Galvanometer correction method, device and equipment, storage medium and computer program product

Abstract

The invention discloses a galvanometer correction method, a galvanometer correction device, galvanometer correction equipment, a storage medium and a computer program product, and relates to the technical field of laser scanning, and the galvanometer correction method comprises the following steps: dividing a visual area of a calibration camera, and correcting the calibration camera according to a division result; the galvanometer is corrected through the corrected calibration camera; according to the method, the visual area of the camera is firstly divided, then the calibrated camera is corrected, then the galvanometer is indirectly and automatically corrected according to the corrected calibrated camera, and errors caused by manual galvanometer correction are reduced.

Description

Technical Field

[0001] The present application relates to the field of laser scanning technology, and in particular to a galvanometer correction method, a galvanometer correction device, a galvanometer correction equipment, a storage medium and a computer program product. Background Art

[0002] Traditional galvanometer calibration methods usually rely on manual calibration, which involves manually collecting markers scanned by the galvanometer and adjusting the position of the galvanometer to compensate for system errors. Manual calibration requires multiple measurements and adjustments, which are affected by the operator's skills and experience, resulting in large galvanometer calibration errors.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present application is to provide a galvanometer correction method, a galvanometer correction device, a galvanometer correction equipment, a storage medium and a computer program product, aiming to solve the technical problem of large galvanometer calibration error.

[0005] To achieve the above purpose, the present application proposes a galvanometer correction method, the method comprising:

[0006] Dividing the visible area of ​​the calibration camera, and calibrating the calibration camera according to the division result;

[0007] The galvanometer is calibrated using the calibrated camera.

[0008] In one embodiment, the step of dividing the visible area of ​​the calibration camera and calibrating the calibration camera according to the division result includes:

[0009] Place the calibration plate in the visible area of ​​the camera;

[0010] Calculate the calibration parameters of the camera by taking the pixel positions of the feature points in the image after shooting the calibration plate and the actual positions of the feature points on the calibration plate;

[0011] The camera is subjected to distortion correction according to the calibration parameters.

[0012] In one embodiment, the step of calibrating the galvanometer by using the calibrated calibration camera includes:

[0013] Adjusting the offset, angle and mirror parameters of the galvanometer coordinate system so that the galvanometer coordinate system and the zero point of the galvanometer coordinate system coincide with the camera coordinate system and the zero point of the camera coordinate system;

[0014] When the camera field of view and the galvanometer field of view overlap, the number of grid rows and columns and the grid spacing are set in the camera visible area, and the visible area is divided to identify the cross points of the grids;

[0015] If the number of the cross points in the effective area of ​​the visible area is the same as the preset number of points, the galvanometer calibration is successful.

[0016] In one embodiment, after the galvanometer calibration step is successful, the following steps are included:

[0017] After successful control calibration, the galvanometer will mark a cross orthogonal mark on the workpiece to be processed;

[0018] Using a camera to photograph the cross orthogonal mark on the workpiece to be processed, to obtain an image containing the cross orthogonal mark;

[0019] Identify and extract the endpoints of the cross orthogonal mark in the image, and calculate the center point of the cross orthogonal mark according to the endpoints;

[0020] The position of the center point of the image in the pixel coordinate system is calculated based on the calibration parameters of the camera, and the center point of the cross orthogonal mark is compared with the center point of the image to see if they coincide.

[0021] According to the comparison result of whether the positions coincide, the marking position of the cross orthogonal mark of the galvanometer is adjusted until the center point of the new cross orthogonal mark coincides with the center point of the new image.

[0022] In one embodiment, the step of adjusting the marking position of the cross orthogonal mark of the galvanometer according to the comparison result of whether the positions overlap comprises:

[0023] If the center point of the cross orthogonal mark does not coincide with the center point of the image, the galvanometer is controlled to mark a new cross orthogonal mark, and a new marking position of the new cross orthogonal mark is identified.

[0024] In one embodiment, the galvanometer calibration method further includes:

[0025] Monitor the galvanometer in real time to obtain the actual deflection angle of the galvanometer;

[0026] The control parameters of the galvanometer are dynamically adjusted according to the difference between the actual angle deflection data and the target deflection angle, wherein the galvanometer is calibrated according to the adjusted control parameters.

[0027] In addition, to achieve the above-mentioned purpose, the present application also proposes a galvanometer calibration device, the galvanometer calibration device comprising: a calibration module, used to divide the visible area of ​​the calibration camera, and calibrate the calibration camera according to the division result;

[0028] The correction module is used to correct the galvanometer by using the corrected calibration camera.

[0029] In addition, to achieve the above-mentioned purpose, the present application also proposes a galvanometer correction device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the galvanometer correction method described above.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the galvanometer correction method described above are implemented.

[0031] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the galvanometer correction method described above are implemented.

[0032] Compared with the traditional method of manually calibrating the galvanometer, which results in large calibration errors of the galvanometer, the present application first divides the visible area of ​​the camera, then calibrates the camera to be calibrated, and then indirectly and automatically calibrates the galvanometer based on the calibrated camera, thereby reducing the error of manual calibration of the galvanometer. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of a flow chart of a first embodiment of a galvanometer calibration method of the present application;

[0036] Figure 2 A schematic diagram of a flow chart of a second embodiment of the galvanometer calibration method of the present application;

[0037] Figure 3 Schematic diagram of two types of coordinate systems provided for the second embodiment of the galvanometer correction method of the present application;

[0038] Figure 4 This is a schematic diagram of the module structure of the galvanometer correction device of this application;

[0039] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the galvanometer correction method of this application.

[0040] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0042] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0043] Due to factors such as the galvanometer mechanism itself, optical nonlinearity, and installation errors when the user integrates the laser control system, the galvanometer processing trajectory may be distorted. Therefore, the galvanometer needs to be calibrated so that the galvanometer processing trajectory meets the processing requirements.

[0044] The present application provides a solution, which first divides the visible area of ​​the camera, calibrates the camera, and then calibrates the galvanometer through the calibrated camera.

[0045] It should be noted that the execution subject of this embodiment can be a galvanometer correction system (hereinafter referred to as the system), or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a processor, etc. that can realize the above functions. The system is taken as an example to illustrate this embodiment and the following embodiments.

[0046] Based on this, the present application embodiment provides a galvanometer calibration method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the galvanometer calibration method of the present application.

[0047] In this embodiment, the galvanometer calibration method includes steps S10 to S20:

[0048] Step S10, dividing the visible area of ​​the calibration camera, and calibrating the calibration camera according to the division result;

[0049] It should be noted that dividing the visible area of ​​the calibration camera means dividing the visible area of ​​the camera into a grid of several columns and rows, and setting the spacing between the points on the grid, for example, to 5 millimeters or 5mm; after completing the division of the visible area, the division results will be used to adjust or optimize the camera parameters. The goals of correction usually include eliminating lens distortion, determining internal parameters (such as focal length, principal point position, etc.) and external parameters (such as the position of the camera relative to the world coordinate system). By analyzing the features in each divided area, these parameters can be calculated more accurately, thereby improving the accuracy and robustness of camera calibration.

[0050] In one embodiment, step S10 includes steps A10 to A30:

[0051] Step A10, placing a calibration plate in the visible area of ​​the camera;

[0052] It should be noted that a clean white A4 paper is placed within the visible area of ​​the camera, and a standard calibration plate (such as a film grid calibration plate, and it is necessary to ensure that the surface of the grid calibration plate has no bumps) is laid flat on the surface of the A4 paper.

[0053] Step A20, calculating the calibration parameters of the camera by taking the pixel positions of the feature points in the image after shooting the calibration plate and the actual positions of the feature points on the calibration plate;

[0054] It should be noted that after taking the image of the calibration plate, the feature points in the image are detected and their pixel coordinates on the image are recorded, where the pixel coordinates are two-dimensional and only reflect the position of the feature points on the image plane. The feature points on the calibration plate not only have positions in the image, but also have known actual positions in three-dimensional space (world coordinate system).

[0055] According to the pixel positions of the feature points in the image and their actual positions in the three-dimensional space, the calibration parameters of the camera can be calculated by minimizing the difference between the image coordinates and the actual coordinates through nonlinear optimization methods such as the least squares method. These parameters include internal parameters (such as focal length, principal point position, image sensor size and possible lens distortion coefficients) and external parameters (such as the position and attitude of the camera).

[0056] Step A30: performing distortion correction on the camera according to the calibration parameters.

[0057] It should be noted that the intrinsic parameters include focal length, principal point position, etc., while the distortion parameters describe the non-ideal characteristics of the lens, such as radial distortion (barrel or pincushion distortion) and tangential distortion. The inverse distortion function is applied, that is, each pixel in the distorted image is mapped back to the corresponding position in the undistorted image, to correct or remove the distortion caused by lens distortion in the image. For each pixel, the correction algorithm calculates its position in the undistorted image based on its position in the image and the distortion parameters. Then, through techniques such as interpolation, the pixel values ​​in the original image can be redistributed to the corrected positions.

[0058] The distortion-corrected image will more accurately reflect the real-world geometry, with straight lines appearing straighter and angles more accurate. For example, in measurement and laser processing, high-fidelity image data is required.

[0059] In this embodiment, by calibrating the camera and performing distortion correction, the shape and position of the object in the image can be made closer to the object in the real world, thereby improving the measurement accuracy.

[0060] Step S20, calibrating the galvanometer using the calibrated calibration camera.

[0061] It should be noted that in the galvanometer correction system, a calibrated camera (calibration camera) is used to further calibrate the galvanometer scanning; the camera that has completed the distortion correction can provide accurate and distortion-free images when shooting.

[0062] A galvanometer is an optical component used to quickly change the direction of a beam. In a galvanometer correction system, the accuracy and stability of the galvanometer have a direct impact on the final processing accuracy or scanning quality. Using a calibrated camera after correction, the position of the laser beam under galvanometer control can be monitored and analyzed in real time or offline. By taking an image of the galvanometer scanning path, the difference between the ideal scanning path and the actual path can be compared. Based on these differences, the control parameters of the galvanometer, such as scanning frequency, acceleration, offset, etc., can be adjusted to reduce deviations and improve the scanning accuracy of the galvanometer.

[0063] In another embodiment, the galvanometer calibration method includes steps B10 to B20:

[0064] Step B10, real-time monitoring of the galvanometer to obtain the actual deflection angle of the galvanometer;

[0065] It should be noted that while the galvanometer is working, it is continuously and uninterruptedly monitored. This monitoring is carried out dynamically and can capture the movement state of the galvanometer at every moment.

[0066] The deflection angle of the galvanometer refers to the rotation angle of the galvanometer relative to its initial position or set position. The purpose of real-time monitoring is to accurately measure the actual deflection angle of the galvanometer at any time. This is accomplished through sensors or cameras, which can capture the movement of the galvanometer and convert it into angle data.

[0067] Step B20, dynamically adjusting the control parameters of the galvanometer according to the difference between the actual angle deflection data and the target deflection angle, wherein the galvanometer is calibrated according to the adjusted control parameters.

[0068] It should be noted that in the galvanometer control system, the target deflection angle is the desired laser beam deflection angle set by the control system. The actual angle deflection data is the deflection angle actually achieved by the galvanometer when it is working. Based on the deviation between the actual angle deflection data and the target deflection angle, the control system will calculate and adjust the control parameters of the galvanometer in real time. The control parameters may include the rotation speed, acceleration, offset angle, etc. of the galvanometer; the adjusted control parameters are used to correct the movement of the galvanometer in real time so that its deflection angle is closer to the target value.

[0069] In this embodiment, during laser processing, real-time monitoring of the galvanometer deflection angle can timely detect errors in the scanning or marking process, improve the reliability of the galvanometer scanning and maintain the accuracy of the galvanometer correction system; according to the deviation between the actual angle deflection data and the target deflection angle, the control parameters of the galvanometer are dynamically adjusted to minimize the deviation between the actual angle deflection data and the target deflection angle, thereby realizing closed-loop control of the data, which helps to improve the efficiency of galvanometer scanning or marking.

[0070] In this embodiment, the galvanometer is calibrated by using a calibrated calibration camera, and the control signal of the galvanometer is dynamically adjusted according to the image captured by the camera to achieve a more precise scanning path, ensuring that the laser beam can move accurately along the preset path, thereby improving the accuracy of the galvanometer scanning.

[0071] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the first embodiment can refer to the above introduction, and will not be repeated in the following. Figure 2 Before step S10, the galvanometer calibration method further includes steps D10 to D30:

[0072] Step D10, adjusting the offset, angle and mirror parameters of the galvanometer coordinate system so that the galvanometer coordinate system and the zero point of the galvanometer coordinate system coincide with the camera coordinate system and the zero point of the camera coordinate system;

[0073] like Figure 3 As shown, the left side is the camera coordinate system, and the intersection of the two black lines on the left is the zero point of the camera coordinate system. The right side is the galvanometer coordinate system, and the intersection of the two black arrows on the right is the zero point of the galvanometer coordinate system.

[0074] It should be noted that the offset of the galvanometer coordinate system refers to the deviation between the zero position of the galvanometer and the actual physical position. By adjusting the offset, it can be ensured that the starting point of the galvanometer movement is consistent with the zero position expected by the system. The angle adjustment of the galvanometer coordinate system refers to the correction of the angle difference between the rotation axis of the galvanometer and the rotation axis expected by the system, which can ensure that the galvanometer moves accurately along the predetermined trajectory. The mirror parameter adjustment is to ensure that the way the galvanometer reflects the laser matches the reflection method in the system model.

[0075] The zero point of the camera coordinate system refers to the reference point in the camera image, usually the geometric center of the image. In the galvanometer correction system, this point should be aligned with the zero point of the galvanometer coordinate system in order to accurately calculate the position of the laser beam.

[0076] Step D20, when the camera field of view and the galvanometer field of view overlap, the number of grid rows and columns and the grid spacing are set in the camera visible area, and the visible area is divided to identify the cross intersection of the grid;

[0077] It should be noted that the overlap between the camera field of view and the galvanometer field of view means that the scanning field of the galvanometer can be observed through the camera, wherein the camera is a calibrated camera, and the camera's field of view is the galvanometer's field of view, which helps to ensure the accuracy of laser processing.

[0078] To facilitate subsequent analysis and positioning, the system will establish a grid system in the camera's visible area. The number of grid rows and columns refers to the number of grids in the horizontal and vertical directions, while the grid spacing is the distance between each grid. This step divides the camera's field of view into a series of ordered, equally spaced small squares, each of which can be regarded as a basic positioning unit. By setting the number of grid rows and columns and the grid spacing, the camera's field of view is automatically divided into multiple small square or rectangular areas, each of which has its own clear position coordinates. At the center point of each grid, the system will identify a cross intersection. These intersections are key positioning points in the grid system, and their positions can be accurately calculated and tracked. In laser processing or measurement applications, these points can be used as reference points for alignment or tracking to ensure that the laser beam can be accurately positioned at the target position.

[0079] Step D30: If the number of cross points in the effective area of ​​the visible area is the same as the preset number of points, the galvanometer calibration is successful.

[0080] It should be noted that the area in the camera's field of view used for laser processing is called the effective area. In this effective area, the system captures images through the camera and identifies the pre-set grid intersections, which are usually reference points for laser processing.

[0081] Before calibration, the system sets the number of cross points in the galvanometer calibration process to determine whether the galvanometer calibration is successful. When the number of cross points actually recognized by the camera in the effective area is the same as the preset number of points, and the positions of these points match the theoretical positions, the galvanometer calibration can be considered successful.

[0082] In this embodiment, the coordinate system alignment is combined with the grid division to eliminate the offset between the coordinate systems. The accurate coordinate positioning enables the laser to act precisely on the predetermined point, thereby improving the accuracy of laser processing.

[0083] In one embodiment, after step D30, steps E10 to E50 are included:

[0084] In this embodiment, the scenario is that laser processing is performed after the galvanometer is calibrated.

[0085] Step E10, controlling the galvanometer after successful calibration to mark a cross orthogonal mark on the workpiece to be processed;

[0086] It should be noted that the galvanometer marking the cross orthogonal mark on the workpiece after successful control calibration means that after the galvanometer system has been accurately calibrated and the parameters have been adjusted, the laser on the galvanometer system is used to mark a cross-shaped orthogonal mark on the surface of the workpiece. These marks are usually used to calibrate and verify the position accuracy during the processing to ensure that subsequent processing operations can be accurately performed in the predetermined position and direction. In the field of laser processing, cross orthogonal marks are a common calibration tool because their geometric shape is simple and easy to identify. By marking these marks on the workpiece, it can help operators or automation systems confirm the accuracy of the processing path.

[0087] The cross mark is a cross shape with a cross in the center, used for calibration and positioning. In laser marking applications, this mark can be laser engraved on the target material for subsequent positioning or measurement.

[0088] Step E20, using a camera to photograph the cross orthogonal mark on the workpiece to be processed, to obtain an image containing the cross orthogonal mark;

[0089] It should be noted that the system will use the camera to capture the cross orthogonal marks on the workpiece, and the position and angle of the camera should ensure that these cross orthogonal marks can be captured in the effective area of ​​the visual area. After shooting, the camera will generate and store one or a series of images containing cross orthogonal marks.

[0090] Step E30, identifying and extracting the endpoints of the cross orthogonal mark in the image, and calculating the center point of the cross orthogonal mark according to the endpoints;

[0091] It should be noted that the outline of the cross orthogonal mark is identified from the image through image processing algorithms (such as edge detection, Hough transform, etc.), and then the endpoints of the four line segments that make up the cross are accurately located. Since the standard cross mark is composed of two mutually perpendicular line segments, its center point is the intersection of the two line segments. In theory, this point can be calculated by the average position of the midpoints of the two line segments.

[0092] It is understandable that since the image may be distorted, directly identifying the endpoints of the cross orthogonal mark in the image and calculating the center point of the cross orthogonal mark will produce errors, so performing step E30 can reduce the errors of direct calculation after distortion.

[0093] Step E40, calculating the position of the center point of the image in the pixel coordinate system based on the calibration parameters of the camera, and comparing whether the center point of the cross orthogonal mark coincides with the position of the center point of the image;

[0094] It should be noted that based on the calibration parameters of the camera (including focal length, principal point position, etc.), the specific position of the center point of the image in the pixel coordinate system can be calculated. The center point of the image usually corresponds to the optical center of the camera lens and is the origin of the image coordinate system. Next, compare the center point of the previously calculated cross orthogonal mark (position in the image coordinate system) with the center point of the image to check whether the two points coincide. If the center point of the cross orthogonal mark coincides with the center point of the image, this indicates that the coordinate system of the laser galvanometer has been accurately calibrated to align with the camera coordinate system, and the laser beam under the control of the galvanometer can accurately perform laser processing with the center of the image as a reference.

[0095] It can be understood that by comparing whether the center point of the cross orthogonal mark coincides with the center point of the image, the effect of the calibration of the camera and the laser galvanometer system can be verified to ensure the reliable execution of high-precision processing.

[0096] Step E50, according to the comparison result of whether the positions coincide, adjust the marking position of the cross orthogonal mark marked by the galvanometer until the center point of the new cross orthogonal mark coincides with the center point of the new image.

[0097] It should be noted that step E50 illustrates how to adjust the marking position of the laser galvanometer through a feedback mechanism during laser marking to ensure that the marked cross orthogonal mark is completely aligned with the center point of the camera image.

[0098] Based on the image processing and analysis described in step E40, compare the center point of the marked cross orthogonal mark with the position of the center point of the image to evaluate whether the two completely overlap. If an offset is found between the two center points, the system will adjust the marking position of the galvanometer according to the offset and direction. This is achieved by changing the offset, angle or mirror parameters of the galvanometer to ensure that the laser beam can accurately mark the cross orthogonal mark at the new position. After the adjustment is completed, repeat the marking and image capture process of the cross orthogonal mark, and compare the position of the center point of the mark with the center point of the image again until the two completely overlap. When the center point of the new cross orthogonal mark overlaps with the center point of the new image, it indicates that the marking position of the laser galvanometer has been accurately adjusted.

[0099] In this embodiment, a cross orthogonal mark is marked on the workpiece through a calibrated galvanometer, an image containing the cross mark is captured, the endpoints are identified and the center point is calculated, the center point of the image is calculated based on the camera calibration parameters, and compared with the center point of the cross orthogonal mark, the alignment accuracy is detected, and the marking position of the galvanometer is adjusted according to the comparison result until the center point of the mark completely coincides with the center point of the image to achieve accurate alignment. Through closed-loop control and accurate alignment, automated marking, detection and adjustment are realized, manual intervention is reduced, processing errors caused by inaccurate alignment are reduced, and production efficiency is improved.

[0100] In another embodiment, step E50 includes:

[0101] If the center point of the cross orthogonal mark does not coincide with the center point of the image, the galvanometer is controlled to mark a new cross orthogonal mark, and a new marking position of the new cross orthogonal mark is identified.

[0102] It should be noted that this embodiment is a process in which the center point of the cross orthogonal mark is ensured to coincide with the center point of the image by adjusting the galvanometer in the galvanometer marking system.

[0103] After the cross orthogonal mark is engraved, it is photographed by a camera. If the center point of the cross orthogonal mark is found to be inconsistent with the center point in the image, it means that there is an error in the galvanometer and correction is required. To correct this error, the system will adjust the control parameters of the galvanometer and re-mark the cross orthogonal mark; after re-marking, the system will use the camera to identify and analyze the newly engraved cross orthogonal mark again, through multiple iterations, until the center point of the cross orthogonal mark completely coincides with the center point of the image or reaches an acceptable error range.

[0104] In this embodiment, through image processing technology, the system can identify the center point position of the new cross orthogonal mark, determine whether it coincides with the center point of the image, and calculate the size of the offset between the center point of the new cross orthogonal mark and the center point of the image, and then adjust the parameters of the galvanometer according to the offset; finally, through multiple iterations, until the center point of the cross orthogonal mark completely coincides with the center point of the image or reaches an acceptable error range, this process ensures the accuracy and reliability of the galvanometer marking.

[0105] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the galvanometer correction method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0106] This application also provides a galvanometer correction device, please refer to Figure 4 , the galvanometer correction device comprises:

[0107] The calibration module 10 is used to divide the visible area of ​​the calibration camera and calibrate the calibration camera according to the division result;

[0108] The calibration module 20 is used to calibrate the galvanometer by using the calibrated calibration camera.

[0109] Optionally, the calibration module 10 is further used to place a calibration plate in the visible area of ​​the camera;

[0110] Calculate the calibration parameters of the camera by taking the pixel positions of the feature points in the image after shooting the calibration plate and the actual positions of the feature points on the calibration plate;

[0111] The camera is subjected to distortion correction according to the calibration parameters.

[0112] Optionally, the correction module 20 is further used to adjust the offset, angle and mirror parameters of the galvanometer coordinate system so that the galvanometer coordinate system and the zero point of the galvanometer coordinate system coincide with the camera coordinate system and the zero point of the camera coordinate system;

[0113] When the camera field of view and the galvanometer field of view overlap, the number of grid rows and columns and the grid spacing are set in the camera visible area, and the visible area is divided to identify the cross points of the grids;

[0114] If the number of the cross points in the effective area of ​​the visible area is the same as the preset number of points, the galvanometer calibration is successful.

[0115] Optionally, the correction module 20 is further used to control the galvanometer to mark a cross orthogonal mark on the workpiece after successful correction;

[0116] Using a camera to photograph the cross orthogonal mark on the workpiece to be processed, to obtain an image containing the cross orthogonal mark;

[0117] Identify and extract the endpoints of the cross orthogonal mark in the image, and calculate the center point of the cross orthogonal mark according to the endpoints;

[0118] The position of the center point of the image in the pixel coordinate system is calculated based on the calibration parameters of the camera, and the center point of the cross orthogonal mark is compared with the center point of the image to see if they coincide.

[0119] According to the comparison result of whether the positions coincide, the marking position of the cross orthogonal mark of the galvanometer is adjusted until the center point of the new cross orthogonal mark coincides with the center point of the new image.

[0120] Optionally, the correction module 20 is further used to control the galvanometer to mark a new cross orthogonal mark if the center point of the cross orthogonal mark does not coincide with the center point of the image, and identify a new marking position of the new cross orthogonal mark.

[0121] The galvanometer correction device also includes:

[0122] Monitor the galvanometer in real time to obtain the actual deflection angle of the galvanometer;

[0123] The control parameters of the galvanometer are dynamically adjusted according to the difference between the actual angle deflection data and the target deflection angle, wherein the galvanometer is calibrated according to the adjusted control parameters.

[0124] The galvanometer correction device provided by the present application adopts the galvanometer correction method in the above embodiment, which can solve the technical problem of large galvanometer calibration error. Compared with the prior art, the beneficial effects of the galvanometer correction device provided by the present application are the same as the beneficial effects of the galvanometer correction method provided by the above embodiment, and other technical features in the galvanometer correction device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0125] The present application provides a galvanometer correction device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the galvanometer correction method in the first embodiment described above.

[0126] Reference below Figure 5, which shows a schematic diagram of the structure of a galvanometer correction device suitable for implementing the embodiment of the present application. The galvanometer correction device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The galvanometer correction device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0127] like Figure 5 As shown, the galvanometer correction device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the galvanometer correction device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the galvanometer correction device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a galvanometer correction device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0128] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0129] The galvanometer correction device provided by the present application adopts the galvanometer correction method in the above embodiment, which can solve the technical problem of large galvanometer calibration error. Compared with the prior art, the beneficial effects of the galvanometer correction device provided by the present application are the same as the beneficial effects of the galvanometer correction method provided by the above embodiment, and the other technical features in the galvanometer correction device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0130] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0131] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0132] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the galvanometer correction method in the above-mentioned embodiment.

[0133] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0134] The computer-readable storage medium may be included in the galvanometer correction device; or may exist independently without being assembled into the galvanometer correction device.

[0135] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the galvanometer calibration device, the galvanometer calibration device: divides the visible area of ​​the calibration camera, and calibrates the calibration camera according to the division result; and calibrates the galvanometer through the calibrated camera.

[0136] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession 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 square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0138] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0139] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned galvanometer correction method, and can solve the technical problem of large galvanometer calibration errors. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the galvanometer correction method provided by the above-mentioned embodiment, and will not be repeated here.

[0140] The present application also provides a computer program product, including a computer program, which implements the steps of the galvanometer correction method as described above when executed by a processor.

[0141] The computer program product provided by this application can solve the technical problem of large galvanometer calibration error. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the galvanometer calibration method provided by the above embodiment, which will not be repeated here.

[0142] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A galvanometer calibration method, characterized in that: The method comprises: Dividing the visible area of ​​the calibration camera, and calibrating the calibration camera according to the division result; The galvanometer is calibrated using the calibrated camera.

2. The method according to claim 1, characterized in that The step of dividing the visible area of ​​the calibration camera and calibrating the calibration camera according to the division result includes: Place the calibration plate in the visible area of ​​the camera; Calculate the calibration parameters of the camera by taking the pixel positions of the feature points in the image after shooting the calibration plate and the actual positions of the feature points on the calibration plate; The camera is subjected to distortion correction according to the calibration parameters.

3. The method according to claim 1, characterized in that The step of calibrating the galvanometer by using the calibrated calibration camera comprises: Adjusting the offset, angle and mirror parameters of the galvanometer coordinate system so that the galvanometer coordinate system and the zero point of the galvanometer coordinate system coincide with the camera coordinate system and the zero point of the camera coordinate system; When the camera field of view and the galvanometer field of view overlap, the number of grid rows and columns and the grid spacing are set in the camera visible area, and the visible area is divided to identify the cross points of the grids; If the number of the cross points in the effective area of ​​the visible area is the same as the preset number of points, the galvanometer calibration is successful.

4. The method according to claim 3, characterized in that After the galvanometer calibration is successful, the following steps are included: After successful control calibration, the galvanometer will mark a cross orthogonal mark on the workpiece to be processed; Using a camera to photograph the cross orthogonal mark on the workpiece to be processed, to obtain an image containing the cross orthogonal mark; Identify and extract the endpoints of the cross orthogonal mark in the image, and calculate the center point of the cross orthogonal mark according to the endpoints; The position of the center point of the image in the pixel coordinate system is calculated based on the calibration parameters of the camera, and the center point of the cross orthogonal mark is compared with the center point of the image to see if they coincide. According to the comparison result of whether the positions coincide, the marking position of the cross orthogonal mark of the galvanometer is adjusted until the center point of the new cross orthogonal mark coincides with the center point of the new image.

5. The method according to claim 4, characterized in that The step of adjusting the marking position of the cross orthogonal mark of the galvanometer according to the comparison result of whether the positions overlap comprises: If the center point of the cross orthogonal mark does not coincide with the center point of the image, the galvanometer is controlled to mark a new cross orthogonal mark, and a new marking position of the new cross orthogonal mark is identified.

6. The method according to claim 1, characterized in that The galvanometer correction method further comprises: Monitor the galvanometer in real time to obtain the actual deflection angle of the galvanometer; The control parameters of the galvanometer are dynamically adjusted according to the difference between the actual angle deflection data and the target deflection angle, wherein the galvanometer is calibrated according to the adjusted control parameters.

7. A galvanometer correction device, characterized in that: The galvanometer correction device comprises: A calibration module, used to divide the visible area of ​​the calibration camera and calibrate the calibration camera according to the division result; The correction module is used to correct the galvanometer by using the corrected calibration camera.

8. A galvanometer calibration device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the galvanometer correction method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the galvanometer correction method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the galvanometer correction method according to any one of claims 1 to 6 are implemented.

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