool to be cleaned, an angle adjustment plan can be generated according to the tool position image, so as to realize fast and accurate positioning of the tool before laser cleaning, and improve the subsequent laser cleaning effect of the tool.

[0041] See also Figure 2 , a second embodiment of the tool positioning method in the embodiment of the present invention includes:

[0042] 201. Acquire position information and size information of a fixed platform for placing a tool, wherein the position information is the distance between the tool and the laser device;

[0043] In this embodiment, the position information can be measured and confirmed by a measuring tool, such as a laser rangefinder; the fixed platform is a round platform, and the size information of the fixed platform is the diameter of the fixed platform.

[0044] 202. Use a level to confirm whether the fixed platform is level. When the fixed platform is level, use the automatic focusing function of the laser device to adjust the focal length of the laser device according to the position information;

[0045] In this embodiment, during normal operation, the fixed platform is in a horizontal state. When the fixed platform is not horizontal, an alarm instruction can be fed back through the control system of the laser device to remind the staff to perform maintenance on the fixed platform in a timely manner.

[0046] In this embodiment, the focal length of the laser device is adjusted according to the position information so that its focus falls on the top surface of the fixed table, that is, when executing the laser marking scheme, the focus of the laser is located on the fixed table.

[0047] 203. Generate a laser marking scheme based on the size information of the fixed stage, wherein the laser marking scheme includes a spot size, a number of spots, and a position of each spot;

[0048] In this embodiment, the generated laser marking scheme ensures that the light spot produced by the laser can evenly and tightly cover the entire surface of the fixed platform. Specifically, the diameter of each light spot is determined according to the size of the fixed platform, and the spacing between each light spot is determined according to the diameter of each light spot to determine the number of light spots. The position of each light spot is confirmed according to the spot size and the number of spots.

[0049] See also Figure 3 , a third embodiment of the tool positioning method in the embodiment of the present invention includes:

[0050] 301. Adjust the laser power based on the spot size, and adjust the laser scanning speed based on the number of spots and the size information of the fixed stage;

[0051] In this embodiment, the clarity and consistency of the light spot can be ensured by adjusting the laser power and the laser scanning speed.

[0052] 302. After the tool to be cleaned is placed on the fixed table, the laser device is controlled to perform a laser marking operation based on the adjusted laser power, the adjusted laser scanning speed, and the position of each light spot;

[0053] In this embodiment, since the focal length of the laser equipment is positioned on a fixed table, when the laser marking operation is performed, the tool to be cleaned blocks the laser beam, that is, the light spot only appears in the position that is not blocked by the tool to be cleaned, such as in the gap between each blade; the shadow edge formed by the light spot can be used to confirm the blade edge information of the tool to be cleaned.

[0054] See also Figure 4 , a fourth embodiment of the tool positioning method in the embodiment of the present invention includes:

[0055] 401. After the laser marking is completed, an image of the fixed platform surface fed back by the camera device is obtained;

[0056] In this embodiment, the fixed table surface image is an image taken after the tool to be cleaned is removed, that is, the fixed table surface image only records the light spot information on the fixed table surface.

[0057] 402. Perform denoising and contrast enhancement processing on the fixed platform surface image in sequence to obtain a first preprocessed image;

[0058] In this embodiment, the fixed platform surface image may be subjected to denoising processing by a median filtering method, and then subjected to contrast enhancement processing by a histogram equalization method.

[0059] 403. Using an edge detection algorithm to identify the shadow edge in the first preprocessed image, marking the shadow edge to obtain a marked image;

[0060] In this embodiment, the edge detection algorithm can be a Canny edge detection algorithm, which identifies the key features of the shadow edge and facilitates the marking of the shadow edge. By marking the identified shadow edge, subsequent comparison and positioning before laser cleaning are facilitated.

[0061] See also Figure 5 The fifth embodiment of the tool positioning method in the embodiment of the present invention includes:

[0062] 501. Perform feature extraction processing on the marked image through the image processing library to extract key features of the shadow edge;

[0063] In this embodiment, feature extraction processing can be performed on the marked image through an image processing library, such as functions in OpenCV, and the extracted key features may include area, perimeter, centroid (i.e., geometric center), convex hull (a set of convex points of a contour), Hu moment (an invariant feature used to describe a shape), etc.

[0064] 502. Based on the extracted key features, use a support vector machine to determine the shape of the blade and the position of each blade in the image;

[0065] In this embodiment, the center of the marked image is assumed to be a fixed reference point, and the position of each blade in the image and in the real world is determined by the relative position between the centroid and the fixed reference point.

[0066] 503. Integrate the key features, the shape of the blade and the position information of each blade to obtain blade feature information.

[0067] See also Figure 6 The sixth embodiment of the tool positioning method in the embodiment of the present invention includes:

[0068] 601. Obtain design information of the tool to be cleaned, wherein the design information includes the size of the tool to be cleaned, the number of blades, and the arrangement of the blades;

[0069] In this embodiment, the design information also includes the shape of the tool to be cleaned.

[0070] 602. Based on the blade feature information, a reverse engineering technology is used to reconstruct a three-dimensional model of the tool, and reconstructed model information is obtained;

[0071] In this embodiment, the reconstructed model information includes the shape of the model tool, the size of the model tool, the number of model blades, and the arrangement of the model blades.

[0072] 603. Determine whether the reconstructed model information is consistent with the design information. If they are consistent, use a path planning algorithm to generate a cutting path for laser cleaning.

[0073] In this embodiment, a matching template may be pre-set, and data matching is performed on the reconstructed model and the design information based on the matching template. The principle of the matching template is rule-based matching.

[0074] In this embodiment, the generated cutting path can ensure that the laser beam can cover and clean the tool and the target area on each blade, while avoiding unnecessary damage to the blade; the path planning algorithm can be a Dijkstra algorithm; the Dijkstra algorithm is one of the most classic graph search algorithms and is a breadth-first algorithm. It uses a traversal method to calculate all paths from the starting point to the end point and select the path with the lowest cost, so the shortest path can be searched.

[0075] See also Figure 7 The seventh embodiment of the tool positioning method in the embodiment of the present invention includes:

[0076] 701. When laser cleaning is required, obtain a tool position image fed back by a camera device;

[0077] In this embodiment, the acquired tool position image is an image acquired by the camera device from directly above the tool to be cleaned after the tool to be cleaned is fixed on the fixing table.

[0078] 702. Perform denoising and contrast enhancement processing on the tool position image in sequence to obtain a second preprocessed image;

[0079] In this embodiment, the tool position image may be subjected to denoising by a median filtering method, and then subjected to contrast enhancement by a histogram equalization method.

[0080] 703. Using an edge detection algorithm to identify a tool edge in the second preprocessed image;

[0081] In this embodiment, the edge detection algorithm may be a Canny edge detection algorithm, and the Canny edge detection algorithm is used to identify key features of the tool edge.

[0082] 704. Extract key feature points of the tool edge and the shadow edge, and use a feature matching algorithm to match the extracted key feature points to confirm the relative transformation relationship between the tool edge and the shadow edge;

[0083] In this embodiment, the key feature points include corner points, key points on a contour, etc., and the feature matching algorithm may be a SIFT feature matching algorithm.

[0084] 705. Generate an angle adjustment scheme according to the confirmed relative transformation relationship;

[0085] In this embodiment, based on the confirmed relative transformation relationship, the rotation transformation parameters of the blade in the tool position image relative to the blade edge on the marking image can be calculated, that is, the rotation angle can be calculated and the rotation direction can be confirmed to generate an angle adjustment plan; the generated angle adjustment plan can be executed by a mobile fixture, the mobile fixture clamps the blade to be cleaned, and the horizontal rotation action of the blade to be cleaned is performed according to the angle adjustment plan, so as to achieve fast and accurate positioning of the blade to be cleaned.

[0086] The above describes the tool positioning method in the embodiment of the present invention. The following describes the tool positioning device in the embodiment of the present invention. Figure 8 , an embodiment of the tool positioning device in the embodiment of the present invention includes:

[0087] An acquisition module 801 is used to acquire position information and size information of a fixed table for placing a tool, adjust the focal position of the laser according to the position information, and generate a laser marking scheme based on the acquired size information;

[0088] A marking module 802 is used to laser mark the surface of the fixed table based on the laser marking scheme after the tool to be cleaned is placed on the fixed table;

[0089] The processing module 803 is used to obtain the fixed platform surface image fed back by the camera device after the laser marking is completed, and process the fixed platform surface image to obtain the marking image;

[0090] An extraction module 804 is used to perform feature extraction processing on the marked image to obtain blade feature information;

[0091] A generation module 805 is used to obtain the design information of the tool to be cleaned, and generate a cutting path for laser cleaning based on the blade feature information and the design information;

[0092] The adjustment module 806 is used to obtain the tool position image fed back by the camera device when laser cleaning is required, and generate an angle adjustment plan according to the tool position image and the mark image.

[0093] above Figure 8 The tool positioning device in the embodiment of the present invention is described in detail from the perspective of modular functional entities, and the tool positioning device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0094] Fig. 9 : is a schematic diagram of the structure of a tool positioning device provided by an embodiment of the present invention. The tool positioning device 900 may have relatively large differences due to different configurations or performances, and may include one or more processors 910 (central processing units, CPU) and memory 920, and one or more storage media 930 (for example, one or more mass storage devices) storing application programs 933 or data 932. Among them, the memory 920 and the storage medium 930 can be short-term storage or permanent storage. The program stored in the storage medium 930 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the tool positioning device 900. Furthermore, the processor 910 can be configured to communicate with the storage medium 930, and execute a series of instruction operations in the storage medium 930 on the tool positioning device 900 to implement the steps of the tool positioning method provided in the above-mentioned method embodiments.

[0095] The tool positioning device 900 may also include one or more power supplies 940, one or more wired or wireless network interfaces 950, one or more input and output interfaces 960, and / or, one or more operating systems 931, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will appreciate that the tool positioning device structure shown in the present application does not constitute a limitation on the tool positioning device, and may include more or less components than shown in the figure, or combine certain components, or arrange components differently.

[0096] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the tool positioning method.

[0097] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device, or unit can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

Claims

1. A tool positioning method, characterized in that: include: Acquire position information and size information of a fixed table for placing a tool, adjust the focal position of the laser according to the position information so that the focal point falls on the top surface of the fixed table, and generate a laser marking scheme based on the acquired size information; After the tool to be cleaned is placed on the fixed table, laser marking is performed on the surface of the fixed table based on the laser marking scheme; After the laser marking is completed, the surface image of the fixed platform fed back by the camera device is obtained, and the surface image of the fixed platform is processed to obtain a marking image; Perform feature extraction processing on the marked image to obtain blade feature information; Acquire design information of the tool to be cleaned, and generate a cutting path for laser cleaning based on the blade feature information and the design information; When laser cleaning is required, the tool position image fed back by the camera device is obtained, and an angle adjustment plan is generated based on the tool position image and the mark image.

2. A tool positioning method according to claim 1, characterized in that: The step of obtaining position information and size information of a fixed platform for placing a tool, adjusting the focal position of the laser according to the position information so that the focal point falls on the top surface of the fixed platform, and generating a laser marking scheme based on the obtained size information specifically includes: Acquire position information and size information of a fixed platform for placing a tool, wherein the position information is the distance between the tool and the laser device; Use a level to confirm whether the fixed platform is level. When the fixed platform is level, use the automatic focusing function of the laser device to adjust the focal length of the laser device according to the position information so that the focus of the laser falls on the top surface of the fixed platform; A laser marking scheme is generated based on the size information of the fixing stage, the laser marking scheme including the spot size, the number of spots and the position of each spot.

3. A tool positioning method according to claim 2, characterized in that: After the tool to be cleaned is placed on the fixed table, laser marking is performed on the surface of the fixed table based on the laser marking scheme, specifically including: Adjust the laser power based on the spot size, and adjust the laser scanning speed based on the number of spots and the size information of the fixed stage; After the tool to be cleaned is placed on the fixed table, the laser device is controlled to perform a laser marking operation based on the adjusted laser power, the adjusted laser scanning speed and the position of each light spot.

4. A tool positioning method according to claim 1, characterized in that: After the laser marking is completed, the surface image of the fixed platform fed back by the camera device is obtained, and the surface image of the fixed platform is processed to obtain the marking image, which specifically includes: After the laser marking is completed, an image of the fixed table surface fed back by the camera device is obtained; Performing denoising and contrast enhancement processing on the fixed platform surface image in sequence to obtain a first preprocessed image; An edge detection algorithm is used to identify the shadow edge in the first preprocessed image, and the shadow edge is marked to obtain a marked image.

5. A tool positioning method according to claim 4, characterized in that: The feature extraction process of the marked image to obtain blade feature information specifically includes: Perform feature extraction on the marked image through the image processing library to extract key features of the shadow edge; Based on the extracted key features, support vector machine is used to determine the shape of the blade and the position of each blade in the image; The key features, the shape of the blade and the position information of each blade are integrated to obtain the blade feature information.

6. A tool positioning method according to claim 1, characterized in that: The obtaining of design information of the tool to be cleaned and generating a cutting path for laser cleaning based on the blade feature information and the design information specifically includes: Acquire design information of the tool to be cleaned, wherein the design information includes the size of the tool to be cleaned, the number of blades, and the arrangement of the blades; Based on the blade feature information, the three-dimensional model of the tool is reconstructed by using reverse engineering technology, and the reconstructed model information is obtained; It is determined whether the reconstructed model information is consistent with the design information. If they are consistent, a path planning algorithm is used to generate a cutting path for laser cleaning.

7. A tool positioning method according to claim 4, characterized in that: When laser cleaning is required, the tool position image fed back by the camera device is obtained, and an angle adjustment scheme is generated according to the tool position image and the mark image, specifically including: When laser cleaning is required, the tool position image fed back by the camera device is obtained; The tool position image is subjected to denoising and contrast enhancement processing in sequence to obtain a second preprocessed image; using an edge detection algorithm to identify a tool edge in the second preprocessed image; Extract key feature points of the tool edge and the shadow edge, and use a feature matching algorithm to match the extracted key feature points to confirm the relative transformation relationship between the tool edge and the shadow edge; An angle adjustment plan is generated according to the confirmed relative transformation relationship.

8. A tool positioning device, characterized in that: include: an acquisition module, for acquiring position information and size information of a fixed table for placing a tool, adjusting the focal position of the laser according to the position information so that the focal point falls on the top surface of the fixed table, and generating a laser marking scheme based on the acquired size information; A marking module, used for laser marking the surface of the fixed table based on the laser marking scheme after the tool to be cleaned is placed on the fixed table; A processing module is used to obtain the fixed table surface image fed back by the camera device after the laser marking is completed, and process the fixed table surface image to obtain a marking image; An extraction module is used to perform feature extraction processing on the marked image to obtain blade feature information; A generation module, used to obtain design information of the tool to be cleaned, and generate a cutting path for laser cleaning based on the blade feature information and the design information; The adjustment module is used to obtain the tool position image fed back by the camera device when laser cleaning is required, and generate an angle adjustment plan based on the tool position image and the mark image.

9. A tool positioning device, characterized in that: The tool positioning device comprises: a memory and at least one processor, wherein instructions are stored in the memory; At least one of the processors calls the instructions in the memory to enable the tool positioning device to execute each step of the tool positioning method according to any one of claims 1 to 7.

10. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the various steps of the tool positioning method according to any one of claims 1 to 7 are implemented.

Images