Visual calibration method with positioner for five-axis laser equipment

Abstract

The invention provides a visual calibration method with a positioner for five-axis laser equipment, and the method comprises the steps: rotating an A axis and a C axis, and enabling laser to be imaged on a camera with a curtain, which is disposed on the positioner, so as to obtain a first laser coordinate; the positioner is used for changing the pose of the camera with the curtain; the first pose of the camera with the curtain is that the camera axis is in the y-axis negative direction of the machine tool; the second pose of the camera with the curtain is the positive direction of the camera axis along the z-axis of the machine tool; calculating an A-axis rotation zero point and a C-axis rotation zero point by using the first laser coordinate; according to the A-axis rotation zero point and the C-axis rotation zero point, the A axis and the C axis are rotated, so that laser is imaged on a camera with a curtain installed on the positioner to obtain a second laser coordinate; and calculating the arm length of the A axis and the arm length of the C axis by using the second laser coordinate. The invention further provides a visual calibration device with the positioner for the five-axis laser equipment and electronic equipment.

Description

Technical Field

[0001] The present disclosure relates to the field of laser processing, and more specifically to a vision calibration method with a positioner for a five-axis laser device. Background Art

[0002] In the industrial field, three-dimensional five-axis laser machine tools are a very common processing equipment, which can be used for plane and groove cutting of sheet metal parts, spatial curve cutting of three-dimensional structural parts, etc. Three-dimensional five-axis laser cutting machine tools generally have the RTCP function, which can realize the rotation of the end of the machine tool around the tool tip (laser focus) at the same xyz position. For the spatial curve processing of complex structural parts, the RTCP function must be guaranteed. In order to realize the RTCP function and improve the five-axis cutting accuracy of the machine tool, it is necessary to calibrate the parameters of the end rotation axis of the machine tool. For the five-axis machine tool with AC double swing head, the parameters that affect the RTCP function include the A-axis arm length, A-axis rotation zero point, C-axis arm length and C-axis rotation zero point.

[0003] At present, the calibration of RTCP parameters in the industry is mainly completed by processing test pieces, which is costly and inefficient. Some methods also use special equipment or visual cameras to complete RTCP calibration, but these methods can only calibrate 2 of the 4 RTCP parameters, or require multiple measurements and iterations, which is not efficient, or require multiple industrial cameras, which is costly. Therefore, the industry needs a low-cost method that can quickly calibrate all RTCP parameters. Summary of the invention

[0004] In view of the above problems, the present disclosure provides a method for visual calibration of a five-axis laser device with a positioner, which utilizes an industrial camera installed on a positioner to quickly calibrate the RTCP parameters of a five-axis laser cutting machine.

[0005] The present disclosure provides a visual calibration method with a positioner for a five-axis laser device, comprising: rotating the A-axis and the C-axis so that the laser is imaged on a camera with a screen installed on the positioner to obtain a first laser coordinate; the positioner is used to change the posture of the camera with a screen; the first posture of the camera with a screen is that the axis of the camera is along the negative direction of the y-axis of the machine tool; the second posture of the camera with a screen is that the axis of the camera is along the positive direction of the z-axis of the machine tool; using the first laser coordinate, calculating the A-axis rotation zero point and the C-axis rotation zero point; according to the A-axis rotation zero point and the C-axis rotation zero point, rotating the A-axis and the C-axis so that the laser is imaged on the camera with a screen installed on the positioner to obtain a second laser coordinate; using the second laser coordinate, calculating the A-axis arm length and the C-axis arm length.

[0006] According to an embodiment of the present disclosure, the first laser coordinates include an A-axis positioning coordinate and a C-axis positioning coordinate; rotating the A-axis and the C-axis so that the laser is imaged on a camera with a screen installed on a positioner to obtain the first laser coordinates, including: rotating the A-axis and the C-axis so that the laser is imaged on the camera with a screen in the first posture to obtain the A-axis positioning coordinates; the A-axis positioning coordinates are used to locate the A-axis rotation zero point; using the positioner to convert the camera with a screen to a second posture; rotating the A-axis and the C-axis so that the laser is imaged on the camera with a screen in the second posture to obtain the C-axis positioning coordinates; the C-axis positioning coordinates are used to locate the C-axis rotation zero point.

[0007] According to an embodiment of the present disclosure, the A-axis positioning coordinates include a first z-axis coordinate and a second z-axis coordinate; rotating the A-axis and the C-axis so that the laser is imaged on the camera with a screen in the first position to obtain the A-axis positioning coordinates, including: rotating the A-axis until the A-axis arm is approximately parallel to the y-axis; rotating the C-axis until the C-axis arm is approximately parallel to the x-axis; adjusting the laser head so that the laser is imaged on the camera with a screen in the first position, and recording the first z-axis coordinate; rotating the A-axis and the C-axis 180 degrees, moving the laser head along the x-axis of the machine tool so that the laser is imaged on the camera with a screen in the first position, and recording the second z-axis coordinate.

[0008] According to an embodiment of the present disclosure, using the first laser coordinates, calculating the A-axis rotation zero point includes: using the first z-axis coordinates and the second z-axis coordinates, calculating the A-axis deflection angle; using the A-axis deflection angle, determining the A-axis rotation zero point;

[0009] The formula for calculating the deflection angle of the A-axis is as follows:

[0010]

[0011] In the formula, z p1 is the first z-axis coordinate; z p2 is the second z-axis coordinate; L xA The distance moved along the machine tool x-axis to obtain the second z-axis coordinate.

[0012] According to an embodiment of the present disclosure, the C-axis positioning coordinates include a first y-axis coordinate and a second y-axis coordinate; rotating the A-axis and the C-axis so that the laser is imaged on the camera with a screen in a second position to obtain the C-axis positioning coordinates, including: rotating the A-axis until the A-axis arm is approximately parallel to the z-axis; rotating the C-axis until the C-axis arm is approximately parallel to the x-axis; adjusting the laser head so that the laser is imaged on the camera with a screen in a second position, and recording the first y-axis coordinate; rotating the C-axis 180 degrees, moving the laser head along the x-axis of the machine tool so that the laser is imaged on the camera with a screen in a second position, and recording the second y-axis coordinate.

[0013] According to an embodiment of the present disclosure, using the first laser coordinate, calculating the C-axis rotation zero point includes: using the first y-axis coordinate and the second y-axis coordinate, calculating the C-axis deflection angle; using the C-axis deflection angle, determining the C-axis rotation zero point;

[0014] The formula for calculating the C-axis deflection angle is as follows:

[0015]

[0016] In the formula, y p1 is the first y-axis coordinate; p2 is the second y-axis coordinate; L xC The distance moved along the machine tool's x-axis to obtain the second y-axis coordinate.

[0017] According to an embodiment of the present disclosure, the second laser coordinates include at least a third z-axis coordinate, a fourth z-axis coordinate, a third y-axis coordinate, and a fourth y-axis coordinate; according to the A-axis rotation zero point and the C-axis rotation zero point, the A-axis and the C-axis are rotated so that the laser is imaged on a camera with a curtain installed on a positioner to obtain the second laser coordinates, including: using the positioner to convert the camera with a curtain into a first posture; rotating the C-axis to the C-axis rotation zero point, rotating the A-axis to a first angle, adjusting the laser head so that the laser is imaged on the camera with a curtain in the first posture, and recording the third z-axis. A-axis coordinates; rotate the A-axis to a negative first angle, move the laser head along the machine tool z-axis so that the laser images on the camera with a screen in the first position, and record the fourth z-axis coordinates; use a positioner to convert the camera with a screen to a second position; rotate the A-axis to negative 90 degrees, rotate the C-axis to the second angle, adjust the laser head so that the laser images on the camera with a screen in the second position, and record the third y-axis coordinates; rotate the C-axis to a negative second angle, move the laser head along the machine tool y-axis so that the laser images on the camera with a screen in the second position, and record the fourth y-axis coordinates.

[0018] According to an embodiment of the present disclosure, using the second laser coordinate, calculating the A-axis arm length and the C-axis arm length includes: using the third z-axis coordinate and the fourth z-axis coordinate to calculate the A-axis arm length; using the third y-axis coordinate and the fourth y-axis coordinate to calculate the C-axis arm length;

[0019] The formula for calculating the A-axis arm length is as follows:

[0020]

[0021] In the formula, z p3 is the third z-axis coordinate; p4 is the fourth z-axis coordinate; L Az The distance moved along the z-axis of the machine tool when obtaining the fourth z-axis coordinate; θ A1 is the first angle;

[0022] The formula for calculating the C-axis arm length is as follows:

[0023]

[0024] In the formula, y p3 is the third y-axis coordinate; p4 is the fourth y-axis coordinate; L Cy The distance moved along the y-axis of the machine tool when obtaining the fourth y-axis coordinate; θ C1 The second angle.

[0025] The second aspect of the present disclosure provides a visual calibration device with a positioner for a five-axis laser device, which can be used to implement the visual calibration method with a positioner for the above-mentioned five-axis laser device, including: a zero-point coordinate module, used to rotate the A-axis and the C-axis so that the laser is imaged on a camera with a curtain installed on the positioner to obtain a first laser coordinate; the positioner is used to change the posture of the camera with a curtain; the first posture of the camera with a curtain is that the camera axis is along the negative direction of the y-axis of the machine tool; the second posture of the camera with a curtain is that the camera axis is along the positive direction of the z-axis of the machine tool; a zero-point calculation module, used to calculate the A-axis rotation zero point and the C-axis rotation zero point using the first laser coordinate; an arm length coordinate module, used to rotate the A-axis and the C-axis according to the A-axis rotation zero point and the C-axis rotation zero point, so that the laser is imaged on the camera with a curtain installed on the positioner to obtain a second laser coordinate; an arm length calculation module, used to calculate the A-axis arm length and the C-axis arm length using the second laser coordinate.

[0026] A third aspect of the present disclosure provides an electronic device, comprising: one or more processors; a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the above-mentioned five-axis laser device with positioner visual calibration method.

[0027] According to the visual calibration of the five-axis laser equipment with positioner provided by the present disclosure, the RTCP parameters are calibrated by an industrial camera installed on the positioner. Since the one-time calibration of four parameters does not require complex equipment and iterative calculations, the technical problems of low RTCP calibration accuracy and slow speed due to multiple iterations are at least partially solved, achieving the technical effect of improving calibration efficiency and simplifying the calibration process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A flowchart of a method for visual calibration of a five-axis laser device with a positioner according to an embodiment of the present disclosure is schematically shown;

[0029] Figure 2 A schematic diagram of a five-axis laser cutting machine and a visual calibration device with a positioner according to an embodiment of the present disclosure is schematically shown;

[0030] Figure 3Schematically shows the configuration and zero point position diagram of the AC shaft according to an embodiment of the present disclosure;

[0031] Figure 4 A schematic diagram of the rotation angle of the positioner when calibrating the A-axis and the C-axis according to an embodiment of the present disclosure is schematically shown;

[0032] Figure 5 The structural block diagram of the visual calibration device with positioner of the five-axis laser equipment according to the embodiment of the present disclosure is schematically shown;

[0033] Figure 6 A block diagram of an electronic device with a positioner suitable for implementing a visual calibration method for a five-axis laser device according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0034] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0035] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0036] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0037] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0038] First, the technical terms involved in this disclosure are explained as follows:

[0039] Five-axis laser equipment: Figure 2As shown, the five-axis laser cutting machine and AC-axis RTCP parameter calibration equipment disclosed in the present invention include 1-machine base; 2-Y-axis column; 3-Z-axis column; 4-C-axis swing head; 5-A-axis swing head with laser head; 6-industrial camera; 7-positioner; 8-positioner bracket. Among them, 6-industrial camera is a 2D camera with a curtain, which is installed on 7-positioner, and 7-positioner is connected to 8-positioner bracket through a rotating shaft parallel to the x-axis of the machine tool. The 8-positioner bracket is installed on 1-machine base, and 7-positioner can rotate around the axis, thereby changing the position and posture of 6-industrial camera. The machine coordinate system of the five-axis machine tool is defined as that the x-axis is parallel to the guide rail of the machine base, the y-axis is parallel to the gantry truss of the 2-Y-axis column, and the z-axis is parallel to the Z-axis column. The industrial camera needs to have two photo poses, one for calibrating the A-axis RTCP parameters and the other for calibrating the C-axis RTCP parameters.

[0040] like Figure 3 As shown, the RTCP parameters described in this disclosure include the A-axis arm length, the A-axis rotation zero point, the C-axis arm length and the C-axis rotation zero point, a total of 4 parameters. When the AC axis angles are both 0° (at the zero point), the posture of the machine tool swing head is as follows Figure 3 As shown. The positive direction of the A axis is determined by the positive direction of the right-hand screw rule around the x axis, and the positive direction of the C axis is determined by the positive direction of the right-hand screw rule around the z axis. The laser light of the laser head is perpendicular to the A axis and intersects at one point.

[0041] like Figure 4 As shown, in the device described in the present disclosure, there are two positions and postures for the industrial camera to take pictures, one for measuring the RTCP parameters of the A axis, and the other for measuring the RTCP parameters of the C axis. Among them, the position and posture for measuring the RTCP parameters of the A axis are as follows: Figure 4 As shown in (a), the axis of the industrial camera is along the negative direction of the machine tool y-axis; the pose used to measure the C-axis RTCP parameters is as follows Figure 4 As shown in (b), the axis of the industrial camera is along the positive direction of the machine tool z-axis.

[0042] Figure 1 A flowchart of a method for visual calibration of a five-axis laser device with a positioner according to an embodiment of the present disclosure is schematically shown. Figure 1As shown, an embodiment of the present disclosure provides a visual calibration method with a positioner for a five-axis laser device, comprising: rotating the A-axis and the C-axis so that the laser is imaged on a camera with a screen installed on the positioner to obtain a first laser coordinate; the positioner is used to change the posture of the camera with a screen; the first posture of the camera with a screen is that the camera axis is along the negative direction of the y-axis of the machine tool; the second posture of the camera with a screen is that the camera axis is along the positive direction of the z-axis of the machine tool; using the first laser coordinate, calculating the A-axis rotation zero point and the C-axis rotation zero point; according to the A-axis rotation zero point and the C-axis rotation zero point, rotating the A-axis and the C-axis so that the laser is imaged on the camera with a screen installed on the positioner to obtain a second laser coordinate; using the second laser coordinate, calculating the A-axis arm length and the C-axis arm length.

[0043] Through the embodiments of the present disclosure, the RTCP calibration method proposed in the present disclosure is easier to operate, has fewer calculation steps, does not require iterative operations, is more efficient, and only requires the use of an industrial camera. The visual system cost is relatively low and no complicated physical adjustments are required. The use of visual system calibration replaces the traditional mechanical alignment method, simplifies the calibration process, and is of great significance to the RTCP calibration of the five-axis laser cutting machine and the improvement of the interpolation accuracy of the laser processing equipment.

[0044] On the basis of the above embodiment, the first laser coordinates include A-axis positioning coordinates and C-axis positioning coordinates; rotating the A-axis and the C-axis so that the laser is imaged on a camera with a screen installed on a positioner to obtain the first laser coordinates, including: rotating the A-axis and the C-axis so that the laser is imaged on the camera with a screen in the first posture to obtain the A-axis positioning coordinates; the A-axis positioning coordinates are used to locate the A-axis rotation zero point; using the positioner to convert the camera with a screen to the second posture; rotating the A-axis and the C-axis so that the laser is imaged on the camera with a screen in the second posture to obtain the C-axis positioning coordinates; the C-axis positioning coordinates are used to locate the C-axis rotation zero point.

[0045] Through the embodiments of the present disclosure, the laser is imaged on the camera by rotating the A-axis and the C-axis, and the positioning coordinates of the A-axis and the C-axis can be obtained through these imaging data; the required imaging data can be obtained by rotating the camera posture through the positioner.

[0046] On the basis of the above embodiment, the A-axis positioning coordinates include a first z-axis coordinate and a second z-axis coordinate; rotating the A-axis and the C-axis so that the laser is imaged on the camera with a screen in the first position to obtain the A-axis positioning coordinates, including: rotating the A-axis until the A-axis arm is approximately parallel to the y-axis; rotating the C-axis until the C-axis arm is approximately parallel to the x-axis; adjusting the laser head so that the laser is imaged on the camera with a screen in the first position, and recording the first z-axis coordinate; rotating the A-axis and the C-axis 180 degrees, moving the laser head along the x-axis of the machine tool so that the laser is imaged on the camera with a screen in the first position, and recording the second z-axis coordinate.

[0047] In this embodiment, the positioner is rotated to the position for measuring the A-axis RTCP parameters. Then, the A-axis and C-axis angles are adjusted so that the laser light is along the positive direction of the y-axis. Then, the xyz axis of the machine tool is driven and the laser head is translated so that the laser light is projected onto the screen of the industrial camera and the laser point is focused near the center of the screen. The z coordinate of the laser point on the screen at this time is recorded. p1 Then, rotate the A axis 180 degrees, rotate the C axis 180 degrees, and move L along the machine tool x-axis. xA Move the laser beam back to the screen range and record the z coordinate of the laser point on the screen at this time. p2 .

[0048] In this embodiment, preferably, since the laser head is moved in order to enable the laser to be imaged at the center of the smaller camera screen, the distance moved along the x-axis of the machine tool can be determined according to the initial A-axis arm length L determined by the mechanical design drawing of the machine tool. A0 and C-axis arm length L C0 To determine, improve movement and imaging speed.

[0049] According to the embodiments of the present disclosure, by rotating the A-axis and the C-axis, the camera posture is adjusted so that the laser is imaged on the camera screen, thereby obtaining two different z-axis coordinates of the A-axis. Through these two coordinates, the deflection angle of the A-axis can be further calculated.

[0050] On the basis of the above embodiment, using the first laser coordinates, calculating the A-axis rotation zero point includes: using the first z-axis coordinates and the second z-axis coordinates, calculating the A-axis deflection angle; using the A-axis deflection angle, determining the A-axis rotation zero point;

[0051] The formula for calculating the deflection angle of the A-axis is as follows:

[0052]

[0053] In the formula, z p1 is the first z-axis coordinate; z p2 is the second z-axis coordinate; L xA The distance moved along the machine tool x-axis to obtain the second z-axis coordinate.

[0054] It should be noted that since the A-axis deflection angle of the manually adjusted rough zero point is not large, arctan can be used to obtain the same effect as arcsin. At the same time, the domain of the inverse sine function is [-1,1], that is, its input value can only be within this interval. The domain of the inverse tangent function is all real numbers. Therefore, for ratio problems, using the inverse tangent function is a more generally applicable choice. For similar reasons, the C-axis deflection angle is also calculated using the inverse tangent function.

[0055] Through the embodiments of the present disclosure, the deflection angle of the A-axis is calculated using the first and second z-axis coordinates, and the zero point of the A-axis is determined based on the deflection angle. Based on the precise coordinate difference and angle calculation, the zero point position of the A-axis can be accurately determined; through a formulated method, the deflection angle of the A-axis can be automatically calculated, and the calibration process is simplified.

[0056] Based on the above embodiment, the C-axis positioning coordinates include a first y-axis coordinate and a second y-axis coordinate; rotating the A-axis and the C-axis so that the laser is imaged on the camera with a screen in a second position to obtain the C-axis positioning coordinates, including: rotating the A-axis until the A-axis arm is approximately parallel to the z-axis; rotating the C-axis until the C-axis arm is approximately parallel to the x-axis; adjusting the laser head so that the laser is imaged on the camera with a screen in a second position, and recording the first y-axis coordinate; rotating the C-axis 180 degrees, moving the laser head along the x-axis of the machine tool so that the laser is imaged on the camera with a screen in a second position, and recording the second y-axis coordinate.

[0057] In this embodiment, the positioner is rotated to a position for measuring the C-axis RTCP parameters. Using the calibrated A-axis rotation zero point, the A-axis angle is adjusted so that the laser light is along the negative direction of the z-axis. Then, the C-axis is adjusted so that the A-axis is roughly along the positive direction of the x-axis. Then, the xyz axis of the machine tool is driven and the laser head is translated so that the laser light is projected onto the screen of the industrial camera and the laser point is focused near the center of the screen. The y coordinate y of the laser point on the screen is recorded at this time. p1 Then, rotate the C axis 180° and move L along the machine tool x-axis. xC Move the laser beam back to the screen range and record the y coordinate of the laser point on the screen. p2 .

[0058] Through the embodiments of the present disclosure, by rotating the A-axis and C-axis, the camera posture is adjusted so that the laser is imaged on the camera screen, thereby obtaining accurate C-axis positioning coordinates, further optimizing the positioning accuracy of the device. Compared with traditional mechanical measurement methods, visual calibration significantly reduces manual operations and improves work efficiency.

[0059] According to an embodiment of the present disclosure, using the first laser coordinate, calculating the C-axis rotation zero point includes: using the first y-axis coordinate and the second y-axis coordinate, calculating the C-axis deflection angle; using the C-axis deflection angle, determining the C-axis rotation zero point;

[0060] The formula for calculating the C-axis deflection angle is as follows:

[0061]

[0062] In the formula, y p1 is the first y-axis coordinate; p2 is the second y-axis coordinate; L xCThe distance moved along the machine tool's x-axis to obtain the second y-axis coordinate.

[0063] Through the embodiments of the present disclosure, the first and second y-axis coordinates are used to calculate the deflection angle of the C-axis, and the zero point of the C-axis is determined according to the deflection angle, thereby ensuring the motion accuracy of the C-axis and improving the working stability of the entire laser device. A0 and θ C0 , set the precise zero point of the machine tool AC axis, so that when the A axis angle is 0°, the laser head is in the horizontal direction, and when the C axis is 0°, the A axis is in the direction of the machine tool x axis.

[0064] On the basis of the above embodiment, the second laser coordinates at least include a third z-axis coordinate, a fourth z-axis coordinate, a third y-axis coordinate and a fourth y-axis coordinate; according to the A-axis rotation zero point and the C-axis rotation zero point, the A-axis and the C-axis are rotated so that the laser is imaged on a camera with a curtain installed on a positioner to obtain the second laser coordinates, including: using the positioner to convert the camera with a curtain to a first posture; rotating the C-axis to the C-axis rotation zero point, rotating the A-axis to a first angle, adjusting the laser head so that the laser is imaged on the camera with a curtain in the first posture, and recording the third z-axis coordinate; rotate the A-axis to the negative first angle, move the laser head along the machine tool z-axis so that the laser is imaged on the camera with a screen in the first position, and record the fourth z-axis coordinate; use the positioner to convert the camera with a screen to the second position; rotate the A-axis to negative 90 degrees, rotate the C-axis to the second angle, adjust the laser head so that the laser is imaged on the camera with a screen in the second position, and record the third y-axis coordinate; rotate the C-axis to the negative second angle, move the laser head along the machine tool y-axis so that the laser is imaged on the camera with a screen in the second position, and record the fourth y-axis coordinate.

[0065] Through the embodiments of the present disclosure, by further adjusting the positions of the A-axis and the C-axis, multiple new coordinate points (such as the third z-axis, the fourth z-axis, the third y-axis and the fourth y-axis coordinates) are recorded for calculating the arm length of the device. By adjusting the positioner, it is ensured that the imaging data of each axis can be recorded.

[0066] On the basis of the above embodiment, the A-axis arm length and the C-axis arm length are calculated using the second laser coordinate, including: using the third z-axis coordinate and the fourth z-axis coordinate to calculate the A-axis arm length; using the third y-axis coordinate and the fourth y-axis coordinate to calculate the C-axis arm length;

[0067] The formula for calculating the A-axis arm length is as follows:

[0068]

[0069] In the formula, z p3 is the third z-axis coordinate; p4 is the fourth z-axis coordinate; L Az The distance moved along the z-axis of the machine tool when obtaining the fourth z-axis coordinate; θA1 is the first angle;

[0070] The formula for calculating the C-axis arm length is as follows:

[0071]

[0072] In the formula, y p3 is the third y-axis coordinate; p4 is the fourth y-axis coordinate; L Cy The distance moved along the y-axis of the machine tool when obtaining the fourth y-axis coordinate; θ C1 The second angle.

[0073] In this embodiment, the A-axis arm length is calibrated. First, the positioner is rotated to the position for measuring the A-axis RTCP parameters. Then, using the calibrated A-axis rotation zero point and C-axis rotation zero point, the C-axis angle is rotated to an accurate 0° and the A-axis angle is rotated to an accurate θ A1 (0°<θ A1 <45°). Then, drive the xyz axis of the machine tool and translate the laser head so that the laser beam is projected onto the screen of the industrial camera and the laser point is focused near the center of the screen. Record the z coordinate of the laser point on the screen at this time. p3 Then, rotate the A-axis to -θ A1 , the laser head moves L along the negative direction of the machine tool z-axis Az The distance between the laser and the screen is such that the laser can form an image on the screen of the camera and the z coordinate of the laser point on the screen is recorded. p4 It should be noted that, similarly, the purpose of moving the laser head along the z-axis of the machine tool is to enable the laser to image in the center of the smaller camera screen, so the distance can be determined based on the initial A-axis arm length L determined by the mechanical design drawing of the machine tool. A0 and C-axis arm length L C0 To determine, improve movement and imaging speed.

[0074] Finally, calibrate the C-axis arm length. First, rotate the positioner to the position for measuring the C-axis RTCP parameters. Then, use the calibrated A-axis rotation zero point and C-axis rotation zero point to rotate the C-axis angle to the precise θ C1 (0°<θ C1 <45°), the A-axis angle is rotated to precisely -90°, at which point the laser beam is along the negative direction of the z-axis. Then, the xyz axis of the machine tool is driven to translate the laser head so that the laser beam is projected onto the screen of the industrial camera, and the laser point is focused near the center of the screen. Record the y coordinate of the laser point on the screen at this time p3 Then, rotate the C-axis to -θ C1 , the laser head moves along the negative direction of the machine tool y axis L CyThe distance between the laser and the screen is such that the laser can form an image on the screen of the camera and the y coordinate y of the laser point on the screen is recorded. p4 .

[0075] Through the embodiments of the present disclosure, the arm length of the device can be accurately calculated through the second laser coordinate, ensuring that the overall structure of the device can correctly reflect the actual size, and the device will not have errors during processing, thereby improving product quality. At the same time, through automated calculation, the efficiency of equipment debugging is improved.

[0076] Based on the above-mentioned method for visual calibration of a positioner with a five-axis laser device, the present disclosure also provides a visual calibration device for a positioner with a five-axis laser device. Figure 5 The device is described in detail.

[0077] like Figure 5 As shown, the five-axis laser equipment with positioner vision calibration device 500 of this embodiment includes a zero point coordinate module 501, a zero point calculation module 502, an arm length coordinate module 503 and an arm length calculation module 504.

[0078] The zero-point coordinate module is used to rotate the A-axis and the C-axis so that the laser is imaged on the camera with a screen installed on the positioner to obtain the first laser coordinate; the positioner is used to change the posture of the camera with a screen; the first posture of the camera with a screen is that the camera axis is along the negative direction of the machine tool y-axis; the second posture of the camera with a screen is that the camera axis is along the positive direction of the machine tool z-axis.

[0079] The zero point calculation module is used to calculate the A-axis rotation zero point and the C-axis rotation zero point using the first laser coordinate.

[0080] The arm length coordinate module is used to rotate the A axis and the C axis according to the A axis rotation zero point and the C axis rotation zero point, so that the laser is imaged on a camera with a screen installed on the positioner to obtain the second laser coordinate.

[0081] The arm length calculation module is used to calculate the A-axis arm length and the C-axis arm length using the second laser coordinate.

[0082] Figure 6 A block diagram of an electronic device with a positioner suitable for implementing a visual calibration method for a five-axis laser device according to an embodiment of the present disclosure is schematically shown.

[0083] like Figure 6As shown, the electronic device 600 according to an embodiment of the present disclosure includes a processor 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage part 608 into a random access memory (RAM) 603. The processor 601 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 601 may also include an onboard memory for caching purposes. The processor 601 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0084] In RAM 603, various programs and data required for the operation of electronic device 600 are stored. Processor 601, ROM 602 and RAM 603 are connected to each other via bus 604. Processor 601 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 602 and / or RAM 603. It should be noted that the program can also be stored in one or more memories other than ROM 602 and RAM 603. Processor 601 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in one or more memories.

[0085] According to an embodiment of the present disclosure, the electronic device 600 may further include an input / output (I / O) interface 605, which is also connected to the bus 604. The electronic device 600 may further include one or more of the following components connected to the I / O interface 605: an input portion 606 including a keyboard, a mouse, etc.; an output portion 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 608 including a hard disk, etc.; and a communication portion 609 including a network interface card such as a LAN card, a modem, etc. The communication portion 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage portion 608 as needed.

[0086] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0087] The embodiment of the present disclosure also includes a computer program product, which includes a computer program, and the computer program contains program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the method provided by the embodiment of the present disclosure.

[0088] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a 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 box can also occur in a different order from the order marked in the accompanying drawings. For example, two 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 box in the block diagram or flow chart, and the combination of the boxes in the block diagram 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.

[0089] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0090] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A method for visual calibration of a five-axis laser device with a positioner, characterized in that: include: Rotate the A-axis and the C-axis so that the laser forms an image on the camera with a screen installed on the positioner to obtain the first laser coordinate; the positioner is used to change the position of the camera with a screen; the first position of the camera with a screen is that the camera axis is along the negative direction of the y-axis of the machine tool; the second position of the camera with a screen is that the camera axis is along the positive direction of the z-axis of the machine tool; Using the first laser coordinates, calculate the A-axis rotation zero point and the C-axis rotation zero point; According to the A-axis rotation zero point and the C-axis rotation zero point, the A-axis and the C-axis are rotated so that the laser is imaged on a camera with a screen installed on the positioner to obtain a second laser coordinate; Using the second laser coordinates, calculate the A-axis arm length and the C-axis arm length.

2. The method according to claim 1, wherein The first laser coordinates include the A-axis positioning coordinates and the C-axis positioning coordinates; rotating the A-axis and the C-axis so that the laser is imaged on a camera with a screen installed on the positioner to obtain the first laser coordinates includes: Rotate the A-axis and C-axis so that the laser is imaged on the camera with a screen in the first position to obtain the A-axis positioning coordinates; the A-axis positioning coordinates are used to locate the A-axis rotation zero point; Use a positioner to convert the camera with a screen into a second posture; The A-axis and the C-axis are rotated so that the laser is imaged on the camera with a screen in the second position to obtain the C-axis positioning coordinates; the C-axis positioning coordinates are used to locate the C-axis rotation zero point.

3. The method according to claim 2, wherein: The A-axis positioning coordinates include the first z-axis coordinates and the second z-axis coordinates; rotating the A-axis and the C-axis so that the laser is imaged on the camera with a screen in the first position to obtain the A-axis positioning coordinates, including: Rotate the A-axis until the A-axis arm is approximately parallel to the y-axis; Rotate the C-axis until the C-axis arm is approximately parallel to the x-axis; Adjust the laser head so that the laser forms an image on the camera with a screen in the first position, and record the first z-axis coordinate; Rotate the A-axis and C-axis 180 degrees, move the laser head along the x-axis of the machine tool so that the laser is imaged on the camera with a screen in the first position, and record the second z-axis coordinate.

4. The method according to claim 3, wherein: Using the first laser coordinate, calculate the A-axis rotation zero point, including: Calculate the A-axis deflection angle using the first z-axis coordinate and the second z-axis coordinate; Use the A-axis deflection angle to determine the A-axis rotation zero point; The formula for calculating the deflection angle of the A-axis is as follows: In the formula, z p1 is the first z-axis coordinate; z p2 is the second z-axis coordinate; L xA The distance moved along the machine tool x-axis to obtain the second z-axis coordinate.

5. The method according to claim 2, wherein: The C-axis positioning coordinates include the first y-axis coordinates and the second y-axis coordinates; rotating the A-axis and the C-axis so that the laser is imaged on the camera with a curtain in the second position to obtain the C-axis positioning coordinates, including: Rotate the A-axis until the A-axis arm is approximately parallel to the z-axis; Rotate the C-axis until the C-axis arm is approximately parallel to the x-axis; Adjust the laser head so that the laser is imaged on the camera with a curtain in the second position, and record the first y-axis coordinate; Rotate the C axis 180 degrees, move the laser head along the x-axis of the machine tool so that the laser is imaged on the camera with a screen in the second position, and record the second y-axis coordinate.

6. The method according to claim 5, wherein: Using the first laser coordinates, calculate the C-axis rotation zero point, including: Calculate the C-axis deflection angle using the first y-axis coordinate and the second y-axis coordinate; Use the C-axis deflection angle to determine the C-axis rotation zero point; The formula for calculating the C-axis deflection angle is as follows: In the formula, y p1 is the first y-axis coordinate; p2 is the second y-axis coordinate; L xC The distance moved along the machine tool's x-axis to obtain the second y-axis coordinate.

7. The method according to claim 1, wherein: The second laser coordinates at least include a third z-axis coordinate, a fourth z-axis coordinate, a third y-axis coordinate, and a fourth y-axis coordinate; according to the A-axis rotation zero point and the C-axis rotation zero point, the A-axis and the C-axis are rotated so that the laser is imaged on a camera with a screen installed on the positioner to obtain the second laser coordinates, including: Use a positioner to convert the camera with a screen into the first position; Rotate the C axis to the C axis rotation zero point, rotate the A axis to the first angle, adjust the laser head so that the laser is imaged on the camera with a curtain in the first posture, and record the third z-axis coordinate; Rotate the A axis to the first negative angle, move the laser head along the z axis of the machine tool so that the laser is imaged on the camera with a screen in the first posture, and record the fourth z axis coordinate; Use a positioner to convert the camera with a screen into a second posture; Rotate the A axis to negative 90 degrees, rotate the C axis to the second angle, adjust the laser head so that the laser is imaged on the camera with a curtain in the second posture, and record the third y-axis coordinate; Rotate the C axis to a negative second angle, move the laser head along the y-axis of the machine tool so that the laser is imaged on the camera with a screen in the second position, and record the fourth y-axis coordinate.

8. The method according to claim 7, wherein Using the second laser coordinates, calculate the A-axis arm length and C-axis arm length, including: Calculate the A-axis arm length using the third z-axis coordinate and the fourth z-axis coordinate; Using the third y-axis coordinate and the fourth y-axis coordinate, calculate the C-axis arm length; The formula for calculating the A-axis arm length is as follows: In the formula, z p3 is the third z-axis coordinate; p4 is the fourth z-axis coordinate; L Az The distance moved along the z-axis of the machine tool when obtaining the fourth z-axis coordinate; θ A1 is the first angle; The formula for calculating the C-axis arm length is as follows: In the formula, y p3 is the third y-axis coordinate; p4 is the fourth y-axis coordinate; L Cy The distance moved along the y-axis of the machine tool when obtaining the fourth y-axis coordinate; θ C1 The second angle.

9. A visual calibration device with a positioner for a five-axis laser device, characterized in that: include: The zero-point coordinate module is used to rotate the A-axis and the C-axis so that the laser is imaged on the camera with a screen installed on the positioner to obtain the first laser coordinate; the positioner is used to change the position of the camera with a screen; the first position of the camera with a screen is that the camera axis is along the negative direction of the machine tool y-axis; the second position of the camera with a screen is that the camera axis is along the positive direction of the machine tool z-axis; A zero point calculation module, used for calculating the A-axis rotation zero point and the C-axis rotation zero point by using the first laser coordinate; The arm length coordinate module is used to rotate the A axis and the C axis according to the A axis rotation zero point and the C axis rotation zero point, so that the laser is imaged on the camera with a screen installed on the positioner to obtain the second laser coordinate; The arm length calculation module is used to calculate the A-axis arm length and the C-axis arm length using the second laser coordinate.

10. An electronic device, comprising: one or more processors; a storage device for storing one or more programs, When one or more programs are executed by one or more processors, the one or more processors are caused to execute the method according to any one of claims 1 to 8.

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