A backlash compensation method, system, terminal device and storage medium

Abstract

The present invention belongs to the field of laser processing technology, and discloses a reverse gap compensation method, system, terminal device and storage medium. The method comprises: obtaining a plurality of target scanning speeds and their corresponding target gap compensation values ​​in advance to establish a reverse gap list; solving and obtaining an expected compensation value of the current scanning speed according to a mapping relationship in the reverse gap list; compensating the current scanning route of a pattern to be scanned according to the expected compensation value to obtain a corresponding scanning graph. By solving and obtaining an expected compensation value corresponding to the current scanning speed according to a mapping relationship between a plurality of target scanning speeds and their corresponding target gap compensation values ​​in a reverse gap list established in advance, compensating the current scanning route of a pattern to be scanned according to the expected compensation value to obtain a corresponding scanning graph, the problem of unclear scanning graphs caused by reverse gaps is improved, thereby effectively improving scanning efficiency and accuracy.

Description

Technical Field

[0001] The present invention relates to the field of laser processing, and in particular to a backlash compensation method, system, terminal equipment and storage medium. Background Art

[0002] When the existing laser bidirectional scanning pattern is used, the edge of the scanned pattern may be uneven and there may be a problem of misalignment between rows due to the relationship between the machine belt stretching and the laser light emission delay. Therefore, the existing technology needs to be improved and enhanced. Summary of the invention

[0003] The main purpose of the present invention is to provide a reverse gap compensation method, system, terminal device and storage medium, aiming to solve the problem of unclear graphics caused by directional gap in laser bidirectional scanning graphics in the prior art.

[0004] In a first aspect, an embodiment of the present application provides a backlash compensation method, comprising:

[0005] Pre-acquire multiple target scanning speeds and their corresponding target gap compensation values ​​to establish a reverse gap list;

[0006] According to the mapping relationship in the reverse gap list, the expected compensation value of the current scanning speed is obtained;

[0007] The current scanning route of the pattern to be scanned is compensated according to the expected compensation value to obtain a corresponding scanning pattern.

[0008] In some embodiments, the step of pre-acquiring a plurality of target scanning speeds and their corresponding target gap compensation values ​​to establish a reverse gap list includes:

[0009] Under the same test conditions, performing scanning tests on the same pattern to be scanned at a plurality of different target scanning speeds;

[0010] Controlling scanning at different target scanning speeds to obtain scanning patterns with the same definition, and calculating the corresponding target gap compensation value;

[0011] A mapping relationship is established between the target scanning speed and the corresponding target gap compensation value to obtain the reverse gap list.

[0012] In some embodiments, solving the expected compensation value of the current scanning speed according to the mapping relationship in the backlash list includes:

[0013] According to the mapping relationship in the reverse gap list, a linear curve is established between the target scanning speed and the corresponding target gap compensation value;

[0014] According to the current line segment on the linear curve corresponding to the current scanning speed, the expected compensation value of the current scanning speed is obtained by solving according to the linear law.

[0015] In some embodiments, the scanning test is performed on the same pattern to be scanned at a plurality of different target scanning speeds, and then further comprises:

[0016] Calculating the offset value between two adjacent lines in the current scanning pattern obtained by scanning the pattern to be scanned at the current target scanning speed to obtain an initial gap compensation value;

[0017] Compensating the current scanning route of the pattern to be scanned according to the initial gap compensation value to obtain an initial scanning pattern;

[0018] The initial scanning pattern is compared with the pattern to be scanned, and the initial gap compensation value is adjusted to obtain a current target gap compensation value corresponding to the current target scanning speed.

[0019] In some embodiments, compensating the current scanning route of the pattern to be scanned according to the expected compensation value to obtain a corresponding scanning pattern includes:

[0020] When performing horizontal scanning, the scanning probe is controlled to extend outward by a distance of half the expected compensation value at each theoretical scanning turning point to compensate for the current scanning route and obtain a corresponding scanning pattern.

[0021] In some embodiments, the same test condition includes: using the same laser scanning device, using the same pattern to be scanned, and under the same test temperature.

[0022] In a second aspect, an embodiment of the present application provides a reverse clearance compensation system, comprising:

[0023] An acquisition module, used for pre-acquiring a plurality of target scanning speeds and their corresponding target gap compensation values, so as to establish a reverse gap list;

[0024] A solution module, used for solving and obtaining an expected compensation value of the current scanning speed according to the mapping relationship in the reverse clearance list;

[0025] The compensation module is used to compensate the current scanning route of the pattern to be scanned according to the expected compensation value to obtain a corresponding scanning pattern.

[0026] In a third aspect, an embodiment of the present application provides a terminal device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the reverse gap compensation method as described above are implemented.

[0027] In some embodiments, the memory is a non-volatile memory, and a backlash list is stored in the non-volatile memory.

[0028] In a fourth aspect, an embodiment of the present application provides a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the reverse gap compensation method as described above.

[0029] Compared with the prior art, the present invention provides a reverse gap compensation method, system, terminal device and storage medium. The method solves the expected compensation value corresponding to the current scanning speed according to the mapping relationship between multiple target scanning speeds and their corresponding target gap compensation values ​​in a pre-established reverse gap list, so as to compensate the current scanning path of the pattern to be scanned according to the expected compensation value to obtain the corresponding scanning pattern, thereby improving the problem of unclear scanning pattern caused by reverse gap, thereby effectively improving the scanning efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A schematic diagram of a graphic to be scanned provided by the present invention;

[0032] Figure 2 A schematic diagram of a bidirectional scanning motion trajectory provided by the present invention;

[0033] Figure 3 A schematic diagram of a unidirectional scanning motion trajectory provided by the present invention;

[0034] Figure 4 A schematic diagram of an ideal scanning pattern provided by the present invention;

[0035] Figure 5 A flow chart of an embodiment of a backlash compensation method provided by the present invention;

[0036] Figure 6 A flow chart of establishing a reverse clearance table in an embodiment of the reverse clearance compensation method provided by the present invention;

[0037] Figure 7 A flowchart of obtaining a current target backlash compensation value in an embodiment of a backlash compensation method provided by the present invention;

[0038] Figure 8A flowchart of solving the expected compensation value in an embodiment of the reverse clearance compensation method provided by the present invention;

[0039] Fig. 9 An architectural relationship diagram of an implementation of the reverse clearance compensation system provided by the present invention. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0041] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0042] Hereinafter, the terms "including", "having" and their cognates that can be used in various embodiments of the present application are intended only to indicate specific features, numbers, steps, operations, elements, components or a combination of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or a combination of the foregoing items or increasing the possibility of one or more features, numbers, steps, operations, elements, components or a combination of the foregoing items. In addition, the terms "first", "second", "third" and the like are only used to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0043] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0044] In order to facilitate understanding of the embodiments of the present application, the background technology involved in the embodiments of the present invention is first introduced here.

[0045] When dealing with scanned graphics (such as Figure 1) During laser scanning, two scanning modes can be used: unidirectional scanning and bidirectional scanning. When using laser to perform bidirectional scanning on the pattern to be scanned, the PC software analyzes a line of data every other gap according to the set vertical gap value (the vertical distance between lines is how many, this parameter is user-settable, usually 0.05~0.1mm), and finally transmits the motion trajectory of the controller to the controller as shown in the figure. Figure 2 As shown, Figure 2 The dotted line in the middle represents the empty movement without light, the solid line is the scanning line segment with light, and the arrow indicates the direction of movement.

[0046] When the laser machine is scanning at high speed, the line segments scanned back and forth should be aligned at both ends. However, due to the load characteristics of the laser machine head, the transmission characteristics of the belt, the timeliness of the laser light output and other factors, in actual processing, the two back and forth lines may be offset to the left and right, that is, a reverse gap occurs.

[0047] However, if there is a reverse gap and no compensation is performed, the scanning can only be done at a certain low speed, otherwise the scanned image will be blurred. Alternatively, the gap problem can be solved by using unidirectional motion to emit light during scanning, that is, unidirectional scanning. The light emission movement always remains from left to right, or from right to left, but the processing efficiency is reduced by half. Figure 3 As shown in the figure, the total length of the one-way scanning track is almost twice that of the two-way scanning track, so the one-way scanning processing method is extremely inefficient. If there is no backlash, then when the laser head moves back and forth, by controlling the laser light, the ideal scanning pattern finally scanned should be as follows: Figure 4 As shown; among them, Figure 4 It is also a schematic diagram of the scanning path of the scanning graphic that is transmitted to the controller after the PC software analyzes the graphic to be scanned.

[0048] However, if there is a reverse gap and the reverse gap increases with the scanning speed, the final scanned image will have two staggered shadows on the left and right, which will make the image unclear. If you are scanning a regular rectangle, you can use the concept of whether the left and right sides are aligned to describe whether there is a reverse gap. However, if it is not a regular image, you can only check whether the scanned image is clear.

[0049] Secondly, the backlash is compensated. However, the concept of machine backlash compensation in traditional PLC (Programmable Logic Controller) refers to compensating a fixed gap value between the belt and the gear when the movement turns when the meshing between the belt and the gear is not ideal. However, this compensation method cannot solve the problem that the gap becomes larger when the speed moves back and forth.

[0050] In order to solve the above-mentioned prior art problems, the present invention provides a reverse gap compensation method, system, terminal device and storage medium. In the present invention, by pre-scanning and testing the same pattern to be scanned at multiple different target scanning speeds, after obtaining the corresponding target gap compensation value, a mapping relationship between multiple target scanning speeds and their corresponding target gap compensation values ​​is established, and saved in a reverse gap list, and according to the mapping relationship in the reverse gap list, the expected compensation value corresponding to the current scanning speed is solved, and then the current scanning route of the pattern to be scanned is compensated according to the expected compensation value to obtain the scanning pattern corresponding to the current scanning speed, so as to achieve efficient solution of the real expected compensation value at the current scanning speed, and compensate the current scanning route, thereby reducing scanning errors and improving scanning efficiency and accuracy.

[0051] The design scheme of the reverse gap compensation method is described below through specific exemplary embodiments. It should be noted that the following embodiments are only used to explain the technical scheme of the invention and are not specifically limited:

[0052] See also Figure 5 , the embodiment of the present application provides an implementation process of a reverse gap compensation method, including steps S100-S300:

[0053] S100, pre-acquire multiple target scanning speeds and their corresponding target gap compensation values ​​to establish a reverse gap list.

[0054] Demonstratively, during the laser bidirectional high-speed scanning process, a reverse gap is prone to occur. The reverse gap is related to the speed. The faster the speed, the larger the reverse gap will be, and the more blurred the scanned image will be.

[0055] Therefore, when a laser scanning device (such as a laser scanner) is factory-set, a database of backlash compensation values ​​is established:

[0056] After presetting multiple target scanning speeds, laser scanning tests are performed at the multiple target scanning speeds respectively to obtain target gap compensations corresponding to the multiple target scanning speeds to establish a reverse gap list, and the reverse gap list is written into the controller of a machine such as a laser scanning device.

[0057] It can be understood that in the present application, a mapping relationship between multiple target scanning speeds and their corresponding target gap compensation values ​​is pre-established to obtain a reverse gap list as a basis for solving the actual gap compensation value, thereby improving the authenticity and accuracy of solving the gap compensation value.

[0058] For example, in one embodiment, see Figure 6 Step S100, pre-acquire multiple target scanning speeds and their corresponding target gap compensation values ​​to establish a reverse gap list, including:

[0059] S110, performing scanning tests on the same pattern to be scanned at a plurality of different target scanning speeds under the same test conditions;

[0060] S120, controlling scanning at different target scanning speeds to obtain scanning patterns with the same definition, and calculating corresponding target gap compensation values;

[0061] S130 , establishing a mapping relationship between the target scanning speed and its corresponding target gap compensation value to obtain a reverse gap list.

[0062] The same test conditions include: using the same laser scanning device, using the same pattern to be scanned and under the same test temperature.

[0063] Exemplarily, the process of establishing a backlash list is implemented as follows:

[0064] At the same test temperature, the same laser scanning device is used to control the laser head, and the same pattern to be scanned is laser scanned at multiple different target scanning speeds (which can be some key speed values ​​in actual operations, for example, 100mm / s, 200mm / s, 500mm / s and 1000mm / s, etc.), and the respective reverse gaps are compensated until the scanned graphics have the same clarity (for example, the pixels and resolution are the same), and the corresponding target gap compensation value is calculated.

[0065] Then, a mapping relationship is established between the target scanning speed and its corresponding target gap compensation value to obtain a reverse gap list.

[0066] For example, in one embodiment, see Figure 7 , respectively, scanning the same pattern to be scanned at a plurality of different target scanning speeds, and then also including:

[0067] S111, calculating the offset value between two adjacent lines in the current scan pattern obtained by scanning the pattern to be scanned at the current target scanning speed, and obtaining an initial gap compensation value;

[0068] S112, compensating the current scanning route of the pattern to be scanned according to the initial gap compensation value to obtain an initial scanning pattern;

[0069] S113, comparing the initial scanning pattern with the pattern to be scanned, adjusting the initial gap compensation value, and obtaining a current target gap compensation value corresponding to the current target scanning speed.

[0070] For demonstration, in this embodiment, taking the current target scanning speed of 200mm / s as an example, a regular rectangle (pattern to be scanned) is first scanned and tested at the current target scanning speed of 200mm / s to check whether the two adjacent line segments above and below are aligned left and right. If not, a reverse gap occurs. At this time, the offset distance between the odd and even scanning lines, that is, the offset value between the two adjacent lines, is calculated to obtain the initial gap compensation value, suppose it is 0.4mm.

[0071] Then, the regular rectangle is further scanned and tested at the current target scanning speed of 200mm / s, and the current scanning route is compensated to obtain the initial scanning pattern. After that, the initial scanning pattern is compared with the pattern to be scanned: if the initial scanning pattern is clear, the initial gap compensation value is correct, that is, the initial gap compensation value at this time is used as the current target gap compensation value, that is, the gap compensation value of 200mm / s at this time is 0.4mm; if the initial scanning pattern is not clear enough, the following steps are repeated: the initial gap compensation value is fine-tuned, and the current scanning route of the pattern to be scanned is continued to be compensated with the adjusted initial gap compensation value until a clear initial scanning pattern is obtained, and finally, the last adjusted initial gap compensation value (for example, 0.3mm) is used as the current target gap compensation value corresponding to the current target scanning speed, that is, the gap compensation value of 200mm / s at this time is 0.3mm, thereby completing the adaptive adjustment of the initial gap compensation value.

[0072] Furthermore, in the second embodiment of the present application, the second scan may be performed on an irregular pattern to be scanned. Furthermore, when the initial scan pattern is obtained for the first time, the clarity of the initial scan pattern can be determined to verify whether the initial gap compensation value needs to be adaptively adjusted.

[0073] Please continue reading Figure 5 , S200, according to the mapping relationship in the reverse gap list, solve and obtain the expected compensation value of the current scanning speed.

[0074] Exemplarily, after obtaining the reverse gap list, the mapping relationship between the target scanning speed and its corresponding target gap compensation value in the reverse gap list is used as a function between the target scanning speed and the target gap compensation value, and the actual expected compensation value of the current scanning speed is obtained by solving according to the linear law.

[0075] It can be understood that in the present application, the expected compensation value of the actual scanning speed is solved through the mapping relationship in the pre-stored reverse clearance list, so that the expected compensation value of any scanning speed can be quickly solved, and the efficiency and accuracy of the scanning process are effectively improved.

[0076] For example, in one embodiment, see Figure 8 Step S200: according to the mapping relationship in the reverse gap list, the expected compensation value of the current scanning speed is obtained by solving the problem, including:

[0077] S210, establishing a linear curve between the target scanning speed and its corresponding target gap compensation value according to the mapping relationship in the reverse gap list;

[0078] S220 , according to the current line segment on the linear curve corresponding to the current scanning speed, solving according to the linear law to obtain the expected compensation value of the current scanning speed.

[0079] The linear curve is an irregular line segment or a regular line segment, such as a straight line.

[0080] Exemplarily, the specific implementation process of solving the expected compensation value of the current scanning speed is as follows:

[0081] Firstly, according to the mapping relationship between the target scanning speed and its corresponding target gap compensation value in the reverse gap list, a linear curve between them is established.

[0082] Then, according to the speed interval where the current scanning speed is located, the current line segment on the linear curve is corresponding to the current scanning speed, and the expected compensation value of the current scanning speed is obtained by solving according to the linear law.

[0083] For example, suppose that before the laser scanning device leaves the factory, there are three sets of data stored in the preset reverse clearance list, which are as follows:

[0084] 1. The scanning speed is 200mm / s, and the corresponding compensation value is 0.2mm;

[0085] 2. Scanning speed 400mm / s, corresponding compensation value is 0.4mm;

[0086] 3. The scanning speed is 800mm / s, and the corresponding compensation value is 0.6mm.

[0087] Then, if the processing scanning speed (current scanning speed) currently set by the user is 300mm / s, the controller takes the linear value in the middle of the linear segment (i.e., the current segment) formed by the speeds 200mm / s and 400mm / s and their corresponding compensation values ​​in the table according to the linear law, and calculates that the compensation value of the speed 300mm / s is 0.3mm. That is, the expected compensation value of the current scanning speed 300mm / s is 0.3mm.

[0088] Please continue reading Figure 5 , S300, compensating the current scanning route of the pattern to be scanned according to the expected compensation value to obtain a corresponding scanning pattern.

[0089] Exemplarily, after obtaining the expected compensation value of the current scanning speed, laser scanning is started on the pattern to be scanned at the current scanning speed, and during the entire scanning process, the expected compensation value is used to compensate for the current scanning path of the pattern to be scanned, including positive compensation and negative compensation, so as to obtain a scanning pattern at the current scanning speed, and the scanning pattern is clear as a whole and its edges are smooth.

[0090] It can be understood that in the present application, the current scanning path of the pattern to be scanned is compensated according to the current scanning speed based on the expected compensation value of the current scanning speed, thereby obtaining a corresponding clear scanning pattern, thereby effectively improving the clarity and accuracy of laser scanning.

[0091] For example, in one embodiment, step S300 is to compensate the current scanning route of the pattern to be scanned according to the expected compensation value to obtain a corresponding scanning pattern, including:

[0092] S310 . When performing horizontal scanning, control the scanning probe to extend outward by a distance of half the expected compensation value at each theoretical scanning turning point to compensate the current scanning route and obtain a corresponding scanning pattern.

[0093] Exemplarily, the specific process of compensation is implemented as follows:

[0094] After obtaining the expected compensation value, start laser scanning: When analyzing the processing data, the controller first determines whether the horizontal line segment (current scanning route) on the scanning route that needs to emit light belongs to the scanning line in the positive direction or the negative direction. Then, according to the linear alignment, control the scanning probe to extend outward by half the expected compensation value (i.e. 0.5 expected compensation value or gap value) at each theoretical scanning turning point, that is, perform positive compensation or negative compensation at the end point of the current line segment (i.e. the theoretical scanning turning point) each time, and then perform continuous iterative calculations, while processing and compensating, until the pattern processing is completed and the corresponding scanning pattern is obtained.

[0095] For example, assuming that the absolute origin of the machine is in the lower left corner, and the current light segment itself moves from left to right, then when compensating, push the end point of the line segment to the right by 0.5 gap values ​​(i.e. +0.5 gaps); conversely, if the line segment moves from right to left, then push the end point of the line segment to the left by 0.5 gaps (i.e. -0.5 gaps).

[0096] See also Fig. 9 , an embodiment of the present application provides a reverse clearance compensation system, comprising:

[0097] The acquisition module 10 is used to pre-acquire a plurality of target scanning speeds and their corresponding target gap compensation values ​​to establish a reverse gap list.

[0098] The solving module 20 is used to solve and obtain the expected compensation value of the current scanning speed according to the mapping relationship in the backlash list.

[0099] The compensation module 30 is used to compensate the current scanning route of the pattern to be scanned according to the expected compensation value to obtain a corresponding scanning pattern.

[0100] Exemplarily, the reverse clearance compensation method is applicable to the reverse clearance compensation system, and the implementation process of the reverse clearance compensation system is as follows:

[0101] First, when the laser scanning equipment is tested at the factory, the same pattern to be scanned is controlled to be processed and scanned at multiple different key speed values ​​(target scanning speeds), and the corresponding target gap compensation values ​​are obtained and saved as a reverse gap table.

[0102] Then, according to the mapping relationship between the target scanning speed and its corresponding target gap compensation value in the reverse gap list, a linear curve between them is established, and the expected compensation value corresponding to the current scanning speed on the linear curve is solved.

[0103] Secondly, start scanning, control the scanning probe of the laser scanning device at the current scanning speed, scan according to the scanning route of the pattern to be scanned, and perform positive or negative compensation on the current scanning route during the scanning process to obtain a scanning pattern corresponding to the previous scanning speed.

[0104] It can be understood that in the present application, after pre-establishing the reverse gap table, the expected compensation value of the current scanning speed is solved according to the mapping relationship between the target scanning speed and its corresponding target gap compensation value in the reverse gap list, so as to compensate for the current scanning path of the pattern to be scanned and obtain the corresponding scanning pattern, thereby achieving efficient and accurate compensation for the reverse gap appearing in the scanning pattern, and effectively improving the scanning efficiency and clarity of the scanning pattern.

[0105] The present application also provides a terminal device. Exemplarily, the terminal device includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to enable the terminal device to execute the functions of the various modules in the above-mentioned reverse gap compensation method or the above-mentioned reverse gap compensation system.

[0106] Exemplarily, in this embodiment, the terminal device may be a laser scanning device, and the memory exists in a controller in the laser scanning device.

[0107] Among them, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or at least one of other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0108] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory is used to store a computer program, and the processor may execute the computer program accordingly after receiving an execution instruction.

[0109] For example, in one embodiment, the memory is a non-volatile memory, and a backlash list is stored in the non-volatile memory.

[0110] Exemplarily, the non-volatile memory can be saved even when power is off.

[0111] The present application also provides a computer storage medium for storing the computer program used in the above terminal device. For example, the computer storage medium may include but is not limited to: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0112] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow diagram, and the combination of boxes in the structure diagram and / or the flow diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0113] In addition, the functional modules or units in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0114] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0115] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A backlash compensation method, characterized in that: include: Under the same test conditions, a scanning test is performed on the same pattern to be scanned at a plurality of different target scanning speeds; Controlling scanning at different target scanning speeds to obtain scanning patterns with the same definition, and calculating corresponding target gap compensation values; establishing a mapping relationship between the target scanning speed and its corresponding target gap compensation value to obtain the reverse gap list; According to the mapping relationship in the reverse gap list, a linear curve between the target scanning speed and the corresponding target gap compensation value is established; according to the current line segment corresponding to the current scanning speed on the linear curve, the expected compensation value of the current scanning speed is obtained by solving according to the linear law; When performing horizontal scanning, the scanning probe is controlled to extend outward by half the distance of the expected compensation value at each theoretical scanning turning point to compensate the current scanning route and obtain a corresponding scanning pattern; Determine whether the horizontal line segment on the scanning route that needs to emit light belongs to the scanning line in the positive direction or the negative direction; according to the linear alignment, control the scanning probe to extend outward by 0.5 expected compensation value or gap value at each theoretical scanning turning point to perform positive compensation or negative compensation, and then perform continuous iterative calculations, while processing and compensating, until the pattern processing is completed, and obtain the corresponding scanning pattern; wherein, if the current line segment moves from left to right, the end point of the line segment is pushed to the right by 0.5 gap value; conversely, if the line segment moves from right to left, the end point of the line segment is pushed to the left by 0.5 gap.

2. The backlash compensation method according to claim 1, characterized in that: The scanning test is performed on the same pattern to be scanned at a plurality of different target scanning speeds, and then further comprises: Calculating the offset value between two adjacent lines in the current scanning pattern obtained by scanning the pattern to be scanned at the current target scanning speed to obtain an initial gap compensation value; Compensating the current scanning route of the pattern to be scanned according to the initial gap compensation value to obtain an initial scanning pattern; The initial scanning pattern is compared with the pattern to be scanned, and the initial gap compensation value is adjusted to obtain the target gap compensation value corresponding to the current target scanning speed.

3. The backlash compensation method according to claim 1, characterized in that: The same test conditions include: using the same laser scanning equipment, using the same pattern to be scanned and under the same test temperature.

4. A backlash compensation system, characterized in that: include: An acquisition module is used to perform scanning tests on the same pattern to be scanned at a plurality of different target scanning speeds under the same test conditions; Controlling scanning at different target scanning speeds to obtain scanning patterns with the same definition, and calculating corresponding target gap compensation values; establishing a mapping relationship between the target scanning speed and its corresponding target gap compensation value to obtain the reverse gap list; A solution module is used to establish a linear curve between the target scanning speed and the corresponding target gap compensation value according to the mapping relationship in the reverse gap list; and obtain the expected compensation value of the current scanning speed according to the linear law according to the current line segment on the linear curve corresponding to the current scanning speed; A compensation module, used for controlling the scanning probe to extend outward by half of the expected compensation value at each theoretical scanning turning point during horizontal scanning, so as to compensate the current scanning route and obtain a corresponding scanning pattern; Determine whether the horizontal line segment on the scanning route that needs to emit light belongs to the scanning line in the positive direction or the negative direction; according to the linear alignment, control the scanning probe to extend outward by 0.5 expected compensation value or gap value at each theoretical scanning turning point to perform positive compensation or negative compensation, and then perform continuous iterative calculations, while processing and compensating, until the pattern processing is completed, and obtain the corresponding scanning pattern; wherein, if the current line segment moves from left to right, the end point of the line segment is pushed to the right by 0.5 gap value; conversely, if the line segment moves from right to left, the end point of the line segment is pushed to the left by 0.5 gap.

5. A terminal device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the reverse gap compensation method according to any one of claims 1 to 3 are implemented.

6. The terminal device according to claim 5, characterized in that: The memory is a non-volatile memory, and a reverse gap list is stored in the non-volatile memory.

7. A computer storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the steps of the reverse clearance compensation method according to any one of claims 1 to 3 are implemented.

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