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

Abstract

The invention provides a single-camera visual calibration method for five-axis laser equipment, and the method comprises the steps: enabling laser to carry out the imaging of a plurality of times on an industrial camera curtain through the rotation of an A axis and a C axis for a plurality of times, so as to obtain a group of imaging parameters; calculating a rotation zero point and an arm length by using a group of imaging parameters; the rotation zero point comprises an A-axis rotation zero point and a C-axis rotation zero point; the arm length comprises the A-axis arm length and the C-axis arm length. The invention further provides a single-camera visual calibration device and equipment for the five-axis laser equipment and a storage medium.

Description

Technical Field

[0001] The present disclosure relates to the field of laser processing, and more specifically to a single-camera vision calibration method 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 some of these methods can only calibrate 2 of the 4 RTCP parameters, which either requires multiple measurements and iterations, which is inefficient; or requires the use of multiple industrial cameras, which is costly; or requires a camera and a positioner, which is complex in structure. Summary of the invention

[0004] In view of the above problems, the present disclosure provides a single-camera vision calibration method for a five-axis laser device which is low-cost, simple in structure and capable of quickly calibrating all RTCP parameters.

[0005] The present disclosure provides a single-camera vision calibration method for a five-axis laser device, comprising: rotating the A-axis and the C-axis multiple times so that the laser is imaged multiple times on an industrial camera screen to obtain a set of imaging parameters; using the set of imaging parameters, calculating the rotation zero point and the arm length; the rotation zero point includes the A-axis rotation zero point and the C-axis rotation zero point; the arm length includes the A-axis arm length and the C-axis arm length.

[0006] According to an embodiment of the present disclosure, the A-axis and the C-axis are rotated multiple times so that the laser is imaged multiple times on the industrial camera screen to obtain a set of imaging parameters, including: rotating the A-axis and the C-axis to a rough zero point; the rough zero point indicates that the A-axis arm is approximately parallel to the y-axis and the C-axis arm is approximately parallel to the x-axis; rotating the A-axis and the C-axis twice, respectively adjusting the laser head so that the laser is imaged on the industrial camera screen, and obtaining imaging parameters; the imaging parameters include the x-axis coordinates and z-axis coordinates of the two images on the screen, the A-axis rotation angle, the C-axis rotation angle, and the x-axis movement distance and z-axis movement distance of the laser head; repeatedly rotating the A-axis and the C-axis twice, respectively adjusting the laser head so that the laser is imaged on the industrial camera screen, and obtaining the steps of imaging parameters, and obtaining multiple pairs of imaging parameters.

[0007] According to an embodiment of the present disclosure, the A-axis and the C-axis are rotated twice, and the laser head is adjusted respectively so that the laser is imaged on the industrial camera screen to obtain imaging parameters, including: rotating the A-axis by a first angle and the C-axis by a second angle; adjusting the laser head so that the laser is imaged on the industrial camera screen, and recording the x-axis coordinate and the z-axis coordinate of the first imaging; rotating the A-axis by 180 degrees and the C-axis by 180 degrees; moving the laser head along the x-axis and z-axis of the machine tool so that the laser is imaged on the industrial camera screen, and recording the x-axis coordinate and the z-axis coordinate, the x-axis moving distance, and the z-axis moving distance of the second imaging.

[0008] According to an embodiment of the present disclosure, a set of imaging parameters are used to calculate the rotation zero point and the arm length, including: using the imaging parameters to calculate the change in distance of the laser moving twice in the x-axis and z-axis; using the change in distance, geometric relationship and a set of imaging parameters to solve the rotation zero point and the arm length through the least squares method.

[0009] According to an embodiment of the present disclosure, the imaging parameters are used to calculate the change distance of the laser moving in the x-axis and z-axis for two imagings, including: using the x-axis coordinates and the z-axis coordinates and adjusting the x-axis moving distance and the z-axis moving distance of the laser head to calculate the change distance of the x-axis and the z-axis; wherein, for the i-th imaging parameter, the formula for calculating the change distance of the x-axis and the z-axis is as follows:

[0010] Δx i =x i2 -x i1 +L xi

[0011] Δz i =z i2 -z i1 +L zi

[0012] In the formula, Δx i is the change distance of x-axis movement; L xi x is the moving distance on the x-axis; i2is the x-axis coordinate of the second imaging; i1 is the x-axis coordinate of the first imaging; Δz i L is the change distance of z-axis movement; zi is the moving distance of z axis; i2 is the z-axis coordinate of the second imaging; i1 is the z-axis coordinate of the first imaging.

[0013] According to an embodiment of the present disclosure, the rotation zero point and the arm length are solved by the least squares method using the changing distance, the geometric relationship and a set of imaging parameters, including: using the changing distance, the geometric relationship and a set of imaging parameters to establish an A-axis parameter solving equation group and a C-axis parameter solving equation group; using the A-axis parameters to solve the equation group, and solving the rotation zero point and the arm length of the A-axis by the least squares method; using the C-axis parameters to solve the equation group, and solving the rotation zero point and the arm length of the C-axis by the least squares method.

[0014] According to an embodiment of the present disclosure, establishing an A-axis parameter solving equation group and a C-axis parameter solving equation group includes: in response to the rotation angle of the A-axis being 180 degrees and the rotation angle of the C-axis being 180 degrees during the second rotation, establishing an A-axis parameter solving equation group as follows:

[0015]

[0016] In the formula, Δz i is the change distance of z-axis movement in the i-th imaging parameter; L A is the length of the A-axis arm; θ ai is the A-axis rotation angle in the i-th imaging parameter; θ A is the deviation angle from the zero point of A axis;

[0017] The C-axis parameter solution equations are established as follows:

[0018]

[0019] In the formula, Δx i is the change distance of x-axis movement in the i-th imaging parameter; L C is the C-axis arm length; θ ci is the C-axis rotation angle in the i-th imaging parameter; θ C is the angle of deviation from the C-axis zero point.

[0020] A second aspect of the present disclosure provides a single-camera vision calibration device for a five-axis laser device. The device can be used to implement a single-camera vision calibration method for a five-axis laser device. The device includes: an imaging module, which is used to rotate the A-axis and the C-axis multiple times so that the laser is imaged multiple times on the industrial camera screen to obtain a set of imaging parameters; a calculation module, which is used to calculate the rotation zero point and the arm length using a set of imaging parameters; the rotation zero point includes the A-axis rotation zero point and the C-axis rotation zero point; the arm length includes the A-axis arm length and the C-axis arm length.

[0021] 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 single-camera visual calibration method of the above-mentioned five-axis laser device.

[0022] The fourth aspect of the present disclosure also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to execute the single-camera visual calibration method of the above-mentioned five-axis laser device.

[0023] According to the single-camera visual calibration method for a five-axis laser device provided by the present disclosure, imaging parameters are obtained by imaging on a single industrial camera for calculation of calibration parameters. Since a single fixed industrial camera is used to quickly calibrate the RTCP parameters of a five-axis laser cutting machine, the technical problem of complex structure and slow speed of calibration equipment for five-axis laser equipment is at least partially solved, achieving the technical effect of reducing costs and improving calibration efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A flowchart of a single-camera visual calibration method for a five-axis laser device according to an embodiment of the present disclosure is schematically shown;

[0025] Figure 2 A schematic diagram of a five-axis laser cutting machine and a single-camera visual calibration device according to an embodiment of the present disclosure is schematically shown;

[0026] Figure 3 Schematically shows the configuration and zero point position diagram of the AC shaft according to an embodiment of the present disclosure;

[0027] Figure 4 The schematic diagram of the C-axis parameter calibration principle according to an embodiment of the present disclosure is schematically shown;

[0028] Figure 5 The schematic diagram of the A-axis parameter calibration principle according to the embodiment of the present disclosure is schematically shown;

[0029] Figure 6A structural block diagram of a single-camera visual calibration device for a five-axis laser device according to an embodiment of the present disclosure is schematically shown;

[0030] Figure 7 A block diagram of an electronic device suitable for implementing a single-camera vision calibration method for a five-axis laser device according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.).

[0035] The present disclosure relates to the industrial field, in particular to the laser processing field.

[0036] First, the technical terms involved in this disclosure are explained as follows:

[0037] Five-axis laser equipment: Figure 2 A schematic diagram of a five-axis laser cutting machine and a single-camera visual calibration device according to an embodiment of the present disclosure is shown schematically. Figure 2 As shown, the five-axis laser cutting machine includes 1-machine bed; 2-gantry column; 3-spindle column; 4-swing axis C; 5-swing axis A (laser head); 6-industrial camera; 7-camera bracket. Figure 3 The configuration and zero point position diagram of the AC shaft according to the embodiment of the present disclosure are schematically shown. Figure 3 As shown in the figure, the RTCP parameters include the A-axis arm length, A-axis zero point, C-axis arm length and C-axis zero point, a total of 4 parameters. When the AC axis angles are both at zero point 0°, the posture of the AC swing axis is as follows Figure 3 As shown. The visual calibration equipment includes an industrial camera and a camera bracket. The industrial camera is installed on the camera bracket and fixedly connected to the machine tool bed, and the camera screen points to the negative direction of the y-axis.

[0038] 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 spindle column. 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 beam of the laser head is perpendicular to the A-axis and intersects at one point.

[0039] Figure 1 A flowchart of a single-camera visual calibration method for a five-axis laser device according to an embodiment of the present disclosure is schematically shown. Figure 1 As shown, an embodiment of the present disclosure provides a single-camera vision calibration method for a five-axis laser device, including: rotating the A-axis and the C-axis multiple times so that the laser is imaged multiple times on the industrial camera screen to obtain a set of imaging parameters; using a set of imaging parameters, calculating the rotation zero point and the arm length; the rotation zero point includes the A-axis rotation zero point and the C-axis rotation zero point; the arm length includes the A-axis arm length and the C-axis arm length.

[0040] Through the embodiments of the present disclosure, more imaging parameters are obtained through multiple rotations, thereby improving the accuracy of the calibration results; by using a single fixed industrial camera, the RTCP parameters of the five-axis laser cutting machine are quickly calibrated, thereby improving the calibration efficiency and simplifying the calibration equipment.

[0041] On the basis of the above embodiment, the A-axis and the C-axis are rotated multiple times so that the laser is imaged multiple times on the industrial camera screen to obtain a set of imaging parameters, including: rotating the A-axis and the C-axis to a rough zero point; the rough zero point indicates that the A-axis arm is approximately parallel to the y-axis and the C-axis arm is approximately parallel to the x-axis; rotating the A-axis and the C-axis twice, adjusting the laser head respectively so that the laser is imaged on the industrial camera screen, and obtaining imaging parameters; the imaging parameters include the x-axis coordinates and z-axis coordinates of the two images on the screen, the A-axis rotation angle, the C-axis rotation angle, and the x-axis movement distance and z-axis movement distance of the laser head; repeatedly rotating the A-axis and the C-axis twice, adjusting the laser head respectively so that the laser is imaged on the industrial camera screen, and obtaining the steps of imaging parameters, and obtaining multiple pairs of imaging parameters.

[0042] In this embodiment, the angles of the A-axis and the C-axis are adjusted so that the laser light is roughly along the positive direction of the machine tool y-axis, such as Figure 2 As shown, set the A and C axis rotation angles to the rough zero point.

[0043] Through the embodiments of the present disclosure, a rough zero point (the initial state where the A-axis and the C-axis are approximately parallel) is used as a reference for subsequent rotation angles; an imaging parameter is obtained by every two rotations to facilitate subsequent calculations.

[0044] On the basis of the above embodiment, the A-axis and the C-axis are rotated twice, and the laser head is adjusted respectively so that the laser is imaged on the industrial camera screen to obtain imaging parameters, including: rotating the A-axis by a first angle and rotating the C-axis by a second angle; adjusting the laser head so that the laser is imaged on the industrial camera screen, and recording the x-axis coordinate and the z-axis coordinate of the first imaging; rotating the A-axis by 180 degrees and the C-axis by 180 degrees; moving the laser head along the x-axis and z-axis of the machine tool so that the laser is imaged on the industrial camera screen, and recording the x-axis coordinate and the z-axis coordinate, the x-axis moving distance, and the z-axis moving distance of the second imaging.

[0045] In this embodiment, both the A-axis and the C-axis are first rotated back to the coarse zero point, and then the A-axis is rotated by θ ai , C rotates θ ci , drive the machine tool motor to move the laser head to the field of view of the industrial camera, so that the laser light is projected on the industrial camera screen for clear imaging, and record the x coordinate x of the laser point on the screen at this time i1 and the z coordinate z i1 Then, rotate the A axis 180° and the C axis 180°, drive the machine tool motor again, and move the laser head to the field of view of the industrial camera, so that the laser light is clearly imaged on the screen of the industrial camera, and record the moving distance L xi and L zi , and the x coordinate x of the laser point on the screen at this time i2 and the z coordinate z i2 . Change θ multiple times ai and θ ci (The angle range can be 0° to 45°, and measurement is performed every 5°). Repeat the above steps to obtain several groups of θ ai ,θ ci , Δx i and Δz i .

[0046] It should be noted that when repeating the above steps, optionally, both the A-axis and the C-axis can be rotated back to the position after the first rotation in the last acquisition of the imaging parameters. In this case, there is no need to record new coordinates. Only the x-coordinate and z-coordinate at that time can be used as the coordinates after the first rotation, and then rotated by a preset angle to obtain the coordinates after the second rotation.

[0047] According to the embodiments of the present disclosure, the A-axis and the C-axis are rotated twice and the laser head is adjusted so that the laser is imaged on the industrial camera screen to obtain imaging parameters.

[0048] Based on the above embodiment, a set of imaging parameters are used to calculate the rotation zero point and the arm length, including: using the imaging parameters to calculate the change in distance of the laser moving twice on the x-axis and z-axis; using the change in distance, geometric relationship and a set of imaging parameters to solve the rotation zero point and the arm length through the least squares method.

[0049] Through the embodiments of the present disclosure, a set of imaging parameters is used to calculate the rotation zero point and the arm length, thereby eliminating the need for complex iterations and calibrating four parameters at one time, thereby improving the calibration efficiency of the parameters; at the same time, since the measured imaging parameters are rich, the calibration accuracy is improved.

[0050] On the basis of the above embodiment, the imaging parameters are used to calculate the change distance of the laser moving in the x-axis and z-axis for two imaging, including: using the x-axis coordinate and the z-axis coordinate and adjusting the x-axis moving distance and the z-axis moving distance of the laser head to calculate the change distance of the x-axis and the z-axis; wherein, for the i-th imaging parameter, the formula for calculating the change distance of the x-axis and the z-axis is as follows:

[0051] Δx i =x i2 -x i1 +L xi

[0052] Δz i =z i2 -z i1 +L zi

[0053] In the formula, Δx i is the change distance of x-axis movement; L xi x is the moving distance on the x-axis; i2 is the x-axis coordinate of the second imaging; i1 is the x-axis coordinate of the first imaging; Δz i L is the change distance of z-axis movement; zi is the moving distance of z axis; i2 is the z-axis coordinate of the second imaging; i1 is the z-axis coordinate of the first imaging.

[0054] Through the embodiments of the present disclosure, the imaging parameters are used to calculate the change in the distance of the laser moving on the x-axis and z-axis during two imaging operations, reflecting the change in the position of the laser head, thereby inferring the arm length and the zero point. The displacement of each imaging operation is quantified, and the position is accurately calculated in combination with the geometric relationship, thereby optimizing the calibration results.

[0055] On the basis of the above embodiments, the rotation zero point and the arm length are solved by the least squares method using the changing distance, geometric relationship and a set of imaging parameters, including: using the changing distance, geometric relationship and a set of imaging parameters to establish an A-axis parameter solution equation group and a C-axis parameter solution equation group; using the A-axis parameters to solve the equation group, and solving the A-axis rotation zero point and the arm length by the least squares method; using the C-axis parameters to solve the equation group, and solving the C-axis rotation zero point and the arm length by the least squares method.

[0056] Through the embodiments of the present disclosure, the least squares method is an optimization method that can effectively reduce errors and improve the accuracy of the results by minimizing the square errors of all imaging parameters; through mathematical optimization means and based on geometric relationships and imaging parameters, an A-axis parameter solution equation group and a C-axis parameter solution equation group are established to accurately solve key parameters, making the calibration process more rigorous and accurate.

[0057] On the basis of the above embodiment, an A-axis parameter solving equation group and a C-axis parameter solving equation group are established, including: in response to the rotation angle of the A-axis being 180 degrees and the rotation angle of the C-axis being 180 degrees during the second rotation, the A-axis parameter solving equation group is established as follows:

[0058]

[0059] In the formula, Δz i is the change distance of z-axis movement in the i-th imaging parameter; L A is the length of the A-axis arm; θ ai is the A-axis rotation angle in the i-th imaging parameter; θ A is the deviation angle from the zero point of A axis;

[0060] The C-axis parameter solution equations are established as follows:

[0061]

[0062] In the formula, Δx i is the change distance of x-axis movement in the i-th imaging parameter; L C is the C-axis arm length; θ ci is the C-axis rotation angle in the i-th imaging parameter; θ C is the angle of deviation from the C-axis zero point.

[0063] Figure 4 The schematic diagram of the C-axis parameter calibration principle according to the embodiment of the present disclosure is shown schematically; Figure 4 As shown in the figure, the arrow indicates the laser head. According to the geometric relationship, the laser head moves a distance Δx in the x direction between two shots. i =2L C cos(θ ci +θ c ).

[0064] Figure 5 Schematically shows a schematic diagram of the calibration principle of the A-axis parameters according to an embodiment of the present disclosure; as Figure 5 shown, the arrow refers to the laser head. According to geometric relationships, the distance Δz that the laser head moves in the z direction between two photographings i = 2L A sin(θ ai + θ A ). Then, after multiple measurements, the least squares method is used to solve the following two equations respectively, and the RTCP parameters θ A 、θ C 、L A 、L C of the AC axis can be calculated.

[0065] Through the embodiments of the present disclosure, due to the symmetry of 180-degree rotation, relatively accurate arm lengths and zero points can be calculated; by solving the rotation characteristics of the A-axis and C-axis through an accurate mathematical model, reliable calibration results can be obtained.

[0066] Based on the single-camera vision calibration method for the five-axis laser device described above, the present disclosure also provides a single-camera vision calibration device for a five-axis laser device. The following will be combined with Figure 6 to describe this device in detail.

[0067] Figure 6 Schematically shows a structural block diagram of a single-camera vision calibration device for a five-axis laser device according to an embodiment of the present disclosure.

[0068] As Figure 6 shown, the single-camera vision calibration device for the five-axis laser device in this embodiment includes an imaging module for obtaining a set of imaging parameters by imaging the laser on the industrial camera curtain multiple times through rotating the A-axis and C-axis multiple times; a calculation module for calculating the rotation zero points and arm lengths by using a set of imaging parameters; the rotation zero points include the A-axis rotation zero point and the C-axis rotation zero point; the arm lengths include the A-axis arm length and the C-axis arm length.

[0069] Figure 7 Schematically shows a block diagram of an electronic device suitable for implementing the single-camera vision calibration method for a five-axis laser device according to an embodiment of the present disclosure.

[0070] As Figure 7As shown, the electronic device 700 according to an embodiment of the present disclosure includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage part 708 into a random access memory (RAM) 703. The processor 701 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 701 may also include an onboard memory for caching purposes. The processor 701 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.

[0071] In RAM 703, various programs and data required for the operation of electronic device 700 are stored. Processor 701, ROM 702 and RAM 703 are connected to each other via bus 704. Processor 701 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 702 and / or RAM 703. It should be noted that the program can also be stored in one or more memories other than ROM 702 and RAM 703. Processor 701 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.

[0072] According to an embodiment of the present disclosure, the electronic device 700 may further include an input / output (I / O) interface 705, which is also connected to the bus 704. The electronic device 700 may further include one or more of the following components connected to the I / O interface 705: an input portion 706 including a keyboard, a mouse, etc.; an output portion 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 708 including a hard disk, etc.; and a communication portion 709 including a network interface card such as a LAN card, a modem, etc. The communication portion 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed, so that a computer program read therefrom is installed into the storage portion 708 as needed.

[0073] 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.

[0074] 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.

[0075] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0076] 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.

[0077] 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.

[0078] 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 single-camera visual calibration method for a five-axis laser device, characterized in that: include: By rotating the A-axis and the C-axis multiple times, the laser is imaged multiple times on the industrial camera screen to obtain a set of imaging parameters; A set of imaging parameters are used to calculate the rotation zero point and the arm length; the rotation zero point includes the A-axis rotation zero point and the C-axis rotation zero point; the arm length includes the A-axis arm length and the C-axis arm length.

2. The method according to claim 1, wherein: By rotating the A-axis and C-axis multiple times, the laser is imaged multiple times on the industrial camera screen to obtain a set of imaging parameters, including: Rotate the A-axis and C-axis to a coarse zero point; the coarse zero point means that the A-axis arm is approximately parallel to the y-axis and the C-axis arm is approximately parallel to the x-axis; Rotate the A axis and the C axis twice, respectively adjust the laser head so that the laser forms an image on the industrial camera screen, and obtain imaging parameters; the imaging parameters include the x-axis coordinates and z-axis coordinates of the two images formed on the screen, the A axis rotation angle, the C axis rotation angle, and the x-axis moving distance and z-axis moving distance of the laser head; Repeat the steps of rotating the A-axis and the C-axis twice, respectively adjusting the laser head so that the laser forms an image on the industrial camera screen, and obtaining imaging parameters, to obtain multiple pairs of imaging parameters.

3. The method according to claim 2, wherein: Rotate the A-axis and C-axis twice, and adjust the laser head respectively so that the laser images on the industrial camera screen, and obtain the imaging parameters, including: Rotating the A axis by a first angle and rotating the C axis by a second angle; Adjust the laser head so that the laser forms an image on the industrial camera screen, and record the x-axis coordinate and z-axis coordinate of the first image; Rotate the A axis 180 degrees and the C axis 180 degrees; The laser head is moved along the x-axis and z-axis of the machine tool so that the laser forms an image on the industrial camera screen, and the x-axis coordinate and z-axis coordinate, x-axis moving distance and z-axis moving distance of the second imaging are recorded.

4. The method according to claim 2, wherein: The rotation zero point and arm length are calculated using a set of imaging parameters, including: Using the imaging parameters, calculate the change in the distance the laser moves in the x-axis and z-axis during two imagings; The rotation zero point and arm length are solved by the least square method using the varying distance, geometric relationship and a set of imaging parameters.

5. The method according to claim 4, wherein: Using the imaging parameters, calculate the change in distance of the laser moving in the x-axis and z-axis during two imaging, including: Using the x-axis coordinate and the z-axis coordinate and adjusting the x-axis moving distance and the z-axis moving distance of the laser head, calculate the change distance of the x-axis and z-axis movement; Among them, for the i-th imaging parameter, the formula for calculating the change distance moved on the x-axis and z-axis is as follows: Δx i =x i2 -x i1 +L xi Δz i =z i2 -z i1 +L zi In the formula, Δx i is the change distance of x-axis movement; L xi is the moving distance on the x-axis; i2 is the x-axis coordinate of the second imaging; i1 is the x-axis coordinate of the first imaging; Δz i L is the change distance of z-axis movement; zi is the moving distance of z axis; i2 is the z-axis coordinate of the second imaging; i1 is the z-axis coordinate of the first imaging.

6. The method according to claim 4, wherein: The rotation zero point and arm length are solved by the least square method using the varying distance, geometric relationship and a set of imaging parameters, including: By using the variable distance, geometric relationship and a set of imaging parameters, an A-axis parameter solution equation group and a C-axis parameter solution equation group are established; The A-axis parameters are used to solve the equation group, and the A-axis rotation zero point and arm length are solved by the least square method; The C-axis parameters are used to solve the equation group, and the rotation zero point and arm length of the C-axis are solved by the least square method.

7. The method according to claim 6, wherein: Establish the A-axis parameter solution equation group and the C-axis parameter solution equation group, including: In response to the rotation angle of the A-axis being 180 degrees and the rotation angle of the C-axis being 180 degrees during the second rotation, the A-axis parameter solving equation group is established as follows: In the formula, Δz i is the change distance of z-axis movement in the i-th imaging parameter; L A is the length of the A-axis arm; θ ai is the A-axis rotation angle in the i-th imaging parameter; θ A is the deviation angle from the zero point of A axis; The C-axis parameter solution equations are established as follows: In the formula, Δx i is the change distance of x-axis movement in the i-th imaging parameter; L C is the C-axis arm length; θ ci is the C-axis rotation angle in the i-th imaging parameter; θ C is the angle of deviation from the C-axis zero point.

8. A single-camera visual calibration device for a five-axis laser device, characterized in that: The device can be used to implement the method according to any one of claims 1 to 7, and the device comprises: An imaging module is used to rotate the A axis and the C axis multiple times so that the laser is imaged multiple times on the industrial camera screen to obtain a set of imaging parameters; The calculation module is used to calculate the rotation zero point and the arm length using a set of imaging parameters; the rotation zero point includes the A-axis rotation zero point and the C-axis rotation zero point; the arm length includes the A-axis arm length and the C-axis arm length.

9. 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 7.

10. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to execute the method according to any one of claims 1 to 7.

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