Machining method and system for curved-surface workpiece

Abstract

The invention discloses a machining method and system for a curved-surface workpiece. The machining method comprises the steps that theoretical three-dimensional coordinate information of a curved surface workpiece is set; a positioning base point is set, and the contour corresponding to the theoretical three-dimensional coordinate information of the curved surface workpiece continuously passes through the positioning base point in the moving process; obtaining first target two-dimensional coordinate information and second target two-dimensional coordinate information; acquiring actual three-dimensional coordinate information; performing spatial positioning on the curved surface workpiece; and the curved surface workpiece is machined. In the moving process, the contour corresponding to the theoretical three-dimensional coordinate information of the curved-surface workpiece continuously passes through the positioning base point, the actual three-dimensional coordinate information of the curved-surface workpiece is obtained, and therefore rapid and accurate space positioning is conducted on the curved-surface workpiece again through the multi-axis moving mechanism according to the actual three-dimensional coordinate information; and the positioning precision of the curved-surface workpiece is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser processing, and in particular to a processing method and system for a curved surface workpiece. Background Art

[0002] Laser cleaning technology can quickly remove substrate surface attachments, coatings, etc. The principle is that the material on the substrate surface is acted upon by focused laser light, quickly absorbing heat to form shock waves that turn into particles that are removed. Due to its high efficiency and good effect, it is used to remove ink from the surface of transparent substrates, which can be lenses, display substrates, etc.

[0003] When the ink to be removed is the ink attached to the surface of a curved workpiece, the focus of the laser needs to change according to the shape of the curved surface. The prior art is to decompose the curved surface to be removed into multiple segments, each segment corresponding to a focal length, and the laser is set to the corresponding focal length to emit laser to remove the ink in each segment separately, and multiple segments are spliced ​​to complete the ink removal of the entire curved surface.

[0004] However, the above method has low processing efficiency, and the workpiece positioning can only be achieved through mechanical structure, which has large errors and easily causes splicing misalignment, resulting in uneven edges of ink removal, which cannot meet the processing requirements. In order to reduce the error, secondary correction processing is usually adopted, 9 or as many segments as possible are divided, but this will result in lower efficiency of ink removal. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a method and system for processing a curved workpiece in view of the above-mentioned defects of the prior art, so as to solve the problems of inaccurate positioning and low efficiency.

[0006] The technical solution adopted by the present invention to solve the technical problem is: to provide a method for processing a curved workpiece, which is applied to a processing system, wherein the processing system includes a laser, a coordinate data acquisition mechanism and a multi-axis motion mechanism;

[0007] The processing method comprises the following steps:

[0008] Set the theoretical three-dimensional coordinate information of the curved workpiece;

[0009] A positioning base point is set in space, and the multi-axis motion mechanism controls the movement of the curved workpiece, and during the movement, the contour corresponding to the theoretical three-dimensional coordinate information of the curved workpiece continuously passes through the positioning base point;

[0010] Acquire first target two-dimensional coordinate information and second target two-dimensional coordinate information of the curved workpiece by means of a coordinate data acquisition mechanism; wherein the first target two-dimensional coordinate information is Y-direction error data based on the X-axis and the positioning base point, and the second target two-dimensional coordinate information is Z-direction error data based on the X-axis and the positioning base point;

[0011] Acquire actual three-dimensional coordinate information according to Y-direction error data and Z-direction error data;

[0012] The multi-axis motion mechanism re-positions the curved workpiece in space according to the actual three-dimensional coordinate information;

[0013] The laser emits laser according to actual three-dimensional coordinate information to process the curved workpiece.

[0014] Among them, a preferred solution is that in the process of the multi-axis motion mechanism controlling the movement of the curved workpiece, the normal directions of the curved edge points of the curved workpiece are all set in the same direction in the positioning base point; the same direction is the upward direction.

[0015] Among them, a preferred solution is to form a positioning space based on the positioning base point, the center position of the positioning space is the positioning base point, and the coordinate data acquisition mechanism obtains the data of the XY plane and the XZ plane of the positioning space.

[0016] Among them, a preferred solution is that the coordinate data acquisition mechanism includes a first coordinate data acquisition mechanism and a second coordinate data acquisition mechanism, and the first coordinate data acquisition mechanism and the second coordinate data acquisition mechanism are respectively arranged on two planes perpendicular to each other;

[0017] The first coordinate data acquisition mechanism and the second coordinate data acquisition mechanism are both cameras, the center of the camera overlaps with the positioning base point, and the distance between the contour of the curved workpiece and the positioning base point is obtained through image information as Y direction error data or Z direction error data.

[0018] Among them, a preferred solution is that the coordinate data acquisition mechanism includes a third coordinate data acquisition mechanism and a fourth coordinate data acquisition mechanism, and the third coordinate data acquisition mechanism and the fourth coordinate data acquisition mechanism are in the same direction;

[0019] The third coordinate data acquisition mechanism is a camera, and the fourth coordinate data acquisition mechanism is a high-precision rangefinder. The center of the camera overlaps with the positioning base point. The distance between the contour of the curved workpiece and the positioning base point is obtained through image information as the Y direction error data, and at the same time, the height error is obtained through the high-precision rangefinder as the Z direction error data.

[0020] Among them, a preferred solution is that the obtaining of the first target two-dimensional coordinate information and the second target two-dimensional coordinate information of the curved workpiece by the coordinate data acquisition mechanism further includes the steps of: setting a plurality of data points on the contour of the curved workpiece, obtaining Y-direction error data and Z-direction error data corresponding to the data points, and all the data points constitute the first target two-dimensional coordinate information and the second target two-dimensional coordinate information;

[0021] The method of obtaining actual three-dimensional coordinate information based on the Y-direction error data and the Z-direction error data also includes the steps of setting a deviation value range, deleting the Y-direction error data or the Z-direction error data in the data points that do not conform to the deviation value range, and obtaining the actual three-dimensional coordinate information based on the Y-direction error data and the Z-direction error data after denoising and filtering.

[0022] Among them, a preferred solution is that the distance between the data points is 10-15 microns.

[0023] Among them, a preferred solution is that the curved workpiece is a virtual reality glasses cover, and the multi-axis motion mechanism uses the nose bridge position of the virtual reality glasses cover as the initial position, and controls the movement of the curved workpiece through the multi-axis motion mechanism.

[0024] Among them, a preferred solution is that the multi-axis motion mechanism positions the curved workpiece through a fixture, the curved workpiece is provided with an ink layer to be processed, and the laser emits laser according to the actual three-dimensional coordinate information to trim the ink layer of the curved workpiece, and the trimming step includes:

[0025] The laser passes through the ink layer and is incident on the curved workpiece, then passes through the jig at the bottom and is reflected and emitted outward;

[0026] The reflected laser light avoids the ink layer.

[0027] The technical solution adopted by the present invention to solve its technical problem is: providing a processing system, including a laser, a coordinate data acquisition mechanism, a multi-axis motion mechanism, a memory and a processor, the processor is respectively connected to the laser, the coordinate data acquisition mechanism, the multi-axis motion mechanism and the memory, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the processing method.

[0028] The beneficial effect of the present invention lies in that, compared with the prior art, during the movement process, the contour corresponding to the theoretical three-dimensional coordinate information of the curved workpiece continues to pass through the positioning base point, and the actual three-dimensional coordinate information of the curved workpiece is obtained, so that the curved workpiece is quickly and accurately spatially re-positioned according to the actual three-dimensional coordinate information through a multi-axis motion mechanism, thereby improving the positioning accuracy of the curved workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0030] Figure 1 It is a schematic flow diagram of the processing method of the present invention;

[0031] Figure 2 It is a schematic structural diagram of a curved surface workpiece of the present invention;

[0032] Figure 3 It is a coordinate schematic diagram of the Y direction error data of the present invention;

[0033] Figure 4 It is a schematic diagram of the first angle structure of the first embodiment of the coordinate data acquisition mechanism of the present invention;

[0034] Figure 5 It is a second angle structural schematic diagram of the first embodiment of the coordinate data acquisition mechanism of the present invention;

[0035] Figure 6 It is a structural schematic diagram of a second embodiment of a coordinate data acquisition mechanism of the present invention;

[0036] Figure 7 It is a schematic diagram of the laser processing of ink layer according to the present invention;

[0037] Figure 8 It is a structural block diagram of the computer device of the present invention. DETAILED DESCRIPTION

[0038] Now, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0039] like Figures 1 to 3 As shown, the present invention provides a preferred embodiment of a method for machining a curved surface workpiece 100 .

[0040] A method for processing a curved workpiece 100 is applied to a processing system, wherein the processing system includes a laser, a coordinate data acquisition mechanism, and a multi-axis motion mechanism; the steps of the processing method include:

[0041] Step S11, setting theoretical three-dimensional coordinate information of the curved workpiece 100;

[0042] Step S12, setting a positioning base point in space, the multi-axis motion mechanism controls the movement of the curved workpiece 100, and during the movement, the contour corresponding to the theoretical three-dimensional coordinate information of the curved workpiece 100 continuously passes through the positioning base point;

[0043] Step S13, obtaining first target two-dimensional coordinate information and second target two-dimensional coordinate information of the curved workpiece 100 through a coordinate data acquisition mechanism; wherein the first target two-dimensional coordinate information is Y-direction error data based on the X-axis and the positioning base point, and the second target two-dimensional coordinate information is Z-direction error data based on the X-axis and the positioning base point;

[0044] Step S14, obtaining actual three-dimensional coordinate information according to the Y direction error data and the Z direction error data;

[0045] Step S15, the multi-axis motion mechanism re-positions the curved workpiece 100 in space according to the actual three-dimensional coordinate information;

[0046] Step S16: The laser emits laser to process the curved workpiece 100 according to the actual three-dimensional coordinate information.

[0047] Specifically, the multi-axis motion mechanism fixes the curved workpiece 100, and can drive the curved workpiece 100 to realize multi-axis motion in a spatial region, for example, driving the curved workpiece 100 to rotate at a specific angle, or to perform three-dimensional motion in a three-dimensional space. This solution has high requirements on the accuracy of the multi-axis motion mechanism, and the control of the details of the curved workpiece 100 is very precise. However, when the curved workpiece 100 is placed on the multi-axis motion mechanism, that is, when the initial positioning is performed, the placement position is not standard, which easily leads to the problem of inaccurate positioning of the curved workpiece 100. Therefore, the actual three-dimensional coordinate information of the curved workpiece 100 after positioning is obtained through steps S11 to S14, and steps S15 and S16 are implemented according to the actual three-dimensional coordinate information, that is, re-positioning and processing operations.

[0048] Regarding steps S11 to S14, it is assumed that the curved workpiece 100 is accurately positioned on the multi-axis motion mechanism. At this time, the theoretical three-dimensional coordinate information can be used as the positioning information of the current curved workpiece 100. The theoretical three-dimensional coordinate information is essentially the three-dimensional coordinate of the curved surface of the curved workpiece 100. Of course, in order to identify the calculation efficiency, a characteristic structure of the curved workpiece 100 needs to be used as the reference data for subsequent positioning. The present invention preferably uses the three-dimensional coordinates of the contour 101 as the reference data for the curved workpiece 100. Secondly, due to the placement of the curved workpiece 100, there is actually a positioning error. The error data is obtained based on the theoretical three-dimensional coordinate information, and the actual three-dimensional coordinate information is obtained based on the error data, so as to facilitate subsequent operations.

[0049] The multi-axis motion mechanism controls the movement of the curved workpiece 100 based on the theoretical three-dimensional coordinate information, and sets a positioning base point in space. The multi-axis motion mechanism controls the movement of the curved workpiece 100, and during the movement, the contour corresponding to the theoretical three-dimensional coordinate information of the curved workpiece 100 continues to pass through the positioning base point. However, during the actual movement, due to the positioning error of the curved workpiece 100, the actual contour 101 of the curved workpiece 100 will not pass through the positioning base point in the three-dimensional space. The coordinate data acquisition mechanism is used to obtain the Y-direction error data and the Z-direction error data of the actual contour 101 of the curved workpiece 100 from the positioning base point. The Y-direction error data is ΔY, and the Z-direction error data is ΔZ. At this time, the X-axis is set as the reference axis, and the reference axis is used as a reference to obtain the distances from the positioning base point in the Y-axis and Z-axis directions, respectively. For example, with reference to Figure 3The origin 201 is the position coordinate point of the contour of the curved workpiece 100 corresponding to the theoretical three-dimensional coordinate information, which is a theoretical coordinate value. However, the actual contour of the curved workpiece 100 deviates from the origin 201, that is, the actual point 202 is the actual position of the contour 101. The distance between the origin 201 and the actual point 202 is the Y-direction error data 203 based on the X-axis and the positioning base point, that is, ΔY. Similarly, ΔZ is obtained.

[0050] The actual three-dimensional coordinate information is obtained according to the Y-direction error data and the Z-direction error data. Based on the positioning base point, the position and posture change of the curved workpiece 100 relative to the reference coordinate system are obtained, wherein the first target two-dimensional coordinate information represents the displacement of the curved workpiece 100 in the Y direction when the X-axis is used as the reference coordinate, and the second target two-dimensional coordinate information represents the displacement of the curved workpiece 100 in the Z direction when the X-axis is used as the reference coordinate; assuming that the coordinates of the curved workpiece 100 in the reference coordinate system are (x, y, z), then (y, z) represents its offset in the Y direction and the Z direction, and the actual three-dimensional coordinate information (x', y', z') of the curved workpiece 100 is obtained by the method of vector geometry.

[0051] Regarding step S15, the multi-axis motion mechanism can reposition the position and posture of the curved workpiece 100 according to the actual three-dimensional coordinate information obtained, so as to perform precise processing. Specifically, the three-dimensional coordinate transformation technology in computer graphics is used to convert the two-dimensional coordinates into three-dimensional coordinates, that is, the two-directional deviation data are integrated into three-dimensional coordinates, and the coordinate data corrected by the multi-axis motion mechanism is calculated through inverse kinematics solution, so that the multi-axis motion mechanism can move according to the specified path, so that the curved workpiece 100 can regain accurate spatial positioning according to the actual three-dimensional coordinate information.

[0052] In one embodiment, reference Figure 2 and Figure 3 , in the process of the multi-axis motion mechanism controlling the movement of the curved workpiece 100, the normal directions of the curved edge points of the curved workpiece 100 are all set in the same direction in the positioning base point. The purpose of setting the normal U directions of the curved edge points to face the same direction is to ensure the positioning accuracy of the curved workpiece 100 during the movement, that is, to set a reference direction. If the normal U directions of the curved edge are not in the same direction, the curved workpiece 100 will have a slight position deviation due to factors such as gravity and inertia during movement, thereby affecting the processing accuracy.

[0053] Preferably, the same direction is the upward direction, by which it can be ensured that the edge contours of the curved workpiece 100 can be exposed to the coordinate data acquisition mechanism without the possibility of obstruction.

[0054] The normal U direction of the surface edge point refers to the normal U direction of each point on the actual contour 101 line of the surface edge. In layman's terms, when you touch a point on the surface with your finger, the normal direction is the direction perpendicular to the section at that point on the surface.

[0055] Furthermore, a positioning space is formed based on the positioning base point, the center position of the positioning space is the positioning base point, and the coordinate data acquisition mechanism obtains the data of the XY plane and the XZ plane of the positioning space. By setting the positioning space, that is, setting the detection range of the coordinate data acquisition mechanism, theoretically, the smaller the detection range, the greater the recognition accuracy. If the actual contour 101 exceeds the detection range corresponding to the positioning space, it means that the actual placement position of the curved workpiece 100 deviates too much from the theoretical three-dimensional coordinate information, which is not conducive to the data acquisition of the coordinate data acquisition mechanism, and there will be a problem that the actual contour 101 of the curved workpiece 100 is blocked. Therefore, an alarm can be generated at this time and the curved workpiece 100 can be repositioned.

[0056] Of course, during the initial positioning, a high-precision positioning method can be used to position the curved workpiece 100 to avoid the above situation of "the actual contour 101 exceeds the detection range corresponding to the positioning space".

[0057] In the process of the multi-axis motion mechanism controlling the movement of the curved workpiece 100, the normal U direction of the edge point of the curved surface is used to determine the positioning direction of the curved workpiece 100 during the movement. By adjusting and correcting at this point, the curved workpiece 100 can always be kept in a stable position, and the position and posture of the tool during processing can be ensured to be consistent with the surface of the curved workpiece 100.

[0058] like Figures 4 to 6 As shown, the present invention provides a preferred embodiment of a coordinate data acquisition mechanism.

[0059] The coordinate data acquisition mechanism includes a first coordinate data acquisition mechanism 401 and a second coordinate data acquisition mechanism 402. The first coordinate data acquisition mechanism 401 and the second coordinate data acquisition mechanism 402 are respectively arranged on two mutually perpendicular planes, preferably arranged directly above and on the side. For example, the first coordinate data acquisition mechanism 401 is downwardly aligned with the positioning base point, and the second coordinate data acquisition mechanism 402 is horizontally aligned with the positioning base point. Referring to the accompanying drawings, Figure 4 and Figure 5 The schematic diagrams of the coordinate data acquisition mechanism observed from different angles are respectively: Figure 4 The observation point is close to the side of the workpiece. Figure 5The observation point is close to the position of the workpiece being viewed from above. The first coordinate data acquisition mechanism 401 and the second coordinate data acquisition mechanism 402 are both cameras, the center of the camera overlaps with the positioning base point, and the distance between the actual contour 101 of the curved workpiece 100 and the positioning base point is obtained through image information as Y direction error data or Z direction error data, and the center of the camera and the positioning base point are specifically formed into corresponding coordinate data, so as to realize the background to quickly calculate and sort out the coordinate data information of the actual contour 101.

[0060] Specifically, obtaining the three-dimensional coordinate information of the curved workpiece 100 requires data in two directions, namely, the error data in the Y direction based on the X axis, and the error data in the Z direction based on the X axis. Through the image sequence collected by the first coordinate data acquisition mechanism 401 and the second coordinate data acquisition mechanism 402, the distance of the actual contour 101 of the curved workpiece 100 relative to the positioning base point in the Y direction and the distance relative to the positioning base point in the Z direction are respectively obtained. After obtaining the distance information of the actual contour 101 point, it is converted into three-dimensional coordinate information. The normal vector of the curved workpiece 100 at the positioning base point is obtained. The direction of the X axis can be determined by this normal vector, and it can also be set non-coaxially with the X axis, with a certain offset angle, so as to better obtain the data information of the surface workpiece 100. The distance data obtained from the first coordinate data acquisition mechanism 401 is used as the error data in the Y direction, and the distance data obtained from the second coordinate data acquisition mechanism 402 is used as the error data in the Z direction, and the three-dimensional coordinates (X0, Y0, Z0) of the curved workpiece 100 at the positioning base point are obtained:

[0061] X0=N;

[0062] Y0 = Y direction error data;

[0063] Z0=Z direction error data;

[0064] According to the three-dimensional coordinates of the curved workpiece 100 relative to the positioning base point, the actual posture of the curved workpiece 100 is adjusted through translation, rotation and other transformations of the coordinate system to achieve repositioning, reduce errors, and obtain the spatial position corresponding to the precise positioning of the curved workpiece 100.

[0065] In one embodiment, multiple data points are set on the actual contour 101 of the curved workpiece 100, and the Y-direction error data and Z-direction error data corresponding to each data point are obtained respectively, and the coordinates of all the data points constitute the first target two-dimensional coordinate information and the second target two-dimensional coordinate information; a deviation value range is set, and the Y-direction error data or Z-direction error data in the data points that do not meet the deviation value range are deleted, and the actual three-dimensional coordinate information is obtained according to the Y-direction error data and Z-direction error data after denoising and filtering. The details are as follows:

[0066] 1. Set multiple data points at reasonable positions on the actual contour 101 at equal intervals, for example, select 500 points as data points, mainly based on the parameter performance of the camera and the smoothness and length of the actual contour 101. Preferably, the distance between the data points is 10-15 microns, so that all data points can transition smoothly. Of course, if the height difference between adjacent data points of a part of the actual contour 101 of the curved workpiece 100 is relatively large, new data points can be interpolated from the set data points to improve the smoothness of the data points and reduce errors.

[0067] 2. Obtain the error data in the Y and Z directions corresponding to each data point, obtain the actual three-dimensional coordinate information based on the Y and Z error data, obtain it through camera acquisition, arrange the acquired data of these data points in sequence, and form two-dimensional image information.

[0068] 3. The deviation value can be preset based on experience; or the average value of the error of each data point in the Y direction and the Z direction can be calculated as the deviation value.

[0069] 4. The core of denoising filtering is that the above data points form discrete data based on theoretical three-dimensional coordinate information. The deviation value is too far from the theoretical three-dimensional coordinate information and is removed as invalid data to reduce the impact on the actual three-dimensional coordinate information. The error data in the Y and Z directions after denoising filtering can be used to obtain the first target two-dimensional coordinate information and the second target two-dimensional coordinate information.

[0070] Among them, the coordinate data acquisition mechanism is a CCD (charge coupled device) camera. In order to ensure that the acquired first actual two-dimensional coordinate information and the second actual two-dimensional coordinate information are accurate and reliable, the pixel of the charge coupled device camera is 500W pixels-1000W pixels, and a single pixel can recognize 10μm-15μm.

[0071] In one embodiment, the distance between the data points is 10-15 microns. In principle, the smaller the distance between the data points, the better. However, the smaller the distance, the more data there is and the lower the efficiency of overall repositioning. The larger the distance, the higher the degree of error, which is not conducive to the positioning detection of the curved workpiece 100. The selection of the distance between the data points needs to balance efficiency and accuracy.

[0072] In one embodiment, a preferred solution of a third coordinate data acquisition mechanism 403 and a fourth coordinate data acquisition mechanism 404 is also provided. The coordinate data acquisition mechanism includes a third coordinate data acquisition mechanism 403 and a fourth coordinate data acquisition mechanism 404, and the third coordinate data acquisition mechanism 403 and the fourth coordinate data acquisition mechanism 404 are both oriented in the same direction, preferably both are arranged directly above and are downwardly aligned with the positioning base point; the third coordinate data acquisition mechanism 403 is a camera, and the fourth coordinate data acquisition mechanism 404 is a high-precision rangefinder, the center of the camera overlaps with the positioning base point, and the distance between the actual contour 101 of the curved workpiece 100 and the positioning base point is obtained through image information as the Y direction error data, and the height error is obtained through the high-precision rangefinder at the same time as the Z direction error data.

[0073] Its principle is consistent with that of the first coordinate data acquisition mechanism 401 and the second coordinate data acquisition mechanism 402, except that the method of acquiring data is different. The advantage is that the amount of image processing data is greatly reduced, which can effectively reduce the amount of image processing data, and also avoids errors caused by environmental factors such as light. The error data in the Y-axis direction or the Z-axis direction can be directly obtained through a high-precision rangefinder; the disadvantage is that the performance requirements of the high-precision rangefinder are high, and the test direction of the high-precision rangefinder needs to be set coaxially with the center of the camera. Among them, the high-precision rangefinder can use infrared to measure the distance of an object. It uses a short pulse beam generated by a laser to scan the object and calculate the time to measure the distance. Its accuracy needs to reach the micron level.

[0074] like Figure 6 As shown, the present invention provides a preferred embodiment of a virtual reality glasses cover.

[0075] The curved workpiece 100 is a virtual reality glasses cover, and the multi-axis motion mechanism uses the nose bridge position of the virtual reality glasses cover as the initial position, and controls the movement of the curved workpiece 100 through the multi-axis motion mechanism. The virtual reality glasses cover includes a nose bridge position, and the nose bridge position of the virtual reality glasses cover is used as the scanning starting position, because the nose bridge position is centered and is the most special part of the shape of the entire virtual reality glasses cover. Symmetrical scanning is performed with the nose bridge position as the center, and at the same time, it has higher accuracy and repeatability, and while ensuring the processing effect, it reduces the processing time and process difficulty, and improves the processing efficiency.

[0076] The virtual reality glasses cover is a light-transmitting cover body of the virtual reality glasses. It is a light-transmitting cover body covering the front of the virtual reality glasses, and is used to isolate the external environment and provide a perspective effect, and prevent interference from external light.

[0077] In one embodiment, the multi-axis motion mechanism positions the curved workpiece 100 through a fixture. The curved workpiece 100 is provided with an ink layer 102 to be processed. The laser emits a laser 300 according to the actual three-dimensional coordinate information to trim the ink layer 102 of the curved workpiece 100. During the process of trimming the ink layer 102, the laser 300 will be incident on the curved workpiece 100 and then reflected by the fixture at the bottom. The reflected laser 300 needs to avoid the ink layer 102 still remaining on the curved workpiece 100 to avoid damage to the ink layer 102. The core of trimming is trimming. The edge of the ink layer 102 is trimmed based on the actual three-dimensional coordinate information.

[0078] In actual operation, the angle corresponding to a processing area or the processing trajectory formed at a certain processing angle can be obtained through computer virtual simulation or adjustment of the non-processing light path, so that the laser incident on the curved workpiece 100 can be used to trim the ink layer 102, and at the same time, after being reflected by the fixture, it can avoid the ink layer 102 still remaining on the curved workpiece 100.

[0079] like Figure 7 As shown, the present invention provides a preferred embodiment of a processing system.

[0080] The processing system includes a laser, a coordinate data acquisition mechanism, a multi-axis motion mechanism, a memory and a processor. The processor is respectively connected to the laser, the coordinate data acquisition mechanism, the multi-axis motion mechanism and the memory. The memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of the processing method.

[0081] The computer device may specifically be a terminal or a server. The computer device includes a processor, a memory and a network interface connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program, which, when executed by the processor, enables the processor to implement an age recognition method. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to execute an age recognition method. Those skilled in the art may understand that the structure shown in the figure is only a block diagram of a partial structure related to the present application scheme, and does not constitute a limitation on the computer device to which the present application scheme is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0082] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor executes the above steps.

[0083] In one embodiment, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the processor executes the above steps.

[0084] Different from the prior art which needs to split the curved workpiece 100 into multiple segments for processing, the present invention can realize laser processing according to a preset path at one time, thereby effectively improving work efficiency. In addition, the actual three-dimensional position of the curved workpiece 100 in the present invention completely corresponds to the target three-dimensional position information, so that when the laser is processed according to the preset path, the processing position can be ensured to be accurate, thereby effectively improving the product yield.

[0085] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0086] The above is only the best embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made according to the scope of the patent application of the present invention are covered by the present invention.

Claims

1. A method for processing a curved workpiece, characterized in that: Applied to a processing system, the processing system includes a laser, a coordinate data acquisition mechanism and a multi-axis motion mechanism; The processing method comprises the following steps: Set the theoretical three-dimensional coordinate information of the curved workpiece; A positioning base point is set in space, and the multi-axis motion mechanism controls the movement of the curved workpiece, and during the movement, the contour corresponding to the theoretical three-dimensional coordinate information of the curved workpiece continuously passes through the positioning base point; Acquire first target two-dimensional coordinate information and second target two-dimensional coordinate information of the curved workpiece by means of a coordinate data acquisition mechanism; wherein the first target two-dimensional coordinate information is Y-direction error data based on the X-axis and the positioning base point, and the second target two-dimensional coordinate information is Z-direction error data based on the X-axis and the positioning base point; Acquire actual three-dimensional coordinate information according to Y-direction error data and Z-direction error data; The multi-axis motion mechanism re-positions the curved workpiece in space according to the actual three-dimensional coordinate information; The laser emits laser according to actual three-dimensional coordinate information to process the curved workpiece.

2. The processing method according to claim 1, characterized in that: In the process of the multi-axis motion mechanism controlling the movement of the curved workpiece, the normal directions of the curved edge points of the curved workpiece are all set in the same direction at the positioning base point; the same direction is the upward direction.

3. The processing method according to claim 2, characterized in that: A positioning space is formed based on the positioning base point, the center position of the positioning space is the positioning base point, and the coordinate data acquisition mechanism obtains data of the XY plane and the XZ plane where the positioning space is located.

4. The processing method according to any one of claims 1 to 3, characterized in that: The coordinate data acquisition mechanism includes a first coordinate data acquisition mechanism and a second coordinate data acquisition mechanism, wherein the first coordinate data acquisition mechanism and the second coordinate data acquisition mechanism are respectively arranged on two planes perpendicular to each other; The first coordinate data acquisition mechanism and the second coordinate data acquisition mechanism are both cameras, the center of the camera overlaps with the positioning base point, and the distance between the contour of the curved workpiece and the positioning base point is obtained through image information as Y direction error data or Z direction error data.

5. The processing method according to any one of claims 1 to 3, characterized in that: The coordinate data acquisition mechanism comprises a third coordinate data acquisition mechanism and a fourth coordinate data acquisition mechanism, and the third coordinate data acquisition mechanism and the fourth coordinate data acquisition mechanism are in the same direction; The third coordinate data acquisition mechanism is a camera, and the fourth coordinate data acquisition mechanism is a high-precision rangefinder. The center of the camera overlaps with the positioning base point. The distance between the contour of the curved workpiece and the positioning base point is obtained through image information as the Y direction error data, and at the same time, the height error is obtained through the high-precision rangefinder as the Z direction error data.

6. The processing method according to claim 1, characterized in that: The step of acquiring the first target two-dimensional coordinate information and the second target two-dimensional coordinate information of the curved workpiece by the coordinate data acquisition mechanism comprises: setting a plurality of data points on the contour of the curved workpiece, acquiring Y direction error data and Z direction error data corresponding to each data point, wherein the plurality of data points constitute the first target two-dimensional coordinate information and the second target two-dimensional coordinate information; The method of obtaining actual three-dimensional coordinate information based on the Y-direction error data and the Z-direction error data also includes the steps of setting a deviation value range, deleting the Y-direction error data or the Z-direction error data in the data points that do not conform to the deviation value range, and obtaining the actual three-dimensional coordinate information based on the Y-direction error data and the Z-direction error data after denoising and filtering.

7. The processing method according to claim 6, characterized in that: The distance between the data points is 10-15 microns.

8. The processing method according to claim 1, characterized in that: The curved surface workpiece is a virtual reality glasses cover, and the multi-axis motion mechanism uses the nose bridge position of the virtual reality glasses cover as the initial position, and controls the movement of the curved surface workpiece through the multi-axis motion mechanism.

9. The processing method according to claim 1, characterized in that: The multi-axis motion mechanism positions a curved workpiece through a fixture, the curved workpiece is provided with an ink layer to be processed, the laser emits a laser according to actual three-dimensional coordinate information to trim the ink layer of the curved workpiece, and the trimming step includes: When the laser trims the ink layer, it is incident on the curved workpiece, reflected by the jig at the bottom, and then emitted outward through the curved workpiece; The reflected laser light avoids the ink layer remaining on the curved workpiece.

10. A processing system, characterized in that: The invention comprises a laser, a coordinate data acquisition mechanism, a multi-axis motion mechanism, a memory and a processor, wherein the processor is respectively connected to the laser, the coordinate data acquisition mechanism, the multi-axis motion mechanism and the memory, and the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the processing method as claimed in any one of claims 1 to 9.

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