Laser head calibration method, device and equipment and storage medium

Abstract

The invention provides a laser head calibration method, device and equipment and a storage medium, and the method comprises the following steps: a calibration block is placed on the light emitting side of a laser head, the calibration block is provided with a light receiving surface, and one side, away from the laser head, of the light receiving surface is provided with a visual camera; the laser head emits indication light to the light receiving surface of the calibration block, a light spot is formed on the light receiving surface, and the visual camera obtains the position of the light spot and records the position as a first position; enabling the laser head to rotate around the central point by a preset angle, and at the moment, obtaining the position of the indication light on the light receiving surface through the visual camera again and recording the position as a second position; determining a deviation value between the first position and the second position, and judging whether the deviation value is within a preset range; and if the deviation value is not within the preset range, compensating the movement of the laser head according to the deviation value. The laser calibration method is high in calibration efficiency.

Description

Technical Field

[0001] The present application belongs to the technical field of laser head calibration, and more specifically, to a laser head calibration method, device, equipment and storage medium. Background Art

[0002] Laser cutting technology is widely used in many industries and fields, such as metal processing industry, automobile manufacturing industry, electronic and electrical industry, etc. With the continuous development and innovation of laser technology, its application in various industries is becoming more and more diversified.

[0003] The three-dimensional five-axis laser cutting head can perform complex movements along three linear axes and two rotational axes. For example, the cutting head can move linearly along the X-axis, Y-axis and Z-axis, and the cutting head can also perform rotational movements along the B-axis and C-axis.

[0004] When the cutting head performs five-axis linkage, it is necessary to ensure that the virtual tool tip of the laser cutting head can move according to the trajectory specified by the instruction, so the cutting head needs to be calibrated. In the current calibration method, the required compensation amount is generally estimated by rotating the cutting head relative to the alignment point, and then visually observing the relative position deviation between the virtual tool tip of the laser cutting head and the alignment point. This method not only greatly increases the energy and time consumed by the staff, but also cannot ensure the accurate compensation amount. Summary of the invention

[0005] The present application provides a laser head calibration method, which has high efficiency and precision in laser head calibration.

[0006] The technical solution adopted in this application is a laser head calibration method, comprising the following steps:

[0007] The laser head is enabled to emit a indicating light coaxial with the laser;

[0008] Placing a calibration block on the light-emitting side of the laser head, wherein the calibration block has a light-receiving surface illuminated by the laser head, and the light-receiving surface is semi-transparent, and a visual camera is arranged on the side of the light-receiving surface away from the laser head;

[0009] The laser head emits an indication light to the light-receiving surface of the calibration block, and forms a light spot on the light-receiving surface, and the visual camera acquires the position of the light spot and records it as a first position;

[0010] Taking the first position as the center point, the laser head is rotated around the center point by a predetermined angle, and at this time, the position of the indicator light on the light receiving surface is obtained again by the visual camera and recorded as the second position;

[0011] Determining a deviation between the first position and the second position, and judging whether the deviation is within a preset range;

[0012] If the deviation is not within a preset range, the movement of the laser head is compensated according to the deviation.

[0013] In the laser calibration method of the present application, a calibration block is set to be placed on the light-emitting side of the laser head, and the calibration block has a semi-transparent light-receiving surface that can be irradiated by the laser head, and a visual camera is set on the side of the light-receiving surface away from the laser head. The laser head is first allowed to emit an indicator light to form a light spot on the light-receiving surface, and the first position of the light spot is obtained and recorded by the visual camera, and then the laser head is rotated by a predetermined angle with the first position as the center point. At this time, the position of the indicator light on the light-receiving surface is obtained again by the visual camera and recorded as the second position, and it is determined whether it is within the preset range according to the deviation between the first position and the second position. If the deviation is not within the preset range, the movement of the laser head is compensated according to the deviation. It can be seen that the above method can realize the compensation calibration of the movement of the laser head according to the deviation by setting the light-receiving surface of the calibration block to be semi-transparent, and setting a visual camera on the side of the light-receiving surface away from the laser head to identify the position deviation of the indicator light emitted by the laser head on the light-receiving surface after the laser head rotates. The calibration method is simple and accurate, and there is no need to observe the position deviation by naked eyes for compensation, and the calibration efficiency is high.

[0014] Optionally, before causing the laser head to emit indication light to the light receiving surface of the calibration block, the method further includes:

[0015] The driving shaft of the laser head is returned to zero point.

[0016] Optionally, if the deviation is not within a preset range, compensating the movement of the laser head according to the deviation, further includes:

[0017] Compensating the zero-point angle deviation of the laser head according to the deviation; and

[0018] The swing arm length of the laser head is compensated according to the deviation.

[0019] Optionally, compensating the zero-point angle deviation of the laser head according to the deviation further includes:

[0020] The compensation amount of the zero point angle of the laser head is calculated according to the deviation amount using a first formula.

[0021] Optionally, compensating the swing arm length of the laser head according to the deviation further includes:

[0022] The compensation amount of the swing arm length of the laser head is calculated according to the deviation amount using the second formula.

[0023] Optionally, the method further comprises:

[0024] After compensating the movement of the laser head, continue to return each driving axis of the laser head to the zero point;

[0025] The laser head emits an indication light to the light-receiving surface of the calibration block, and forms a light spot on the light-receiving surface, and the visual camera acquires the position of the light spot and records it as a first position;

[0026] Taking the first position as the center point, the laser head is rotated around the center point by a predetermined angle, and at this time, the position of the indicator light on the light receiving surface is obtained again by the visual camera and recorded as the second position;

[0027] Determining a deviation between the first position and the second position, and judging whether the deviation is within a preset range;

[0028] If the deviation is not within a preset range, compensating the movement of the laser head according to the deviation;

[0029] Repeat the above steps until the deviation is within the preset range.

[0030] A five-axis system laser head calibration method, wherein the five-axis system includes an X-axis, a Y-axis, a Z-axis, a first rotation axis, and a second rotation axis, wherein the axis centerline of the first rotation axis is parallel to the Z-axis, and the axis centerline of the second rotation axis is parallel to the X-axis or the Y-axis, comprising the following steps:

[0031] The laser head is enabled to emit a indicating light coaxial with the laser;

[0032] Placing a calibration block on the light-emitting side of the laser head, wherein the calibration block has a light-receiving surface illuminated by the laser head, and the light-receiving surface is semi-transparent, and a visual camera is arranged on the side of the light-receiving surface away from the laser head;

[0033] The laser head emits an indication light to the light-receiving surface of the calibration block, and forms a light spot on the light-receiving surface, and the visual camera acquires the position of the light spot and records it as a first position;

[0034] The five-axis linkage is turned on, and the first rotation axis drives the laser head to rotate around the first position by a predetermined angle with the first position as the center point. At this time, the position of the indicator light on the light receiving surface is obtained again by the visual camera and recorded as the second position;

[0035] Determining a deviation between the first position and the second position, and judging whether the deviation is within a preset range;

[0036] If the deviation is not within a preset range, the movement of the laser head is compensated according to the deviation.

[0037] Optionally, before causing the laser head to emit indication light to the light receiving surface of the calibration block, the method further includes:

[0038] The X-axis, Y-axis, Z-axis, first rotation axis, and second rotation axis of the laser head are returned to zero point.

[0039] Optionally, if the deviation is not within a preset range, compensating the movement of the laser head according to the deviation, further includes:

[0040] Compensating the zero-point angle deviation of the laser head along the rotation direction of the first rotation axis according to the deviation; and

[0041] The length of the swing arm between the laser head and the first rotation axis is compensated according to the deviation.

[0042] Optionally, the first rotation axis drives the laser head to rotate a predetermined angle of 180° around the center point, and the compensating the zero-point angle deviation of the laser head along the rotation direction of the first rotation axis according to the deviation also includes:

[0043] The compensation amount of the zero point angle of the laser head along the rotation direction of the first rotation axis is calculated according to the deviation according to the first formula, and the first formula is R=(-1)*arcsin(△X / (2*S1)), wherein △X is the deviation between the first position and the second position in the X direction, and S1 is the preset swing arm length between the laser head and the first rotation axis.

[0044] Optionally, the first rotating shaft drives the laser head to rotate a predetermined angle of 180° around the center point, and the compensating the length of the swing arm between the laser head and the first rotating shaft according to the deviation further includes:

[0045] The compensation amount of the swing arm length between the laser head and the first rotating axis is obtained according to the deviation amount in accordance with a second calculation formula, and the second formula is S2=S1+△Y / 2.

[0046] A laser head calibration device, which can calibrate the movement of the laser head using the laser head calibration method, is characterized in that the calibration device includes a calibration block, a visual camera is arranged in the calibration block, and the calibration block has a light receiving surface illuminated by the laser head, and the light receiving surface is semi-transparent.

[0047] A computer device comprises a memory and a processor, wherein a computer program is stored in the memory, and wherein the processor implements the steps of the laser head calibration method when executing the computer program.

[0048] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the laser head calibration method are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0050] Figure 1 This is one of the flow charts of the laser head calibration method in the embodiment of the present application;

[0051] Figure 2 This is the second flow chart of the laser head calibration method in the embodiment of the present application;

[0052] Figure 3 This is a schematic diagram of the structure of the laser head calibration device in the embodiment of the present application;

[0053] Figure 4 This is a schematic diagram of the structure of the laser head, the first rotation axis and the second rotation axis in the embodiment of the present application;

[0054] Figure 5 This is a schematic diagram of the first rotating shaft driving the laser head to rotate 180° with the first position as the center point in the embodiment of the present application.

[0055] Reference numerals

[0056] 100, laser head; 200, calibration block; 210, light receiving surface; 300, visual camera; 400, first rotation axis; 500, second rotation axis; 600, first position; 700, second position; 800, swing arm. Specific embodiments

[0057] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0058] It should be noted that when a metastructure is referred to as being "fixed to" or "set on" another metastructure, it can be directly on the other metastructure or indirectly on the other metastructure. When a metastructure is referred to as being "connected to" another metastructure, it can be directly connected to the other metastructure or indirectly connected to the other metastructure.

[0059] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element structure referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0060] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of some applications, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0061] Combination Figure 1 , Figure 3 and Figure 5 , the present application provides a laser head calibration method, comprising the following steps:

[0062] Step S100, enabling the laser head to emit a pointing light coaxial with the laser.

[0063] Specifically, in some embodiments, the laser head 100 can emit an indicator light, and the indicator light is coaxial with the laser emitted by the laser head 100, and the indicator light is generally used to indicate the simulated laser. The indicator light can be red, green, etc.

[0064] Step S300, placing the calibration block 200 on the light emitting side of the laser head 100, wherein the calibration block 200 has a light receiving surface 210 illuminated by the laser head 100, and the light receiving surface 210 can be semi-transparent, and a visual camera 300 is arranged on the side of the light receiving surface 210 away from the laser head 100.

[0065] It can be understood that, since the light receiving surface 210 of the calibration block 200 can be semi-translucent, a light spot can be displayed on the light receiving surface 210 of the calibration block 200 , and the light spot can be acquired by the visual camera 300 in the calibration block 200 .

[0066] In step S500 , the laser head 100 emits a directive light to the light receiving surface 210 of the calibration block 200 , and forms a light spot on the light receiving surface 210 . The visual camera 300 acquires the position of the light spot and records it as the first position 600 .

[0067] In step S700 , the laser head 100 is rotated around the first position 600 by a predetermined angle around the center point. At this time, the position of the indicator light on the light receiving surface 210 is obtained again through the visual camera 300 and recorded as the second position 700 .

[0068] It is understandable that when the laser head 100 rotates around the center point, under ideal conditions, the position of the light spot of the indicator light emitted by the laser head 100 on the light receiving surface 210 generally does not change. However, due to the installation accuracy of the laser head 100, the installation accuracy of the system that drives the laser head 100 to move, etc., when the laser head 100 rotates around the center point, under actual conditions, the light spot of the indicator light emitted by the laser head 100 on the light receiving surface 210 will shift, causing the position of the light spot to change, that is, the actual movement position of the laser head 100 deviates from the theoretical movement position.

[0069] Step S900, determining the deviation between the first position 600 and the second position 700, and judging whether the deviation is within a preset range.

[0070] It is understandable that the preset range can be a preset error range of the allowable deviation. Specifically, the preset range can be set according to the processing accuracy requirements of the laser head 100. For example, the preset range corresponding to the higher processing accuracy requirements can be set smaller, and the preset range corresponding to the lower processing accuracy requirements can be set larger.

[0071] Step S1100: if the deviation is not within a preset range, the movement of the laser head 100 is compensated according to the deviation.

[0072] In the laser calibration method of the present application, a calibration block 200 is set and placed on the light-emitting side of the laser head 100, and the calibration block 200 has a semi-transparent light-receiving surface 210 that can be illuminated by the laser head 100, and a visual camera 300 is set on the side of the light-receiving surface 210 away from the laser head 100. The laser head 100 first emits an indication light to form a light spot on the light-receiving surface 210, and the visual camera 300 is used to obtain and record the first position 600 of the light spot, and then the laser head 100 is rotated by a predetermined angle with the first position 600 as the center point. At this time, the position of the indication light on the light-receiving surface 210 is obtained again by the visual camera 300 and recorded as the second position 700. It is judged whether the deviation between the first position 600 and the second position 700 is within the preset range. If the deviation is not within the preset range, the movement of the laser head 100 is compensated according to the deviation. It can be seen that the above method sets the light receiving surface 210 of the calibration block 200 to be semi-transparent, and sets a visual camera 300 on the side of the light receiving surface 210 away from the laser head 100 to identify the position deviation of the indicator light emitted by the laser head 100 on the light receiving surface 210 after the laser head 100 rotates, and can realize compensation calibration of the movement of the laser head 100 according to the deviation. The calibration method is simple, and there is no need to compensate by observing the position deviation by naked eye, and the calibration efficiency is high.

[0073] See also Figure 3 In some embodiments, the calibration block 200 may be a box, and the surface of the calibration block 200 opposite to the light exit hole of the laser head 100 may be partially or completely set as a semi-transparent light receiving surface 210, and the visual camera 300 may be set inside the calibration block 200. It can be understood that since the visual camera 300 is set inside the calibration block 200, it can also avoid the influence of external light on the recognition of the visual camera 300, thereby improving the recognition accuracy.

[0074] In some embodiments, the light outlet of the laser head 100 may be close to the light receiving surface 210 to reduce light scattering and improve the accuracy of the visual camera 300 in acquiring the light spot position.

[0075] In addition, see Figure 2 In other embodiments, step S900 determines the deviation between the first position 600 and the second position 700, and determines whether the deviation is within a preset range, and then may include:

[0076] Step S1300 , if the deviation is within a preset range, stop calibrating the laser head 100 .

[0077] See also Figure 4In some embodiments, in order to obtain a more accurate deviation and to facilitate compensation of the movement of the laser head 100 according to the deviation, the laser head 100 emits an indication light to the light receiving surface 210 of the calibration block 200 in step S500, which also includes:

[0078] Step S400, returning the driving axis of the laser head 100 to the zero point.

[0079] It can be understood that the driving shaft of the laser head 100 can be a driving shaft that drives the laser head 100 to move, for example, drives the laser head 100 to rotate.

[0080] Specifically, the initial zero position of the driving shaft of the laser head 100 can be set in the system, and the driving shaft of the laser head 100 can be returned to the initial zero position set by the system.

[0081] It should be noted that the initial zero position set in the system is a theoretical initial zero position preset manually, so the initial zero point position to which the driving shaft of the laser head 100 returns is also the theoretical initial zero position.

[0082] In some embodiments, the driving axis driving the laser head 100 to rotate around the first position 600 may be theoretically perpendicular to the light receiving surface 210 of the calibration block 200 at the initial zero position.

[0083] Furthermore, in step S1100, if the deviation is not within a preset range, the movement of the laser head 100 is compensated according to the deviation, which may specifically include:

[0084] Step S1110 , compensating the zero point angle deviation of the laser head 100 according to the deviation.

[0085] It can be understood that since the driving shaft of the laser head 100 returns to the zero point, the laser head 100 driven by the driving shaft can return to the zero point relative to it. Therefore, the deviation between the actual position angle of the laser head 100 at the zero point position and the theoretical position angle of the zero point position set on the system can be determined based on the deviation amount, and the zero point angle deviation of the laser head 100 can be compensated based on the deviation amount, that is, the zero point angle deviation of the driving shaft that drives the laser head 100 to rotate can be compensated.

[0086] Specifically, in some implementations, the compensation amount of the zero point angle of the laser head 100 can be calculated according to the deviation amount using the first formula.

[0087] Step S1120, compensating the length of the swing arm 800 of the laser head 100 according to the deviation.

[0088] In some embodiments, a swing arm 800 is connected between the driving shaft and the laser head 100, and the swing arm 800 may include another driving shaft for driving the laser head 100 to rotate, and the two driving shafts that respectively drive the laser head 100 to rotate may be perpendicular to each other. For example, one of the driving shafts may be a B-axis, and the other driving shaft may be a C-axis. When the C-axis drives the laser head 100 to rotate, the B-axis may serve as a part of the swing arm 800 of the laser head 100. Of course, in some embodiments, when the driving shaft directly drives the laser head 100 to rotate, the laser head 100 itself also becomes a swing arm 800. Specifically, the theoretical length of the swing arm 800 may be calculated based on the size of the laser head 100 and each driving shaft.

[0089] It can be understood that after the driving shaft of the laser head 100 returns to the zero point, the swing arm 800 of the laser head 100 is theoretically located in the vertical direction or in the horizontal direction, and the length is known. However, due to reasons such as assembly accuracy, the swing arm 800 may be slightly tilted, thereby causing the length of the swing arm 800 to differ from the theoretically known value. Therefore, the length of the swing arm 800 of the laser head 100 can be compensated by the deviation.

[0090] Specifically, in some implementations, the compensation amount of the length of the swing arm 800 of the laser head 100 can be calculated according to the deviation amount using the second formula.

[0091] In addition, the laser head calibration method of the present application also includes the following steps:

[0092] Step S1500, after compensating the movement of the laser head 100, continue to return each driving axis of the laser head 100 to the zero point.

[0093] Step S1700, repeating steps S100 to S1100 until the deviation is within a preset range.

[0094] It is understandable that in some embodiments, after the movement of the laser head 100 is compensated once, there may still be a deviation in the movement of the laser head 100, but the deviation may be smaller than the deviation of the previous movement. Then, if the deviation is still outside the preset range, it is necessary to continue to compensate for the movement of the laser head 100 according to the above steps until the deviation is within the preset range to meet the requirements of the movement accuracy of the laser head 100.

[0095] Combination Figures 3 to 5, the present application takes a five-axis system laser head calibration method as an example, wherein the five-axis system may include an X-axis, a Y-axis, a Z-axis, a first rotation axis 400, and a second rotation axis 500, wherein the axis centerline of the first rotation axis is parallel to the Z-axis, and the axis centerline of the second rotation axis is parallel to the X-axis or the Y-axis. It can be understood that the above-mentioned five-axis system can drive the laser head 100 to move along the X-axis, Y-axis, and Z-axis respectively, and can rotate around the first rotation axis 400 and the second rotation axis 500. When the five-axis linkage is turned on, the laser head 100 can achieve five-axis motion. In some embodiments, the first rotation axis 400 whose axis centerline is parallel to the Z-axis can also be called the C-axis, wherein the second rotation axis 500 whose axis centerline is parallel to the X-axis can be the A-axis, and the second rotation axis 500 whose axis centerline is parallel to the Y-axis can be the B-axis.

[0096] Specifically, the calibration method includes the following steps:

[0097] Step S100, enabling the laser head 100 to emit a pointer light coaxial with the laser.

[0098] Step S300, placing the calibration block 200 on the light emitting side of the laser head 100, wherein the calibration block 200 has a light receiving surface 210 illuminated by the laser head 100, and the light receiving surface 210 can be semi-transparent, and a visual camera 300 is arranged on the side of the light receiving surface 210 away from the laser head 100.

[0099] In step S500 , the laser head 100 emits a directive light to the light receiving surface 210 of the calibration block 200 , and forms a light spot on the light receiving surface 210 . The visual camera 300 acquires the position of the light spot and records it as the first position 600 .

[0100] In step S700 , the laser head 100 is rotated around the first position 600 by a predetermined angle around the center point. At this time, the position of the indicator light on the light receiving surface 210 is obtained again through the visual camera 300 and recorded as the second position 700 .

[0101] Specifically, the five-axis linkage is turned on, with the first position 600 as the center point, so that the first rotating axis 400 drives the laser head 100 to rotate a predetermined angle around the center point. At this time, the position of the indicator light on the light receiving surface 210 is obtained again through the visual camera 300 and recorded as the second position 700.

[0102] Step S900, determining the deviation between the first position 600 and the second position 700, and judging whether the deviation is within a preset range.

[0103] Step S1100: if the deviation is not within a preset range, the movement of the laser head 100 is compensated according to the deviation.

[0104] Further, step S300, before includes:

[0105] Step S400, returning the driving axis of the laser head 100 to the zero point.

[0106] Specifically, the X-axis, Y-axis, Z-axis, first rotation axis 400, and second rotation axis 500 of the laser head 100 are returned to zero point.

[0107] It can be understood that when the X-axis, Y-axis, Z-axis, first rotation axis 400, and second rotation axis 500 return to zero, the axis centerline of the first rotation axis 400 is theoretically parallel to the Z-axis, and the axis centerline of the second rotation axis 500 is theoretically parallel to the X-axis or the Y-axis.

[0108] Furthermore, in step S1100, if the deviation is not within a preset range, the movement of the laser head 100 is compensated according to the deviation, which may specifically include:

[0109] Step S1110 , compensating the zero point angle deviation of the laser head 100 according to the deviation.

[0110] In some embodiments, the zero-point angle deviation of the laser head 100 along the rotation direction of the first rotation axis 400 may be compensated according to the deviation.

[0111] Specifically, the compensation amount of the zero-point angle of the laser head 100 along the rotation direction of the first rotation axis 400 can be calculated according to the deviation amount using the first formula.

[0112] Step S1120, compensating the length of the swing arm 800 of the laser head 100 according to the deviation.

[0113] In some embodiments, the length of the swing arm 800 between the laser head 100 and the first rotation axis 400 may be compensated according to the deviation, and the swing arm 800 may be the second rotation axis 500 .

[0114] Specifically, the compensation amount of the length of the swing arm 800 between the laser head 100 and the first rotating shaft 400 can be obtained according to the deviation amount using the second calculation formula.

[0115] like Figure 5 As shown, it is taken as an example that the first rotating shaft 400 drives the laser head 100 to rotate around the center point by a predetermined angle of 180°.

[0116] The first formula may be R=(-1)*arcsin(△X / (2*S1)), wherein △X is the deviation between the first position 600 and the second position 700 in the X direction, and S1 is the preset length of the swing arm 800 between the laser head 100 and the first rotating axis 400.

[0117] The second formula may be S2=S1+ΔY / 2.

[0118] For example, in the first embodiment, the coordinates of the first position 600 of the indication light emitted by the laser head 100 on the light receiving surface 210 are (X1, Y1) = (10.432, 11.342), and the coordinates of the second position 700 of the indication light on the light receiving surface 210 after the laser head 100 rotates are (X2, Y2) = (9.342, 10.396), and the theoretical length of the swing arm 800 between the first rotation axis 400 and the laser head 100 is S1 = 143.65 mm.

[0119] At this time, △X=X2-X1, and the compensation amount of the zero-point angle of the laser head 100 along the rotation direction of the first rotation axis 400 is

[0120] R=(-1)*arcsin(△X / (2*S1))=-0.217°, that is, the zero point angle of the laser head 100 needs to be compensated by -0.217°.

[0121] △Y=Y2-Y1, the compensation amount of the length of the swing arm 800 between the laser head 100 and the first rotating shaft 400 is S2=S1+△Y / 2=144.123mm, that is, the length of the swing arm 800 of the laser head 100 needs to be compensated by 144.123mm.

[0122] For example, in the second embodiment, the coordinates of the first position 600 of the indicator light emitted by the laser head 100 on the light receiving surface 210 are (X1, Y1) = (9.893, 10.453), and the coordinates of the second position 700 of the indicator light on the light receiving surface 210 after the laser head 100 rotates are (X2, Y2) = (10.217, 10.187), and the theoretical length of the swing arm 800 between the first rotating axis 400 and the laser head 100 is S1 = 143.65 mm.

[0123] At this time, △X=X2-X1, and the compensation amount of the zero-point angle of the laser head 100 along the rotation direction of the first rotation axis 400 is

[0124] R=(-1)*arcsin(△X / (2*S1))=0.064°, that is, the zero point angle of the laser head 100 needs to be compensated by 0.064°.

[0125] △Y=Y2-Y1, the compensation amount of the length of the swing arm 800 between the laser head 100 and the first rotating shaft 400 is S2=S1+△Y / 2=144.256mm, that is, the length of the swing arm 800 of the laser head 100 needs to be compensated by 144.256mm.

[0126] See also Figure 3 The present application also provides a laser head calibration device, which can calibrate the movement of the laser head 100 using the laser head calibration method in the embodiment of the present application.

[0127] Specifically, the calibration device may include a calibration block 200, a visual camera 300 is disposed in the calibration block 200, and the calibration block 200 has a light receiving surface 210 illuminated by the laser head 100, and the light receiving surface 210 can be semi-translucent. It can be understood that since the light receiving surface 210 of the calibration block 200 can be semi-translucent, a light spot can be displayed on the light receiving surface 210 of the calibration block 200, and the light spot can be acquired by the visual camera 300 in the calibration block 200, and then the deviation of the position of different light spots on the light receiving surface 210 can be identified.

[0128] The present application also provides a computer device, which includes a memory, a processor, and a network interface that are interconnected and communicated through a system bus. It should be noted that the figure only shows a computer device with components, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application-specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-ProgrAmmAble GAte ArrAy, FPGA), digital processors (Digital SignAl Processor, DSP), embedded devices, etc.

[0129] The computer device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The computer device may interact with the user through a keyboard, a mouse, a remote controller, a touch pad, or a voice control device.

[0130] The memory includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the memory can be an internal storage unit of the computer device, such as a hard disk or memory of the computer device. In other embodiments, the memory can also be an external storage device of the computer device, such as a plug-in hard disk equipped on the computer device, a smart memory card (SmArt MediA CArd, SMC), a secure digital (Secure DigitalAl, SD) card, a flash memory card (FlAsh CArd), etc. Of course, the memory can also include both the internal storage unit of the computer device and its external storage device. In this embodiment, the memory is usually used to store the operating system and various application software installed on the computer device, such as the program code of the laser head calibration method, etc. In addition, the memory can also be used to temporarily store various types of data that have been output or are to be output.

[0131] The network interface may include a wireless network interface or a wired network interface, which is generally used to establish a communication connection between the computer device and other electronic devices.

[0132] To solve the above technical problems, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. The computer program can be executed by at least one processor to enable the at least one processor to perform the steps of the laser head calibration method as described above.

[0133] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned implementation methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the embodiment of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the embodiment of the present invention.

[0134] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of some applications should be included in the protection scope of some applications.

Claims

1. A laser head calibration method, characterized in that: The following steps are involved: The laser head is enabled to emit a indicating light coaxial with the laser; Placing a calibration block on the light-emitting side of the laser head, wherein the calibration block has a light-receiving surface illuminated by the laser head, and the light-receiving surface is semi-transparent, and a visual camera is arranged on the side of the light-receiving surface away from the laser head; The laser head emits an indication light to the light-receiving surface of the calibration block, and forms a light spot on the light-receiving surface, and the visual camera acquires the position of the light spot and records it as a first position; Taking the first position as the center point, the laser head is rotated around the center point by a predetermined angle, and at this time, the position of the indicator light on the light receiving surface is obtained again by the visual camera and recorded as the second position; Determining a deviation between the first position and the second position, and judging whether the deviation is within a preset range; If the deviation is not within a preset range, the movement of the laser head is compensated according to the deviation.

2. The laser head calibration method according to claim 1, characterized in that: Before causing the laser head to emit the indication light to the light receiving surface of the calibration block, the method further comprises: The driving shaft of the laser head is returned to zero point.

3. The laser head calibration method according to claim 2, characterized in that: If the deviation is not within a preset range, compensating the movement of the laser head according to the deviation, further comprising: Compensating the zero-point angle deviation of the laser head according to the deviation; and The swing arm length of the laser head is compensated according to the deviation.

4. The laser head calibration method according to claim 3, characterized in that: The compensating the zero-point angle deviation of the laser head according to the deviation also includes: The compensation amount of the zero point angle of the laser head is calculated according to the deviation amount using a first formula.

5. The laser head calibration method according to claim 4, characterized in that: The compensating the swing arm length of the laser head according to the deviation also includes: The compensation amount of the swing arm length of the laser head is calculated according to the deviation amount using the second formula.

6. The laser head calibration method according to any one of claims 2 to 5, characterized in that: The method further comprises: After compensating the movement of the laser head, continue to return each driving axis of the laser head to the zero point; The laser head emits an indication light to the light-receiving surface of the calibration block, and forms a light spot on the light-receiving surface, and the visual camera acquires the position of the light spot and records it as a first position; Taking the first position as the center point, the laser head is rotated around the center point by a predetermined angle, and at this time, the position of the indicator light on the light receiving surface is obtained again by the visual camera and recorded as the second position; Determining a deviation between the first position and the second position, and judging whether the deviation is within a preset range; If the deviation is not within a preset range, compensating the movement of the laser head according to the deviation; Repeat the above steps until the deviation is within the preset range.

7. A five-axis system laser head calibration method, the five-axis system comprising an X-axis, a Y-axis, a Z-axis, a first rotation axis, and a second rotation axis, wherein the axis centerline of the first rotation axis is parallel to the Z-axis, and the axis centerline of the second rotation axis is parallel to the X-axis or the Y-axis, characterized in that: The following steps are involved: The laser head is enabled to emit a indicating light coaxial with the laser; Placing a calibration block on the light-emitting side of the laser head, wherein the calibration block has a light-receiving surface illuminated by the laser head, and the light-receiving surface is semi-transparent, and a visual camera is arranged on the side of the light-receiving surface away from the laser head; The laser head emits an indication light to the light-receiving surface of the calibration block, and forms a light spot on the light-receiving surface, and the visual camera acquires the position of the light spot and records it as a first position; The five-axis linkage is turned on, and the first rotation axis drives the laser head to rotate around the first position by a predetermined angle with the first position as the center point. At this time, the position of the indicator light on the light receiving surface is obtained again by the visual camera and recorded as the second position; Determining a deviation between the first position and the second position, and judging whether the deviation is within a preset range; If the deviation is not within a preset range, the movement of the laser head is compensated according to the deviation.

8. The five-axis system laser head calibration method according to claim 7, characterized in that: Before causing the laser head to emit the indication light to the light receiving surface of the calibration block, the method further comprises: The X-axis, Y-axis, Z-axis, first rotation axis, and second rotation axis of the laser head are returned to zero point.

9. The five-axis system laser head calibration method according to claim 8, characterized in that: If the deviation is not within a preset range, compensating the movement of the laser head according to the deviation, further comprising: Compensating the zero-point angle deviation of the laser head along the rotation direction of the first rotation axis according to the deviation; and The length of the swing arm between the laser head and the first rotation axis is compensated according to the deviation.

10. The five-axis system laser head calibration method according to claim 9, characterized in that: The first rotating shaft drives the laser head to rotate around the center point by a predetermined angle of 180°, and the zero-point angle deviation of the laser head along the rotation direction of the first rotating shaft is compensated according to the deviation, and further includes: The compensation amount of the zero point angle of the laser head along the rotation direction of the first rotation axis is calculated according to the deviation according to the first formula, and the first formula is R=(-1)*arcsin(△X / (2*S1)), wherein △X is the deviation between the first position and the second position in the X direction, and S1 is the preset swing arm length between the laser head and the first rotation axis.

11. The five-axis system laser head calibration method according to claim 9, characterized in that: The first rotating shaft drives the laser head to rotate around the center point by a predetermined angle of 180°, and the length of the swing arm between the laser head and the first rotating shaft is compensated according to the deviation, and further includes: The compensation amount of the swing arm length between the laser head and the first rotating axis is obtained according to the deviation amount in accordance with a second calculation formula, and the second formula is S2=S1+△Y / 2.

12. A laser head calibration device, wherein the calibration device can calibrate the movement of the laser head using the laser head calibration method according to any one of claims 1 to 11, wherein: The calibration device comprises a calibration block, in which a visual camera is arranged, and the calibration block has a light receiving surface irradiated by the laser head, and the light receiving surface is semi-transparent.

13. A computer device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the computer program, the steps of the laser head calibration method according to any one of claims 1 to 11 are implemented.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the laser head calibration method according to any one of claims 1 to 11 are implemented.

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