Vision and servo calibration method and system based on laser trajectory

Abstract

The invention belongs to the technical field of industrial robots, and particularly relates to a vision and servo calibration method and system based on a laser track. The calibration method comprises the following steps: acquiring system precision, and determining a calibration standard based on the system precision; determining an addressing coordinate system through a calibration standard, wherein the addressing coordinate system comprises a servo coordinate system, a laser coordinate system, a calibration plate coordinate system and an image coordinate system; and determining an addressing calibration process based on the addressing coordinate system. Servo and visual calibration based on the laser track is achieved for the first time, absolute coordinates are used and are irrelevant to the X / Y direction of a product, and the requirement for the absolute angle in conventional industry application is greatly met.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robots, and in particular relates to a laser trajectory-based vision and servo calibration method and system. Background Art

[0002] In today's era of rapid technological development, vision is increasingly used in multiple fields and can be seen everywhere in the new energy field. The production of battery cells, from roller pressing to lamination, die cutting, injection and finally encapsulation, includes visual inspection and correction, and the direction is more inclined to inspection. In the module dispatching section, the battery cells are assembled into modules, the modules are placed in the pack, and finally the sheets are welded and pulled out, which includes visual inspection, correction and positioning.

[0003] As CTP matures and develops, the Pack is getting bigger and bigger. The accuracy of the existing area array camera in taking a picture of the Pack at one time is difficult to meet the existing process. Using a camera to take pictures on each battery cell, there are many cameras and the interaction logic of the industrial computer software is more complicated and impractical. Therefore, a servo is used to move the camera to a fixed position for taking pictures. By using a customized calibration board with the same relative relationship between the standard Pack and the battery cell, each battery cell area on the calibration board has a QR code or origin feature. Through the information provided on the calibration board, each photo position is calibrated in the same coordinate system, so that the servo takes the camera to a fixed position to take pictures and obtain the coordinates of each pole.

[0004] The lightweight connection devices controlled by the above method have the following problems:

[0005] (1) Heavy workload, low efficiency, and extremely high error rate;

[0006] (2) After changing the camera position, recalibration is required, which requires repeated work;

[0007] (3) There are many transformation matrices, and the program is bloated;

[0008] (4) Customized calibration plates have high limitations in application scenarios and cannot be reused after changing products with large differences;

[0009] (5) The sent value is an offset value and cannot be traced back to verify its accuracy. Summary of the invention

[0010] In view of the above problems, the present disclosure provides a calibration method of vision and servo based on laser trajectory, the calibration method comprising:

[0011] Obtain system accuracy and determine calibration standards based on system accuracy;

[0012] Determine an addressing coordinate system through a calibration standard, wherein the addressing coordinate system includes a servo coordinate system, a laser coordinate system, a calibration plate coordinate system and an image coordinate system;

[0013] Determine the addressing calibration process based on the addressing coordinate system.

[0014] Preferably, obtaining the system accuracy includes:

[0015] The accuracy is verified through the preset accuracy standards and external accessories to obtain the verification results;

[0016] The system accuracy is obtained based on the verification results.

[0017] Preferably, the accuracy standard includes at least:

[0018] CCD accuracy, calibration accuracy, servo absolute accuracy, robot TCP accuracy, servo repeatability accuracy, assembly accuracy and product accuracy.

[0019] Preferably, after determining the addressing coordinate system by the calibration standard, the method further comprises:

[0020] Vector calculation addresses each coordinate system in the coordinate system and determines the relative relationship between each coordinate system.

[0021] Preferably, the addressing calibration process includes: an addressing mechanical system calibration process and an addressing algorithm calibration process.

[0022] Preferably, the calibration process of the addressing mechanical system is determined based on the addressing coordinate system, including:

[0023] Install servo motors, laser equipment, and products to be tested;

[0024] Adjust the position of the laser equipment and the product to be tested, and confirm that the intersection of the black and white grids on the calibration plate coincides with the laser track;

[0025] Move the laser red dot to the specified position and record the values ​​of the servo motor's X-axis and Y-axis at this time.

[0026] Preferably, determining the addressing algorithm calibration process based on the addressing coordinate system includes:

[0027] Move the CCD to the specified position and record the XY values ​​of its servo coordinates;

[0028] Unify the calibration plate coordinate system and the image coordinate system;

[0029] The relationship between the image coordinate system and the servo coordinate system is inversely deduced through coordinate system vector operations.

[0030] The present disclosure also proposes a laser trajectory-based vision and servo calibration system, the calibration system comprising:

[0031] A first determination module is used to obtain system accuracy and determine a calibration standard based on the system accuracy;

[0032] A second determination module is used to determine an addressing coordinate system through a calibration standard, wherein the addressing coordinate system includes a servo coordinate system, a laser coordinate system, a calibration plate coordinate system and an image coordinate system;

[0033] The third determination module is used to determine the addressing calibration process based on the addressing coordinate system.

[0034] Preferably, the first determination module is used to obtain the system accuracy, including:

[0035] The first determination module is used to perform accuracy verification through a preset accuracy standard and external auxiliary components to obtain a verification result;

[0036] The system accuracy is obtained based on the verification results.

[0037] Preferably, the second determination module, after determining the addressing coordinate system by the calibration standard, further comprises:

[0038] The second determination module is used for vector calculation of each coordinate system in the addressing coordinate system and determining the relative relationship between each coordinate system.

[0039] The present disclosure has the following beneficial effects:

[0040] (1) This disclosure realizes servo and visual calibration based on laser trajectory for the first time;

[0041] (2) The present disclosure uses absolute coordinates, which are independent of the X / Y direction of the product, greatly solving the absolute angle requirements of conventional industry applications;

[0042] (3) The disclosure greatly reduces the workload of calibration due to different products and has strong compatibility;

[0043] (4) The present disclosure increases the reusability of a calibration plate, eliminating the need for multiple calibration plates for multiple products, thus saving costs.

[0044] Other features and advantages of the present disclosure will be described in the following description, and partly become apparent from the description, or be understood by implementing the present disclosure. The purpose and other advantages of the present disclosure can be realized and obtained by the structures indicated in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1A diagram showing a calibration method of vision and servo based on laser trajectory in an embodiment of the present disclosure is shown;

[0047] Figure 2 A schematic diagram of a calibration process in an embodiment of the present disclosure is shown;

[0048] Figure 3 A schematic diagram of specific operations of the calibration process in an embodiment of the present disclosure is shown;

[0049] Figure 4 A schematic diagram of the visual calibration process of the robot in the embodiment of the present disclosure is shown;

[0050] Figure 5 A schematic diagram of a combined procedure in an embodiment of the present disclosure is shown;

[0051] Figure 6 A diagram of a calibration system based on laser trajectory vision and servo in an embodiment of the present disclosure is shown;

[0052] Figure 7 A diagram of a calibration device for vision and servo based on laser trajectory in an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0053] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the example embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0054] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware units or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0055] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the steps. For example, some steps may be decomposed, while some steps may be combined or partially combined, so the actual execution order may change according to the actual situation.

[0056] The terms "first", "second", etc. in the specification and claims of the present application 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 terms used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example.

[0057] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or sub-modules is not necessarily limited to those steps or sub-modules explicitly listed, but may include other steps or sub-modules not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0058] The development language disclosed in this invention is based on Visual Studio 2019 in the .NET Framework 4.7.2 framework using C# language and the pole addressing vision system and pole welding guidance vision system developed with Hikvision cameras. It can be recognized and run on Windows 10 22H2 / Windows 11 23H2 and above system versions.

[0059] The present invention is mainly used for pole addressing to pole welding guidance in model dispatching lines. It can adapt to different products without replacing the calibration plate and repeating the calibration. It only needs to change the shooting trajectory as needed. It can adapt to the product based on the original calibration matrix, thereby reducing the repeated workload caused by model change and the calibration plate customization time. The absolute coordinates sent at the guidance station are different from the offset values ​​in the industry.

[0060] This disclosure is mainly used in the SD02 battery self-developed and self-made project module PACK production line project.

[0061] like Figure 1 As shown, the present disclosure proposes a calibration method of vision and servo based on laser trajectory, and the calibration method includes:

[0062] Obtain system accuracy and determine calibration standards based on system accuracy;

[0063] Determine an addressing coordinate system through a calibration standard, wherein the addressing coordinate system includes a servo coordinate system, a laser coordinate system, a calibration plate coordinate system and an image coordinate system;

[0064] Determine the addressing calibration process based on the addressing coordinate system.

[0065] Specifically, obtain the system accuracy, including:

[0066] The accuracy is verified through the preset accuracy standards and external accessories to obtain the verification results;

[0067] The system accuracy is obtained based on the verification results.

[0068] Specifically, the accuracy standards include at least:

[0069] CCD accuracy, calibration accuracy, servo absolute accuracy, robot TCP accuracy, servo repeatability accuracy, assembly accuracy and product accuracy.

[0070] In this embodiment, before calibration, seven accuracy standards are defined according to CCD accuracy, calibration accuracy, servo absolute accuracy, robot TCP accuracy, servo repeatability accuracy, assembly accuracy, and product accuracy. The accuracy is verified using external accessories such as three-coordinate measuring instruments and levels. The system accuracy is defined after the accuracy and tolerance are accumulated.

[0071] The system accuracy is the accuracy of the entire device, and the errors between different accuracies will continue to accumulate. The accuracy of the entire station is allocated to the accuracy standards of each module as needed, and the accuracy of each module needs to be verified during the debugging work.

[0072] Before visual calibration, all accuracy indicators except CCD accuracy and calibration accuracy require process and quality to provide accuracy instructions, and each module completes assembly and servo debugging according to the accuracy instructions.

[0073] During visual calibration, refer to the MSA1 manual execution standard. At least three people or more are involved to confirm that the laser trajectory is perpendicular or parallel to the XY mark line of the calibration plate. Then the servo controls the laser red dot to the intersection of the black and white grid of the calibration plate, and each camera can move to this point to shoot the intersection and record the servo XY value.

[0074] In this embodiment, according to the mechanism where the coordinate system is located, the servo X-axis and Y-axis combined coordinate system is defined as the servo coordinate system, the laser trajectory hung on the servo and moving with the servo is defined as the laser coordinate system, any direction of the black and white grid on the calibration plate is artificially defined as X, and the other direction perpendicular to it is artificially defined as Y, which is defined as the calibration plate coordinate system, and the coordinate system of the image taken by the camera each time is defined as the image coordinate system.

[0075] Specifically, after determining the addressing coordinate system through the calibration standard, the method further includes:

[0076] Vector calculation addresses each coordinate system in the coordinate system and determines the relative relationship between each coordinate system.

[0077] In this embodiment, the coordinate relationship is divided into three:

[0078] Relationship between servo coordinate system and laser coordinate system: The laser is installed on the servo, its axis X is parallel to the servo X axis, and the Y axis is parallel to the servo Y axis. There is no rotation in the coordinate system conversion between the two, only XY translation.

[0079] Relationship between the laser coordinate system and the calibration plate coordinate system: After the laser trajectory completely coincides with any vertical and horizontal grid of the calibration plate, the manually defined horizontal and vertical items are completely consistent with the laser XY direction.

[0080] Relationship between the calibration plate coordinate system and the image coordinate system: The matrix during calibration is adjusted by using the CogCalibImageCorrectorTool (hereinafter referred to as CICT) tool in VisionPro to adjust the XY direction of the coordinate system.

[0081] See Figure 2 , Figure 2 Move the servo XY and observe the trajectory of the laser ranging red dot on the black and white grid of the calibration board to ensure that it moves on a calibrated straight line as shown by the trajectory lines ①② in the figure. After confirming that there is no problem with the trajectory, perform the above calibration process.

[0082] The specific calibration process is as follows: Figure 3 As shown, after manually aligning the XY of the calibration plate and the XY of the servo to make them parallel and taking a photo, the image origin can be calculated through the XY of the calibration plate. Through vector calculation of the origin of the calibration plate and the origin of the servo, the image origin and the servo origin can be coincident, thereby marking the image coordinate system into the servo coordinate system. Subsequently, after each movement of the servo to take a photo, the new calculated coordinate accumulates the servo movement distance to calculate the new coordinate point.

[0083] Once all the relationships of the above four coordinate systems are completed, the entire calibration relationship conversion is completed, and the calibration relationship of the entire addressing system has become clear.

[0084] Specifically, the addressing calibration process includes: an addressing mechanical system calibration process and an addressing algorithm calibration process.

[0085] In this embodiment, the coordinate system relationship between the external assembly and the placement of the calibration plate is called mechanical system calibration, and the relationship between the calibration plate and the image calibration is called algorithm calibration.

[0086] Specifically, the calibration process of the addressing mechanical system is determined based on the addressing coordinate system, including:

[0087] Install servo motors, laser equipment, and products to be tested;

[0088] Adjust the position of the laser equipment and the product to be tested, and confirm that the intersection of the black and white grids on the calibration plate coincides with the laser track;

[0089] Move the laser red dot to the specified position and record the values ​​of the servo motor's X-axis and Y-axis at this time.

[0090] In this embodiment, the mechanical system calibration is that during the assembly process, the engineering uses a level and a three-coordinate system to install the servo X-axis and Y-axis vertically, the laser is installed perpendicular to the surface formed by the servo X-axis and Y-axis, and the side of the product is parallel to the surface formed by the servo X-axis and Y-axis. The calibration plate ensures flatness and is placed on the surface of the product. After the laser raises the thickness of the calibration plate, at least three people are involved to confirm and adjust the intersection of the black and white grids of the calibration plate to completely coincide with the laser trajectory when the servo moves, and the laser red dot is moved to the intersection of the black and white grids. After the three people confirm that the red dot is in the correct position, the servo X-axis and Y-axis values ​​are recorded. At this point, the mechanical system calibration is completed.

[0091] Specifically, the addressing algorithm calibration process is determined based on the addressing coordinate system, including:

[0092] Move the CCD to the specified position and record the XY values ​​of its servo coordinates;

[0093] Unify the calibration plate coordinate system and the image coordinate system;

[0094] The relationship between the image coordinate system and the servo coordinate system is inversely deduced through coordinate system vector operations.

[0095] In this embodiment, the algorithm calibration starts after the position of the calibration plate is confirmed. The CCD is moved to the position just above the intersection of the black and white grid specified by the laser red dot. The XY value of the CCD camera servo coordinate is recorded. After the calibration plate coordinate system and the image coordinate system are aligned through the CICT tool, the relationship between the image coordinate system and the servo coordinate system is reversed through coordinate system vector calculation according to the mechanical system coordinate system calibration process, and finally the relationship between the image coordinate system and the servo coordinate system is associated.

[0096] like Figure 4 As shown, the present disclosure also proposes a guided robot vision calibration process. After the robot completes TCP establishment, the welding station uses the traditional nine-point method to take pictures at each mark point to calibrate the image coordinate system and the robot coordinate system.

[0097] The requirements for writing the main program object are as follows:

[0098] The operation of visual software requires each module to coordinate and pass the required variable combination, execute the algorithm and output the result, that is, the object in the C# programming language. The module encapsulation adopts the object-oriented idea, the method of understanding and abstracting the real world. Here, the process object, camera object, communication object, and data object are abstracted. The process object contains various algorithm objects, and the camera object contains image objects, which are integrated and simplified here. All logic in the main program needs to be defined and written according to the customer or agreed constraints.

[0099] like Figure 5As shown in the figure, in the actual production process, the interactive logic between PLCs triggers the camera to take pictures and calls the task program in the visual system. The above object combination program is divided into the following six steps:

[0100] 1) Initialize the visual inspection system, establish links with PLC and camera, and load the algorithm module, mainly to start monitoring PLC signals.

[0101] 2) After initialization is completed, monitor whether the PLC initiates a signal to trigger the camera to take a photo. After the visual system monitors it, it assigns the position information, product information and other variables given by the PLC to the camera object, and runs the camera object to execute the photo method to obtain the image of the area to be calculated.

[0102] 3) The callback function is encapsulated internally in the camera object. After the callback is triggered externally, the image, location information, and product information are transmitted. After comprehensive judgment based on the transmitted location information and product information, it is decided to pass the image to the specified process.

[0103] 4) After completing the above three steps 1), 2), and 3), the PLC will cooperate with the loop to check whether the trigger signal matches the required execution process. If so, proceed to the next step.

[0104] 5) When the addressing task is turned on, after listening to the camera trigger signal, it starts to execute 1)2)3) according to the position number and product information given by the PLC, and fills the calculated coordinates into the specified position of the array according to the position information (step sequence).

[0105] 6) After the single-shot addressing is completed, the PLC will generate OK / NG and completion signals. The PLC will decide whether to retake or interrupt based on the OK / NG signal, and determine whether the single shot is completed based on the completion signal. The visual system will decide whether the addressing is completed based on whether the step sent by the PLC is the last step, and store the reference point (Mark point) and polar coordinate data in the current addressing into the database.

[0106] 7) The welding station reads the corresponding product number in the PLC and accesses the addressing database to obtain the addressing coordinate data. After taking the four mark points at the welding station, the two-dimensional matrix is ​​calculated by CICT through the servo coordinates of the four mark points and the robot coordinates of the four mark points of the welding station. Then the calculation matrix converts the addressing pole servo coordinates into the absolute coordinates of the welding station robot, and the robot moves to the absolute coordinate position for welding.

[0107] After all the relationships of the above steps are completed, the entire main program operation is completed. The main program module interacts with the external objects such as PLC and CCD, and manual operation is performed through the human-computer interaction interface (UI) to operate the software.

[0108] The requirements for writing process objects are as follows:

[0109] The process object is the core part of the entire visual system operation. It combines algorithms according to the on-site visual function requirements, and can extract and output target information after inputting pictures. It belongs to the image processing part of the visual system. In the process, different algorithm parameters are edited and combined, and information such as the operation status, time consumption monitoring, initialization, reset, disable or enable of a single algorithm module and macros are obtained.

[0110] According to this method, cross-station vision guidance is completed in addressing the welding station vision system.

[0111] like Figure 6 As shown, the present disclosure also proposes a laser trajectory-based vision and servo calibration system, the calibration system comprising:

[0112] A first determination module is used to obtain system accuracy and determine a calibration standard based on the system accuracy;

[0113] A second determination module is used to determine an addressing coordinate system through a calibration standard, wherein the addressing coordinate system includes a servo coordinate system, a laser coordinate system, a calibration plate coordinate system and an image coordinate system;

[0114] The third determination module is used to determine the addressing calibration process based on the addressing coordinate system.

[0115] Specifically, the first determination module is used to obtain the system accuracy, including:

[0116] The first determination module is used to perform accuracy verification through a preset accuracy standard and external auxiliary components to obtain a verification result;

[0117] The system accuracy is obtained based on the verification results.

[0118] Specifically, the second determination module, after determining the addressing coordinate system by the calibration standard, further includes:

[0119] The second determination module is used for vector calculation of each coordinate system in the addressing coordinate system and determining the relative relationship between each coordinate system.

[0120] like Figure 7As shown, corresponding to the laser trajectory-based vision and servo calibration method provided above, the present disclosure also provides a laser trajectory-based vision and servo calibration device. Since the embodiment of the device is similar to the above method embodiment, the description is relatively simple. For relevant details, please refer to the description of the above method embodiment. The device described below is only schematic. The device may include: a processor (processor) 1, a memory (memory) 2 and a communication bus (i.e., the above device bus) and a search engine, wherein the processor 1 and the memory 2 communicate with each other through the communication bus and communicate with the outside through the communication interface. The processor 1 can call the logic instructions in the memory 2 to execute the laser trajectory-based vision and servo calibration method.

[0121] In addition, the logic instructions in the above-mentioned memory 2 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: a storage chip, a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, and other media that can store program codes.

[0122] On the other hand, an embodiment of the present disclosure further provides a processor-readable storage medium, on which a computer program 3 is stored. When the computer program 3 is executed by the processor 1, it is implemented to execute the laser trajectory-based vision and servo calibration method provided in the above-mentioned embodiments.

[0123] The processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor 1, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drive (SSD)), etc.

[0124] Those skilled in the art should understand that although the present disclosure is described in detail with reference to the aforementioned embodiments, it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to make equivalent replacements for some of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A laser trajectory-based vision and servo calibration method. It is characterized in that The calibration method comprises: Obtain system accuracy and determine calibration standards based on system accuracy; Determine an addressing coordinate system through a calibration standard, wherein the addressing coordinate system includes a servo coordinate system, a laser coordinate system, a calibration plate coordinate system and an image coordinate system; Determine the addressing calibration process based on the addressing coordinate system.

2. The laser trajectory-based vision and servo calibration method according to claim 1, It is characterized in that Get system accuracy, including: The accuracy is verified through the preset accuracy standards and external accessories to obtain the verification results; The system accuracy is obtained based on the verification results.

3. The laser trajectory-based vision and servo calibration method according to claim 2, It is characterized in that The accuracy standards include at least: CCD accuracy, calibration accuracy, servo absolute accuracy, robot TCP accuracy, servo repeatability accuracy, assembly accuracy and product accuracy.

4. The laser trajectory-based vision and servo calibration method according to claim 1, It is characterized in that After the addressing coordinate system is determined by the calibration standard, the method further includes: Vector calculation addresses each coordinate system in the coordinate system and determines the relative relationship between each coordinate system.

5. The laser trajectory-based vision and servo calibration method according to claim 1, It is characterized in that The addressing calibration process includes: an addressing mechanical system calibration process and an addressing algorithm calibration process.

6. The laser trajectory-based vision and servo calibration method according to claim 5, It is characterized in that Determine the calibration process of the addressing mechanical system based on the addressing coordinate system, including: Install servo motors, laser equipment, and products to be tested; Adjust the position of the laser equipment and the product to be tested, and confirm that the intersection of the black and white grids on the calibration plate coincides with the laser track; Move the laser red dot to the specified position and record the values ​​of the servo motor's X-axis and Y-axis at this time.

7. The laser trajectory-based vision and servo calibration method according to claim 5, It is characterized in that The addressing algorithm calibration process is determined based on the addressing coordinate system, including: Move the CCD to the specified position and record the XY values ​​of its servo coordinates; Unify the calibration plate coordinate system and the image coordinate system; The relationship between the image coordinate system and the servo coordinate system is inversely deduced through coordinate system vector operations.

8. A laser trajectory-based vision and servo calibration system. It is characterized in that The calibration system comprises: A first determination module is used to obtain system accuracy and determine a calibration standard based on the system accuracy; A second determination module is used to determine an addressing coordinate system through a calibration standard, wherein the addressing coordinate system includes a servo coordinate system, a laser coordinate system, a calibration plate coordinate system and an image coordinate system; The third determination module is used to determine the addressing calibration process based on the addressing coordinate system.

9. The laser trajectory-based vision and servo calibration system according to claim 8, It is characterized in that The first determination module is used to obtain the system accuracy, including: The first determination module is used to perform accuracy verification through a preset accuracy standard and external auxiliary components to obtain a verification result; The system accuracy is obtained based on the verification results.

10. The laser trajectory-based vision and servo calibration system according to claim 8, It is characterized in that The second determination module, after determining the addressing coordinate system by the calibration standard, further comprises: The second determination module is used for vector calculation of each coordinate system in the addressing coordinate system and determining the relative relationship between each coordinate system.

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