A method and device for calibrating three-dimensional curved surface workpiece of laser processing robot

Abstract

The present invention discloses a method and device for calibrating a three-dimensional curved surface workpiece of a laser processing robot. First, a coordinate system of the robot is established, and the robot coordinate system positions of the laser processing head and each laser indicator light on the laser processing head are calibrated. The indicator light emitted by each group of laser indicator light combination devices is converged on the surface of the workpiece. Each group of laser indicator light combination devices forms a laser convergence point. The colors of each group of indicator light are different, and multiple laser convergence light points of different colors are generated on the surface of the workpiece. The positions of each laser convergence point in the robot coordinate system are calculated according to the orthogonal deflection angle of the servo motor and the robot coordinate system position of the laser indicator light. Calibration points are formed on the workpiece surface according to each laser convergence point, and the three-dimensional curved surface workpiece is calibrated. The method realizes contactless, efficient, safe and rapid generation of calibration points on the workpiece surface, greatly improving the automation level of laser processing equipment. The method can also be used to indicate the laser focus or focal plane.

Description

Technical Field

[0001] The invention relates to the technical field of laser processing, and in particular to a three-dimensional curved surface workpiece calibration method and device of a laser processing robot. Background Art

[0002] In the application scenario of the laser processing robot, the laser processing head is installed at the end of the six-axis articulated arm robot. The movement of the robot arm drives the laser processing head to the specified position and processes the workpiece according to the planned path. In this process, the robot coordinate system must first be established for the laser processing head and the robot arm. There are many mature ways to achieve this step, such as the base point calibration method. In the process of importing the laser processing head into the robot coordinates, the workpiece needs to be calibrated. The calibration method for the workpiece is usually to manually affix calibration points at specified positions on the surface of the workpiece, and then operate the robot arm to change its posture so that the laser processing head is aligned with each calibration point in turn, and the robot posture of each calibration point is recorded, thereby calculating the robot coordinate system coordinate value of each marked point, thereby realizing the calibration of the workpiece.

[0003] However, this manual marking method is not conducive to automated operation, and for workpieces made of special materials, marking points on the workpiece surface will damage the workpiece. In many special processing environments, manual marking points are not allowed, so this method of setting calibration points has great limitations. In order to achieve contactless generation of calibration points, the present invention proposes a new method and device for setting marking points, which can achieve high-precision, efficient, safe, fast and contactless generation of marking points on the workpiece surface. Summary of the invention

[0004] The purpose of the present invention is to provide a three-dimensional curved workpiece calibration method for a laser processing robot, which solves the problems that the existing method of manually marking points on the workpiece surface is not conducive to automated operation, damages the workpiece, and is limited in application under special processing environments. The method of generating calibration points on the surface of a three-dimensional curved workpiece using a combination of laser indicator light can achieve non-contact, efficient, safe and rapid generation of calibration points on the workpiece surface, greatly improving the automation level of laser processing equipment. In addition, the present invention also provides a related supporting device for realizing the three-dimensional curved workpiece calibration method of a laser processing robot, and the device can be used to indicate the laser focus or focal plane, which greatly facilitates laser users to determine the focus or focal plane of the laser, and has the advantages of visualization, easy operation and non-contact.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A first aspect of the present invention provides a three-dimensional curved surface workpiece calibration method for a laser processing robot, comprising the following steps:

[0007] The robot coordinate system is established, and the robot coordinate system positions of the laser processing head of the laser processing robot and the laser indicator lights on the laser processing head are determined, wherein at least three groups of non-collinear laser indicator light combination devices are arranged on the periphery of the laser processing head, each group of laser indicator light combination devices includes two laser indicator light units, each laser indicator light unit includes a servo motor and a laser indicator light, and the servo motor controls the laser indicator light to move at two orthogonal angles. θ , β Upward deflection;

[0008] The indicator light emitted by each group of laser indicator light combination devices converges to form a laser convergence point, forming a calibration point on the surface of the workpiece to calibrate the three-dimensional curved surface workpiece.

[0009] Among them, when there are no obvious feature points on the workpiece surface:

[0010] The workpiece is placed on a workbench, and the indicator light emitted by each set of laser indicator light combination devices is converged on the surface of the workpiece, and each set of laser indicator light combination devices forms a laser convergence point;

[0011] Calculate the position of each laser convergence point in the robot coordinate system according to the orthogonal deflection angle of the servo motor of each laser indicator light and the robot coordinate system position of the laser indicator light;

[0012] The 3D camera is used to import the 3D model data of the workpiece into the robot coordinate system. The 3D model of the workpiece in the robot coordinate system is rotated, translated, and stretched, and the positions of the calculated laser convergence points in the robot coordinate system are overlapped with the laser convergence points on the surface of the 3D model of the workpiece one by one to complete the calibration of the 3D curved surface workpiece.

[0013] Among them, when there are obvious feature points on the workpiece surface:

[0014] Import the three-dimensional model data of the workpiece into the robot coordinate system, and calculate the orthogonal deflection angle of the servo motor corresponding to each laser indicator light when the indicator light emitted by each group of laser indicator light combination devices converges on the feature point selected on the surface of the three-dimensional model of the workpiece in the robot coordinate system;

[0015] According to the calculated value of the orthogonal deflection angle of the servo motor corresponding to the laser indicator light, the corresponding servo motor is driven to deflect each indicator light;

[0016] Place the workpiece on the workbench and adjust the position of the workpiece so that the laser convergence points formed by each group of laser indicator light combination devices coincide with the selected feature points on the workpiece surface one by one, thereby completing the calibration of the three-dimensional curved surface workpiece.

[0017] Furthermore, each group of laser indicator light combination devices emits light of different colors, and each laser indicator light in each group of laser indicator light combination devices has the same wavelength and emits light of the same color, so that it is convenient to distinguish the laser convergence points formed by each group of laser indicator light combination devices, so as to facilitate subsequent operations: the calculated positions of each laser convergence point in the robot coordinate system are overlapped one by one with each laser convergence point (identified by color) on the surface of the three-dimensional model of the workpiece; or the laser convergence points formed by each group of laser indicator light combination devices are overlapped one by one with the selected feature points (identified by color) on the surface of the workpiece.

[0018] Furthermore, each set of laser indicator light combination devices includes laser indicator lights A1 and A2, and the laser indicator lights A1 and A2 are β The directions are mutually orthogonal and intersect at the origin A 0, thus constructing a three-dimensional coordinate system, the laser indicator light A1 and the laser indicator light A2 are driven by their respective servo motors and deflected in two orthogonal directions until the emitted indicator light converges in the three-dimensional coordinate system to form a laser convergence point P The indicator light lines of laser indicator lights A1 and A2 are l 1 and l 2 The intersection point of the two straight lines is P。

[0019] The robot coordinate system coordinates of the corresponding laser convergence point formed by each group of laser indicator light combination devices are: , the indicator light lines of laser indicators A1 and A2 l 1 and l 2 The parametric equation is:

[0020] ;

[0021] Among them, point P is a straight line l 1 and l 2 The intersection of The coordinates need to satisfy the following equation:

[0022] ;

[0023] or ;

[0024] The values ​​of parameters t and s in the above formula are calculated by the following formula:

[0025] .

[0026] Among them, laser indicator lights A1 and A2 are fixed points on the laser processing head, and their robot coordinate system coordinates can be obtained by robot reference point calibration. The robot coordinate system positions of laser indicator lights A1 and A2 in each group of laser indicator light combination devices on the laser processing head are and ; is the intersection of the β rotation directions of the laser indicator lights A1 and A2; the indicator light lines of the laser indicator lights A1 and A2 are l 1 and l 2 The intersection point of the two straight lines is P , the orthogonal deflection angles of laser indicators A1 and A2 are θ 1 , β 1 and θ 2 , β 2 , by directly reading the deflection angle of the servo motor, we can know that θ 1 , β 1 and θ 2 , β 2 That is, the angles between the laser indicator lights A1 and A2 and the coordinate axes X, Z and Y, Z respectively.

[0027] The above method can be used to obtain the robot coordinate system coordinates of the laser convergence point of each group of laser indicator light combination devices. Multiple groups of non-collinear laser indicator light combination devices are installed on the laser processing head. The laser indicator light in a single group has the same color, and the indicator light combination colors of different groups are different. In this way, multiple laser convergence points of different colors can be obtained.

[0028] In a second aspect of the present invention, a three-dimensional curved workpiece calibration device for a laser processing robot is provided, which is used to implement the three-dimensional curved workpiece calibration method of the laser processing robot, and comprises at least three groups of non-collinear laser indicator light combination devices, and at least three groups of non-collinear laser indicator light combination devices are arranged at the lower part of the outer periphery of the laser processing head of the laser processing robot, each group of laser indicator light combination devices comprises two laser indicator light units, each laser indicator light unit comprises a servo motor and a laser indicator light, and the servo motor controls the laser indicator light to move at two orthogonal angles. θ , β Upper deflection.

[0029] Further, each group of laser indicator light combination devices emits light of different colors, and each laser indicator light in each group of laser indicator light combination devices emits light of the same color.

[0030] Furthermore, the laser processing head is driven to move by a robot arm.

[0031] In laser processing application scenarios, the laser emitted by the processing head often has a convergent focus. The different distances between the workpiece and the focus will affect the processing effect. Many laser products lack laser focus position indication signals, and the grasp of the laser focus or focal plane requires special testing and correction.

[0032] The third aspect of the present invention provides an application of the three-dimensional curved workpiece calibration device of the above-mentioned laser processing robot, which can be used to indicate the laser focus or focal plane, and can conveniently and quickly determine the laser focus or focal plane, and has the advantages of visualization, easy operation and non-contact.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The method of generating calibration points on the surface of a three-dimensional curved workpiece using a laser indicator light combination in the present invention can realize contactless, efficient, safe and rapid generation of calibration points on the surface of the workpiece, greatly improving the automation level of laser processing equipment. First, a robot coordinate system is established, and the robot coordinate system positions of the laser processing head and the laser indicator lights on the laser processing head are calibrated. The indicator light emitted by each group of laser indicator light combination devices is converged on the surface of the workpiece. Each group of laser indicator light combination devices forms a laser convergence point. The colors of each group of indicator light are different, and multiple laser convergence light points of different colors are generated on the surface of the workpiece. The positions of each laser convergence point in the robot coordinate system are calculated according to the orthogonal deflection angle of the servo motor and the robot coordinate system position of the laser indicator light. Calibration points are formed on the surface of the workpiece according to each laser convergence point, and the three-dimensional curved workpiece is calibrated. In addition, the method can also be used to indicate the laser focus or focal plane, and the focus or focal plane of the laser can be determined conveniently and quickly, with the advantages of visualization, easy operation and contactlessness. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Figure 1 Schematic diagram of the process of the three-dimensional curved surface workpiece calibration method of the laser processing robot in Example 1;

[0037] Figure 2 It is a structural schematic diagram of a three-dimensional curved surface workpiece calibration device of a laser processing robot in the present invention;

[0038] Figure 3 Schematic diagram of the specific structure of the laser indicator light combination device in this embodiment 1

[0039] Figure 4is a mathematical model diagram of the laser indicator light combination device in Example 1;

[0040] Figure 5 A schematic diagram of the operation process of correspondingly coinciding the convergence point on the workpiece surface in the three-dimensional model with the calculated convergence point coordinates in Example 1;

[0041] Figure 6 Schematic diagram of the process of calibrating a three-dimensional curved surface workpiece of a laser processing robot in Example 2;

[0042] Figure 7 Schematic diagram of the laser focal plane.

[0043] Among them, the specific drawings are marked as:

[0044] Robot arm 1, laser processing head 2, laser indicator light combination device 3, workbench 4, workpiece 5. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Example 1

[0047] A three-dimensional curved surface workpiece calibration method for a laser processing robot. The surface of the workpiece to be processed has no obvious feature points. The operation process is as follows: Figure 1 As shown, the following steps are included:

[0048] S1. The specific structure of the laser processing robot is as follows Figure 2 As shown, the coordinate system of the robot is established, and the robot coordinate system positions of the laser processing head 2 of the laser processing robot and the laser indicator lights on the laser processing head 2 are determined. There are many mature methods in the prior art for realizing the robot coordinate system calibration method of each point on the robot arm, such as reference point calibration.

[0049] Among them, at least three groups of laser indicator light combination devices 3 are arranged on the periphery of the laser processing head 2, each group of laser indicator light combination devices 3 includes two laser indicator lights, each laser indicator light is correspondingly provided with a servo motor, and the servo motor controls the corresponding laser indicator light to deflect at two orthogonal angles θ and β.

[0050] In a specific embodiment, three groups of non-collinear laser indicator light combination devices 3 are arranged on the periphery of the laser processing head 2, and each group of laser indicator light combination devices 3 emits light of different colors. The wavelengths of the laser indicator lights in each group of laser indicator light combination devices 3 are the same and emit light of the same color.

[0051] S2. Place the workpiece 5 on the workbench 4, and converge the indication light emitted by each group of laser indication light combination devices 3 on the surface of the workpiece 5, so that each group of laser indication light combination devices 3 forms a laser convergence point.

[0052] In specific applications, the three groups of laser indicator light combination devices 3 emit red light, green light and blue light respectively, which converge on the surface of the workpiece 5 to form three laser convergence points, and the colors correspond to red light, green light and blue light respectively, so as to facilitate the distinction of the laser convergence points formed by each group of laser indicator light combination devices 3, so that in the subsequent steps, the calculated positions of each laser convergence point in the robot coordinate system can be overlapped one by one with each laser convergence point (identified by color) on the surface of the three-dimensional model of the workpiece 5.

[0053] like Figure 3 As shown, each group of laser indicator light combination devices 3 includes laser indicator lights A1 and A2. β The directions are mutually orthogonal and intersect at the origin A 0, thus constructing a three-dimensional coordinate system, laser indicator A1 and laser indicator A2 are driven by their own servo motors and are at two orthogonal angles θ , β Deflect (swing) upward until the emitted indicator light converges to form a laser convergence point in the three-dimensional coordinate system P The indicator light lines of laser indicator lights A1 and A2 are l 1 and l 2 The intersection point of the two straight lines is P .

[0054] S3. Calculate the position of each laser convergence point in the robot coordinate system according to the orthogonal deflection angle of the servo motor of each laser indicator light and the robot coordinate system position of the laser indicator light.

[0055] The mathematical model of the laser indicator light combination device 3 is shown in FIG4 . The robot coordinate system coordinates of the corresponding laser convergence point formed by each group of laser indicator light combination devices 3 are , the indicator light lines of laser indicators A1 and A2 l 1 and l 2 The parametric equation is:

[0056] ;

[0057] Among them, point P is a straight line l 1 and l 2 The intersection of The coordinates need to satisfy the following equation:

[0058] ;

[0059] or ;

[0060] The values ​​of parameters t and s in the above formula are calculated by the following formula:

[0061] .

[0062] Among them, the laser indicator lights A1 and A2 are fixed points on the laser processing head 2, and their robot coordinate system coordinates can be obtained by robot reference point calibration. The robot coordinate system positions of the laser indicator lights A1 and A2 in each group of laser indicator light combination devices 3 on the laser processing head 2 are respectively and ; is the intersection of the β rotation directions of the laser indicator lights A1 and A2; the indicator light lines of the laser indicator lights A1 and A2 are l 1 and l 2 The intersection point of the two straight lines is P , the orthogonal deflection angles of laser indicators A1 and A2 are θ 1 , β 1 and θ 2 , β 2 , by directly reading the deflection angle of the servo motor, we can know that θ 1 , β 1 and θ 2 , β 2 That is, the angles between the laser indicator lights A1 and A2 and the coordinate axes X, Z and Y, Z respectively.

[0063] The above method can be used to obtain the robot coordinate system coordinates of the laser convergence point of each group of laser indicator light combination devices 3. A plurality of non-collinear laser indicator light combination devices 3 are installed on the laser processing head 2. The laser indicator lights in a single group have the same color, while the indicator light combinations of different groups have different colors. Thus, a plurality of laser convergence points of different colors can be obtained.

[0064] S4. Use the 3D depth camera to perform a 3D scan on the workpiece 5 to establish a 3D model. The laser convergence point generated by the laser indicator light will also be scanned into the 3D model of the workpiece 5. Then, the 3D model data of the workpiece 5 is imported into the robot coordinate system. By translating, stretching, and rotating the 3D model of the workpiece 5, the calculated positions of the laser convergence points in the robot coordinate system are overlapped with the laser convergence points on the surface of the 3D model of the workpiece 5 one by one, and the calibration of the 3D curved surface workpiece 5 is completed. The specific calibration process diagram of this step is shown in FIG. Figure 5 shown.

[0065] In a specific embodiment, three groups of laser indicator light combination devices 3 emit red light, green light and blue light respectively, which converge on the surface of the workpiece 5 to form three laser convergence points, and the colors correspond to red light, green light and blue light respectively. The corresponding convergence points are P1, P2 and P3 respectively. The calibration process can be completed by rotating, translating and stretching the three-dimensional model of the workpiece 5 in the robot coordinate system so that P1, P2 and P3 coincide with the red point, green point and blue point on the three-dimensional model of the workpiece 5 respectively.

[0066] Finally, the laser processing path is planned, thereby successfully completing the calibration of the three-dimensional curved surface workpiece 5.

[0067] Example 2

[0068] A three-dimensional curved surface workpiece calibration method for a laser processing robot. There are obvious feature points (such as corner points or line intersections) on the surface of the workpiece to be processed. The operation process is as follows: Figure 6 As shown, the following steps are included:

[0069] Step S1 is the same as that in Example 1.

[0070] The next steps are as follows:

[0071] S2. Import the three-dimensional model of the workpiece 5 into the robot coordinate system, and select feature points that are easy to calibrate, such as corner points or line intersections, etc. The number of feature points selected on the surface of the three-dimensional model of the workpiece 5 is the same as the number of groups of laser indicator light combination devices; calculate the orthogonal deflection angles of the servo motors on each laser indicator light when the laser convergence point formed by each group of laser indicator light combination devices 3 falls on the feature point on the three-dimensional model of the workpiece 5 in the robot coordinate system.

[0072] S3. According to the calculated orthogonal deflection angle value of the servo motor corresponding to the laser indicator light, the corresponding servo motor is driven, thereby driving the deflection of each corresponding laser indicator light on the laser processing head 2, and then the workpiece 5 is placed on the processing table 4, and the position of the workpiece 5 is adjusted so that each laser convergence point falls on the corresponding feature point of the workpiece 5, so that the calibration of the three-dimensional curved surface workpiece 5 can be realized.

[0073] Example 3

[0074] A three-dimensional curved surface workpiece calibration device for a laser processing robot is used to implement the three-dimensional curved surface workpiece calibration method of the laser processing robot, such as Figure 2 As shown, it includes at least three groups of laser indicator light combination devices 3. At least three groups of laser indicator light combination devices 3 are arranged at the lower part of the outer periphery of the laser processing head 2 of the laser processing robot. Each group of laser indicator light combination devices 3 includes two laser indicator lights. Each laser indicator light is correspondingly provided with a servo motor. The servo motor controls the corresponding laser indicator light to deflect at two orthogonal angles θ and β. The laser processing head 2 is driven to move by the robot arm 1. A workbench 4 is arranged below the laser processing head 2, and a workpiece 5 is placed on the workbench 4.

[0075] In a specific embodiment, three groups of non-collinear laser indicator light combination devices 3 are arranged at the lower part of the outer periphery of the laser processing head 2, and each group of laser indicator light combination devices 3 emits light of different colors. The wavelength of each laser indicator light in each group of laser indicator light combination devices 3 is the same and emits light of the same color.

[0076] The above device can also be used to calibrate the focal position of the laser processing beam (such as Figure 7 As shown). According to the triangular relationship between the focal position of the laser beam output by the laser processing head 2 in the direction of the optical axis (the focal plane of the galvanometer lens is the plane perpendicular to the optical axis at this position) and the laser indicator light, pre-debug, set and record the swing angles of each indicator light so that the three laser indicator lights intersect at: 1) the focal position, 2) the focal plane, and record the swing angles of each indicator light when they intersect at each point (this step is the focus / focal plane calibration) for repeated calibration at any time.

[0077] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional curved surface workpiece calibration method for a laser processing robot, characterized in that: The steps include: Establishing a robot coordinate system, and determining the robot coordinate system positions of the laser processing head of the laser processing robot and each laser indicator light on the laser processing head, wherein at least three groups of non-collinear laser indicator light combination devices are arranged on the periphery of the laser processing head, each group of laser indicator light combination devices includes two laser indicator light units, each laser indicator light unit includes a servo motor and a laser indicator light, and the servo motor controls the laser indicator light to deflect at two orthogonal angles θ and β; The indicator light emitted by each group of laser indicator light combination devices converges to form a laser convergence point, forming a calibration point on the surface of the workpiece to calibrate the three-dimensional curved surface workpiece; When there are no obvious feature points on the workpiece surface: The workpiece is placed on a workbench, and the indicator light emitted by each set of laser indicator light combination devices is converged on the surface of the workpiece, and each set of laser indicator light combination devices forms a laser convergence point; Calculate the position of each laser convergence point in the robot coordinate system according to the orthogonal deflection angle of the servo motor of each laser indicator light and the robot coordinate system position of the laser indicator light; The 3D model data of the workpiece is imported into the robot coordinate system by using a 3D camera. By rotating, translating and stretching the 3D model of the workpiece in the robot coordinate system, the calculated positions of the laser convergence points in the robot coordinate system are overlapped with the laser convergence points on the surface of the 3D model of the workpiece one by one, thus completing the calibration of the 3D curved surface workpiece. Or when there are obvious feature points on the workpiece surface: Import the three-dimensional model data of the workpiece into the robot coordinate system, and calculate the orthogonal deflection angle of the servo motor corresponding to each laser indicator light when the indicator light emitted by each group of laser indicator light combination devices converges on the feature point selected on the surface of the three-dimensional model of the workpiece in the robot coordinate system; According to the calculated value of the orthogonal deflection angle of the servo motor corresponding to the laser indicator light, the corresponding servo motor is driven to deflect each indicator light; Place the workpiece on the workbench and adjust the position of the workpiece so that the laser convergence points formed by each group of laser indicator light combination devices coincide with the selected feature points on the workpiece surface one by one, thereby completing the calibration of the three-dimensional curved surface workpiece.

2. The three-dimensional curved surface workpiece calibration method of the laser processing robot according to claim 1, characterized in that: Each group of laser indicator light combination devices emits light of different colors, and each laser indicator light in each group of laser indicator light combination devices emits light of the same color.

3. The three-dimensional curved surface workpiece calibration method of the laser processing robot according to claim 2, characterized in that: Each set of laser indicator light combination devices includes laser indicator lights A1 and A2. The β directions of laser indicator lights A1 and laser indicator lights A2 are orthogonal to each other and intersect at the origin A0, thereby constructing a three-dimensional coordinate system. The indicator light emitted by each set of laser indicator light combination devices converges to form a laser convergence point.

4. The three-dimensional curved surface workpiece calibration method of the laser processing robot according to claim 3, characterized in that: The robot coordinate system coordinates of the corresponding laser convergence point formed by each set of laser indicator light combination devices are P (x3, y3, z3), and the calculation formula is as follows: or The values ​​of parameters t and s in the above formula are calculated by the following formula: Among them, the robot coordinate system positions of the laser indicator lights A1 and A2 in each group of laser indicator light combination devices on the laser processing head are A1 (x1, y1, z1) and A2 (x2, y2, z2) respectively; A0 (x0, y0, z0) is the intersection of the β rotation directions of the laser indicator lights A1 and A2; the indicator light straight lines of the laser indicator lights A1 and A2 are l1 and l2 respectively, and the intersection of the two straight lines is P. The orthogonal deflection angles of the laser indicator lights A1 and A2 are θ1, β1 and θ2, β2 respectively, which are directly read by the deflection angle of the servo motor.

5. A three-dimensional curved surface workpiece calibration device for a laser processing robot, characterized in that: A method for calibrating a three-dimensional curved workpiece of a laser processing robot as described in any one of claims 1 to 4, comprising at least three groups of non-collinear laser indicator light combination devices, at least three groups of non-collinear laser indicator light combination devices are arranged at the lower part of the periphery of the laser processing head of the laser processing robot, each group of laser indicator light combination devices comprises two laser indicator light units, each laser indicator light unit comprises a servo motor and a laser indicator light, and the servo motor controls the laser indicator light to deflect at two orthogonal angles θ and β.

6. The three-dimensional curved surface workpiece calibration device of the laser processing robot according to claim 5, characterized in that: Each group of laser indicator light combination devices emits light of different colors, and each laser indicator light in each group of laser indicator light combination devices emits light of the same color.

7. The three-dimensional curved surface workpiece calibration device of the laser processing robot according to claim 6, characterized in that: The laser processing head is driven to move by a robot arm.

8. An application of the three-dimensional curved surface workpiece calibration device of a laser processing robot as claimed in claim 5, characterized in that: The device is used to indicate the focus or focal plane of the laser.

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