Double-camera visual calibration method for five-axis laser equipment

Abstract

The invention provides a double-camera visual calibration method 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 first camera and a second camera, so as to obtain a first laser coordinate; the first camera is a curtain camera mounted on the side surface of the machine tool, and the side surface of the machine tool is parallel to the A-axis and the C-axis; the second camera is a curtain-equipped camera mounted on the bottom surface of the machine tool; the bottom surface of the machine tool is vertical to the C axis; 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 the first camera and the second camera 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 double-camera visual calibration device of 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 dual-camera vision calibration method for a five-axis laser device. Background Art

[0002] In the industrial field, three-dimensional five-axis laser cutting 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 very efficient. Therefore, the industry needs a method that can quickly calibrate all RTCP parameters. Summary of the invention

[0004] In view of the above problems, the present disclosure provides a dual-camera vision calibration method for a five-axis laser device, which utilizes a 2D camera to quickly calibrate the RTCP parameters of a five-axis laser cutting machine.

[0005] The present disclosure provides a dual-camera visual calibration method for a five-axis laser device, comprising: rotating an A-axis and a C-axis so that the laser is imaged on a first camera and a second camera to obtain a first laser coordinate; the first camera is a camera with a screen installed on the side of a machine tool, and the side of the machine tool is parallel to the A-axis and the C-axis; the second camera is a camera with a screen installed on the bottom of the machine tool, and the bottom of the machine tool is perpendicular to the C-axis; 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 first camera and the second camera 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 A-axis positioning coordinates and C-axis positioning coordinates; rotating the A-axis and the C-axis so that the laser is imaged on the first camera and the second camera to obtain the first laser coordinates, including: rotating the A-axis and the C-axis so that the laser is imaged on the first camera to obtain the A-axis positioning coordinates; the A-axis positioning coordinates are used to locate the A-axis rotation zero point; rotating the A-axis and the C-axis so that the laser is imaged on the second camera 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 first camera 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 screen of the first camera, 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 screen of the first camera, 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 x1 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 second camera 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 screen of the second camera, 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 screen of the second camera, 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 x2 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 the first camera and the second camera to obtain the second laser coordinates, including: 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 screen of the first camera, and recording the third z-axis coordinate; rotating the A-axis to a negative first angle, moving the laser head along the machine tool z-axis so that the laser is imaged on the screen of the first camera, and recording the fourth z-axis coordinate; rotating the A-axis to negative 90 degrees, rotating the C-axis to a second angle, adjusting the laser head so that the laser is imaged on the screen of the second camera, and recording the third y-axis coordinate; rotating the C-axis to a negative second angle, moving the laser head along the machine tool y-axis so that the laser is imaged on the screen of the second camera, and recording the fourth y-axis coordinate.

[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 z The distance moved along the z-axis of the machine tool when obtaining the fourth z-axis coordinate; θ A1 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 y The distance moved along the y-axis of the machine tool when obtaining the fourth y-axis coordinate; θC1 The second angle.

[0025] A second aspect of the present disclosure provides a dual-camera visual calibration device for a five-axis laser device, which can be used to implement the dual-camera visual calibration method 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 the first camera and the second camera to obtain the first laser coordinate; the first camera is a camera with a curtain installed on the side of the machine tool, and the side of the machine tool is parallel to the A-axis and the C-axis; the second camera is a camera with a curtain installed on the bottom of the machine tool, and the bottom of the machine tool is perpendicular to the C-axis; 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 first camera and the second camera to obtain the 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; and 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 dual-camera vision calibration method of the above-mentioned five-axis laser device.

[0027] According to the dual-camera visual calibration device for the five-axis laser equipment provided by the present disclosure, visual calibration is performed by two cameras with screens. Since the visual system is used to calibrate four RTCP parameters at one time, 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 dual-camera vision calibration method for a five-axis laser device according to an embodiment of the present disclosure is schematically shown;

[0029] Figure 2 It is a schematic diagram of the five-axis laser cutting machine and the AC-axis RTCP parameter calibration equipment;

[0030] Figure 3 The structure and zero point position diagram of the AC axis;

[0031] Figure 4 This is a schematic diagram of the first movement posture of the laser head when calibrating the A-axis rotation zero point;

[0032] Figure 5 This is a schematic diagram of the second movement posture of the laser head when calibrating the A-axis rotation zero point;

[0033] Figure 6This is a schematic diagram of the first movement posture of the laser head when calibrating the C-axis rotation zero point;

[0034] Figure 7 This is a schematic diagram of the second movement posture of the laser head when calibrating the C-axis rotation zero point;

[0035] Figure 8 This is a schematic diagram of the first movement posture of the laser head when calibrating the A-axis arm length;

[0036] Fig. 9 This is a schematic diagram of the second movement posture of the laser head when calibrating the A-axis arm length;

[0037] Fig.10 This is a schematic diagram of the first movement posture of the laser head when calibrating the C-axis arm length;

[0038] Fig.11 This is a schematic diagram of the second movement posture of the laser head when calibrating the C-axis arm length;

[0039] Fig.12 A schematic diagram of a structure of a dual-camera visual calibration device for a five-axis laser device according to an embodiment of the present disclosure is shown;

[0040] Fig.13 A block diagram of an electronic device suitable for implementing a dual-camera vision calibration method for a five-axis laser device according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0041] 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.

[0042] 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 the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0043] 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.

[0044] 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.).

[0045] First, the technical terms involved in this disclosure are explained as follows:

[0046] Five-axis laser equipment: Figure 2 The schematic diagram of the five-axis laser cutting machine and the AC-axis RTCP parameter calibration equipment, where 1-machine base; 2-gantry column; 3-z-axis column; 4-C-axis swing head; 5-A-axis swing head (laser head); 6-camera 1; 7-camera 1 bracket; 8-camera 2; 9-camera 2 bracket; the five-axis laser equipment includes a machine base, a gantry column, a z-axis column, a C-axis swing head, and an A-axis swing head (laser head). The machine coordinate system of the five-axis machine tool is defined as follows: 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-gantry column, and the z-axis is parallel to the Z-axis column. The AC-axis RTCP parameter calibration equipment of the five-axis laser equipment includes two 2D cameras with screens. Camera 1 is fixedly installed on the side of the machine tool, and its axis is parallel to the y-axis of the machine tool. Camera 2 is installed below the laser head, and its axis is upward along the z-axis of the machine tool. Camera 1 and Camera 2 are two 2D cameras with screens. Camera 1 is fixedly installed on the side of the machine tool, with its axis parallel to the y-axis of the machine tool. Camera 2 is installed below the laser head, with its axis pointing upward along the z-axis of the machine tool. Figure 3 As shown, the RTCP parameters described in the present disclosure include four parameters: A-axis arm length, A-axis rotation zero point, C-axis arm length, and C-axis rotation zero point. When the AC axis angles are both 0°, the posture of the machine tool swing head is as follows Figure 3 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.

[0047] Figure 1 A flowchart of a dual-camera visual calibration method for a five-axis laser device according to an embodiment of the present disclosure is schematically shown. Figure 1As shown, an embodiment of the present disclosure provides a dual-camera vision calibration method for a five-axis laser device, including: rotating the A-axis and the C-axis so that the laser is imaged on a first camera and a second camera to obtain a first laser coordinate; the first camera is a camera with a screen installed on the side of a machine tool, and the side of the machine tool is parallel to the A-axis and the C-axis; the second camera is a camera with a screen installed on the bottom of the machine tool, and the bottom of the machine tool is perpendicular to the C-axis; 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 first camera and the second camera to obtain a second laser coordinate; using the second laser coordinate, calculating the A-axis arm length and the C-axis arm length.

[0048] Through the embodiments of the present disclosure, by capturing laser imaging with two cameras, the positioning accuracy of the laser can be improved, thereby improving the operating accuracy of the equipment. Without the need for complex physical adjustments, the use of visual system calibration replaces the traditional mechanical alignment method, simplifies the calibration process, and is suitable for the calibration needs of complex multi-axis equipment such as five-axis laser equipment. The RTCP calibration method proposed in the present disclosure is easier to operate, has fewer calculation steps, does not require iterative operations, and is more efficient. It is of great significance for the RTCP calibration of five-axis laser cutting machines and improving the interpolation accuracy of laser processing equipment.

[0049] Based on 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 the first camera and the second camera to obtain the first laser coordinates, including: rotating the A-axis and the C-axis so that the laser is imaged on the first camera to obtain the A-axis positioning coordinates; the A-axis positioning coordinates are used to locate the A-axis rotation zero point; rotating the A-axis and the C-axis so that the laser is imaged on the second camera to obtain the C-axis positioning coordinates; the C-axis positioning coordinates are used to locate the C-axis rotation zero point.

[0050] According to the embodiments of the present disclosure, by rotating the A-axis and the C-axis, the laser is imaged in the camera, and the positioning coordinates of the A-axis and the C-axis can be obtained through these imaging data. Specifically, the zero point positioning of the A-axis and the C-axis is achieved through the imaging data of the first camera and the second camera respectively.

[0051] Based on 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 first camera 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 screen of the first camera, 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 screen of the first camera, and recording the second z-axis coordinate.

[0052] 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 (2 times L A0 ), improving movement and imaging speed.

[0053] In this embodiment, the A-axis rotation zero point θ is calibrated. A0 , first, if Figure 4 As shown, adjust the A axis to an approximately horizontal angle (rough zero point), then adjust the C axis angle so that the laser head is parallel to the y axis, and then adjust the machine tool xyz coordinates so that the laser head is aligned with the camera 1 screen to ensure that the laser point is imaged at the center of the screen. Record the z coordinate of the laser point on the screen at this time p1 Then, if Figure 5 As shown, rotate the A axis 180°, rotate the C axis 180°, and move the machine tool x-axis 2 times L A0 The distance between the laser point and the screen is set to make the laser point image on the screen, and the z coordinate of the laser point on the screen is recorded. p2 .

[0054] According to the embodiment of the present disclosure, by rotating the A-axis and the C-axis, the laser is imaged on the camera screen, thereby obtaining two different z-axis coordinates of the A-axis. The deflection angle of the A-axis can be further calculated through these two coordinates.

[0055] 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;

[0056] The formula for calculating the deflection angle of the A-axis is as follows:

[0057]

[0058] In the formula, z p1 is the first z-axis coordinate; z p2 is the second z-axis coordinate; L x1 The distance moved along the machine tool x-axis to obtain the second z-axis coordinate.

[0059] 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.

[0060] 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.

[0061] 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 second camera 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 screen of the second camera, 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 screen of the second camera, and recording the second y-axis coordinate.

[0062] In this embodiment, if Figure 6 As shown, use the calibrated A-axis rotation zero point to adjust the A-axis angle, adjust the laser axis to be vertically downward along the z-axis direction, and then adjust the C-axis to the rough zero point so that the A-axis is roughly along the x-axis direction. Then, adjust the xyz coordinates of the machine tool so that the laser head is aligned with the screen of camera 2 to ensure that the laser point is imaged in the center of the screen. Record the y coordinate y of the laser point on the screen at this time p1 Then, if Figure 7 As shown, rotate the C axis 180° and move the machine tool x axis 2 times L C0 The distance between the laser point and the screen is set to make the laser point image on the screen, and the y coordinate y of the laser point on the screen is recorded. p2 .

[0063] Through the embodiments of the present disclosure, accurate C-axis positioning coordinates are obtained through two different rotations, further optimizing the positioning accuracy of the device. Compared with the traditional mechanical measurement method, visual calibration significantly reduces manual operations and improves work efficiency.

[0064] On the basis of the above embodiment, the C-axis rotation zero point is calculated using the first laser coordinate, including: calculating the C-axis deflection angle using the first y-axis coordinate and the second y-axis coordinate; determining the C-axis rotation zero point using the C-axis deflection angle;

[0065] The formula for calculating the C-axis deflection angle is as follows:

[0066]

[0067] In the formula, y p1 is the first y-axis coordinate; p2 is the second y-axis coordinate; L x2 The distance moved along the machine tool's x-axis to obtain the second y-axis coordinate.

[0068] 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.

[0069] On the basis of the above embodiment, 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 the first camera and the second camera to obtain the second laser coordinates, including: rotating the C-axis to the C-axis rotation zero point, rotating the A-axis to the first angle, adjusting the laser head so that the laser is imaged on the screen of the first camera, and recording the third z-axis coordinate; rotating the A-axis to the negative first angle, moving the laser head along the machine tool z-axis so that the laser is imaged on the screen of the first camera, and recording the fourth z-axis coordinate; rotating the A-axis to negative 90 degrees, rotating the C-axis to the second angle, adjusting the laser head so that the laser is imaged on the screen of the second camera, and recording the third y-axis coordinate; rotating the C-axis to the negative second angle, moving the laser head along the machine tool y-axis so that the laser is imaged on the screen of the second camera, and recording the fourth y-axis coordinate.

[0070] In this embodiment, the A-axis arm length L is calibrated A like Figure 8 As shown, rotate the C-axis angle to 0° and the A-axis angle to θ A1 , adjust the xyz position of the laser head so that the laser point is imaged at the center of the screen of camera 1, and record the z coordinate z of the laser point on the screen at this time p3 Then, if Fig. 9 As shown, rotate the A-axis angle to -θ A1 , the laser head moves along the z-axis of the machine tool - 2L A0 sinθ A1 The distance between the laser point and the screen is such that the laser point forms an image on the screen of camera 1, and the z coordinate z of the laser point on the screen is recorded. p4It 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.

[0071] In this embodiment, the C-axis arm length is calibrated as Fig.10 As shown, rotate the C-axis angle to θ C1 , the A-axis angle is rotated to -90°, at this time the laser head is horizontally downward, adjust the xyz position of the laser head so that the laser point is imaged at the center of the screen of camera 2, and record the y coordinate y of the laser point on the screen at this time p3 Then, if Fig.11 As shown, rotate the C-axis angle to -θ C1 , the laser head moves along the y-axis of the machine tool -2L C0 sinθ C1 The distance between the laser point and the screen is such that the laser point forms an image on the screen of camera 2, and the y coordinate y of the laser point on the screen is recorded. p4 .

[0072] 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.

[0073] 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;

[0074] The formula for calculating the A-axis arm length is as follows:

[0075]

[0076] In the formula, z p3 is the third z-axis coordinate; p4 is the fourth z-axis coordinate; L z The distance moved along the z-axis of the machine tool when obtaining the fourth z-axis coordinate; θ A1 The first angle.

[0077] The formula for calculating the C-axis arm length is as follows:

[0078]

[0079] In the formula, y p3 is the third y-axis coordinate; p4 is the fourth y-axis coordinate; L yThe distance moved along the y-axis of the machine tool when obtaining the fourth y-axis coordinate; θ C1 The second angle.

[0080] 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.

[0081] Based on the dual-camera visual calibration method of the five-axis laser device, the present disclosure also provides a dual-camera visual calibration device for the five-axis laser device. Fig.12 The device is described in detail.

[0082] like Fig.12 As shown, the dual-camera vision calibration device 1200 of the five-axis laser equipment of this embodiment includes a zero point coordinate module 1201, a zero point calculation module 1202, an arm length coordinate module 1203 and an arm length calculation module 1204.

[0083] The zero-point coordinate module is used to rotate the A-axis and the C-axis so that the laser is imaged on the first camera and the second camera to obtain the first laser coordinate; the first camera is a camera with a screen installed on the side of the machine tool, and the side of the machine tool is parallel to the A-axis and the C-axis; the second camera is a camera with a screen installed on the bottom of the machine tool, and the bottom of the machine tool is perpendicular to the C-axis.

[0084] 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.

[0085] 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 first camera and the second camera to obtain the second laser coordinate.

[0086] 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.

[0087] Fig.13 A block diagram of an electronic device suitable for implementing a dual-camera vision calibration method for a five-axis laser device according to an embodiment of the present disclosure is schematically shown.

[0088] like Fig.13As shown, the electronic device 1300 according to an embodiment of the present disclosure includes a processor 1301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1302 or a program loaded from a storage part 1308 into a random access memory (RAM) 1303. The processor 1301 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 1301 may also include an onboard memory for caching purposes. The processor 1301 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.

[0089] In RAM 1303, various programs and data required for the operation of electronic device 1300 are stored. Processor 1301, ROM 1302 and RAM 1303 are connected to each other through bus 1304. Processor 1301 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 1302 and / or RAM 1303. It should be noted that the program can also be stored in one or more memories other than ROM 1302 and RAM 1303. Processor 1301 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in the one or more memories.

[0090] According to an embodiment of the present disclosure, the electronic device 1300 may further include an input / output (I / O) interface 1305, which is also connected to the bus 1304. The electronic device 1300 may further include one or more of the following components connected to the I / O interface 1305: an input portion 1306 including a keyboard, a mouse, etc.; an output portion 1307 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 1308 including a hard disk, etc.; and a communication portion 1309 including a network interface card such as a LAN card, a modem, etc. The communication portion 1309 performs communication processing via a network such as the Internet. A drive 1310 is also connected to the I / O interface 1305 as needed. A removable medium 1311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1310 as needed, so that a computer program read therefrom is installed into the storage portion 1308 as needed.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] The embodiments of the present disclosure are described above. However, these embodiments are only for the purpose of illustration 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 various substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A dual-camera visual calibration method for a five-axis laser device, characterized in that: include: Rotate the A axis and the C axis so that the laser is imaged on the first camera and the second camera to obtain the first laser coordinate; the first camera is a camera with a screen installed on the side of the machine tool, and the side of the machine tool is parallel to the A axis and the C axis; the second camera is a camera with a screen installed on the bottom of the machine tool, and the bottom of the machine tool is perpendicular to the C axis; 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 the first camera and the second camera 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 an A-axis positioning coordinate and a C-axis positioning coordinate; the rotating A-axis and the C-axis so that the laser is imaged on the first camera and the second camera to obtain the first laser coordinates includes: Rotate the A-axis and the C-axis so that the laser is imaged on the first camera to obtain the A-axis positioning coordinates; the A-axis positioning coordinates are used to locate the A-axis rotation zero point; The A-axis and the C-axis are rotated so that the laser is imaged on the second camera 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 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 first camera 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 screen of the first camera, and record the first z-axis coordinate; The A-axis and the C-axis are rotated 180 degrees, and the laser head is moved along the x-axis of the machine tool so that the laser forms an image on the screen of the first camera, and the second z-axis coordinate is recorded.

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 x1 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 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 second camera 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 forms an image on the screen of the second camera, and record the first y-axis coordinate; The C axis is rotated 180 degrees, and the laser head is moved along the x-axis of the machine tool so that the laser forms an image on the screen of the second camera, and the second y-axis coordinate is recorded.

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 x2 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; the A-axis and the C-axis are rotated according to the A-axis rotation zero point and the C-axis rotation zero point so that the laser is imaged on the first camera and the second camera to obtain the second laser coordinates, including: 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 forms an image on the screen of the first camera, and record the third z-axis coordinate; Rotate the A axis to a negative first angle, move the laser head along the z axis of the machine tool so that the laser forms an image on the screen of the first camera, and record the fourth z axis coordinate; Rotate the A axis to negative 90 degrees, rotate the C axis to the second angle, adjust the laser head so that the laser forms an image on the screen of the second camera, 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 forms an image on the screen of the second camera, 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 z 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 y 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 dual-camera visual calibration device for a five-axis laser device, characterized in that: include: A zero-point coordinate module is used to rotate the A-axis and the C-axis so that the laser is imaged on the first camera and the second camera to obtain the first laser coordinate; the first camera is a camera with a curtain installed on the side of the machine tool, and the side of the machine tool is parallel to the A-axis and the C-axis; the second camera is a camera with a curtain installed on the bottom of the machine tool, and the bottom of the machine tool is perpendicular to the C-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; 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 first camera and the second camera to obtain a 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 the one or more programs are executed by the one or more processors, the one or more processors are enabled to execute the method according to any one of claims 1 to 8.

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