Method for calibrating position of laser head and processing equipment

Abstract

The invention discloses a method for calibrating the position of a laser head and machining equipment, the laser head is arranged on the machining equipment, and the machining equipment comprises a guide part, a camera and a machining platform; wherein a consumable capable of being recovered after laser burning / illumination is arranged at a preset position of the processing platform; the camera and the laser head are slidably connected with the guide member. The method comprises the steps that a laser head is controlled to move to the position above a preset position of a machining platform, or the machining platform is controlled to move so that the laser head can be located above the preset position of the machining platform; controlling the laser head to emit laser to the recoverable consumable so as to obtain a mark pattern on the recoverable consumable; the camera is controlled to move to the periphery of the preset position according to the target movement amount, and an image of the recoverable consumable containing the mark pattern is shot through the camera; and obtaining position information of the laser head based on the image and the target movement amount. When the position of the laser head is calibrated, recoverable consumables are adopted, so that the calibration process can be repeated without losing the consumables, and the production cost is reduced.

Description

Technical Field

[0001] This application relates to the field of 3D printing technology, and particularly to a method for calibrating the position of a laser head and a processing device. Background Art

[0002] In the hand-eye coordination task of a laser (such as laser engraving, laser cutting, etc.), the calibration of the positional relationship between the laser and the camera has a crucial impact on the hand-eye coordination task. In the usual calibration process, materials are required for calibration, resulting in relatively large material losses. Summary of the Invention

[0003] This application provides a method for calibrating the position of a laser head and a processing device that can reduce material losses during the calibration process.

[0004] In a first aspect, this application provides a method for calibrating the position of a laser head. The laser head is provided on a processing device, and the processing device includes a guiding member, a camera, and a processing platform. Among them, the processing platform is provided with a consumable that can be restored after being laser-burned / illuminated at a preset position; the camera and the laser head are slidably connected to the guiding member.

[0005] The method includes:

[0006] Controlling the laser head to move above the preset position of the processing platform, or controlling the processing platform to move so that the laser head is above the preset position of the processing platform;

[0007] Controlling the laser head to emit laser light towards the consumable that can be restored, so as to obtain a marked pattern on the consumable that can be restored;

[0008] Controlling the camera to move around the preset position according to a target movement amount, and taking an image of the consumable that can be restored containing the marked pattern through the camera;

[0009] Based on the image and the target movement amount, obtaining the position information of the laser head.

[0010] In some feasible implementation manners, the processing device further includes a 3D printing head connected to the laser head; the 3D printing head is slidably connected to the guiding member, and a camera is fixedly provided on the 3D printing head;

[0011] Controlling the camera to move around the preset position according to a target movement amount includes:

[0012] Controlling the 3D printing head to move around the preset position according to a target movement amount.

[0013] In some feasible implementation manners, before controlling the laser head to move above the preset position of the processing platform, or controlling the processing platform to move so that the laser head is above the preset position of the processing platform, the method further includes:

[0014] After detecting that the connection between the laser head and the 3D printing head is disconnected, control the laser head to reconnect to the 3D printing head.

[0015] In some feasible implementation manners, the recoverable consumable is thermal paper or photosensitive paper.

[0016] In some feasible implementation manners, the recoverable consumable is pasted on the surface of the processing platform facing the laser head.

[0017] In some feasible implementation manners, the processing platform includes a processing area and a non-processing area. The recoverable consumable is pasted on the non-processing area, and the processing area is used to place the product to be processed.

[0018] In some feasible implementation manners, a heat insulation material is provided between the recoverable consumable and the processing platform.

[0019] In some feasible implementation manners, control the 3D printing head to move to the vicinity of a preset position according to a target movement amount within a preset time, and the preset time is determined based on the recovery time of the recoverable consumable.

[0020] In some feasible implementation manners, the method further includes:

[0021] Based on the position information of the laser head, update the target movement amount, and control the camera to move to the vicinity of the preset position according to the updated target movement amount, and capture a new image of the recoverable consumable including a marked pattern through the camera;

[0022] Based on the updated target movement amount and the new image, obtain the new position information of the laser head.

[0023] In some feasible implementation manners, capturing an image of the recoverable consumable including a marked pattern through the camera includes:

[0024] Capture the recoverable consumable through the camera;

[0025] Determine whether the captured photo by the camera contains a marked pattern;

[0026] If the captured photo by the camera does not have a marked pattern, change the photographing position of the camera until the captured photo by the camera contains a marked pattern.

[0027] In some feasible implementation manners, the 3D printing head includes a nozzle, and the target movement amount is the distance between the nozzle and the laser head.

[0028] In some feasible implementation manners, the position information of the laser head is the relative position between the laser head and the camera.

[0029] In a second aspect, the present application further provides a processing device, which includes a laser head, a processing platform, a 3D printing head connected to the laser head, and a processor. The processor is configured to execute the method described in the first aspect.

[0030] In the present application, a consumable that can be restored after being burned by a laser is provided on the processing platform. By controlling the laser head to emit laser light towards the restorative consumable to change the color of the restorative consumable to form a marking pattern, and then controlling the 3D printing head to move to drive a camera to capture an image of the restorative consumable with the marking pattern, the relative positions of the laser head and the camera are calculated by analyzing the image, and the calibration of the position of the laser head is completed. Using the restorative consumable for calibrating the position of the laser head can enable the calibration process to be repeated without consuming the consumable, reducing the production cost, and repeating the calibration also improves the calibration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic structural diagram of a processing device provided by the present application;

[0032] Figure 2 is a schematic structural diagram of another processing device provided by the present application;

[0033] Figure 3 is a flowchart for calibrating the position of the laser head provided by the present application;

[0034] Figure 4 is a schematic structural diagram of the laser head at the initial position during the process of calibrating the position of the laser head by the processing device provided by the present application;

[0035] Figure 5 is a schematic structural diagram of the laser head when forming a marking pattern on the restorative consumable during the process of calibrating the position of the laser head by the processing device provided by the present application;

[0036] Figure 6 is a schematic structural diagram of the camera capturing the marking pattern on the restorative consumable during the process of calibrating the position of the laser head by the processing device provided by the present application;

[0037] Figure 7 is a schematic structural diagram of the processing device at the processing zero point provided by the present application;

[0038] Figure 8 is a flowchart of another method for calibrating the position of the laser head provided by the present application;

[0039] Figure 9 is a schematic structural diagram of the processing platform provided by the present application;

[0040] Figure 10 is a flowchart of the processing device for repeatedly calibrating the position of the laser head provided by the present application;

[0041] Figure 11Flow chart of another method for repeatedly calibrating the position of the laser head provided by this application;

[0042] Figure 12 Flow chart of the camera shooting the marked pattern on the recoverable consumable provided by this application;

[0043] Figure 13 Schematic structural diagram of a processing device including a cutter assembly provided by this application;

[0044] Figure 14 Schematic structural diagram of another processing device including a cutter assembly provided by this application;

[0045] Figure 15 Flow chart of calibrating the position of the cutter assembly provided by this application;

[0046] Figure 16 Flow chart of another method for calibrating the position of the cutter assembly provided by this application;

[0047] Figure 17 Flow chart of repeatedly calibrating the position of the cutter assembly of the processing device provided by this application.

[0048] Annotation of the attached drawings:

[0049] 100 - 3D printing head, 101 - camera, 200 - laser head, 201 - cutter assembly, 300 - guide, 400 - processing platform, 401 - processing area, 402 - non - processing area, 403 - recoverable consumable, 404 - heat - insulating material, 405 - cutting consumable, 500 - laser head in independent state, 501 - camera in independent state, 503 - cutter assembly in independent state. Detailed implementation manners

[0050] In order to make the objectives, technical solutions and advantages of this application clearer, the following will further describe this application in detail with reference to the accompanying drawings.

[0051] Please refer to Figure 1 , the processing device provided by this application includes a processing platform 400 and a 3D printing head 100 connected to a laser head 200; wherein, the processing platform 400 is provided with a recoverable consumable 403 that can be laser - burned / illuminated at a preset position; the 3D printing head 100 is slidably connected to a guide 300, and a camera 101 is fixedly arranged on the 3D printing head 100. Please refer to Figure 2, in some feasible embodiments, the camera 501 may not be provided on the 3D printing head. In this case, the laser head 500 and the camera 501 are in an independent state. The laser head 500 and the camera 501 are directly slidably connected to the guide member and can move above the processing platform along the guide member. When calibrating the laser head, the laser head is controlled to emit laser to the recoverable consumable at a preset position. After a marking pattern is formed on the recoverable consumable, the camera takes a picture of the marking pattern, and the relative position between the laser head and the camera is calculated based on the picture taken by the camera. The recoverable consumable that can be laser-ablated / illuminated at the preset position on the processing platform can be a material with recoverable color, such as thermal paper, photosensitive paper, or fluorescent material with temperature control characteristics. For thermal paper, under laser irradiation, the spot position is heated to a temperature exceeding the temperature required for the thermal paper to change color, so that the thermal paper changes color to form a marking pattern, which is convenient for the camera to take pictures of the marking pattern. After the temperature of the thermal paper returns to room temperature, the color of the thermal paper returns to the color at normal temperature. For photosensitive paper, under laser irradiation, the photosensitive paper absorbs the laser energy and changes color to form a marking pattern, which is convenient for the camera to take pictures of the marking pattern. After the photosensitive paper reacts, the color on the photosensitive paper returns to the color before laser ablation. For the fluorescent material with temperature control characteristics, under laser irradiation, the spot position is heated to a temperature exceeding the temperature required for the fluorescent material to change color, so that the fluorescent material forms a marking pattern, which is convenient for the camera to take pictures of the marking pattern. After the temperature of the fluorescent material returns to room temperature, the color of the fluorescent material returns to the color at normal temperature. Generally, the hand-eye calibration task requires obtaining the position of the laser spot in the camera's field of view. When the laser spot exceeds the field of view, we need to let the laser spot ablate / illuminate the object to leave a mark, and then move the camera to capture the mark left by the laser spot ablation / illumination to calculate the relative position between the laser point and the camera. The ablation / illumination of the laser spot is usually destructive, and this destructive ablation / illumination calibration method greatly reduces the service life of the product or calibration consumable. In this application, the recoverable consumable is used as the calibration consumable, and the laser calibration will not cause physical damage or destruction to the recoverable consumables such as thermal paper, photosensitive paper, or fluorescent material with temperature control characteristics. The recoverable consumable can be calibrated and erased multiple times without damaging the material itself, realizing the reuse of the recoverable consumable after laser calibration. At the same time, based on the recovery characteristics of the recoverable consumable, before each calibration, there is no need to change the position of the consumable. The position of the recoverable consumable is relatively fixed, reducing the number of times the processing equipment re-locates the preset position, and thus reducing the change of the laser head processing path caused by the change of the preset position, thereby improving the calibration accuracy.

[0052] In some feasible embodiments, the processing equipment is a gantry structure (such as Figure 1As shown, the guide member 300 is supported by two Z-axis vertical columns. The guide member 300 can move up and down along the Z-axis. The 3D printing head 100 can move along the guide member 300 in the Y-axis direction, and the processing platform 400 moves in the X-axis direction. Optionally, the processing device can be of the corexy structure. The guide member 300 is supported by the frame on the processing device. Driven by the belt, the 3D printing head 100 can move on the XY plane along the guide member 300. The processing platform 400 is connected to the Z-axis lead screw to achieve movement in the Z-axis direction. Exemplarily, the guide member 300 can be at least one of a Y-axis linear guide, a carbon rod, and an X-axis optical axis. Optionally, the processing device can also be of the cantilever type structure. The guide member 300 is supported by one Z-axis column. The guide member 300 moves up and down along the Z-axis. The 3D printing head 100 can move along the guide member 300 in the Y-axis direction and move along the processing platform 400 in the X-axis direction.

[0053] It should be understood Figure 1 This is only for illustration and does not limit the structural type of the processing device. In this application, unless otherwise clearly specified and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. "Connection" includes detachable connection and non-detachable connection. For example, fixed connection can include detachable fixed connection and non-detachable fixed connection, rotational connection can include detachable rotational connection and non-detachable rotational connection, and sliding connection can include detachable sliding connection and non-detachable sliding connection. Connection can also be a direct connection or an indirect connection through a component. For example, for a detachable fixed connection, it means that in the installed state, the positional relationship between at least two connected objects can be fixed; similarly, for rotational connection and sliding connection, etc.

[0054] In some feasible embodiments, the processing platform is used to provide a platform for the production and processing of 3D printing heads and laser heads. The guide is used to support the 3D printing head and the laser head. The 3D printing head is slidably connected to the guide. During processing, the 3D printing head can linearly slide along the extension direction of the guide (the Y-axis direction) or slide in the XY plane through a belt. The guide is movably connected to the frame of the processing platform 400. The guide can move relative to the frame of the processing platform along the X-axis direction, so that the 3D printing head follows the guide and moves relative to the frame of the processing platform along the X-axis direction. The sliding of the 3D printing head along the extension direction of the guide (the Y-axis direction), the movement of the 3D printing head following the guide along the X-axis direction, and the up-and-down movement of the processing platform following the guide along the Z-axis direction can be coordinated by a stepper motor and a transmission system, so that the stepper motor drives the 3D printing head 100 to move precisely in three-dimensional space, ensuring that the material processed by the 3D printing head is formed according to the designed trajectory.

[0055] Please refer to Figure 3 , when the camera is fixedly arranged on the 3D printing head, the method for calibrating the position of the laser head 200 provided by the present application includes the following steps:

[0056] S101, control the laser head to move above the preset position of the processing platform, or control the processing platform to move so that the laser head is above the preset position of the processing platform.

[0057] Please refer to Figure 4 , in the initial state of the processing equipment, turn on the 3D printing head 100, the camera 101 and the laser head 200, and perform initialization operations on the 3D printing head 100, the camera 101 and the laser head 200. For example, initialize the motion parameters of the 3D printing head 100, the camera 101 and the laser head 200. Exemplarily, the initial state can be the state before the processing equipment starts, resets or begins to run the processing.

[0058] Please refer to Figure 5 , after the initialization operation is completed, control the laser head 200 to move above the preset position of the processing platform 400. For example, it can be achieved by controlling the movement of the 3D printing head 100 to drive the laser head 200 to move above the preset position of the processing platform 400, so that the laser head 200 can emit laser light to the recoverable consumable 403 at the preset position. During the movement, the position of the laser head is monitored in real time to ensure that the laser head accurately reaches the preset position. The laser head 200 and the 3D printing head 100 are in a relationship of a mounted part and a mounted-on part. When the 3D printing head 100 moves within the processing platform 400, the laser head 200 moves with the 3D printing head 100.

[0059] Alternatively, after detecting the disconnection of the connection between the laser head 200 and the 3D printing head 100, when controlling the laser head 200 to reconnect to the 3D printing head 100, the laser head 200 is controlled to move above a preset position of the processing platform 400. A sensor is provided on the laser head 200 or the 3D printing head 100 for real-time monitoring of the connection state between the two. These sensors can be mechanical contact sensors, photoelectric sensors, electromagnetic sensors, etc. The processing device also includes a controller that obtains the connection state information between the laser head 200 and the 3D printing head 100 in real time through the sensor. If a disconnection is detected, the controller records the disconnection event and starts the reconnection process. When the sensor detects the disconnection of the connection between the laser head 200 and the 3D printing head 100, the control system immediately identifies this change in state. If the laser head 200 is performing a processing task, the control system immediately pauses the current operation to prevent processing errors or equipment damage caused by the disconnection. If the laser head 200 is not performing a processing task, the controller re-establishes the connection between the laser head 200 and the 3D printing head 100, or the operator manually connects the laser head 200 and the 3D printing head 100. After the reconnection is successful, the disconnection event recorded by the controller is retrieved, and the laser head 200 and the 3D printing head 100 continue to execute the instructions that were not completed before the disconnection, that is, continue to control the movement of the 3D printing head to drive the laser head 200 to move above the preset position of the processing platform 400. Alternatively, after the reconnection is successful, the laser head 200 and the 3D printing head 100 are initialized so that the laser head 200 and the 3D printing head 100 are restored to the initial state, and then the laser head 200 is controlled to move above the preset position of the processing platform 400. Exemplarily, the initial state can be the state before the processing device is started, reset, or starts running the processing.

[0060] Optionally, the processing platform 400 of the present application can move up and down along the Z-axis direction. After the laser head 200 moves above the preset position in the XY plane, if the distance between the laser head 200 and the preset position is greater than the focal length of the laser emitted by the laser head 200, the processing platform 400 is controlled to move along the Z-axis direction. In some feasible embodiments, the detection of the safe distance between the laser head 200 and the processing platform 400 can be monitored by taking a photo with a camera 101 connected to the 3D printing head 100. When the distance between the laser head 200 and the preset position is less than or equal to the focal length of the emitted laser and greater than or equal to the safe operating distance of the laser head 200, the processing platform 400 stops moving, so as to ensure that the laser head 200 emits laser above the preset position and leaves a marked pattern formed after laser burning on the recoverable consumable 403.

[0061] In some feasible embodiments, the processing platform 400 can move along the X-axis direction, the laser head 200 can move along the guide on the Y-axis, and the laser head 200 can also move along the guide in the Z-axis direction. Then, the laser head 200 can be controlled to move in the Z-axis direction to a preset height from the processing platform, and this preset height is related to the focus of the laser head 200. The laser head 200 can be further controlled to move above the preset position of the processing platform in the Y-axis direction. Or, while keeping the laser head 200 at the preset height, the processing platform can be further controlled to move in the X-axis direction so that the laser head 200 is above the preset position of the processing platform.

[0062] The processing platform refers to a general workbench that can be used for various processing methods. Exemplarily, the processing platform of the present application can be used for various processing methods such as 3D printing and laser processing. Among them, for 3D printing, the processing platform can be considered as a printing platform, that is, it can include a heated bed, and can further include at least one of a printing panel located above the heated bed and a heated bed bracket for supporting the heated bed, where the heated bed bracket can elastically support the heated bed or fixedly support the heated bed and the printing panel. For laser processing, the processing platform can include a laser backing plate, and the object to be laser processed is placed on the laser backing plate. Optionally, if the processing device can perform both 3D printing and laser processing, the processing platform can include both a laser backing plate and can further include a heated bed, and even can include a printing panel. When laser processing is required, the laser backing plate can be placed on the heated bed. When 3D printing is required, the laser backing plate is removed and the printing panel is placed on the heated bed. Or, the processing platform is still the printing platform, and the processing device can engrave / cut the printed part while printing, or engrave / cut the printed part on the printing platform after printing. Therefore, the recoverable consumables can be placed at the preset positions on the heated bed, the printing panel or the backing plate.

[0063] S102, control the laser head to emit laser towards the recoverable consumables to obtain a marked pattern on the recoverable consumables.

[0064] In some feasible embodiments, when the laser head 200 moves above the preset position, and the distance between the laser head 200 and the preset position is less than or equal to the focal length of the emitted laser and greater than or equal to the safe operating distance of the laser head 200, ensure that the laser head is preheated and in an available state, and set parameters such as the power, frequency, and pulse width of the laser to ensure that the laser head 200 obtains a clear marked pattern on the recoverable consumables. Control the laser head 200 to emit laser towards the recoverable consumables 403 at the preset position with a certain power.

[0065] If the recoverable consumable 403 at the preset position is thermal paper, after the laser head 200 heats the thermal paper until it changes color, control the laser head 200 to stop emitting laser; if the recoverable consumable 403 at the preset position is photosensitive paper, after the laser head 200 irradiates the photosensitive paper until it changes color, control the laser head 200 to stop emitting laser; if the recoverable consumable at the preset position is a fluorescent material with temperature control characteristics, after the laser head heats the fluorescent material to a temperature exceeding the temperature required for the fluorescent material to change color to form a marking pattern, control the laser head 200 to stop emitting laser. This facilitates the camera 101 to capture the marking pattern. After the temperature of the fluorescent material returns to room temperature, the color of the fluorescent material returns to its color at normal temperature. The discolored trace on the thermal paper, photosensitive paper, or fluorescent material with temperature control characteristics obtained after the laser head 200 emits laser onto them is the marking pattern.

[0066] S103, control the 3D printing head to move to the vicinity of the preset position according to the target movement amount, and capture an image of the recoverable consumable containing the marking pattern through the camera. In some feasible embodiments, the target movement amount is a preset value.

[0067] In some feasible embodiments, please refer to Figure 6 , after obtaining the marking pattern on the recoverable consumable 403 through the laser head 200, control the 3D printing head 100 to move to drive the camera 101 fixedly connected to the 3D printing head 100 to move to the vicinity of the preset position according to the target movement amount. The target movement amount is determined by the mechanical structure among the laser head 200, the 3D printing head 100, and the camera 101. For example, project the movements of the laser head 200, the 3D printing head 100, and the camera 101 onto the XY plane. If the coordinates of the center point of the marking pattern formed by the laser head 200 on the recoverable consumable 403 are (x0, y0), and the coordinates of the camera 101 are (x1, y1), then the target movement amounts are dx = |x0 - x1| and dy = |y0 - y1|. Controlling the 3D printing head 100 to move to the vicinity of the preset position according to the target movement amount can ensure that the marking pattern on the recoverable consumable 403 is within the field of view of the camera 101. At this time, confirm that the camera 101 has been preheated and is in an available state, and set parameters such as the focal length, aperture, and exposure time of the camera 101 to ensure that the camera 101 captures a clear image. Capture the recoverable consumable 403 through the camera 101 to obtain an image containing the marking pattern on the recoverable consumable 403. In this image, the position of the marking pattern is not fixed. The marking pattern can be at the center of the image or at the edge position of the image.

[0068] Optionally, in some feasible embodiments, the 3D printing head 100 includes a nozzle, and the target movement amount is the distance between the nozzle and the laser head 200. Among them, the distance between the nozzle and the laser head 200 can be a designed value, a value determined when designing the processing device; it can also be a measured value, a value obtained by measuring the distance between the nozzle and the laser head 200 after production, and so on.

[0069] In some feasible embodiments, after obtaining the marked pattern on the recoverable consumable 403, control the 3D printing head 100 to move to the vicinity of the preset position according to the target movement amount within the preset time. The preset time is determined based on the recovery time of the recoverable consumable 403, that is, within this preset time, the marked pattern will still remain on the recoverable consumable for the camera to capture. After the laser head 200 emits laser light at the preset position to the recoverable consumable 403, the recoverable consumable 403 changes color to form a marked pattern left after laser burning. Based on the reusable characteristics of the recoverable consumable 403, the retention time of the marked pattern on the recoverable consumable 403 is determined according to the recovery time of the recoverable consumable 403. The specific recovery time is determined according to the type of the recoverable consumable 403. After the laser head 200 emits laser light, control the 3D printing head 100 to move to the vicinity of the preset position according to the target movement amount within the preset time. The preset time is less than the recovery time of the recoverable consumable 403 to ensure that the 3D printing head 100 can drive the camera 101 to move around the preset position within the recovery time of the recoverable consumable 403 and capture an image containing the marked pattern. This avoids repeated photographing and improves the working accuracy and working efficiency.

[0070] S104. Based on the image and the target movement amount, obtain the position information of the laser head.

[0071] Exemplarily, the captured image can be preprocessed, such as denoising, grayscale conversion, and binarization, etc., to improve the image quality. Use image processing technology to extract the feature points of the marked pattern, and calculate the position information of the laser head 200 according to the position of the marked pattern in the image and the target movement amount.

[0072] In some feasible embodiments, the position information of the laser head 200 may be the relative position between the laser head 200 and the camera 101. When the marking pattern is not located at the center of the image, the pixel coordinates of the marking pattern and the image center in the image can be obtained first. Combining the internal parameter matrix of the camera 101 and the focal length of the camera 101, the offset between the marking pattern and the image center is calculated. The offset between the marking pattern and the image center is superimposed with the preset target movement amount to obtain the relative position relationship between the camera 101 and the laser head 200. Alternatively, the vector relationship between the marking pattern and the image center in the image can be obtained first. For example, the direction and angle of the marking pattern relative to the image center are obtained, the included angle between the marking pattern and the image center is determined, and then the target movement amount is converted into a corresponding target matrix. The vector relationship between the marking pattern and the image center and the target matrix are combined to obtain the relative position relationship between the camera 101 and the laser head 200. When the marking pattern is located at the center of the image, the preset target movement amount is the relative position relationship between the camera 101 and the laser head 200.

[0073] Taking the acquisition of the coordinates of the marking pattern and the image center in the image as an example, first, the marking pattern is extracted from the image. For example, when the marking pattern is the marking pattern formed on the replaceable consumable 403, the spots are extracted from the image. The methods for extracting spots or groups of spots from the image include but are not limited to conventional spot detection (extracting connected regions in a binary image), corner detection (algorithms such as sift and orb), Hough circle detection, convolutional neural network object detection, and other detection algorithms. Taking the extraction of connected regions in a binary image as an example, first, the image is converted into a binary image, and then the binary image is scanned twice to identify and mark all connected pixel regions in the image. The total number of pixels in the connected pixel regions and the number of pixels on the boundary of the connected pixel regions are analyzed, etc., to extract the pixel coordinates (x, y) of the marking pattern in the image.

[0074] Then, the position of the marking pattern from the center of the image is calculated, and the target movement amount is superimposed to obtain the relative position between the laser head 200 and the camera 101. Assuming that the pixel coordinates of the center of the camera 101 are (cx, cy), the focal length of the camera 101 is f, the target movement amount of the laser head 200 and the camera 101 in the X direction is dx, and the target movement amount of the laser head 200 and the camera 101 in the Y direction is dy, then the offset dx_cam of the laser head 200 and the camera 101 in the X direction = (x - cx) * f, and the offset dy_cam of the laser head 200 and the camera 101 in the Y direction = (y - cy) * f. The offset dx_cam of the laser head 200 and the camera 101 in the X direction and the offset dy_cam in the Y direction are the relative position relationship between the laser head 200 and the camera 101.

[0075] Optionally, in some feasible embodiments, the position information of the laser head 200 may be the relative position between the laser head 200 and the camera 101. A mapping relationship among the position of a marking pattern in an image, the target movement amount, and the relative position between the laser head and the camera may be established in advance. By identifying the position of the marking pattern in the image and the target movement amount, the relative position between the laser head 200 and the camera 101 can be determined.

[0076] Alternatively, in some feasible embodiments, the position information of the laser head 200 may be the position of the laser head in the device coordinates of the processing device, that is, the position of the laser head relative to a reference point of the processing device. A mapping relationship among the position of a marking pattern in an image, the target movement amount, and the position of the laser head in the device coordinates of the processing device may be established in advance. By identifying the position of the marking pattern in the image and the target movement amount, the position of the laser head in the device coordinates of the processing device can be determined.

[0077] Alternatively, in some feasible embodiments, the position information of the laser head 200 may be the relative position between the laser head 200 and the camera 101. The camera can be controlled to move to the vicinity of a preset position according to two different target movement amounts, such as movement amount A and movement amount B, and an image A of the recoverable consumable containing the marking pattern corresponding to movement amount A and an image B of the recoverable consumable containing the marking pattern corresponding to movement amount B are captured. The position difference of the marking pattern in image A and image B is compared, and combined with the movement difference between movement amount A and movement B, the position information of the laser head is calculated.

[0078] There are many ways to obtain the position information of the laser head based on the image and the target movement amount in this application, which are not limited to the above examples.

[0079] Please refer to Figure 7 , a processing zero point is set in the processing device. When the processing device determines the positions of the laser head and the camera and completes the calibration of the laser head position, it controls the 3D printing head to move to drive the camera and the laser head to move to the processing zero point to prepare for processing the product to be processed. Alternatively, after completing the calibration of the laser head position, the processing device can directly process the product to be processed. Alternatively, after completing the calibration of the laser head position, the position of the laser head is stored.

[0080] In some feasible embodiments, a processing device includes a 3D printing head and a camera, and the 3D printing head includes a nozzle. When the camera is fixedly connected to the 3D printing head, the relative position between the nozzle and the camera is known, or in other words, the relative position between the nozzle and the camera is calibrated. Based on the relative position between the camera and the laser head and the relative position between the camera and the nozzle, the position between the laser head and the nozzle can be obtained. Therefore, by implementing the present application, after the 3D printing head finishes working, the laser head can take over the work of the 3D printing head, that is, perform laser engraving while printing, or perform laser engraving after printing is completed. Moreover, in a feasible embodiment of the present application, the 3D printing head is slidably connected to a guide member, and the laser head is connected to the 3D printing head, that is, the laser head is indirectly slidably connected to the guide member through the 3D printing head. Then, when controlling the laser head to perform laser processing, since the position between the nozzle and the laser head has been calibrated, the relative movement of the laser head can also be accurately controlled by controlling the movement of the nozzle, so as to realize that a set of movement structures such as a guide member or a lead screw can control two processing heads such as a 3D printing head and a laser head at the same time.

[0081] Please refer to Figure 8 , when the camera is not disposed on the 3D printing head but is slidably connected to the guide member, the method for calibrating the position of the laser head 500 provided by the present application includes the steps of:

[0082] S201, control the laser head to move above a preset position on the processing platform, or control the processing platform to move so that the laser head is above the preset position on the processing platform.

[0083] In the initial state of the processing device, turn on the camera 501 and the laser head 500, and perform initialization operations on the camera 501 and the laser head 500. For example, initialize the motion parameters of the camera 501 and the laser head 500. Exemplarily, the initial state may be the state before the processing device starts, resets, or begins to run the processing.

[0084] After the initialization operation is completed, control the laser head 500 to move above a preset position on the processing platform 400, so that the laser head 500 can emit laser light to the recoverable consumable 403 at the preset position. During the movement, the position of the laser head 500 is monitored in real time to ensure that the laser head 500 accurately reaches the preset position.

[0085] Optionally, the processing platform 400 of the present application can move up and down along the Z-axis direction. After the laser head 500 moves to the upper part of the preset position in the XY plane, if the distance between the laser head 500 and the preset position is greater than the focal length of the laser emitted by the laser head 500, the processing platform 400 is controlled to move along the Z-axis direction. In some feasible implementation manners, the detection of the safety distance between the laser head and the processing platform can be monitored by the processing equipment. For example, a camera is arranged in the processing equipment to take pictures and monitor the laser head. When the distance between the laser head 500 and the preset position is less than or equal to the focal length of the emitted laser and greater than or equal to the safe operating distance of the laser head 500, the processing platform 400 stops moving, so as to ensure that the laser head 500 emits laser above the preset position and leaves a marked pattern formed after laser burning on the recoverable consumable 403.

[0086] In some feasible implementation manners, the processing platform can move along the X-axis direction, the laser head can move on the Y-axis along the guide, and the laser head 500 can also move in the Z-axis direction along the guide. Then, the laser head can be controlled to move in the Z-axis direction to a preset height from the processing platform, and the preset height is related to the focus of the laser head; the laser head can be further controlled to move above the preset position of the processing platform in the Y-axis direction; or the laser head is maintained at the preset height, and the processing platform is further controlled to move in the X-axis direction so that the laser head is above the preset position of the processing platform.

[0087] S202, control the laser head to emit laser to the recoverable consumable to obtain a marked pattern on the recoverable consumable.

[0088] In some feasible implementation manners, when the laser head 500 moves above the preset position and the distance between the laser head 500 and the preset position is less than or equal to the focal length of the emitted laser and greater than or equal to the safe operating distance of the laser head 500, ensure that the laser head 500 has been preheated and is in an available state, and set parameters such as the power, frequency, and pulse width of the laser head 500 to ensure that a clear marked pattern is obtained on the recoverable consumable 403 by the laser head 500. Control the laser head 500 to emit laser to the recoverable consumable 403 at a certain power at the preset position.

[0089] If the recoverable consumable 403 at the preset position is thermal paper, after the laser head 500 heats the thermal paper until it changes color, the laser head 500 is controlled to stop emitting laser; if the recoverable consumable 403 at the preset position is photosensitive paper, after the laser head 500 irradiates the photosensitive paper until it changes color, the laser head 500 is controlled to stop emitting laser; if the recoverable consumable 403 at the preset position is a fluorescent material with temperature control characteristics, after the laser head 500 heats the fluorescent material to a temperature exceeding the temperature required for the fluorescent material to change color to form a marking pattern, the laser head 500 is controlled to stop emitting laser. It is convenient for the camera 501 to capture the marking pattern. After the temperature of the fluorescent material returns to room temperature, the color of the fluorescent material returns to the color at normal temperature. The discoloration trace on the thermal paper, photosensitive paper or fluorescent material with temperature control characteristics obtained after the laser head 500 emits laser onto the thermal paper, photosensitive paper or fluorescent material with temperature control characteristics is the marking pattern.

[0090] S203, control the camera to move to the vicinity of the preset position according to the target movement amount, and capture an image of the recoverable consumable containing the marking pattern through the camera. In some feasible embodiments, the target movement amount is a preset value.

[0091] In some feasible embodiments, after obtaining the marking pattern on the recoverable consumable 403 through the laser head 500, control the camera 501 to move to the vicinity of the preset position according to the target movement amount. The target movement amount is determined by the mechanical structure between the laser head 500 and the camera 501. For example, project the movements of the laser head 500 and the camera 501 onto the XY plane. If the coordinates of the center point of the marking pattern formed by the laser head 500 on the recoverable consumable 403 are (x0, y0), and the coordinates of the camera 501 are (x1, y1), then the target movement amounts are dx = |x0 - x1| and dy = |y0 - y1|. Controlling the camera to move to the vicinity of the preset position according to the target movement amount can ensure that the marking pattern on the recoverable consumable 403 is within the field of view of the camera 501. At this time, confirm that the camera 501 has been preheated and is in an available state, and set parameters such as the focal length, aperture and exposure time of the camera 501 to ensure that the camera 501 captures a clear image. Capture the recoverable consumable 403 through the camera 501 to obtain an image containing the marking pattern on the recoverable consumable 403. In this image, the position of the marking pattern is not fixed. The marking pattern can be at the center of the image or at the edge position of the image.

[0092] In some feasible embodiments, after obtaining the marking pattern on the recoverable consumable 403, the camera is controlled to move around the preset position according to the target movement amount within a preset time. The preset time is determined based on the recovery time of the recoverable consumable 403, that is, the marking pattern will still remain on the recoverable consumable 403 for the camera to capture within this preset time. After the laser head 500 emits laser light at the preset position to the recoverable consumable 403, the recoverable consumable 403 changes color to form the marking pattern left after laser burning. Based on the reusable characteristics of the recoverable consumable 403, the retention time of the marking pattern on the recoverable consumable 403 is determined according to the recovery time of the recoverable consumable 403, and the specific recovery time is determined according to the type of the recoverable consumable 403. After the laser head 500 emits laser light, the camera is controlled to move around the preset position according to the target movement amount within a preset time. The preset time is less than the recovery time of the recoverable consumable 403, so that the camera 501 moves around the preset position within the recovery time of the recoverable consumable 403 to capture an image containing the marking pattern. This avoids repeated photographing and improves the working accuracy and working efficiency.

[0093] S204, based on the image and the target movement amount, obtain the position information of the laser head.

[0094] Exemplarily, the captured image can be preprocessed, such as denoising, grayscale conversion, and binarization, etc., to improve the image quality. Use image processing technology to extract the feature points of the marking pattern, and calculate the position information of the laser head 500 according to the position of the marking pattern in the image and the target movement amount.

[0095] In some feasible embodiments, the position information of the laser head 500 can be the relative position between the laser head 500 and the camera 501. When the marking pattern is not located at the center of the image, the pixel coordinates of the marking pattern and the image center in the image can be obtained first, and the offset between the marking pattern and the image center is calculated by combining the internal parameter matrix of the camera 501 and the focal length of the camera 501. The offset between the marking pattern and the image center is superimposed with the preset target movement amount to obtain the relative position relationship between the camera 501 and the laser head 500. Alternatively, the vector relationship between the marking pattern and the image center in the image can be obtained first, such as obtaining the direction and angle of the marking pattern relative to the image center, determining the included angle between the marking pattern and the image center, and then converting the target movement amount into a corresponding target matrix, and combining the vector relationship between the marking pattern and the image center and the target matrix to obtain the relative position relationship between the camera 501 and the laser head 500. When the marking pattern is located at the center of the image, the preset target movement amount is the relative position relationship between the camera 501 and the laser head 500.

[0096] Taking the coordinates of the marked pattern and the image center in the image as an example, first, the marked pattern in the image is extracted. For example, when the marked pattern is the marked pattern formed on the replaceable consumable 403, spot extraction is performed on the image. The methods for extracting spots or groups of spots from the image include but are not limited to conventional spot detection (extracting connected regions in a binary image), corner detection (algorithms such as sift, orb, etc.), Hough circle detection, convolutional neural network object detection, and other detection algorithms. Taking the extraction of connected regions in a binary image as an example, first, the image is converted into a binary image, and then the binary image is scanned twice to identify and mark all connected pixel regions in the image, analyze the total number of pixels in the connected pixel regions and the number of pixels on the boundary of the connected pixel regions, etc., and extract the pixel coordinates (x, y) of the marked pattern in the image.

[0097] Then, calculate the position of the marked pattern from the image center, superimpose the target movement amount, and obtain the relative position of the laser head 500 and the camera 501. Assume that the pixel coordinates of the center of the camera 501 are (cx, cy), the focal length of the camera 501 is f, the target movement amount of the laser head 500 and the camera 501 in the X direction is dx, and the target movement amount of the laser head 500 and the camera 501 in the Y direction is dy. Then, the offset dx_cam of the laser head 500 and the camera 501 in the X direction is (x - cx) * f, and the offset dy_cam of the laser head 500 and the camera 501 in the Y direction is (y - cy) * f. The offset dx_cam of the laser head 500 and the camera 501 in the X direction and the offset dy_cam in the Y direction are the relative position relationship between the laser head 500 and the camera 501.

[0098] Optionally, in some feasible embodiments, the position information of the laser head 500 may be the relative position between the laser head 500 and the camera 501. A mapping relationship among the position of the marked pattern in the image, the target movement amount, and the relative position between the laser head and the camera can be established in advance. By identifying the position of the marked pattern in the image and the target movement amount, the relative position between the laser head 500 and the camera 501 can be determined.

[0099] Alternatively, in some feasible embodiments, the position information of the laser head 500 may be the position of the laser head on the device coordinates of the processing device, that is, the position of the laser head relative to a reference point of the processing device. A mapping relationship among the position of the marked pattern in the image, the target movement amount, and the position of the laser head on the device coordinates of the processing device can be established in advance. By identifying the position of the marked pattern in the image and the target movement amount, the position of the laser head on the device coordinates of the processing device can be determined.

[0100] Alternatively, in some feasible embodiments, the position information of the laser head 500 may be the relative position between the laser head 500 and the camera 501. The camera can be controlled to move to the vicinity of a preset position according to two different target movement amounts, such as movement amount A and movement amount B, and an image A of the recoverable consumable containing the marked pattern corresponding to the movement amount A is captured, and an image B of the recoverable consumable containing the marked pattern corresponding to the movement amount B is captured. The position difference of the marked pattern in image A and image B is compared, and combined with the movement difference between movement amount A and movement B, the position information of the laser head is calculated.

[0101] There are many ways to obtain the position information of the laser head based on images and target movement amounts in this application, not limited to the above examples.

[0102] The recoverable consumable 403 placed at the preset position can be thermal paper, photosensitive paper, or a fluorescent material with temperature control characteristics. For thermal paper, under laser irradiation, the position on the thermal paper burned by the laser is heated to a temperature exceeding the temperature required for the thermal paper to change color, so that the thermal paper forms a marked pattern, which is convenient for the camera to capture the marked pattern. After the temperature of the thermal paper returns to room temperature, the color of the thermal paper returns to its normal temperature color. For photosensitive paper, under laser irradiation, the photosensitive paper absorbs laser energy and changes color to form a marked pattern, which is convenient for the camera to capture the marked pattern. After the photosensitive paper reacts, the color on the photosensitive paper returns to the color before laser burning. For the fluorescent material with temperature control characteristics, under laser irradiation, the position on the fluorescent material burned by the laser is heated to a temperature exceeding the temperature required for the fluorescent material to change color, so that the fluorescent material forms a marked pattern, which is convenient for the camera to capture the marked pattern. After the temperature of the fluorescent material returns to room temperature, the color of the fluorescent material returns to its normal temperature color. Laser calibration will not cause physical damage or destruction to thermal paper, photosensitive paper, or fluorescent materials with temperature control characteristics. Thermal paper, photosensitive paper, or fluorescent materials with temperature control characteristics can be calibrated and erased multiple times without damaging the material itself, realizing the reuse of the recoverable consumable after laser calibration.

[0103] In some feasible embodiments, the recoverable consumable 403 is pasted on the surface of the processing platform 400 facing the laser head. During the laser calibration process of the laser head, the recoverable consumable 403 has the characteristic of being reusable. Pasting it on the surface facing the laser head can reduce the replacement frequency of the consumable. When it is necessary to remove the consumable from the processing platform 400, laser can be emitted to the recoverable consumable 403 by increasing the power of the laser head to peel the recoverable consumable 403 from the processing platform 400.

[0104] Please refer to Figure 9, the processing platform 400 includes a processing area 401 and a non - processing area 402. The recoverable consumable 403 is pasted on the non - processing area 402, and the processing area 401 is used to place the product to be processed. Before processing the product to be processed, first control the laser head 200 to move above the recoverable consumable 403 in the non - processing area 402, turn on the laser head 200 to emit laser light onto the recoverable consumable 403 to form a marked pattern on the recoverable consumable 403. Then control the camera 101 to move to take a picture of the marked pattern on the recoverable consumable 403 to obtain an image containing the marked pattern, analyze the image and calculate the positional relationship between the laser head 200 and the camera 101. Based on the obtained positional relationship between the laser head 200 and the camera 101, when controlling the laser head 200 to move to the processing area 401 to process the product to be processed, the positioning deviation caused by the relative positional error between the camera 101 and the laser head 200 is eliminated, enabling the laser head 200 to more accurately locate the position of the product to be processed and ensuring the processing accuracy of the laser head 200.

[0105] Optionally, the recoverable consumable 403 can be directly pasted on the processing platform 400. Or, a heat - insulating material 404 can also be provided between the recoverable consumable 403 and the processing platform 400. The heat - insulating material 404 can be materials that can play a heat - insulating role, such as ordinary sponge, foam adhesive, sticker, etc. When the heat - insulating material 404 is provided between the recoverable consumable 403 and the processing platform 400, the retention time of the marked pattern formed on the recoverable consumable 403 after being burned / illuminated by the laser can be extended. For example, when the recoverable consumable 403 is thermal paper, when the laser head 200 emits laser light onto the recoverable consumable 403, the heat - insulating material 404 can reduce the heat dissipation from the thermal paper to the processing platform 400, stabilize the temperature of the thermal paper, so as to extend the retention time of the marked pattern formed on the thermal paper and ensure that the camera can take an image containing the marked pattern before the marked pattern disappears.

[0106] Please refer to Figure 10 , the method for calibrating the position of the laser head 200 provided in this application can not only be calibrated once, but also can be repeatedly calibrated to improve the calibration accuracy. When the camera is fixedly arranged on the 3D printing head, the method of repeated calibration includes the steps:

[0107] S301, based on the position information of the laser head, update the target movement amount, and control the 3D printing head to move to the vicinity of the preset position according to the updated target movement amount, and take a new image of the recoverable consumable containing the marked pattern through the camera.

[0108] In some feasible embodiments, the position information of the laser head 200 is the relative position relationship between the laser head 200 and the camera 101 during the last laser calibration. The target movement amount is updated based on the relative position relationship between the laser head 200 and the camera 101 during the last laser calibration. During the last calibration, after the laser head 200 emits laser light to form a marking pattern on the recoverable consumable 403, the camera 101 offsets by (dx_init, dy_init) and then captures an image of the recoverable consumable 403 with the marking pattern. The offset amount dx_init of the camera 101 in the X direction and the offset amount dy_init in the Y direction are the new target movement amounts. The 3D printing head 100 is controlled to move around the preset position according to the updated target movement amount within a preset time. A new image of the recoverable consumable 403 with the marking pattern is captured by the camera 101. The preset time is determined based on the recovery time of the recoverable consumable 403. After the laser head 200 emits laser light at the preset position to the recoverable consumable 403, a marking pattern left after laser burning / illumination is formed on the recoverable consumable 403. Based on the reusable characteristics of the recoverable consumable 403, the retention time of the marking pattern on the recoverable consumable 403 is determined according to the recovery time of the recoverable consumable 403. The specific recovery time is determined according to the type of the recoverable consumable 403. After the laser head 200 emits laser light, the 3D printing head 100 is controlled to move around the preset position according to the updated target movement amount within a preset time. The preset time is less than or equal to the recovery time of the recoverable consumable 403 to ensure that the 3D printing head 100 can drive the camera 101 to move around the preset position within the recovery time of the recoverable consumable 403 and capture a new image with the marking pattern. This avoids repeated photographing and improves the working accuracy and working efficiency.

[0109] S302. Obtain the new position information of the laser head based on the updated target movement amount and the new image.

[0110] After obtaining the new image containing the marked pattern, it is necessary to analyze and calculate the new position information of the laser head 200, that is, the new relative position between the laser head 200 and the camera 101. Preprocess the captured new image, such as denoising, grayscale conversion, and binarization, etc., to improve the quality of the new image. Use image processing techniques to extract the feature points of the marked pattern, and calculate the new position information of the laser head 200 according to the position of the marked pattern in the new image and the updated target movement amount. The new position information of the laser head 200 can be the new relative position between the laser head 200 and the camera 101. When the marked pattern is not located at the center of the new image, the pixel coordinates of the marked pattern and the center of the new image in the new image can be obtained first, and the offset between the marked pattern and the center of the new image can be calculated by combining the internal parameter matrix of the camera 101 and the focal length of the camera 101. The offset between the marked pattern and the center of the new image and the preset target movement amount are superimposed to obtain the relative position relationship between the camera 101 and the laser head. It is also possible to first obtain the vector relationship between the marked pattern and the center of the new image in the new image. For example, obtain the direction and angle of the marked pattern relative to the center of the new image, determine the included angle between the marked pattern and the center of the new image, and then convert the updated target movement amount into the corresponding updated target matrix. The vector relationship between the marked pattern and the center of the new image and the updated target matrix are combined to obtain the new relative position relationship between the camera 101 and the laser head.

[0111] First, extract the marked pattern from the new image. For example, when the marked pattern is the discoloration trace formed on the replaceable consumable 403, perform speckle extraction on the new image. The methods for extracting speckles or groups of speckles from the new image include, but are not limited to, conventional speckle detection (extracting connected regions in a binary image), corner detection (algorithms such as sift, orb, etc.), Hough circle detection, convolutional neural network object detection, and other detection algorithms. Taking the extraction of connected regions in a binary image as an example, first convert the new image into a binary image, and then scan the binary image twice to identify and mark all connected pixel regions in the image. Analyze the total number of pixels in the connected pixel regions and the number of pixels on the boundary of the connected pixel regions, etc., and extract the pixel coordinates (X, Y) of the marked pattern in the new image.

[0112] Then, calculate the position of the marked pattern relative to the center of the new image, and superimpose the new target movement amount to obtain the new relative position between the laser head 200 and the camera 101. Assume that the pixel coordinates of the center of the camera 101 are (cx, cy), the focal length of the camera 101 is f, the new target movement amount of the laser head 200 and the camera 101 in the X direction is dx_init, and the new target movement amount in the Y direction is dy_init. Then, the new offset of the laser head 200 and the camera 101 in the X direction is dx_update, and the new offset in the Y direction is dy_update. Superimpose the offset dx_cam of the marked pattern and the image center in the X direction with the new target movement amount of the laser head 200 and the camera 101 in the X direction to obtain the new offset dx_update = dx_cam + dx_init of the laser head and the camera 101 in the X direction. Superimpose the offset dy_cam of the marked pattern and the image center in the Y direction with the new target movement amount of the laser head 200 and the camera 101 in the Y direction to obtain the new offset dy_update = dy_cam + dy_init of the laser head and the camera 101 in the X direction. The new offset dx_update of the laser head 200 and the camera 101 in the X direction and the new offset dy_update in the Y direction are the new relative position relationship between the laser head 200 and the camera 101.

[0113] When performing calibration for the Nth time, update the relative position between the laser head 200 and the camera 101 when the camera 101 captured the marked pattern for the (N - 1)th time as the new target movement amount of the 3D printing head. After the laser head forms a marked pattern by emitting laser light on the recoverable consumable for the (N - 1)th time, the camera 101 offsets by [dx_update(N - 1), dy_update(N - 1)] and then captures an image of the recoverable consumable containing the marked pattern. Then, the new target movement amount of the 3D printing head at the Nth time is the offset amount of the camera 101 at the (N - 1)th time, that is: dx_init(N) = dx_update(N - 1), dy_init(N) = dy_update(N - 1).

[0114] Please refer to Figure 11 , when the camera is not installed on the 3D printing head but is slidably connected to the guide member, the method for repeated calibration includes the steps:

[0115] S401, based on the position information of the laser head, update the target movement amount, and control the camera to move to the vicinity of the preset position according to the updated target movement amount, and capture a new image of the recoverable consumable containing the marked pattern through the camera.

[0116] In some feasible embodiments, the position information of the laser head 500 is the relative position relationship between the laser head 500 and the camera 501 during the last laser calibration. The target movement amount is updated based on the relative position relationship between the laser head 500 and the camera 501 during the last laser calibration. During the last calibration, after the laser head 500 emits laser light to form a marking pattern on the recoverable consumable 403, the camera 501 offsets by (dx_init, dy_init) and then captures an image of the recoverable consumable 403 containing the marking pattern. The offset amount dx_init of the camera 501 in the X direction and the offset amount dy_init in the Y direction are the new target movement amounts. The camera is controlled to move around the preset position according to the updated target movement amount within a preset time, and a new image of the recoverable consumable 403 containing the marking pattern is captured by the camera 501. The preset time is determined based on the recovery time of the recoverable consumable 403. After the laser head 500 emits laser light at the preset position to the recoverable consumable 403, a marking pattern left after laser burning / illumination is formed on the recoverable consumable 403. Based on the reusable characteristics of the recoverable consumable 403, the retention time of the marking pattern on the recoverable consumable 403 is determined according to the recovery time of the recoverable consumable 403, and the specific recovery time is determined according to the type of the recoverable consumable 403. After the laser head 500 emits laser light, the 3D printing head 100 is controlled to move around the preset position according to the updated target movement amount within a preset time, and the preset time is less than or equal to the recovery time of the recoverable consumable 403, so as to ensure that the 3D printing head 100 can drive the camera 501 to move around the preset position within the recovery time of the recoverable consumable 403 and capture a new image containing the marking pattern. This avoids repeated photographing and improves the working accuracy and working efficiency.

[0117] S402. Obtain the new position information of the laser head based on the updated target movement amount and the new image.

[0118] After obtaining the new image containing the marked pattern, it is necessary to analyze and calculate the new position information of the laser head 500, that is, the new relative position between the laser head 500 and the camera 501. Preprocess the captured new image, such as denoising, grayscale conversion, and binarization, etc., to improve the quality of the new image. Use image processing techniques to extract the feature points of the marked pattern, and calculate the new position information of the laser head 500 according to the position of the marked pattern in the new image and the updated target movement amount. The new position information of the laser head 500 can be the new relative position between the laser head 500 and the camera 501. When the marked pattern is not located at the center of the new image, the pixel coordinates of the marked pattern and the center of the new image in the new image can be obtained first, and the offset between the marked pattern and the center of the new image can be calculated by combining the internal parameter matrix of the camera 501 and the focal length of the camera 501. The offset between the marked pattern and the center of the new image and the preset target movement amount are superimposed to obtain the relative position relationship between the camera 501 and the laser head 500. It is also possible to first obtain the vector relationship between the marked pattern and the center of the new image in the new image. For example, obtain the direction and angle of the marked pattern relative to the center of the new image, determine the included angle between the marked pattern and the center of the new image, and then convert the updated target movement amount into the corresponding updated target matrix. The vector relationship between the marked pattern and the center of the new image and the updated target matrix are combined to obtain the new relative position relationship between the camera 501 and the laser head 500.

[0119] First, extract the marked pattern from the new image. For example, when the marked pattern is the discolored trace formed on the replaceable consumable 403, perform speckle extraction on the new image. The methods for extracting speckles or groups of speckles from the new image include but are not limited to conventional speckle detection (extracting connected regions in a binary image), corner detection (algorithms such as sift, orb, etc.), Hough circle detection, convolutional neural network object detection, and other detection algorithms. Taking the extraction of connected regions in a binary image as an example, first convert the new image into a binary image, and then scan the binary image twice to identify and mark all connected pixel regions in the image, analyze the total number of pixels in the connected pixel regions and the number of pixels on the boundary of the connected pixel regions, etc., and extract the pixel coordinates (X, Y) of the marked pattern in the new image.

[0120] Then, calculate the position of the marked pattern relative to the center of the new image, and superimpose the new target movement amount to obtain the new relative position of the laser head 500 and the camera 501. Assume that the pixel coordinates of the center of the camera 501 are (cx, cy), the focal length of the camera 501 is f, the new target movement amount of the laser head 500 and the camera 501 in the X direction is dx_init, and the new target movement amount in the Y direction is dy_init. Then, the new offset of the laser head 500 and the camera 501 in the X direction is dx_update, and the new offset in the Y direction is dy_update. The offset dx_cam of the marked pattern and the image center in the X direction is superimposed with the new target movement amount of the laser head 500 and the camera 501 in the X direction to obtain the new offset dx_update = dx_cam + dx_init of the laser head and the camera 501 in the X direction. The offset dy_cam of the marked pattern and the image center in the Y direction is superimposed with the new target movement amount of the laser head 500 and the camera 501 in the Y direction to obtain the new offset dy_update = dy_cam + dy_init of the laser head and the camera 501 in the X direction. The new offset dx_update of the laser head 500 and the camera 501 in the X direction and the new offset dy_update in the Y direction are the new relative position relationship between the laser head 500 and the camera 501.

[0121] When performing calibration for the Nth time, update the relative position of the laser head 500 and the camera 501 when the camera 501 captured the marked pattern for the (N - 1)th time as the new target movement amount of the 3D printing head. After the laser head forms a marked pattern by emitting laser on the recoverable consumable for the (N - 1)th time, the camera 501 offsets by [dx_update(N - 1), dy_update(N - 1)] and then captures an image of the recoverable consumable containing the marked pattern. Then, the new target movement amount of the 3D printing head at the Nth time is the offset amount of the camera 501 at the (N - 1)th time, that is: dx_init(N) = dx_update(N - 1), dy_init(N) = dy_update(N - 1).

[0122] Based on the recovery characteristics of the recoverable consumable 403, there will be no material loss during the process of repeatedly performing calibration, and repeatedly performing calibration also improves the calibration accuracy. In some feasible embodiments, the calibration accuracy of calibrating the position of the laser head in this application can reach 0.01 mm, and even higher accuracy can be achieved with the internal parameters of the camera.

[0123] Please refer to Figure 12 , whether it is single - time calibration or repeated calibration, an image of the recoverable consumable containing the marked pattern is obtained through camera shooting. The process of obtaining an image of the recoverable consumable containing the marked pattern through camera shooting includes the steps:

[0124] S501. Take a photo of the recoverable consumable through a camera. Before the laser head emits laser light to the recoverable consumable, first take a photo of the recoverable consumable through the camera as the original image. After the laser head emits laser light to the recoverable consumable, control the 3D printing head to move to the vicinity of the preset position according to the target movement amount or the new target movement amount, and take a photo of the recoverable consumable through the camera connected to the 3D printing head to obtain the actual image.

[0125] S502. Determine whether the photo taken by the camera contains a marking pattern. Convert the original image and the actual image into binary images, and respectively detect the contours in the binary images of the original image and the actual image. Determine whether there is a marking pattern according to the characteristics of the contours such as shape and area.

[0126] S503. If the photo taken by the camera does not have a marking pattern, move the 3D printing head to change the photo-taking position of the camera or directly move the camera until the photo taken by the camera contains a marking pattern. For example, when the photo taken by the camera does not contain a marking pattern, take the coordinates of the laser emission port of the laser head 200 as the origin, and take the distance between the image center of the camera and the laser emission port as the displacement amount. Based on the origin and the displacement amount, control the 3D printing head to move clockwise or directly control the camera to move to find the marking pattern on the recoverable consumable through the camera. When the camera finds the marking pattern, control the 3D printing head to stop moving or control the camera to stop moving, and take a photo of the recoverable consumable through the camera to obtain an image containing the marking pattern.

[0127] In some feasible embodiments, the 3D printing head 100 includes a nozzle, and the target movement amount may be the distance between the nozzle and the laser head 200. Before the laser head 200 processes the product to be processed in the processing area 401 on the processing platform 400, the 3D printing head 100 is moved to drive the control laser head 200 to move around the preset position, or after controlling the 3D printing head 100 to move to drive the laser head 200 to move around the preset position, the laser head 200 emits laser light to the recoverable consumable 403 to form a marking pattern on the recoverable consumable 403. Then, the 3D printing head 100 is controlled to move around the preset position according to the distance between the nozzle and the laser head 200, and the 3D printing head 100 is controlled to spray printing material on the marking pattern through the nozzle. An image of the marking pattern and the printing material is obtained by photographing with the camera 101, and the positional relationship between the nozzle and the laser head 200 is calculated by analyzing the image, completing the position calibration of the laser head 200. After single calibration or repeated calibration, the 3D printing head 100 is controlled to move above the processing area 401, and the 3D printing head 100 is controlled to print part or all of the products to be processed. According to the determined positional relationship between the nozzle and the laser head 200, after the 3D printing head 100 prints part of the products to be processed, the laser head 200 can be controlled to process part of the printed products to be processed, or after the 3D printing head 100 prints all the products, the laser head 200 can be controlled to process the printed products to be processed, enabling the processing equipment to perform both 3D printing and laser processing, avoiding repeated disassembly of the 3D printing head 100 and the laser head 200, and improving the processing efficiency.

[0128] In some feasible implementation manners, the processing equipment may be a multi-degree-of-freedom system. For example, the guiding member 300 is a multi-joint robotic arm, and multiple joints of the robotic arm can all change independently. The 3D printing head and the laser head connected to the 3D printing head are arranged at the end of the robotic arm. The robotic arm can drive the 3D printing head to perform translational motion in a two-dimensional space and can also drive the 3D printing head to perform rotational motion in a three-dimensional space. At this time, the method for calibrating the position of the laser head includes the steps:

[0129] Control the laser head 200 to move above the preset position on the processing platform 400, or control the processing platform 400 to move so that the laser head 200 is above the preset position on the processing platform 400. Determine the preset position coordinates (X, Y, Z) on the processing platform. According to the current position and the preset position of the 3D printing head, calculate the translation amount of each joint of the robotic arm and the rotation angle around each joint. After calculating the movement path of the 3D printing head, control the 3D printing head to move to drive the laser head to move above the preset position. During the movement, monitor the position of the laser head in real time to ensure that the laser head accurately reaches the preset position. When the distance between the laser head and the preset position is greater than the focal length of the laser emitted by the laser head, the processing platform can be controlled to move closer to the laser head. The detection of the safe distance between the laser head and the processing platform can be monitored by taking pictures with the camera 101 connected to the 3D printing head.

[0130] Control the laser head 200 to emit laser towards the recoverable consumable 403 to obtain a marking pattern on the recoverable consumable 403. Ensure that the laser head is preheated and in an available state. Set parameters such as the power, frequency, and pulse width of the laser to ensure that a clear marking pattern is obtained on the recoverable consumable by the laser head. Control the laser head to emit laser towards the recoverable consumable to form a marking pattern on the recoverable consumable.

[0131] Control the 3D printing head 100 to move to the vicinity of the preset position according to the target movement amount, and take an image of the recoverable consumable 403 containing the marking pattern through the camera 101. After obtaining the marking pattern on the recoverable consumable 403 by the laser head 200, control the 3D printing head 100 to move to drive the camera 101 fixedly connected to the 3D printing head 100 to move to the vicinity of the preset position according to the target movement amount. The target movement amount is determined by the mechanical structure between the laser head 200, the 3D printing head 100, and the camera 101. For example, if the coordinates of the center point of the marking pattern formed by the laser head 200 on the recoverable consumable 403 are (x0, y0, z0), and the coordinates of the camera 101 are (x1, y1, z1), then the target movement amount is dx = |x0 - x1|, dy = |y0 - y1|, dz = |z0 - z1|. Controlling the 3D printing head 100 to move to the vicinity of the preset position according to the target movement amount can ensure that the marking pattern on the recoverable consumable 403 is within the field of view of the camera 101. At this time, confirm that the camera 101 is preheated and in an available state, and set parameters such as the focal length, aperture, and exposure time of the camera 101 to ensure that the camera 101 captures a clear image. Take a picture of the recoverable consumable 403 through the camera 101 to obtain an image containing the marking pattern on the recoverable consumable 403. In this image, the position of the marking pattern is not fixed. The marking pattern can be at the center of the image or at the edge position of the image.

[0132] Based on the image and the target movement amount, obtain the position information of the laser head. Preprocess the captured image, such as denoising, grayscaling, and binarization, etc., to improve the image quality. Use image processing techniques to extract the feature points of the marking pattern, and calculate the position information of the laser head according to the position of the marking pattern in the image and the target movement amount, such as the relative position relationship between the laser head and the camera 101. Use the PnP (Perspective-n-Point) algorithm or other geometric methods to convert the 2D image coordinates into 3D space coordinates. Correct the position information of the laser head according to the calculated position deviation between the laser head and the camera 101. If the deviation is large, perform fine-tuning to compensate for the error. Update the corrected position information to the system as a reference for subsequent processing steps.

[0133] Please refer to Figure 13 , the laser head in the processing device can be switched to the cutter assembly 201. The processing device includes a processing platform 400 and a 3D printing head 100 connected to the cutter assembly 201; wherein, the processing platform 400 is provided with a cutting consumable 405 at a preset position; the 3D printing head 100 is slidably connected to the guide member 300, and a camera 101 is fixedly provided on the 3D printing head 100. Please refer to Figure 14 , in some feasible embodiments, the camera 501 may not be provided on the 3D printing head. At this time, the cutter assembly 503 and the camera 501 are in an independent state. The cutter assembly 503 and the camera 501 are directly slidably connected to the guide member and can move above the processing platform along the guide member. When calibrating the cutter assembly, control the cutter assembly to cut the cutting consumable at a preset position to form a marking pattern, for example, draw a cross pattern on the cutting consumable as the marking pattern through the cutting assembly. After forming the marking pattern on the cutting consumable, capture the marking pattern through the camera and calculate the relative position between the cutter assembly and the camera according to the picture captured by the camera.

[0134] Please refer to Figure 15 , when the camera 101 is fixedly provided on the 3D printing head 100, the present application also provides a method for calibrating the position of the cutter assembly 201, and the specific steps include:

[0135] S601, control the cutter assembly to move above the preset position of the processing platform, or control the processing platform to move so that the cutter assembly is above the preset position of the processing platform.

[0136] In the initial state of the processing device, turn on the 3D printing head 100, the camera 101, and the cutter assembly 201, and perform initialization operations on the 3D printing head 100, the camera 101, and the cutter assembly 201. For example, initialize the motion parameters of the 3D printing head 100, the camera 101, and the cutter assembly 201. Exemplarily, the initial state may be the state before the processing device starts, resets, or begins to run the processing.

[0137] After the initialization operation is completed, control the cutter assembly 201 to move above the preset position of the processing platform 400. For example, the 3D printing head 100 can be controlled to move to drive the cutter assembly 201 to move above the preset position of the processing platform 400, so that the cutter assembly 201 can cut the cutting consumable 405 at the preset position to form a marking pattern. During the movement, the position of the cutter assembly 201 is monitored in real time to ensure that the cutter assembly 201 accurately reaches the preset position. The cutter assembly 201 and the 3D printing head 100 are in a relationship of a mounted part and a part to be mounted. When the 3D printing head 100 moves within the processing platform 400, the cutter assembly 201 moves with the 3D printing head 100.

[0138] Alternatively, after detecting that the connection between the cutter assembly 201 and the 3D printing head 100 is disconnected and the cutter assembly 201 is reconnected to the 3D printing head 100, control the cutter assembly 201 to move above the preset position of the processing platform 400. Sensors are provided on the cutter assembly 201 or the 3D printing head to monitor the connection state between the two in real time. These sensors can be mechanical contact sensors, photoelectric sensors, electromagnetic sensors, etc. The processing device also includes a controller, and the controller obtains the connection state information between the cutter assembly 201 and the 3D printing head 100 in real time through the sensors. If a disconnection is detected, the controller will record the disconnection event and start the reconnection process. When the sensor detects that the connection between the cutter assembly 201 and the 3D printing head 100 is disconnected, the control system will immediately recognize this state change. If the cutter assembly 201 is performing a processing task, the control system will immediately pause the current operation to prevent processing errors or equipment damage caused by the disconnection. If the cutter assembly 201 is not performing a processing task, the controller re-establishes the connection between the cutter assembly 201 and the 3D printing head 100, or the operator manually connects the cutter assembly 201 and the 3D printing head 100. After the reconnection is successful, retrieve the disconnection event recorded by the controller, and the cutter assembly 201 and the 3D printing head 100 continue to execute the instructions that were not completed before the disconnection. Alternatively, after the reconnection is successful, initialize the cutter assembly 201 and the 3D printing head 100 to restore the cutter assembly 201 and the 3D printing head 100 to the initial state. Exemplarily, the initial state can be the state before the processing device starts, resets, or begins to run the processing.

[0139] Optionally, the processing platform 400 of the present application can move up and down along the Z-axis. After the cutting tool assembly 201 moves to above the preset position in the XY plane, if the distance between the cutting tool assembly 201 and the preset position is greater than the cutting distance of the cutting tool assembly 201, the processing platform 400 is controlled to move along the Z-axis. In some feasible embodiments, the detection of the safety distance between the cutting tool assembly 201 and the processing platform 400 can be monitored by taking pictures with a camera 101 connected to the 3D printing head 100. When the distance between the cutting tool assembly 201 and the preset position is equal to the cutting distance of the cutting tool assembly 201 and greater than or equal to the safe operating distance of the cutting tool assembly 201, the processing platform 400 stops moving, so as to ensure that the cutting tool assembly 201 marks the cutting consumable 405 at the preset position.

[0140] In some feasible embodiments, the processing platform can move along the X-axis, the cutting tool assembly 201 can move along the guide on the Y-axis, and the cutting tool assembly 201 can also move along the Z-axis with the guide. Then, the cutting tool assembly 201 can be controlled to move to a preset height from the processing platform along the Z-axis, and the preset height is related to the cutting distance of the cutting tool assembly 201; the cutting tool assembly 201 can be further controlled to move above the preset position of the processing platform along the Y-axis; or the cutting tool assembly 201 is maintained at the preset height, and the processing platform is further controlled to move along the X-axis so that the cutting tool assembly 201 is above the preset position of the processing platform.

[0141] The processing platform refers to a general workbench that can be used for various processing methods. Exemplarily, the processing platform of the present application can be used for various processing methods such as 3D printing and cutter cutting. Among them, for 3D printing, the processing platform can be regarded as a printing platform, that is, it can include a hot bed, and can further include at least one of a printing panel above the hot bed and a hot bed bracket for supporting the hot bed. The hot bed bracket can elastically support the hot bed or fixedly support the hot bed and the printing panel. For cutter cutting, the processing platform can include a cutting pad, and the object to be cut is placed on the cutting pad. Optionally, if the processing device can perform both 3D printing and cutter cutting, the processing platform can include both a cutting pad and can further include a hot bed, and even can include a printing panel. When cutter cutting is required, the cutting pad can be placed on the hot bed; when 3D printing is required, the cutting pad is removed and the printing panel is placed on the hot bed. Or, the processing platform is still a printing platform, and the processing device can cut the printed part while printing, or cut the printed part on the printing platform after printing. Therefore, the cutting consumable 405 can be placed at the preset position of the hot bed, the printing panel or the pad.

[0142] S602, controlling the cutting tool assembly to cut the cutting consumable to obtain a marking pattern on the cutting consumable.

[0143] In some feasible embodiments, when the cutter assembly 201 moves above the preset position, and the distance between the cutter assembly 201 and the preset position is equal to the cutting distance of the cutter assembly 201 and greater than or equal to the safe operating distance of the cutter assembly 201, ensure that the cutter assembly 201 is preheated and in an available state, and set parameters such as the cutting speed and cutting depth of the cutter assembly 201 to ensure that a clear marking pattern is obtained on the consumable 405 when the cutter assembly 201 cuts it.

[0144] S603. Control the 3D printing head to move to the vicinity of the preset position according to the target movement amount, and capture an image of the consumable for cutting containing the marking pattern through the camera. In some feasible embodiments, the target movement amount is a preset value.

[0145] In some feasible embodiments, after obtaining the marking pattern on the consumable 405 through the cutter assembly 201, control the 3D printing head 100 to move to drive the camera 101 fixedly connected to the 3D printing head 100 to move to the vicinity of the preset position according to the target movement amount. The target movement amount is determined by the mechanical structure among the cutter assembly 201, the 3D printing head 100, and the camera 101. For example, project the movements of the cutter assembly 201, the 3D printing head 100, and the camera 101 onto the XY plane. If the coordinates of the center point of the marking pattern formed by the cutter assembly 201 on the consumable 405 are (x0, y0), and the coordinates of the camera 101 are (x1, y1), then the target movement amount is dx = |x0 - x1|, dy = |y0 - y1|. Controlling the 3D printing head 100 to move to the vicinity of the preset position according to the target movement amount can ensure that the marking pattern on the consumable 405 is within the field of view of the camera 101. At this time, confirm that the camera 101 is preheated and in an available state, and set parameters such as the focal length, aperture, and exposure time of the camera 101 to ensure that the camera 101 captures a clear image. Take a picture of the consumable 405 through the camera 101 to obtain an image containing the marking pattern on the consumable 405. In this image, the position of the marking pattern is not fixed. The marking pattern can be at the center of the image or at the edge position of the image.

[0146] Optionally, in some feasible embodiments, the 3D printing head includes a nozzle, and the target movement amount is the distance between the nozzle and the cutter assembly 201. Among them, the distance between the nozzle and the cutter assembly 201 can be a design value, a value determined when designing the processing equipment; or it can be a measured value, a value obtained by measuring the distance between the nozzle and the cutter assembly 201 after production is completed, and so on.

[0147] S604. Obtain the position information of the cutter assembly based on the image and the target movement amount.

[0148] Exemplarily, the captured image can be pre - processed, such as denoising, grayscale conversion, and binarization, etc., to improve the image quality. Image processing techniques are used to extract the feature points of the marking pattern, and the position information of the cutter assembly 201 is calculated according to the position of the marking pattern in the image and the target movement amount.

[0149] In some feasible embodiments, the position information of the cutter assembly 201 can be the relative position between the cutter assembly 201 and the camera 101. When the marking pattern is not located at the center of the image, the pixel coordinates of the marking pattern and the image center in the image can be obtained first, and the offset between the marking pattern and the image center is calculated by combining the internal parameter matrix of the camera 101 and the focal length of the camera 101. The offset between the marking pattern and the image center and the preset target movement amount are superimposed to obtain the relative position relationship between the camera 101 and the cutter assembly 201. Alternatively, the vector relationship between the marking pattern and the image center in the image can be obtained first, for example, the direction and angle of the marking pattern relative to the image center are obtained, the included angle between the marking pattern and the image center is determined, and then the target movement amount is converted into a corresponding target matrix. The vector relationship between the marking pattern and the image center and the target matrix are combined to obtain the relative position relationship between the camera 101 and the cutter assembly 201. When the marking pattern is located at the center of the image, the preset target movement amount is the relative position relationship between the camera 101 and the cutter assembly 201.

[0150] Taking the acquisition of the coordinates of the marking pattern and the image center in the image as an example, first, the position of the marking pattern is obtained through an image detection algorithm, and then the position of the marking pattern from the image center is calculated, and the target movement amount is superimposed to obtain the relative position between the cutter assembly 201 and the camera 101. Assuming that the pixel coordinates of the center of the camera 101 are (cx, cy), the focal length of the camera 101 is f, the target movement amount of the cutter assembly 201 and the camera 101 in the X direction is dx, and the target movement amount of the cutter assembly 201 and the camera 101 in the Y direction is dy, then the offset dx_cam of the cutter assembly 201 and the camera 101 in the X direction = (x - cx) * f, and the offset dy_cam of the cutter assembly 201 and the camera 101 in the Y direction = (y - cy) * f. The offset dx_cam of the cutter assembly 201 and the camera 101 in the X direction and the offset dy_cam in the Y direction are the relative position relationship between the cutter assembly 201 and the camera 101.

[0151] Optionally, in some feasible embodiments, the position information of the cutter assembly 201 can be the relative position between the cutter assembly 201 and the camera 101. A mapping relationship among the position of the marking pattern in the image, the target movement amount, and the relative position between the cutter assembly 201 and the camera can be established in advance. By identifying the position of the marking pattern in the image and the target movement amount, the relative position between the cutter assembly 201 and the camera 101 can be determined.

[0152] Alternatively, in some feasible embodiments, the position information of the cutter assembly 201 may be the position of the cutter assembly 201 on the device coordinates of the processing device, that is, the position of the cutter assembly 201 relative to a reference point of the processing device. A mapping relationship can be established in advance among the position of a marking pattern in an image, the target movement amount, and the position of the cutter assembly 201 on the device coordinates of the processing device. By identifying the position of the marking pattern in the image and the target movement amount, the position of the cutter assembly 201 on the device coordinates of the processing device can be determined.

[0153] Alternatively, in some feasible embodiments, the position information of the cutter assembly 201 may be the relative position between the cutter assembly 201 and the camera 101. The camera can be controlled to move to the vicinity of a preset position according to two different target movement amounts, such as movement amount A and movement amount B, and an image A of the cutting consumable 405 corresponding to the movement amount A and including the marking pattern is captured, and an image B of the cutting consumable 405 corresponding to the movement amount B and including the marking pattern is captured. The position difference of the marking pattern in the image A and the image B is compared, and combined with the movement difference between the movement amount A and the movement B, the position information of the cutter assembly 201 is calculated.

[0154] There are many ways to obtain the position information of the cutter assembly 201 based on the image and the target movement amount in this application, which are not limited to the above examples.

[0155] Please refer to Figure 16 , when the camera is not provided on the 3D printing head but is slidably connected to the guide member, the method for calibrating the position of the cutter assembly 503 provided in this application specifically includes the following steps:

[0156] S701, control the cutter assembly to move above a preset position of the processing platform, or control the processing platform to move so that the cutter assembly is above the preset position of the processing platform.

[0157] In the initial state of the processing device, turn on the camera 501 and the cutter assembly 503, and perform initialization operations on the camera 501 and the cutter assembly 503. For example, initialize the motion parameters of the camera 501 and the cutter assembly 503. Exemplarily, the initial state may be the state before the processing device is started, reset, or starts running the processing.

[0158] After the initialization operation is completed, control the cutter assembly 503 to move above a preset position of the processing platform 400 so that the cutter assembly 503 can cut the cutting consumable 405 at the preset position to form a marking pattern. During the movement, the position of the cutter assembly 503 is monitored in real time to ensure that the cutter assembly 503 accurately reaches the preset position.

[0159] Optionally, the processing platform 400 of the present application can move up and down along the Z-axis. After the cutting tool assembly 503 moves to above the preset position in the XY plane, if the distance between the cutting tool assembly 503 and the preset position is greater than the cutting distance of the cutting tool assembly 503, the processing platform 400 is controlled to move along the Z-axis. In some feasible embodiments, the detection of the safety distance between the cutting tool assembly 503 and the processing platform can be monitored by taking pictures with a camera provided in the processing equipment. When the distance between the cutting tool assembly 503 and the preset position is equal to the cutting distance of the cutting tool assembly 503 and greater than or equal to the safe operating distance of the cutting tool assembly 503, the processing platform 400 stops moving, so as to ensure that the cutting tool assembly 503 marks the cutting consumable 405 at the preset position with a marked pattern.

[0160] In some feasible embodiments, the processing platform can move along the X-axis, the cutting tool assembly 503 can move along the guide on the Y-axis, and the cutting tool assembly 503 can also move along the guide in the Z-axis direction. Then, the cutting tool assembly 503 can be controlled to move in the Z-axis direction to a preset height from the processing platform, and this preset height is related to the cutting distance of the cutting tool assembly 503; the cutting tool assembly 503 can be further controlled to move above the preset position of the processing platform in the Y-axis direction; or the cutting tool assembly 503 is maintained at the preset height, and the processing platform is further controlled to move in the X-axis direction so that the cutting tool assembly 503 is above the preset position of the processing platform.

[0161] S702, control the cutting tool assembly to cut the cutting consumable to obtain a marked pattern on the cutting consumable.

[0162] In some feasible embodiments, when the cutting tool assembly 503 moves above the preset position, and the distance between the cutting tool assembly 503 and the preset position is equal to the cutting distance of the cutting tool assembly 503 and greater than or equal to the safe operating distance of the cutting tool assembly 503, ensure that the cutting tool assembly 503 is preheated and in an available state, and set parameters such as the cutting speed and cutting depth of the cutting tool assembly 503 to ensure that the cutting tool assembly 503 obtains a clear marked pattern on the cutting consumable 405.

[0163] S703, control the camera to move to the periphery of the preset position according to the target movement amount, and take an image of the cutting consumable including the marked pattern through the camera. In some feasible embodiments, the target movement amount is a preset value.

[0164] In some feasible embodiments, after a marking pattern is obtained on the consumable 405 by the cutter assembly 503, the camera 501 is controlled to move to the periphery of a preset position according to a target movement amount, where the target movement amount is determined by the mechanical structure between the cutter assembly 503 and the camera 501. For example, when the movements of the cutter assembly 503 and the camera 501 are projected onto the XY plane, if the coordinates of the center point of the marking pattern formed by the cutter assembly 503 on the consumable 405 are (x0, y0), and the coordinates of the camera 501 are (x1, y1), then the target movement amounts are dx = |x0 - x1| and dy = |y0 - y1|. Controlling the camera to move to the vicinity of the preset position according to the target movement amount can ensure that the marking pattern on the consumable 405 is within the field of view of the camera 501. At this time, it is confirmed that the camera 501 has been preheated and is in an available state, and parameters such as the focal length, aperture, and exposure time of the camera 501 are set to ensure that the camera 501 captures a clear image. The consumable 405 is photographed by the camera 501 to obtain an image containing the marking pattern on the consumable 405. In this image, the position of the marking pattern is not fixed. The marking pattern can be at the center of the image or at the edge position of the image.

[0165] S704. Based on the image and the target movement amount, obtain the position information of the cutter assembly.

[0166] Exemplarily, the photographed image can be preprocessed, such as denoising, grayscale conversion, and binarization, etc., to improve the image quality. Image processing techniques are used to extract the feature points of the marking pattern, and according to the position of the marking pattern in the image and the target movement amount, the position information of the cutter assembly 503 is calculated.

[0167] In some feasible embodiments, the position information of the cutter assembly 503 can be the relative position between the cutter assembly 503 and the camera 501. When the marking pattern is not at the center of the image, the pixel coordinates of the marking pattern and the image center in the image can be obtained first, and the offset between the marking pattern and the image center is calculated by combining the internal parameter matrix of the camera 501 and the focal length of the camera 501. The offset between the marking pattern and the image center and the preset target movement amount are superimposed to obtain the relative position relationship between the camera 501 and the cutter assembly 503. Alternatively, the vector relationship between the marking pattern and the image center in the image can be obtained first, for example, the direction and angle of the marking pattern relative to the image center are obtained, the included angle between the marking pattern and the image center is determined, and then the target movement amount is converted into a corresponding target matrix. The vector relationship between the marking pattern and the image center and the target matrix are combined to obtain the relative position relationship between the camera 501 and the cutter assembly 503. When the marking pattern is at the center of the image, the preset target movement amount is the relative position relationship between the camera 501 and the cutter assembly 503.

[0168] Taking the coordinates of the marked pattern in the image and the center of the image as an example, first, the position of the marked pattern is obtained through an image detection algorithm. Then, the position of the marked pattern from the center of the image is calculated, and the target movement amount is superimposed to obtain the relative position of the cutter assembly 503 and the camera 501. Assuming that the pixel coordinates of the center of the camera 501 are (cx, cy), the focal length of the camera 501 is f, the target movement amount of the cutter assembly 503 and the camera 501 in the X direction is dx, and the target movement amount of the cutter assembly 503 and the camera 501 in the Y direction is dy, then the offset dx_cam of the cutter assembly 503 and the camera 501 in the X direction = (x - cx) * f, and the offset dy_cam of the cutter assembly 503 and the camera 501 in the Y direction = (y - cy) * f. The offset dx_cam of the cutter assembly 503 and the camera 501 in the X direction and the offset dy_cam in the Y direction are the relative position relationship between the cutter assembly 503 and the camera 501.

[0169] Optionally, in some feasible embodiments, the position information of the cutter assembly 503 may be the relative position between the cutter assembly 503 and the camera 501. A mapping relationship among the position of the marked pattern in the image, the target movement amount, and the relative position between the cutter assembly 503 and the camera can be established in advance. By identifying the position of the marked pattern in the image and the target movement amount, the relative position between the cutter assembly 503 and the camera 501 can be determined.

[0170] Alternatively, in some feasible embodiments, the position information of the cutter assembly 503 may be the position of the cutter assembly 503 on the device coordinates of the processing device, that is, the position of the cutter assembly 503 relative to a reference point of the processing device. A mapping relationship among the position of the marked pattern in the image, the target movement amount, and the position of the cutter assembly 503 on the device coordinates of the processing device can be established in advance. By identifying the position of the marked pattern in the image and the target movement amount, the position of the cutter assembly 503 on the device coordinates of the processing device can be determined.

[0171] Alternatively, in some feasible embodiments, the position information of the cutter assembly 503 may be the relative position between the cutter assembly 503 and the camera 501. The camera can be controlled to move to the vicinity of a preset position according to two different target movement amounts, such as movement amount A and movement amount B, and an image A of the cutting consumable 405 containing the marked pattern corresponding to the movement amount A and an image B of the cutting consumable 405 containing the marked pattern corresponding to the movement amount B are captured. The position difference of the marked pattern in image A and image B is compared, and combined with the movement difference between movement amount A and movement B, the position information of the cutter assembly 503 is calculated.

[0172] There are many ways to obtain the position information of the cutter assembly 503 based on the image and the target movement amount in this application, which is not limited to the above examples.

[0173] Please refer to Figure 17 , the method for calibrating the position of the cutter assembly provided in this application can not only be calibrated once, but also can be repeatedly calibrated to improve the calibration accuracy. The method of repeated calibration includes the steps:

[0174] S801, based on the position information of the cutter assembly, update the target movement amount, and control the 3D printing head or the camera to move to the vicinity of the preset position according to the updated target movement amount, and capture a new image of the cutting consumable containing the marking pattern through the camera.

[0175] In some feasible embodiments, the position information of the cutter assembly is the relative position relationship between the cutter assembly and the camera during the previous calibration. Based on the relative position relationship between the cutter assembly and the camera during the previous calibration, update the target movement amount. During the previous calibration, after the cutter assembly cuts the cutting consumable to form a marking pattern, the camera offsets (dx_init, dy_init) and then captures an image of the cutting consumable containing the marking pattern. The offset amount dx_init of the camera in the X direction and the offset amount dy_init in the Y direction are the new target movement amounts.

[0176] S802, based on the updated target movement amount and the new image, obtain the new position information of the cutter assembly.

[0177] After obtaining the new image containing the marking pattern, it is necessary to analyze and calculate the new image to obtain the new position information of the cutter assembly, that is, the new relative position between the cutter assembly and the camera. Preprocess the captured new image, such as denoising, grayscale conversion, and binarization, etc., to improve the quality of the new image. Use image processing technology to extract the feature points of the marking pattern, and calculate the new position information of the cutter assembly according to the position of the marking pattern in the new image and the updated target movement amount. The new position information of the cutter assembly can be the new relative position between the cutter assembly and the camera. When the marking pattern is not located at the center of the new image, the pixel coordinates of the marking pattern and the center of the new image in the new image can be obtained first, and the offset amount between the marking pattern and the center of the new image can be calculated by combining the internal parameter matrix of the camera and the focal length of the camera. The offset amount between the marking pattern and the center of the new image and the preset target movement amount are superimposed to obtain the relative position relationship between the camera 101 and the cutter assembly. It is also possible to first obtain the vector relationship between the marking pattern and the center of the new image in the new image, for example, obtain the direction and angle of the marking pattern relative to the center of the new image, determine the included angle between the marking pattern and the center of the new image, and then convert the updated target movement amount into the corresponding updated target matrix, and combine the vector relationship between the marking pattern and the center of the new image and the updated target matrix to obtain the new relative position relationship between the camera and the cutter assembly.

[0178] First, extract the marking pattern from the new image. The methods for extracting the pattern from the new image include, but are not limited to, corner detection (algorithms such as sift and orb), Hough circle detection, convolutional neural network object detection, and other detection algorithms. Taking the extraction of connected components from a binary image as an example, first convert the new image into a binary image, and then scan the binary image twice to identify and mark all connected pixel regions in the image, analyze the total number of pixels in the connected pixel regions and the number of pixels on the boundary of the connected pixel regions, etc., and extract the pixel coordinates (X, Y) of the marking pattern in the new image.

[0179] Then, calculate the position of the marking pattern relative to the center of the new image, and superimpose the new target movement amount to obtain the new relative position of the cutter assembly and the camera. Assume that the pixel coordinates of the camera center are (cx, cy), the focal length of the camera is f, the new target movement amount of the cutter assembly and the camera in the X direction is dx_init, and the new target movement amount in the Y direction is dy_init. Then, the new offset of the cutter assembly and the camera 101 in the X direction is dx_update, and the new offset in the Y direction is dy_update. Superimpose the offset dx_cam of the marking pattern and the image center in the X direction with the new target movement amount of the cutter assembly and the camera in the X direction to obtain the new offset dx_update = dx_cam + dx_init of the cutter assembly and the camera in the X direction. Superimpose the offset dy_cam of the marking pattern and the image center in the Y direction with the new target movement amount of the cutter assembly and the camera in the Y direction to obtain the new offset dy_update = dy_cam + dy_init of the cutter assembly and the camera in the X direction. The new offset dx_update of the cutter assembly and the camera in the X direction and the new offset dy_update in the Y direction are the new relative position relationship between the cutter assembly and the camera.

[0180] When performing calibration for the Nth time, update the relative position between the cutter assembly and the camera when the camera captured the marking pattern for the (N - 1)th time as the new target movement amount. After the cutter assembly cut the cutting consumable to form the marking pattern for the (N - 1)th time, after the camera 101 offset by [dx_update(N - 1), dy_update(N - 1)], an image of the cutting consumable containing the marking pattern was captured. Then, the new target movement amount at the Nth time is the offset amount of the camera at the (N - 1)th time, that is: dx_init(N) = dx_update(N - 1), dy_init(N) = dy_update(N - 1).

[0181] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0182] In addition, in the present application, descriptions such as "first" and "second" are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0183] In the present application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. shall be understood in a broad sense. For example, "fixation" may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0184] In addition, the technical solutions between various embodiments of the present application can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0185] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claimed rights.

Claims

1. A method for calibrating the position of a laser head, characterized in that: The laser head is arranged on a processing device, and the processing device comprises a guide, a camera and a processing platform; wherein the processing platform is provided with a consumable material that can be restored after laser burning / illumination at a preset position; the camera and the laser head are slidably connected to the guide; The method comprises: Controlling the laser head to move above the preset position of the processing platform, or controlling the processing platform to move so that the laser head is above the preset position of the processing platform; Controlling the laser head to emit laser toward the restorable consumable material to obtain a marking pattern on the restorable consumable material; Controlling the camera to move to the vicinity of the preset position according to the target movement amount, and taking an image of the restorable consumable including the marking pattern by the camera; Based on the image and the target movement amount, position information of the laser head is obtained.

2. The method according to claim 1, characterized in that The processing equipment further includes a 3D printing head connected to the laser head; the 3D printing head is slidably connected to the guide member, and the camera is fixedly arranged on the 3D printing head; The controlling the camera to move to the vicinity of the preset position according to the target movement amount includes: The 3D printing head is controlled to move to the vicinity of the preset position according to the target movement amount.

3. The method according to claim 2, characterized in that Before controlling the laser head to move above the preset position of the processing platform, or controlling the processing platform to move so that the laser head is above the preset position of the processing platform, the method further includes: After detecting that the connection between the laser head and the 3D printing head is disconnected, the laser head is controlled to reconnect to the 3D printing head.

4. The method according to claim 1, characterized in that The recoverable consumable material is thermal paper or photosensitive paper.

5. The method according to claim 1, characterized in that The recoverable consumable is adhered to the surface of the processing platform facing the laser head.

6. The method according to claim 1, characterized in that The processing platform includes a processing area and a non-processing area, the recoverable consumable is attached to the non-processing area, and the processing area is used to place the product to be processed.

7. The method according to claim 1, characterized in that A heat insulating material is provided between the recoverable consumable and the processing platform.

8. The method according to claim 2, characterized in that The 3D printing head is controlled to move to the vicinity of the preset position according to the target movement amount within a preset time, and the preset time is determined based on the recovery time of the recoverable consumable.

9. The method according to claim 1, characterized in that The method further comprises: Based on the position information of the laser head, the target movement amount is updated, and the camera is controlled to move to the vicinity of the preset position according to the updated target movement amount, and a new image of the restorable consumable including the marking pattern is captured by the camera; Based on the updated target movement amount and the new image, new position information of the laser head is obtained.

10. The method according to claim 1, characterized in that The step of photographing the image of the restorable consumable material containing the marking pattern by the camera includes: photographing the recoverable consumables by means of the camera; Determining whether the photo taken by the camera contains the marking pattern; If the photo taken by the camera does not include the marking pattern, the shooting position of the camera is changed until the photo taken by the camera includes the marking pattern.

11. The method according to claim 2, characterized in that The 3D printing head includes a nozzle, and the target movement amount is the distance between the nozzle and the laser head.

12. The method according to claim 1, characterized in that The position information of the laser head is the relative position between the laser head and the camera.

13. A processing equipment, characterized in that: The processing equipment includes a laser head, a processing platform, a 3D printing head connected to the laser head, and a processor, and the processor is configured to execute the method according to any one of claims 1-12.

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