Dynamic zooming-based low-light curing system and method

Abstract

The invention provides a low-light curing system and method based on dynamic zooming. The system comprises an objective lens mechanism, a curing platform, an optical module, a dynamic zooming mechanism, an image acquisition module, a shading unit and a control module, the curing platform comprises a bearing surface, and the image acquisition module generates a bearing surface image by utilizing bearing surface reflected light penetrating through the first beam splitter; the shading unit is used for shading part of laser beams or part of bearing surface reflected light; the control module controls the microscope objective to move to a target position based on the energy of each bearing surface image so as to realize clear imaging, and regulates and controls the dynamic zooming mechanism based on the minimum circumcircle radius and pixel number of a target light spot and a light spot focusing coefficient obtained by using a focusing prediction model so as to enable a laser focus to fall on the bearing surface so as to complete initialization; the dynamic zooming mechanism is further controlled to enable the laser focus to move in the first optical axis direction, and meanwhile the curing platform is controlled to enable the bearing face to move in parallel, so that three-dimensional low-light curing of the target light curing glue is achieved.

Description

Technical Field

[0001] The invention belongs to the field of stereoscopic light curing, and in particular relates to a micro-light curing system and method based on dynamic zoom. Background Art

[0002] Stereo lithography apparatus (SLA) is the earliest 3D printing technology and is currently the most widely used 3D printing technology. It uses a top-down scanning method to solidify photosensitive resin to form a complex three-dimensional structure. The laser beam moves along a certain trajectory, printing a layer of structure in the form of points, lines and surfaces. Several layers of photosensitive resin structures are superimposed together to form the structure of the required model.

[0003] The existing solidification method using stereolithography generally uses the printing platform to move in the Z-axis direction after the initialization process to make the laser beam solidify the photosensitive resin on different planes, wherein the initialization setting focus process, etc. However, the focusing accuracy in the initialization process of the existing solidification method needs to be improved, and the solidification of different surfaces is completed by moving the platform after the initialization process. The liquid level control and scraper coating after the platform movement are time-consuming and inefficient. In addition, it is inconvenient to observe the real-time processing status of the existing equipment when manufacturing tiny objects. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, a first object of the present invention is to provide a micro-light curing system based on dynamic zoom to improve the focusing accuracy and processing speed in the initialization process.

[0006] The second objective of the present invention is to provide a micro-light curing method based on dynamic zoom.

[0007] To achieve the above-mentioned purpose, the first aspect of the present invention proposes a micro-light curing system based on dynamic zoom, including an objective lens mechanism, a curing platform, an optical module, a dynamic zoom mechanism, an image acquisition module, a shading unit, and a control module;

[0008] The curing platform includes a bearing surface, the bearing surface is located on the first optical axis of the objective lens mechanism, and the bearing surface is used to place the photocuring glue; the optical module includes a laser source and a first beam splitter, the first beam splitter is used to reflect the laser beam of the laser source to the bearing surface; the image acquisition module includes an image sensor unit, the image sensor unit is used to generate a bearing surface image using the reflected light of the bearing surface passing through the first beam splitter; the shading unit is used to shield part of the laser beam or part of the reflected light of the bearing surface; the dynamic zoom mechanism is located between the laser source and the first beam splitter;

[0009] The control module is used to complete initialization based on the image of the bearing surface, and the initialization includes an imaging adjustment step and a focusing step; the imaging adjustment step includes: controlling the microscope objective lens of the objective lens mechanism to move along the first optical axis direction to obtain bearing surface images corresponding to different positions, calculating the energy of each bearing surface image to determine the target position corresponding to the maximum clarity evaluation value, and controlling the microscope objective lens to move to the target position to achieve clear imaging; the focusing step includes: for the target light spot in the target bearing surface image when the microscope objective lens is located at the target position, obtaining the light spot focusing coefficient based on the target bearing surface image and the trained focusing prediction model, and regulating the dynamic zoom mechanism based on the minimum circumscribed circle radius and pixel number of the target light spot and the light spot focusing coefficient so that the laser focus falls on the bearing surface to complete the initialization; after the initialization is completed, the shading unit is removed and the target light-curing adhesive is placed on the bearing surface, and the control module is also used to control the dynamic zoom mechanism to move the laser focus along the first optical axis direction, and at the same time control the curing platform to move the bearing surface in parallel, so as to achieve three-dimensional micro-light curing of the target light-curing adhesive.

[0010] In the low-light curing system based on dynamic zoom provided in the first aspect of the present invention, in the imaging adjustment step, the energy of each bearing surface image is calculated to determine the target position corresponding to the maximum clarity evaluation value, including: grayscale processing is performed on each bearing surface image to obtain a corresponding bearing surface grayscale image; based on the grayscale value of each bearing surface grayscale image, an energy gradient function is used to calculate the corresponding image clarity evaluation value; and the bearing surface grayscale image corresponding to the maximum clarity evaluation value is selected, and the objective lens mechanism position corresponding to the bearing surface grayscale image is the target position.

[0011] In the micro-light curing system based on dynamic zoom provided by the first aspect of the present invention, in the focusing step, a light spot focusing coefficient is obtained based on the target bearing surface image and a trained focusing prediction model, including: obtaining a trained focusing prediction model, the input of the focusing prediction model is the bearing surface image, the output of the focusing prediction model is a focusing prediction result, and the focusing prediction result is divided into focused and unfocused; inputting the target bearing surface image into the trained focusing prediction model to obtain a target focusing prediction result, if the target focusing prediction result is focused, the light spot focusing coefficient is 1; if the target focusing prediction result is unfocused, the light spot focusing coefficient is a set value.

[0012] In the dynamic zoom-based micro-light curing system provided in the first aspect of the present invention, the focus prediction model is constructed based on deep learning, and the deep learning adopts at least one of a residual network, a convolutional neural network, and a deep neural network.

[0013] In the micro-light curing system based on dynamic zoom provided in the first aspect of the present invention, in the focusing step, the dynamic zoom mechanism is regulated based on the minimum circumscribed circle radius and the number of pixels of the target light spot, and the light spot focusing coefficient so that the laser focus falls on the bearing surface to complete the initialization, including: determining the minimum circumscribed circle of the target light spot; dividing the target light spot into a first side light spot area and a second side light spot area based on the diameter of the minimum circumscribed circle; calculating the pixel difference on both sides based on the number of pixels of the light spot areas on both sides of the target light spot and the light spot focusing coefficient; calculating the radius difference between the minimum circumscribed circle radius of the target light spot and the given minimum radius; if the radius difference is greater than Given a radius difference threshold and the pixel difference on both sides is greater than the given pixel difference threshold, a first focus movement instruction is generated, and based on the first focus movement instruction, the dynamic zoom mechanism is regulated to move the laser focus until the radius difference is less than or equal to the given radius difference threshold, at which point the laser focus falls on the bearing surface and is initialized; if the radius difference is greater than the given radius difference threshold and the pixel difference on both sides is less than or equal to the given pixel difference threshold, a second focus movement instruction is generated, and based on the second focus movement instruction, the dynamic zoom mechanism is regulated to move the laser focus until the radius difference is less than or equal to the given radius difference threshold, at which point the laser focus falls on the bearing surface and is initialized.

[0014] In the dynamic zoom-based micro-light curing system provided in the first aspect of the present invention, the image acquisition module further includes an illumination light source and a second beam splitter, and the second beam splitter is used to reflect the light beam of the illumination light source to the carrying surface.

[0015] In the micro-light curing system based on dynamic zoom provided in the first aspect of the present invention, the dynamic zoom mechanism includes: a plurality of lenses, wherein the plurality of lenses are sequentially arranged at intervals between the laser source and the first beam splitter; a driving component, wherein the driving component is transmission-connected to at least one of the lenses, and the driving component is used to control the movement of at least one of the lenses to adjust the focal position of the laser beam.

[0016] To achieve the above-mentioned purpose, the second aspect of the present invention provides a micro-light curing method based on the micro-light curing system based on dynamic zoom provided in the first aspect, comprising:

[0017] Controlling the microscope objective lens of the objective lens mechanism to move along the first optical axis direction to obtain images of the bearing surface corresponding to different positions, calculating the energy of each bearing surface image to determine the target position corresponding to the maximum clarity evaluation value, and controlling the microscope objective lens to move to the target position to achieve clear imaging;

[0018] For a target light spot in a target bearing surface image when the microscope objective lens is located at a target position, a light spot focusing coefficient is obtained based on the target bearing surface image and a trained focusing prediction model, and based on a minimum circumscribed circle radius and the number of pixels of the target light spot and the light spot focusing coefficient, the dynamic zoom mechanism is regulated so that the laser focus falls on the bearing surface to complete initialization;

[0019] After the initialization is completed, the shading unit is removed and the target light-curing adhesive is placed on the carrying surface;

[0020] The dynamic zoom mechanism is controlled to move the laser focus along the first optical axis direction, and the curing platform is controlled to move the bearing surface in parallel, thereby achieving three-dimensional micro-light curing of the target light-curing adhesive.

[0021] In the low-light curing method based on dynamic zoom provided in the second aspect of the present invention, the energy of each bearing surface image is calculated to determine the target position corresponding to the maximum clarity evaluation value, including: grayscale processing of each bearing surface image to obtain a corresponding bearing surface grayscale image; using an energy gradient function based on the grayscale value of each bearing surface grayscale image to calculate the corresponding image clarity evaluation value; selecting the bearing surface grayscale image corresponding to the maximum clarity evaluation value, and the objective lens mechanism position corresponding to the bearing surface grayscale image is the target position.

[0022] In the micro-light curing method based on dynamic zoom provided in the second aspect of the present invention, the dynamic zoom mechanism is regulated based on the minimum circumscribed circle radius and the number of pixels of the target light spot, and the light spot focusing coefficient so that the laser focus falls on the bearing surface to complete the initialization, including: determining the minimum circumscribed circle of the target light spot; dividing the target light spot into a first side light spot area and a second side light spot area based on the diameter of the minimum circumscribed circle; calculating the pixel difference on both sides based on the number of pixels of the light spot areas on both sides of the target light spot and the light spot focusing coefficient; calculating the radius difference between the minimum circumscribed circle radius of the target light spot and a given minimum radius; if the radius difference is greater than a given half radius, If the radius difference is greater than the given radius difference threshold and the pixel difference on both sides is greater than the given pixel difference threshold, a first focus movement instruction is generated, and based on the first focus movement instruction, the dynamic zoom mechanism is regulated to move the laser focus until the radius difference is less than or equal to the given radius difference threshold, at which point the laser focus falls on the bearing surface and is initialized; if the radius difference is greater than the given radius difference threshold and the pixel difference on both sides is less than or equal to the given pixel difference threshold, a second focus movement instruction is generated, and based on the second focus movement instruction, the dynamic zoom mechanism is regulated to move the laser focus until the radius difference is less than or equal to the given radius difference threshold, at which point the laser focus falls on the bearing surface and is initialized.

[0023] The micro-light curing system and method based on dynamic zoom provided by the present invention include an objective lens mechanism, a curing platform, an optical module, a dynamic zoom mechanism, an image acquisition module, a shading unit, and a control module; the curing platform includes a bearing surface, the bearing surface is located on the first optical axis of the objective lens mechanism, and the bearing surface is used to place a light-curing adhesive; the optical module includes a laser source and a first beam splitter, the first beam splitter is used to reflect the laser beam of the laser source to the bearing surface; the image acquisition module includes an image sensing unit, the image sensing unit is used to generate a bearing surface image by using the reflected light of the bearing surface passing through the first beam splitter; the shading unit is used to shield part of the laser beam or part of the reflected light of the bearing surface; the dynamic zoom mechanism is located between the laser source and the first beam splitter; the control module is used to complete initialization based on the bearing surface image, and the initialization includes an imaging adjustment step and a focusing step; the imaging adjustment step includes: controlling the microscope objective lens of the objective lens mechanism to move along the first The microscope moves in the direction of the optical axis to obtain the images of the bearing surface corresponding to different positions, calculates the energy of each bearing surface image to determine the target position corresponding to the maximum clarity evaluation value, and controls the microscope objective lens to move to the target position to achieve clear imaging; the focusing step includes: for the target light spot in the target bearing surface image when the microscope objective lens is located at the target position, the light spot focusing coefficient is obtained based on the target bearing surface image and the trained focusing prediction model, and the dynamic zoom mechanism is adjusted based on the minimum circumscribed circle radius and the number of pixels of the target light spot, as well as the light spot focusing coefficient to make the laser focus fall on the bearing surface to complete initialization; after the initialization is completed, the shading unit is removed and the target photocurable adhesive is placed on the bearing surface, and the control module is also used to control the dynamic zoom mechanism to move the laser focus along the first optical axis direction, and at the same time control the curing platform to make the bearing surface move parallel, thereby realizing three-dimensional micro-light curing of the target photocurable adhesive. In this case, the trained focus prediction model is used to obtain the spot focus coefficient, and the dynamic zoom mechanism is regulated by comprehensively considering the minimum circumscribed circle radius and the number of pixels of the target spot so that the laser focus falls on the bearing surface to complete the initialization focusing, thereby improving the focusing accuracy in the initialization process. In addition, the dynamic zoom mechanism is controlled to move the laser focus along the first optical axis instead of changing the focus position by moving the objective lens mechanism in the prior art, thereby saving the time spent on liquid level control and scraper coating and improving the processing speed.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0026] Figure 1 A three-dimensional schematic diagram of a micro-light curing system based on dynamic focusing provided by an embodiment of the present invention;

[0027] Figure 2 A partial front view schematic diagram of a micro-light curing system based on dynamic focusing provided by an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of the optical path of a micro-light curing system based on dynamic focusing provided in an embodiment of the present invention;

[0029] Figure 4 A schematic structural diagram of a dynamic zoom mechanism in a micro-light curing system based on dynamic focusing provided by an embodiment of the present invention;

[0030] Figure 5 A schematic diagram of a light spot provided by an embodiment of the present invention;

[0031] Figure 6 A partial flow chart of the focusing step provided by an embodiment of the present invention;

[0032] Figure 7 A flow chart of a micro-light curing method based on dynamic zoom provided by an embodiment of the present invention;

[0033] As shown in the figure: 1. curing platform, 11. first displacement mechanism, 12. second displacement mechanism;

[0034] 2. objective lens mechanism, 21. third displacement mechanism, 22. microscope objective lens;

[0035] 3. Optical module, 31. Laser source, 32. First beam splitter;

[0036] 4. dynamic zoom mechanism, 41. lens, 42. drive assembly, 421. voice coil motor, 422. piezoelectric ceramics;

[0037] 5. Image acquisition module, 51. Camera, 52. Illumination light source, 53. Second beam splitter;

[0038] 100, first optical axis, 200, second optical axis, 300, third optical axis. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present invention as detailed in the appended claims.

[0040] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. It should also be understood that the term "and / or" used in the present invention refers to and includes any or all possible combinations of one or more associated listed items.

[0042] In the description of the present invention, it should be noted that, unless otherwise specified, "multiple" means two or more than two; the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0045] The present invention provides a micro-light curing system and method based on dynamic zoom, so as to improve the focusing accuracy and processing speed in the initialization process.

[0046] In this embodiment, it includes an objective lens mechanism, a curing platform, an optical module, a dynamic zoom mechanism, an image acquisition module, a shading unit, and a control module; the curing platform includes a bearing surface, the bearing surface is located on the first optical axis of the objective lens mechanism, and the bearing surface is used to place the light-curing glue; the optical module includes a laser source and a first beam splitter, the first beam splitter is used to reflect the laser beam of the laser source to the bearing surface; the image acquisition module includes an image sensing unit, the image sensing unit is used to generate a bearing surface image using the reflected light of the bearing surface passing through the first beam splitter; the shading unit is used to block part of the laser beam or part of the reflected light of the bearing surface; the dynamic zoom mechanism is located between the laser source and the first beam splitter. Among them, the image sensing unit is, for example, a camera. The image acquisition module also includes an illumination light source and a second beam splitter, the second beam splitter is used to reflect the light beam of the illumination light source to the bearing surface. The dynamic zoom mechanism includes: a plurality of lenses, the plurality of lenses are sequentially arranged between the laser source and the first beam splitter; a driving component, the driving component is connected to at least one lens in a transmission manner, and the driving component is used to control the movement of at least one lens to adjust the focal position of the laser beam. The light reflected from the bearing surface may be the light reflected from the laser beam at the bearing surface, or may be the light reflected from the laser beam and the LED beam at the bearing surface. The shading unit may be a shading sheet.

[0047] Specifically, Figure 1 A three-dimensional schematic diagram of a micro-light curing system based on dynamic focusing provided by an embodiment of the present invention. Figure 2 A partial front view schematic diagram of a micro-light curing system based on dynamic focusing provided in an embodiment of the present invention. Figure 3 A schematic diagram of the optical path of a micro-light curing system based on dynamic focusing provided in an embodiment of the present invention. Figure 4 The present invention is a schematic structural diagram of a dynamic zoom mechanism in a micro-light curing system based on dynamic focusing provided by an embodiment of the present invention.

[0048] like Figure 1 , Figure 2 and Figure 3As shown, the micro-light curing system based on dynamic focusing proposed in the embodiment of the present invention includes: an objective lens mechanism 2, a curing platform 1, an optical module 3 and a dynamic zoom mechanism 4, the bearing surface of the curing platform 1 is arranged on the first optical axis 100 of the objective lens mechanism 2, the optical module 3 includes: a laser source 31 and a first beam splitter 32, the first beam splitter 32 is arranged at the intersection of the first optical axis 100 and the second optical axis 200 of the laser source 31, and the first beam splitter 32 is located on the side of the objective lens mechanism 2 away from the bearing surface, the first beam splitter 32 is used to reflect the laser beam of the laser source 31 from the second optical axis 200 to the bearing surface of the first optical axis 100, the dynamic zoom mechanism 4 is arranged on the second optical axis 200, and the dynamic zoom mechanism 4 is used to change the focal length of the laser beam to adjust the focal position of the laser beam on the first optical axis 100. Among them, the first optical axis 100 of the objective lens mechanism 2 refers to the optical axis of the microscope objective lens.

[0049] It can be understood that since the first beam splitter 32 is arranged at the intersection of the first optical axis 100 and the second optical axis 200 of the laser source 31, and the first beam splitter 32 is located on the side of the objective lens mechanism 2 away from the bearing surface, the first beam splitter 32 can reflect the laser beam of the laser source 31 from the second optical axis 200 of the laser source 31 to the first optical axis 100 of the objective lens mechanism 2, and make the reflected laser beam pass through the objective lens mechanism 2 to reach the bearing surface of the curing platform 1, thereby utilizing the laser beam to realize the curing processing of the model (such as photocuring glue).

[0050] Furthermore, since the dynamic zoom mechanism 4 is disposed on the second optical axis 200, the dynamic zoom mechanism 4 can zoom the laser beam before being reflected by the first beam splitter 32 on the second optical axis 200, thereby adjusting the focal position of the laser beam on the first optical axis 100 after being reflected by the first beam splitter 32, and then using the focus movement of the laser beam to achieve the curing processing of different planes on the first optical axis 100. Therefore, by using the dynamic zoom mechanism 4 to control the focus movement on the first optical axis 100 instead of the curing platform moving on the first optical axis 100 to process different planes on the first optical axis 100, the time spent on liquid level control and scraper coating after the curing platform 1 moves can be saved, and the processing efficiency is effectively improved.

[0051] It should be noted that the curing platform 1 is used to form a bearing surface and bear the model for curing processing, and the specific type of the curing platform 1 can be set according to actual needs and is not limited to this. In the initialization stage, the objective lens mechanism 2 is located at the center of the bearing surface, and the bearing surface and the first optical axis 100 of the objective lens mechanism 2 can be arranged vertically, for example.

[0052] The objective lens mechanism 2 is used for focusing the light beam. For example, when the laser beam passes through the objective lens mechanism 2, the focusing effect of the objective lens mechanism 2 is used to realize the collection of the laser beam energy and act on the light-curing glue (such as liquid photosensitive resin) on the curing platform 1, so as to realize curing printing. The specific type of the objective lens mechanism 2 can be set according to actual needs and is not limited to this. Among them, the first optical axis 100 of the objective lens mechanism 2 is the main optical axis of the micro-light curing system, and the laser beam, the illumination beam, etc. all realize corresponding functions on the main optical axis; the objective lens mechanism 2 has a high numerical aperture, and when the wavelength range of the beam of the laser source 31 is located at the edge of the absorption band of the light-curing glue, the absorption of the light-curing glue to the laser is close to 0, and the high light intensity in the focus area reaches the threshold of single-photon absorption to cure the material, and the non-focus area is not affected because the absorption rate is close to 0.

[0053] The optical module 3 is used to generate a laser beam on the first optical axis 100 . Specifically, the laser source 31 of the optical module 3 is used to generate a laser beam, and the first beam splitter 32 is used to convert the laser beam generated by the laser source 31 on the second optical axis 200 to the bearing surface of the first optical axis 100 .

[0054] The specific type of the laser source 31 can be set according to actual needs and is not limited thereto.

[0055] The specific type of the first beam splitter 32 can be set according to actual needs and is not limited to this. For example, the first optical axis 100 and the second optical axis 200 are arranged vertically, and the reflecting surface of the first beam splitter 32 is at a 45-degree angle to the first optical axis 100 and the second optical axis 200 respectively; the first beam splitter 32 can be a semi-transparent and semi-reflective mirror.

[0056] The dynamic zoom mechanism 4 is used to change the focal length of the laser beam to adjust the focal position of the laser beam on the first optical axis 100. The specific type of the dynamic zoom mechanism 4 can be set according to actual needs and is not limited thereto.

[0057] In the micro-light curing system, the arrangement of various components can be attached to supporting parts such as a base and a bracket. For example, the bracket is arranged on the base in an inverted U shape (gantry), the curing platform 1 is arranged on the base and located in the U-shaped groove of the bracket, the objective lens mechanism 2 is arranged on the bracket, and the optical module 3 and the dynamic zoom mechanism 4 are arranged on the bracket in sequence using multiple columns, support plates and other structural parts.

[0058] like Figure 4 As shown, in some embodiments, the dynamic zoom mechanism 4 includes: a plurality of lenses 41 and a driving assembly 42, the plurality of lenses 41 are arranged in sequence on the second optical axis 200 at intervals, the driving assembly 42 is transmission-connected to at least one lens 41, and the driving assembly 42 is used to move at least one lens 41 along the second optical axis 200 to adjust the focal position of the laser beam on the first optical axis 100.

[0059] It can be understood that, since the multiple lenses 41 are sequentially arranged at intervals on the second optical axis 200, the laser beam emitted by the laser source 31 can be reflected by the first beam splitter 32 onto the first optical axis 100 after being refracted and focused by the multiple lenses 41 in sequence, and the focus of the laser beam is ensured to be stable at the bearing surface. At the same time, since the driving component 42 is connected to at least one lens 41 in a transmission manner, the driving component 42 can drive at least one lens 41 to move along the second optical axis 200, thereby realizing the zooming of the laser beam before being reflected by the first beam splitter 32 on the second optical axis 200, and then realizing the focus position adjustment of the laser beam after being reflected by the first beam splitter 32 on the first optical axis 100. Therefore, the movement of at least one lens 41 on the second optical axis 200 realizes the curing processing of different planes on the first optical axis 100, which effectively improves the processing efficiency.

[0060] It should be noted that the lens 41 is used for divergence or convergence of the laser beam, and multiple lenses 41 cooperate to achieve front focusing of the laser beam. The specific type of the lens 41 can be set according to actual needs and is not limited to this. Among the multiple lenses 41, there can be a convex lens 41 or a concave lens 41.

[0061] The driving component 42 is used to drive at least one lens 41 to move on the second optical axis 200 to adjust the spacing between the lenses 41, thereby adjusting the focal position of the laser beam on the first optical axis 100. The specific type of the driving component 42 can be set according to actual needs and is not limited to this.

[0062] In some embodiments, the plurality of lenses 41 are positive telescope structures, and the driving assembly 42 is transmission-connected to the negative focal length lens 41 in the positive telescope structure, and the driving assembly 42 is used to move the negative focal length lens 41 along the second optical axis 200 .

[0063] It can be understood that the positive telescope structure is arranged on the second optical axis 200, so that the laser beam emitted by the laser source 31 can be reflected by the first beam splitter 32 onto the first optical axis 100 after being focused by the positive telescope structure in sequence, and the focus of the laser beam is ensured to be stable at the bearing surface. At the same time, since the driving component 42 is connected to the negative focal length lens 41 in the positive telescope structure through transmission, the driving component 42 can drive the negative focal length lens 41 to move along the second optical axis 200, thereby realizing the zooming of the laser beam before being reflected by the first beam splitter 32 on the second optical axis 200, and then realizing the focus position adjustment of the laser beam after being reflected by the first beam splitter 32 on the first optical axis 100. Therefore, the movement of the negative focal length lens 41 in the positive telescope structure on the second optical axis 200 realizes the curing processing of different planes on the first optical axis 100, and effectively improves the processing efficiency.

[0064] In some embodiments, the plurality of lenses 41 are a negative telescope structure, and the driving assembly 42 is transmission-connected to the positive focal length lens 41 in the negative telescope structure, and the driving assembly 42 is used to move the positive focal length lens 41 along the second optical axis 200 .

[0065] It can be understood that the negative telescope structure is arranged on the second optical axis 200, so that the laser beam emitted by the laser source 31 can be reflected by the first beam splitter 32 onto the first optical axis 100 after being focused by the negative telescope structure in sequence, and the focus of the laser beam is ensured to be stable at the bearing surface. At the same time, since the driving component 42 is connected to the positive focal length lens 41 in the negative telescope structure through transmission, the driving component 42 can drive the positive focal length lens 41 to move along the second optical axis 200, thereby realizing the zooming of the laser beam before being reflected by the first beam splitter 32 on the second optical axis 200, and then realizing the focus position adjustment of the laser beam after being reflected by the first beam splitter 32 on the first optical axis 100. Therefore, the solidification processing of different planes on the first optical axis 100 is realized by using the movement of the positive focal length lens 41 in the negative telescope structure on the second optical axis 200, which effectively improves the processing efficiency.

[0066] It should be noted that the multiple lenses 41 include: a first lens, a second lens and a third lens. The first lens, the second lens and the third lens are arranged in sequence along the direction from the laser source 31 to the first beam splitter 32. The first lens and the second lens function to expand the laser beam. The focal length ratio is adjusted according to the incident pupil diameter and the exit pupil diameter of the required dynamic focusing light path. Specifically, the main function of the first lens and the second lens is to make the laser beam diameter match (be consistent with) the incident aperture of the scanning head. The function of the third lens is to focus the expanded laser. Its focal length is mainly determined by the exit working length of the dynamic focusing light path, and its position is adjacent to the incident pupil of the scanning head.

[0067] Among them, the positive telescope structure is also called a Keplerian structure, and the first lens of the positive telescope structure is a negative focal length lens 41, and a plano-convex lens 41 or a best shape lens 41 can be used; the negative telescope structure is also called a Galilean structure, and the first lens of the negative telescope structure is a positive focal length lens 41, and a plano-concave lens 41 or a concave lens 41 can be used to further reduce the spherical aberration of the system.

[0068] The negative telescope structure is more suitable for high-power applications, such as ultrafast laser processing. It does not produce an intermediate focus, and the overall optical path length is shorter than that of the positive telescope structure under the same working range. However, the negative focal length lens 41 will limit the distance between the virtual focus point (the real focus in the positive telescope structure) and the second lens, thereby limiting the maximum working range.

[0069] Both the positive telescope structure and the negative telescope structure are optical lever structures based on three lenses 41, and adopt a front-focusing laser scanning dynamic focusing optical path, that is, by changing the distance between the lenses 41, the characteristics of dynamic focusing can be changed to obtain different focusing effects. The so-called optical lever refers to the ratio between the focus change distance and the displacement of the lens 41. This ratio needs to be designed by selecting different lenses 41 according to specific needs. The optical lever ratio should be large enough to obtain a sufficient focus position change distance and keep the zoom accuracy in compliance with the requirements, while reducing the displacement distance of the lens 41 to improve the response speed and accuracy of the lens 41 movement. Therefore, when designing the optical lever mechanism, it is necessary to pay attention to the achievable lens 41 movement stroke and accuracy and the focus change range that needs to be obtained.

[0070] like Figure 4 As shown, in some embodiments, the driving assembly 42 includes: a voice coil motor 421 , a mover of the voice coil motor 421 moves along the second optical axis 200 , and at least one lens 41 is disposed on the mover of the voice coil motor 421 .

[0071] It can be understood that, since the mover of the voice coil motor 421 moves along the second optical axis 200 and at least one lens 41 is arranged on the mover of the voice coil motor 421, the voice coil motor 421 can utilize the drive of the mover to realize the movement of at least one lens 41 on the second optical axis 200, thereby utilizing the moving lens 41 to realize the focal position adjustment of the laser beam on the first optical axis 100, and then utilize the focus movement of the laser beam to realize the curing processing of different planes on the first optical axis 100.

[0072] It should be noted that the voice coil motor 421 (Voice Coil Motor, VCM) is a special form of direct drive motor, and its working principle is mainly based on the Ampere force principle. Specifically: the working principle of the voice coil motor 421 is that a force will be generated when a powered coil (conductor) is placed in a magnetic field, and the magnitude of the force is proportional to the current applied to the coil. Specifically, a permanent magnet generates a fixed magnetic field, and the coil is placed in this magnetic field. When current passes through the coil, according to the Ampere force law, the powered conductor will be acted upon by a force in the magnetic field. The magnitude of this force is proportional to the magnitude of the current passing through the coil, the magnetic field strength, and the effective length of the coil in the magnetic field. By controlling the magnitude and direction of the current, the movement speed and direction of the coil can be precisely controlled.

[0073] The specific type of the voice coil motor 421 can be set according to actual needs and is not limited thereto.

[0074] like Figure 4 As shown, in some embodiments, the driving component 42 further includes: a piezoelectric ceramic 422 , the piezoelectric ceramic 422 is disposed on a mover of the voice coil motor 421 , and at least one lens 41 is disposed on the piezoelectric ceramic 422 .

[0075] It can be understood that since the piezoelectric ceramic 422 is arranged on the mover of the voice coil motor 421, and at least one lens 41 is arranged on the piezoelectric ceramic 422, at least one lens 41 can use the voice coil motor 421 to achieve a large range of movement on the second optical axis 200, and can also use the piezoelectric ceramic 422 to achieve a small range of movement on the second optical axis 200, thereby compensating for the motion error of the voice coil motor 421 and achieving high-precision motion control.

[0076] It should be noted that the piezoelectric ceramic 422 realizes the conversion of electrical energy into mechanical energy based on the piezoelectric effect. Specifically, the piezoelectric effect refers to the phenomenon that when the piezoelectric ceramic 422 is deformed by an external force, polarization will occur inside it, and at the same time, charges of opposite signs will appear on some of its relative surfaces. This effect is reversible, that is, when an electric field is applied to the piezoelectric ceramic 422, it will also deform.

[0077] The specific type of the piezoelectric ceramic 422 can be set according to actual needs and is not limited thereto.

[0078] Among them, when the lens 41, voice coil motor 421 and piezoelectric ceramic 422 are arranged, the stator of the voice coil motor 421, the second lens and the third lens are respectively fixed on the supporting plate on the bracket, and the piezoelectric ceramic 422 and the first lens are fixed on the mover of the voice coil motor 421 in sequence.

[0079] Furthermore, the driving component 42 may also include: a flexible mechanism, which is arranged between the piezoelectric ceramic 422 and the lens 41, and the piezoelectric ceramic 422 drives the flexible mechanism to deform to drive the lens 41 to move, wherein the flexible mechanism can also adjust the displacement ratio from the displacement output end of the piezoelectric ceramic 422 to the displacement input end of the lens 41.

[0080] Specifically, the flexible mechanism can be a flexible hinge mechanism, which can also be called a flexible pivot, a flexible bearing, a cross spring bearing, etc. It is an elastic support with a simple structure and a relatively regular shape. The flexible hinge mechanism has a rotation center that coincides with the geometric center axis, and works by relying on the limited deformation of the elastic thin sheet uniformly distributed in the circumference and radial direction. Under torsional load, it can generate rotational motion around its rotation center within a limited angle range. This mechanism has many advantages such as no mechanical friction, no gap, high motion sensitivity, small space size, easy control, and stable operation.

[0081] The curing platform can be an XY two-axis motion table, a flexible XY motion table, an XYZ three-axis motion table or even a multi-axis motion table. The flexible XY motion table can include two fine-tuning mechanisms and a flexible decoupling bracket, and the flexible decoupling bracket is arranged on the fine-tuning mechanism. In this embodiment, the fine-tuning mechanism is an XYZ precision motion slide, and the flexible decoupling bracket includes a module based on a flexible leaf spring, which can avoid over-constraint when the two XYZ precision motion slides are fine-tuned.

[0082] like Figure 1 As shown, in some embodiments, the curing platform includes: a first displacement mechanism 11 and a second displacement mechanism 12, wherein the driving end of the first displacement mechanism 11 is used to displace along a first direction (e.g., the x-axis direction), and the second displacement mechanism 12 is disposed at the driving end of the first displacement mechanism 11, and the driving end of the second displacement mechanism 12 is provided with a bearing surface and is used to displace along a second direction (e.g., the y-axis direction). The first direction, the second direction, and the first optical axis 100 are arranged perpendicularly in pairs.

[0083] It can be understood that, since the second displacement mechanism 12 is arranged at the driving end of the first displacement mechanism 11, and the driving end of the second displacement mechanism 12 is provided with a bearing surface, the first displacement mechanism 11 and the second displacement mechanism 12 cooperate to realize the movement of the bearing surface in the first direction and the second direction. Therefore, by utilizing the movement of the focus of the laser beam on the first optical axis 100 and the movement of the bearing surface in the first direction and the second direction, the focus of the laser beam can be made to perform XYZ three-axis movement relative to the light-curing adhesive on the bearing surface, thereby realizing three-dimensional micro-light curing and meeting the processing requirements.

[0084] It should be noted that the first displacement mechanism 11 is used to realize the movement of the bearing surface in the first direction. The specific type of the first displacement mechanism 11 can be set according to actual needs, and there is no limitation on this. For example, the first displacement mechanism 11 may include: a first motor, a first lead screw and a first slide. The first motor is arranged on the base, the first lead screw is rotatably arranged on the base, the first slide is slidably arranged on the base along the first direction, and one end of the first lead screw is connected to the output shaft of the first motor by transmission, the first lead screw is connected to the first slide by thread transmission, and the second displacement mechanism 12 is arranged on the first slide. Thus, the first motor drives the first slide to move along the first direction by using the first lead screw to realize the position adjustment of the bearing surface in the first direction.

[0085] The second displacement mechanism 12 is used to realize the movement of the bearing surface in the second direction. The specific type of the second displacement mechanism 12 can be set according to actual needs, and there is no limitation on this. For example, the second displacement mechanism 12 may include: a second motor, a second lead screw and a second slide. The second motor is arranged on the first slide, the second lead screw is rotatably arranged on the first slide, the second slide is slidably arranged on the first slide along the second direction, and one end of the second lead screw is connected to the output shaft of the second motor by transmission, the second lead screw is connected to the second slide by thread transmission, and the bearing surface is arranged on the second slide. Thus, the second motor drives the second slide to move along the second direction by using the second lead screw to realize the position adjustment of the bearing surface in the second direction.

[0086] The first optical axis 100 is located on the Z axis, and the first direction and the second direction are located on the X axis and the Y axis respectively.

[0087] like Figure 1 As shown, in some embodiments, the micro-light curing system further includes: an image acquisition module 5 and a control module (not shown in the figure), the acquisition end of the image acquisition module 5 is arranged on the first optical axis 100, and the image acquisition module 5 is located on the side of the first beam splitter 32 away from the objective lens mechanism 2, the image acquisition module 5 is used to acquire the image on the carrying surface (i.e., the carrying surface image), the input end of the control module is connected to the output end of the image acquisition module 5, and the output end of the control module is connected to the input end of the dynamic zoom mechanism 4, the control module is used to process the image acquired by the image acquisition module 5, and to control the zoom action of the dynamic zoom mechanism 4.

[0088] It can be understood that since the acquisition end of the image acquisition module 5 is set on the first optical axis 100, and the input end of the control module is connected to the output end of the image acquisition module 5, the micro-light curing system can not only use the focus movement of the laser beam to achieve curing processing, but also use the image acquisition of the image acquisition module 5 and the image processing of the control module to monitor the curing processing status on the carrying surface, thereby ensuring the accurate printing of the model.

[0089] It should be noted that the image acquisition module 5 is used to acquire images on the carrying surface, and the specific type of the image acquisition module 5 can be set according to actual needs and is not limited to this.

[0090] The control module is used to process the image captured by the image acquisition module 5 and to control the zoom action of the dynamic zoom mechanism 4. The specific type of the control module can be set according to actual needs and is not limited to this. For example, the control module can be a single-chip microcomputer. Furthermore, the control module can also include: a display, a computer, etc.

[0091] like Figure 2 and Figure 3As shown, in some embodiments, the image acquisition module 5 includes: a camera 51, an illumination light source 52 and a second beam splitter 53; wherein the camera 51 is arranged on the first optical axis 100 and is used to acquire an image on the carrying surface, and the output end of the camera 51 is connected to the input end of the control module, the second beam splitter 53 is arranged at the intersection of the first optical axis 100 and the third optical axis 300 of the illumination light source 52, and the second beam splitter 53 is located between the camera 51 and the first beam splitter 32, and the second beam splitter 53 is used to reflect the illumination light beam of the illumination light source 52 from the third optical axis 300 to the carrying surface of the first optical axis 100. The illumination light source may be, for example, an LED light source.

[0092] It can be understood that since the second beam splitter 53 is arranged at the intersection of the first optical axis 100 and the third optical axis 300 of the illumination light source 52, and the second beam splitter 53 is located between the camera 51 and the first beam splitter 32, the second beam splitter 53 can reflect the illumination light beam of the illumination light source 52 from the third optical axis 300 to the bearing surface of the first optical axis 100, thereby realizing the illumination of the bearing surface, and, by utilizing the light transmittance characteristics of the first beam splitter 32 and the second beam splitter 53, the illumination light beam on the bearing surface can also be reflected through the first beam splitter 32 and the second beam splitter 53 to the shooting end of the camera 51, thereby realizing the collection of the image on the bearing surface by using the camera 51.

[0093] It should be noted that the camera 51 is used to collect images on the carrying surface, and the specific type of the camera 51 can be set according to actual needs and is not limited to this.

[0094] The illumination light source 52 is used to generate an illumination light beam, and the second beam splitter 53 is used to convert the illumination light beam generated by the illumination light source 52 on the third optical axis 300 to the bearing surface of the first optical axis 100 .

[0095] The specific type of the illumination light source 52 can be set according to actual needs and is not limited thereto.

[0096] The specific type of the second beam splitter 53 can be set according to actual needs and is not limited to this. For example, the first optical axis 100 and the third optical axis 300 are arranged vertically, and the reflecting surface of the second beam splitter 53 is at a 45-degree angle to the first optical axis 100 and the third optical axis 300 respectively; the second beam splitter 53 can be a semi-transparent and semi-reflective mirror.

[0097] The camera 51 , the illumination light source 52 and the second beam splitter 53 of the image acquisition module 5 can be arranged in sequence on the bracket using a plurality of columns, a supporting plate and other structural components.

[0098] like Figure 2 and Figure 3As shown, in some embodiments, the objective lens mechanism 2 includes: a third displacement mechanism 21 and a microscope objective lens 22, the input end of the third displacement mechanism 21 is connected to the output end of the control module, and the driving end of the third displacement mechanism 21 is used to displace along the first optical axis 100, and the microscope objective lens 22 is arranged at the driving end of the third displacement mechanism 21.

[0099] It can be understood that since the microscope objective lens 22 is arranged at the driving end of the third displacement mechanism 21, the microscope objective lens 22 can use the third displacement mechanism 21 to achieve movement on the first optical axis 100 while focusing the laser beam, thereby facilitating accurate image acquisition of the image acquisition module 5 by using the movement of the microscope objective lens 22.

[0100] It should be noted that the specific type of the microscope objective lens 22 can be set according to actual needs and is not limited thereto.

[0101] The third displacement mechanism 21 is used to realize the movement of the microscope objective lens 22 on the first optical axis 100. The specific type of the third displacement mechanism 21 can be set according to actual needs, and there is no limitation on this. For example, the third displacement mechanism 21 may include: a third motor, a third lead screw and a third slide. The third motor is arranged on a bracket, the third lead screw is rotatably arranged on the bracket, the third slide is slidably arranged on the bracket along the first optical axis 100, and one end of the third lead screw is connected to the output shaft of the third motor by transmission, the third lead screw is connected to the third slide by thread transmission, and the microscope objective lens 22 is arranged on the third slide. Thus, the third motor drives the third slide to move along the first optical axis 100 by using the third lead screw to realize the position adjustment of the microscope objective lens 22 on the first optical axis 100.

[0102] Among them, the light emitted by the illumination light source 52 and the laser source 31 enters the first optical axis 100 through the beam splitter respectively, reaches the reference plane of the bearing surface through the microscope objective lens 22, and the reflected light on the reference plane is transmitted to the camera 51 after passing through the microscope objective lens 22. After the camera 51 transmits the image information to the control module, the control module processes the image using relevant algorithms, controls the third displacement mechanism 21 to make the microscope objective lens 22 move on the first optical axis 100, and ensures that the camera 51 has clear microscopic imaging of the reference plane.

[0103] The parameters of the lens 41 of the dynamic zoom mechanism 4 are stored in the control module, so that after the laser beam focus is initialized, the control module calculates how to control the dynamic zoom mechanism 4 so as to move the focus of the laser beam to a required distance.

[0104] In this embodiment, the control module is used to complete initialization based on the image of the bearing surface, and the initialization includes an imaging adjustment step and a focusing step. The control module includes, for example, a single chip microcomputer.

[0105] In this embodiment, the imaging adjustment step includes: controlling the microscope objective lens of the objective lens mechanism to move along the first optical axis direction to obtain the carrying surface images corresponding to different positions, calculating the energy of each carrying surface image to determine the target position corresponding to the maximum clarity evaluation value, and controlling the microscope objective lens to move to the target position to achieve clear imaging.

[0106] In this embodiment, in the imaging adjustment step, the energy of each bearing surface image is calculated to determine the target position corresponding to the maximum clarity evaluation value, including: grayscale processing is performed on each bearing surface image to obtain a corresponding bearing surface grayscale image; based on the grayscale value of each bearing surface grayscale image, an energy gradient function is used to calculate the corresponding image clarity evaluation value; and the bearing surface grayscale image corresponding to the maximum clarity evaluation value is selected, and the objective lens mechanism position corresponding to the bearing surface grayscale image is the target position.

[0107] Specifically, the objective lens mechanism includes a microscope objective lens and a third displacement mechanism. The moving direction of the third displacement mechanism is the first optical axis direction. The first optical axis direction may be, for example, a direction along a vertical bearing surface. If the direction along a vertical bearing surface is defined as a Z-axis direction, the third displacement mechanism is also called a Z-axis displacement stage. The single-chip microcomputer controls the third displacement mechanism to move intermittently from one end of the stroke limit to the other end, thereby continuously collecting images of the bearing surface. The single-chip microcomputer continuously processes the bearing surface images using an image processing algorithm, and stores the calculated clarity evaluation value in the single-chip microcomputer. When the clarity evaluation value reaches a peak value, the single-chip microcomputer controls the third displacement mechanism to move to a corresponding position, so that the image acquisition module obtains a clear image of the bearing surface.

[0108] The image processing algorithm is the process of calculating the energy of each bearing surface image to determine the target position corresponding to the maximum clarity evaluation value, which specifically includes:

[0109] The image of the bearing surface is grayed. In order to reduce the influence of noise, the present embodiment captures multiple images at the same position and averages them to suppress the amplitude of the noise.

[0110] Secondly, the gray value of each point of each bearing surface image is divided by the standard deviation of the gray value of the entire image for standardization, that is: Where f(x, y) represents the gray value of the coordinate point (x, y) before processing, f′(x, y) represents the gray value after standardization, and σ represents the standard deviation of the gray value of the entire image. The energy gradient function is used to calculate the image clarity evaluation value of the processed image. The energy gradient function is:

[0111]

[0112] Wherein, D(f) is the image clarity evaluation value, f′(x, y) represents the gray value of the coordinate point (x, y) after standardization, and f′(x+1, y) represents the gray value of the coordinate point (x+1, y) after standardization. The value calculated by the energy gradient function is the image clarity evaluation value corresponding to each carrier surface image. When the image clarity evaluation value reaches the maximum, the subsequent movement will cause the image clarity evaluation value to decrease; therefore, when the clarity evaluation value decreases three times in a row, the single-chip microcomputer searches for the stored maximum clarity evaluation value and controls the third displacement mechanism to move to the corresponding position (i.e., the target position), thereby ensuring that the image of the carrier surface is clear at the image acquisition module.

[0113] In this embodiment, the focusing step includes: for the target light spot in the target bearing surface image when the microscope objective is at the target position, the light spot focusing coefficient is obtained based on the target bearing surface image and the trained focusing prediction model, and the dynamic zoom mechanism is adjusted based on the minimum circumscribed circle radius and the number of pixels of the target light spot and the light spot focusing coefficient to make the laser focus fall on the bearing surface to complete the initialization. It should be noted that, considering that the laser focus has a corresponding laser focal depth range, in the present invention, when the bearing surface is within the laser focal depth range, it can also be considered that the laser focus falls on the bearing surface.

[0114] It should also be noted that the shading unit can be located at any position of the second optical axis 200, or at any position between the microscope objective lens 22 and the camera 51. Due to the shielding effect of the shading unit, the light spot in the bearing surface image is not a complete circular light spot. In some embodiments, the light spot in the bearing surface image can be a semicircular light spot. For example, the light spot in the bearing surface image can be a left semicircular light spot, a right semicircular light spot, an upper semicircular light spot or a lower semicircular light spot, etc. The orientation of the light spot in the bearing surface image is related to the position of the shading unit and the imaging condition of the camera 51. In addition, in order to facilitate the expression of the number of pixels in the light spot, after obtaining the bearing surface image, the shading unit or the camera can be rotated, or the bearing surface image can be directly rotated, so that the light spot in the bearing surface image is presented in the form of a left semicircular light spot or a right semicircular light spot, and then the number of pixels is counted.

[0115] Take the left semicircular spot and the right semicircular spot as examples. Figure 5 A schematic diagram of a light spot provided by an embodiment of the present invention. Figure 5 The images of the bearing surface under three occlusion conditions are shown, among which, Figure 5 The image of the bearing surface in (a) includes the left semicircular spot obtained in the first occlusion case; Figure 5 The image of the bearing surface in (b) includes the middle spot obtained in the second occlusion case; Figure 5 The bearing surface image in (c) includes the right semicircular light spot obtained under the third occlusion condition.

[0116] In this embodiment, in the focusing step, the light spot focusing coefficient is obtained based on the target bearing surface image and the trained focusing prediction model, including: obtaining the trained focusing prediction model, the input of the focusing prediction model is the bearing surface image, the output of the focusing prediction model is the focusing prediction result, and the focusing prediction result is divided into focused and unfocused; inputting the target bearing surface image into the trained focusing prediction model to obtain the target focusing prediction result, if the target focusing prediction result is focused, the light spot focusing coefficient k is 1; if the target focusing prediction result is unfocused, the light spot focusing coefficient k is a set value. The set value is, for example, 10 8 .

[0117] In this embodiment, the training image set is used to train the focus prediction model to obtain a trained focus prediction model. Specifically, considering the shielding effect of the shading unit, by analogy Figure 5 Three types of bearing surface images are obtained for three occlusion situations to construct a training image set. Among them, the labels corresponding to the bearing surface image including the left semicircular light spot in the first occlusion situation and the bearing surface image including the right semicircular light spot in the third occlusion situation are unfocused (such as left semicircle, right semicircle), and the label corresponding to the bearing surface image including the middle point light spot in the second occlusion situation is focused (such as middle point). After the training is completed, the actual bearing surface image is input into the trained focus prediction model, and the output result can be the left semicircle or the right semicircle if it is unfocused, and the output result can be the middle point if it is focused.

[0118] In this embodiment, the focus prediction model is constructed based on deep learning, and the deep learning adopts at least one of a residual network, a convolutional neural network, and a deep neural network.

[0119] In this embodiment, in the focusing step, the dynamic zoom mechanism is regulated based on the minimum circumscribed circle radius and the number of pixels of the target light spot, and the light spot focusing coefficient so that the laser focus falls on the bearing surface to complete the initialization, including: determining the minimum circumscribed circle of the target light spot; dividing the target light spot into a first side light spot area and a second side light spot area based on the diameter of the minimum circumscribed circle, and then statistically obtaining the number of pixels in each side light spot area. The angle between the diameter of the minimum circumscribed circle and the chord length direction of the target light spot is within a set range, and the setting range is, for example, ±15°. Among them, the optimal diameter of the minimum circumscribed circle for dividing the target light spot can be determined in a variety of ways. One way is based on the angle between the diameter of the minimum circumscribed circle and the chord length direction of the target light spot, and the diameter of the minimum circumscribed circle when the angle is the smallest is the optimal diameter; another way is to use the diameters of different minimum circumscribed circles to count the corresponding number of pixels in the light spot areas on both sides, and then calculate the difference in the number of pixels on both sides corresponding to different diameters, wherein the diameter of the minimum circumscribed circle corresponding to the maximum difference in the number of pixels on both sides is the optimal diameter.

[0120] The first side spot area is, for example, the left spot area, and the second side spot area is, for example, the right spot area. Specifically, the target bearing surface image captured by the camera, such as the spot RGB image, is grayed and then binarized. In order to avoid the influence of noise in the image on subsequent processing, a 5×5 pixel median filter is used, and then the white pixels in the image (pixels corresponding to the spot) are enclosed by the minimum circumscribed circle so that all spot pixels are contained in a minimum enclosing circle (MEC). After that, according to the origin of the MEC, the spot is divided into two semicircular areas on the left and right based on the diameter of the minimum circumscribed circle, and the minimum circumscribed square is drawn, which is divided into left and right sides according to the middle vertical line, thereby obtaining the minimum circumscribed circle radius and the number of pixels on the left and right sides (also called the number of pixels in the spot area on the left and right sides). The number of pixels on the left and right sides includes the number of pixels on the left side n_left and the number of pixels on the right side n_right.

[0121] In this embodiment, in the focusing step, the dynamic zoom mechanism is regulated based on the minimum circumscribed circle radius of the target light spot and the number of pixels on the left and right sides, as well as the spot focusing coefficient so that the laser focus falls on the bearing surface to complete initialization, and it also includes: calculating the pixel difference on both sides based on the number of pixels in the spot area on both sides of the target light spot and the spot focusing coefficient; calculating the radius difference between the minimum circumscribed circle radius of the target light spot and the given minimum radius; if the radius difference is greater than the given radius difference threshold and the pixel difference on both sides is greater than the given pixel difference threshold, a first focus movement instruction is generated, and based on the first focus movement instruction, the dynamic zoom mechanism is regulated to move the laser focus along the first optical axis 100 direction, so that the spot radius continues to decrease until the radius difference is less than or equal to the given radius difference threshold, at which time the laser focus falls on the bearing surface and initialization is completed; if the radius difference is greater than the given radius difference threshold and the pixel difference on both sides is less than or equal to the given pixel difference threshold, a second focus movement instruction is generated, and based on the second focus movement instruction, the dynamic zoom mechanism is regulated to move the laser focus along the first optical axis 100 direction, so that the spot radius continues to decrease until the radius difference is less than or equal to the given radius difference threshold, at which time the laser focus falls on the bearing surface and initialization is completed.

[0122] Taking the residual network ResNet34, the light spot areas on both sides are the light spot areas on the left and right sides, and the pixel difference on both sides is the pixel difference on the left and right sides as an example, Figure 6 This is a partial flow chart of the focusing step provided by an embodiment of the present invention. Figure 6As shown in (a), the pixel difference between the left and right sides includes: graying, binarization and median filtering the target bearing surface image of 3840×3040×3 to obtain the minimum circumscribed circle radius and the number of pixels on the left and right sides; using the deep learning processing algorithm to obtain the target focus prediction result of the target light spot of 224×224×3 in the target bearing surface image. If the target focus prediction result is not focused, the light spot focus coefficient is the set value, and then the pixel difference between the left and right sides is calculated. The pixel difference between the left and right sides satisfies n_left×k–n_right×k. The deep learning processing algorithm adopts Figure 6 The residual network ResNet34 shown in (b) includes a convolutional layer, a maximum pooling layer, four convolutional stages, an average pooling layer, and a normalized classification layer. Among them, the four convolutional stages each include multiple convolutional layers.

[0123] Taking the two side spot areas as the left and right side spot areas, the first focus movement instruction as the focus up instruction, and the second focus movement instruction as the focus down instruction as an example, the algorithm for controlling the dynamic zoom mechanism based on the minimum circumscribed circle radius of the target spot and the number of pixels on the left and right sides, and the spot focusing coefficient is as follows:

[0124] Input: minimum circumscribed circle radius r, given minimum radius r_0, number of pixels on the left side n_left, number of pixels on the right side n_right, given pixel difference threshold n_0, given radius difference threshold ε_r, spot focusing coefficient k.

[0125] Output: Commands to the microcontroller: laser focus up command, laser focus down command and stop.

[0126] If r–r_0>ε_r and n_left×k–n_right×k>n_0 then

[0127] Return to the laser focus upward movement instruction

[0128] End if

[0129] If r–r_0>ε_r and n_left×k–n_right×k≤n_0 then

[0130] Return to the laser focus down command

[0131] End if

[0132] If r–r_0≤ε_r then

[0133] Return Stop

[0134] In this embodiment, a spot focusing coefficient is added in combination with the focusing prediction model, which can reduce the difficulty and sensitivity of selecting n_0, effectively realize the automatic focusing process, effectively increase the interval of the selected threshold, avoid the influence of the selection of n_0 on the focusing state result in the existing method, and improve the robustness.

[0135] In this embodiment, after the initialization is completed, the shading unit is removed and the target photocurable adhesive is placed on the carrying surface, the control module is also used to control the dynamic zoom mechanism to move the laser focus along the first optical axis direction, and at the same time control the curing platform to move the carrying surface parallel to achieve three-dimensional micro-light curing of the target photocurable adhesive.

[0136] The following is an embodiment of the method of the present invention. For details not disclosed in the embodiment of the method of the present invention, please refer to the embodiment of the system of the present invention. The embodiment of the method of the present invention proposes a micro-light curing method based on dynamic zoom. The micro-light curing method based on dynamic zoom utilizes the micro-light curing system based on dynamic zoom of the above system embodiment to perform three-dimensional micro-light curing.

[0137] Figure 7 The present invention provides a flowchart of a method for micro-light curing based on dynamic zooming.

[0138] like Figure 7 As shown, the micro-light curing method based on dynamic zoom includes:

[0139] Step S101, controlling the microscope objective lens of the objective lens mechanism to move along the first optical axis direction to obtain the bearing surface images corresponding to different positions, calculating the energy of each bearing surface image to determine the target position corresponding to the maximum clarity evaluation value, and controlling the microscope objective lens to move to the target position to achieve clear imaging;

[0140] Step S102, for the target light spot in the target bearing surface image when the microscope objective is located at the target position, the light spot focusing coefficient is obtained based on the target bearing surface image and the trained focus prediction model, and the dynamic zoom mechanism is adjusted based on the minimum circumscribed circle radius and the number of pixels of the target light spot and the light spot focusing coefficient so that the laser focus falls on the bearing surface to complete the initialization;

[0141] Step S103, after the initialization is completed, the light shielding unit is removed and the target light-curing adhesive is placed on the carrying surface;

[0142] Step S104, controlling the dynamic zoom mechanism to move the laser focus along the first optical axis direction, and controlling the curing platform to move the bearing surface in parallel, thereby achieving three-dimensional micro-light curing of the target photocurable adhesive.

[0143] In step S101, the energy of each bearing surface image is calculated to determine the target position corresponding to the maximum clarity evaluation value, including: grayscale processing is performed on each bearing surface image to obtain a corresponding bearing surface grayscale image; based on the grayscale value of each bearing surface grayscale image, an energy gradient function is used to calculate the corresponding image clarity evaluation value; the bearing surface grayscale image corresponding to the maximum clarity evaluation value is selected, and the objective lens mechanism position corresponding to the bearing surface grayscale image is the target position.

[0144] In step S102, the light spot focusing coefficient is obtained based on the target bearing surface image and the trained focusing prediction model, including: obtaining the trained focusing prediction model, the input of the focusing prediction model is the bearing surface image, the output of the focusing prediction model is the focusing prediction result, and the focusing prediction result is divided into two results: focused and unfocused; inputting the target bearing surface image into the trained focusing prediction model to obtain the target focusing prediction result, if the target focusing prediction result is focused, the light spot focusing coefficient is 1; if the target focusing prediction result is unfocused, the light spot focusing coefficient is a set value. Deep learning uses one of a residual network, a convolutional neural network, and a deep neural network.

[0145] In step S102, the dynamic zoom mechanism is regulated based on the minimum circumscribed circle radius and the number of pixels of the target light spot, and the light spot focusing coefficient so that the laser focus falls on the bearing surface to complete the initialization, including: determining the minimum circumscribed circle of the target light spot; dividing the target light spot into a first side light spot area and a second side light spot area based on the diameter of the minimum circumscribed circle; calculating the pixel difference on both sides based on the number of pixels of the light spot areas on both sides of the target light spot and the light spot focusing coefficient; calculating the radius difference between the minimum circumscribed circle radius of the target light spot and the given minimum radius; if the radius difference is greater than the given radius difference threshold and the pixel difference on both sides is greater than the given pixel difference threshold, generating the first focus movement Instruction, based on the first focus movement instruction, the dynamic zoom mechanism is controlled to move the laser focus along the first optical axis, so that the spot radius is continuously reduced until the radius difference is less than or equal to the given radius difference threshold, at which time the laser focus falls on the bearing surface and the initialization is completed; if the radius difference is greater than the given radius difference threshold and the pixel difference on both sides is less than or equal to the given pixel difference threshold, a second focus movement instruction is generated, and based on the second focus movement instruction, the dynamic zoom mechanism is controlled to move the laser focus along the first optical axis, so that the spot radius is continuously reduced until the radius difference is less than or equal to the given radius difference threshold, at which time the laser focus falls on the bearing surface and the initialization is completed.

[0146] It should be noted that the above explanation of the embodiment of the micro-light curing system based on dynamic zoom is also applicable to the micro-light curing method based on dynamic zoom of this embodiment, which will not be repeated here.

[0147] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0148] The micro-light curing system and method based on dynamic zoom in the embodiment of the present invention include an objective lens mechanism, a curing platform, an optical module, a dynamic zoom mechanism, an image acquisition module, a shading unit, and a control module; the curing platform includes a bearing surface, the bearing surface is located on the first optical axis of the objective lens mechanism, and the bearing surface is used to place the light-curing adhesive; the optical module includes a laser source and a first beam splitter, the first beam splitter is used to reflect the laser beam of the laser source to the bearing surface; the image acquisition module includes an image sensing unit, the image sensing unit is used to generate a bearing surface image using the reflected light of the bearing surface passing through the first beam splitter; the shading unit is used to shield part of the laser beam or part of the reflected light of the bearing surface; the dynamic zoom mechanism is located between the laser source and the first beam splitter; the control module is used to complete initialization based on the bearing surface image, and the initialization includes an imaging adjustment step and a focusing step; the imaging adjustment step includes: controlling the microscope objective lens of the objective lens mechanism to move along the first beam splitter. The microscope moves in an optical axis direction to obtain images of the bearing surface corresponding to different positions, calculates the energy of each bearing surface image to determine the target position corresponding to the maximum clarity evaluation value, and controls the microscope objective lens to move to the target position to achieve clear imaging; the focusing step includes: for the target light spot in the target bearing surface image when the microscope objective lens is located at the target position, obtaining the light spot focusing coefficient based on the target bearing surface image and the trained focusing prediction model, and adjusting the dynamic zoom mechanism based on the minimum circumscribed circle radius and the number of pixels of the target light spot and the light spot focusing coefficient so that the laser focus falls on the bearing surface to complete initialization; after the initialization is completed, the shading unit is removed and the target photocurable adhesive is placed on the bearing surface, and the control module is also used to control the dynamic zoom mechanism to move the laser focus along the first optical axis direction, and at the same time control the curing platform to move the bearing surface in parallel, thereby realizing three-dimensional micro-light curing of the target photocurable adhesive. In this case, the trained focus prediction model is used to obtain the spot focus coefficient, and the dynamic zoom mechanism is adjusted based on the minimum circumscribed circle radius and the number of pixels of the target spot, such as the number of pixels on the left and right sides, so that the laser focus falls on the bearing surface to complete the initialization focusing, thereby improving the focusing accuracy in the initialization process. In addition, the dynamic zoom mechanism is controlled to move the laser focus along the first optical axis instead of the existing method of changing the focus position by moving the objective lens mechanism, thereby saving the time of liquid level control and scraper coating, and improving the processing speed. In the present invention, the real-time processing status can also be monitored based on the bearing surface image.

[0149] The method and system of the present invention can directly manufacture three-dimensional structures in photocurable adhesives, and during processing, observe the imaging of laser spots on the bearing surface and monitor the processing status. At the same time, a dynamic zoom mechanism is used to control the movement of the focus along the first optical axis instead of the movement of the traditional translation stage to allow the laser beam to process different planes, thereby increasing the processing speed and being applied to the field of three-dimensional micro-photocuring.

[0150] The accompanying drawings show schematic diagrams of structures according to embodiments disclosed in the present invention. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0151] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and the present invention is not limited here.

[0152] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A micro-light curing system based on dynamic zoom, characterized in that: It includes an objective lens mechanism, a curing platform, an optical module, a dynamic zoom mechanism, an image acquisition module, a shading unit, and a control module; The curing platform includes a carrying surface, the carrying surface is located on the first optical axis of the objective lens mechanism, and the carrying surface is used to place the light-curing adhesive; the optical module includes a laser source and a first beam splitter, the first beam splitter is used to reflect the laser beam of the laser source to the carrying surface; the image acquisition module includes an image sensing unit, and the image sensing unit is used to generate an image of the carrying surface using the reflected light of the carrying surface passing through the first beam splitter; The shading unit is used to shield part of the laser beam or part of the reflected light from the bearing surface; the dynamic zoom mechanism is located between the laser source and the first beam splitter; The control module is used to complete initialization based on the image of the bearing surface, and the initialization includes an imaging adjustment step and a focusing step; The imaging adjustment step includes: controlling the microscope objective lens of the objective lens mechanism to move along the first optical axis direction to obtain the bearing surface images corresponding to different positions, calculating the energy of each bearing surface image to determine the target position corresponding to the maximum clarity evaluation value, and controlling the microscope objective lens to move to the target position to achieve clear imaging; the focusing step includes: for the target light spot in the target bearing surface image when the microscope objective lens is located at the target position, obtaining the light spot focusing coefficient based on the target bearing surface image and the trained focusing prediction model, and regulating the dynamic zoom mechanism based on the minimum circumscribed circle radius and the number of pixels of the target light spot and the light spot focusing coefficient so that the laser focus falls on the bearing surface to complete initialization; after the initialization is completed, the shading unit is removed and the target photocurable adhesive is placed on the bearing surface, and the control module is also used to control the dynamic zoom mechanism to move the laser focus along the first optical axis direction, and at the same time control the curing platform to move the bearing surface in parallel, thereby realizing three-dimensional micro-light curing of the target photocurable adhesive.

2. The micro-light curing system based on dynamic zoom according to claim 1, characterized in that: In the imaging adjustment step, calculating the energy of each bearing surface image to determine the target position corresponding to the maximum clarity evaluation value includes: grayscale processing is performed on each bearing surface image to obtain a corresponding bearing surface grayscale image; Based on the grayscale value of each bearing surface grayscale image, an energy gradient function is used to calculate the corresponding image clarity evaluation value; The grayscale image of the bearing surface corresponding to the maximum clarity evaluation value is selected, and the position of the objective lens mechanism corresponding to the grayscale image of the bearing surface is the target position.

3. The micro-light curing system based on dynamic zoom according to claim 1, characterized in that: In the focusing step, obtaining the spot focusing coefficient based on the target bearing surface image and the trained focusing prediction model includes: Acquire a trained focus prediction model, wherein the input of the focus prediction model is a bearing surface image, and the output of the focus prediction model is a focus prediction result, wherein the focus prediction result is divided into focused and unfocused; The target bearing surface image is input into a trained focus prediction model to obtain a target focus prediction result. If the target focus prediction result is focused, the light spot focus coefficient is 1; if the target focus prediction result is not focused, the light spot focus coefficient is a set value.

4. The micro-light curing system based on dynamic zoom according to claim 1, characterized in that: The focus prediction model is constructed based on deep learning, and the deep learning adopts at least one of a residual network, a convolutional neural network, and a deep neural network.

5. The micro-light curing system based on dynamic zoom according to claim 1, characterized in that: In the focusing step, based on the minimum circumscribed circle radius and the number of pixels of the target light spot and the light spot focusing coefficient, the dynamic zoom mechanism is regulated so that the laser focus falls on the bearing surface to complete the initialization, including: Determining the minimum circumscribed circle of the target light spot; Dividing the target light spot into a first side light spot area and a second side light spot area based on the diameter of the minimum circumscribed circle; The pixel difference on both sides is calculated based on the number of pixels of the spot area on both sides of the target spot and the spot focusing coefficient; Calculating the radius difference between the minimum circumscribed circle radius of the target light spot and a given minimum radius; If the radius difference is greater than a given radius difference threshold and the pixel difference on both sides is greater than a given pixel difference threshold, a first focus movement instruction is generated, and the dynamic zoom mechanism is regulated based on the first focus movement instruction to move the laser focus until the radius difference is less than or equal to the given radius difference threshold, at which time the laser focus falls on the bearing surface and initialization is completed; If the radius difference is greater than a given radius difference threshold and the pixel difference on both sides is less than or equal to a given pixel difference threshold, a second focus movement instruction is generated. Based on the second focus movement instruction, the dynamic zoom mechanism is regulated to move the laser focus until the radius difference is less than or equal to the given radius difference threshold. At this time, the laser focus falls on the bearing surface and initialization is completed.

6. The micro-light curing system based on dynamic zoom according to claim 1, characterized in that: The image acquisition module further includes an illumination light source and a second beam splitter, wherein the second beam splitter is used to reflect the light beam of the illumination light source to the carrying surface.

7. The micro-light curing system based on dynamic zoom according to claim 1, characterized in that: The dynamic zoom mechanism comprises: A plurality of lenses, wherein the plurality of lenses are sequentially arranged between the laser source and the first beam splitter at intervals; A driving component is connected to at least one of the lenses in a transmission manner, and is used to control the movement of at least one of the lenses to adjust the focal position of the laser beam.

8. A micro-light curing method based on the micro-light curing system based on dynamic zoom according to any one of claims 1 to 7, characterized in that: include: Controlling the microscope objective lens of the objective lens mechanism to move along the first optical axis direction to obtain images of the bearing surface corresponding to different positions, calculating the energy of each bearing surface image to determine the target position corresponding to the maximum clarity evaluation value, and controlling the microscope objective lens to move to the target position to achieve clear imaging; For a target light spot in a target bearing surface image when the microscope objective lens is located at a target position, a light spot focusing coefficient is obtained based on the target bearing surface image and a trained focusing prediction model, and based on a minimum circumscribed circle radius and the number of pixels of the target light spot and the light spot focusing coefficient, the dynamic zoom mechanism is regulated so that the laser focus falls on the bearing surface to complete initialization; After the initialization is completed, the shading unit is removed and the target light-curing adhesive is placed on the carrying surface; The dynamic zoom mechanism is controlled to move the laser focus along the first optical axis direction, and the curing platform is controlled to move the bearing surface in parallel, thereby achieving three-dimensional micro-light curing of the target light-curing adhesive.

9. The method for micro-light curing based on dynamic zoom according to claim 8, characterized in that: The step of calculating the energy of each bearing surface image to determine the target position corresponding to the maximum clarity evaluation value includes: grayscale processing is performed on each bearing surface image to obtain a corresponding bearing surface grayscale image; Based on the grayscale value of each bearing surface grayscale image, an energy gradient function is used to calculate the corresponding image clarity evaluation value; The grayscale image of the bearing surface corresponding to the maximum clarity evaluation value is selected, and the position of the objective lens mechanism corresponding to the grayscale image of the bearing surface is the target position.

10. The method for micro-light curing based on dynamic zoom according to claim 8, characterized in that: The method of adjusting the dynamic zoom mechanism based on the minimum circumscribed circle radius and the number of pixels of the target light spot and the light spot focusing coefficient so that the laser focus falls on the bearing surface to complete the initialization includes: Determining the minimum circumscribed circle of the target light spot; Dividing the target light spot into a first side light spot area and a second side light spot area based on the diameter of the minimum circumscribed circle; The pixel difference on both sides is calculated based on the number of pixels of the spot area on both sides of the target spot and the spot focusing coefficient; Calculating the radius difference between the minimum circumscribed circle radius of the target light spot and a given minimum radius; If the radius difference is greater than a given radius difference threshold and the pixel difference on both sides is greater than a given pixel difference threshold, a first focus movement instruction is generated, and the dynamic zoom mechanism is regulated based on the first focus movement instruction to move the laser focus until the radius difference is less than or equal to the given radius difference threshold, at which time the laser focus falls on the bearing surface and initialization is completed; If the radius difference is greater than a given radius difference threshold and the pixel difference on both sides is less than or equal to a given pixel difference threshold, a second focus movement instruction is generated. Based on the second focus movement instruction, the dynamic zoom mechanism is regulated to move the laser focus until the radius difference is less than or equal to the given radius difference threshold. At this time, the laser focus falls on the bearing surface and initialization is completed.

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