Calibration method of distance measuring device, computer readable medium and laser processing system

Abstract

The embodiment of the invention provides a calibration method of a distance measuring device, a computer readable medium and a laser processing system, and the method comprises the steps: obtaining the position offset components of a first light path and a second light path on two coordinate axes when the first light path of light emitted by the distance measuring device is parallel to the second light path of laser emitted by a laser head; a laser head is controlled to emit laser to a target material located on a target plane, so that a target mark is machined; translating the distance measuring device according to the position offset components of the first light path and the second light path on the two coordinate axes; and if the intersection point of the first light path of the light emitted by the distance measuring device and the target plane at least partially coincides with the target mark, determining that calibration of the distance measuring device passes. According to the embodiment of the invention, the calibration of the distance measuring device can be realized, and the use precision of the distance measuring device can be improved.

Description

[0001] This application claims the priority of a Chinese patent application with the application number 202311867746.8, titled "Calibration Method, Device, Computer-Readable Medium, and Electronic Device for a Distance Measuring Device", filed with the Chinese Patent Office on December 29, 2023, the entire content of which is incorporated herein by reference. Technical Field

[0002] This application relates to the field of measurement technology, and more particularly, to a calibration method for a distance measuring device, a computer-readable medium, and a laser processing system. Background Art

[0003] Currently, distance measurement is usually performed using a distance measuring sensor.

[0004] However, structural errors are likely to occur during the installation of the distance measuring sensor, resulting in low usage accuracy. Summary of the Invention

[0005] Embodiments of the present application provide a calibration method for a distance measuring device, a computer-readable medium, and a laser processing system, which can at least to some extent achieve the calibration of the distance measuring device and improve the usage accuracy of the distance measuring device.

[0006] Other features and advantages of the present application will become apparent through the following detailed description, or will be partially learned through the practice of the present application.

[0007] According to one aspect of the embodiments of the present application, a calibration method for a distance measuring device is provided. The method includes: obtaining the position offset components of a first optical path of the light emitted by the distance measuring device and a second optical path of the laser emitted by the laser head on two coordinate axes of a spatial coordinate system when the first optical path and the second optical path are parallel; controlling the laser head to emit a laser to a target material located on a target plane to process a target mark on the target material on the target plane; translating the distance measuring device in the corresponding coordinate axis directions according to the position offset components of the first optical path and the second optical path on two coordinate axes of the spatial coordinate system; and determining that the calibration of the distance measuring device is passed if at least a part of the intersection point of the first optical path of the light emitted by the distance measuring device and the target plane coincides with the target mark.

[0008] According to one aspect of the embodiments of the present application, a laser processing calibration device is provided. The device includes: an offset component acquisition unit configured to acquire the position offset components of a first optical path of the light emitted by a distance measurement device and a second optical path of the laser emitted by a laser head on two coordinate axes of a space coordinate system when the first optical path and the second optical path are parallel; a laser emission unit configured to control the laser head to emit a laser to a target material located on a target plane, so as to process a target mark on the target material on the target plane; a translation unit configured to translate the distance measurement device in corresponding coordinate axis directions according to the position offset components of the first optical path and the second optical path on two coordinate axes of the space coordinate system; and a calibration unit configured to determine that the calibration of the distance measurement device is passed if at least part of an intersection point of the first optical path of the light emitted by the distance measurement device and the target plane coincides with the target mark.

[0009] According to one aspect of the embodiments of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the calibration method of the distance measurement device as described in the above embodiments is implemented.

[0010] According to one aspect of the embodiments of the present application, a laser processing system is provided, including: one or more processors; a storage device configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the calibration method of the distance measurement device as described in the above embodiments.

[0011] In the technical solutions provided by some embodiments of the present application, first, the position offset components of the first optical path and the second optical path on two coordinate axes of the space coordinate system are acquired when the first optical path of the light emitted by the distance measurement device and the second optical path of the laser emitted by the laser head are parallel, thereby realizing the measurement and calibration of the position offset components on the two coordinate axes. Then, the laser head is controlled to emit a laser to the target material located on the target plane, so as to process a target mark on the target material on the target plane. Then, the distance measurement device is translated in corresponding coordinate axis directions according to the position offset components of the first optical path and the second optical path on two coordinate axes of the space coordinate system. If at least part of an intersection point of the first optical path of the light emitted by the distance measurement device and the target plane coincides with the target mark, it is determined that the calibration of the distance measurement device is passed. If the intersection point of the first optical path and the target plane does not coincide with the target mark, the light emission angle of the distance measurement device is adjusted to make the intersection point of the first optical path and the target plane coincide with the target mark. Therefore, the embodiments of the present application also realize the angle calibration of the distance measurement device, thereby significantly improving the use accuracy of the distance measurement device.

[0012] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Brief Description of the Drawings

[0013] The drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0014] Figure 1 shows a schematic diagram of the principle according to an embodiment of the present application;

[0015] Figure 2 shows a flowchart of a calibration method for a ranging device according to an embodiment of the present application;

[0016] Figure 3 shows a flowchart of obtaining the position offset components of a first optical path and a second optical path on two coordinate axes of a spatial coordinate system when the first optical path of the light emitted by the ranging device is parallel to the second optical path of the laser emitted by the laser head according to an embodiment of the present application;

[0017] Figure 4 shows a flowchart of determining the position offset components of a first optical path and a second optical path on two coordinate axes of a spatial coordinate system when the first optical path is parallel to the second optical path according to a first marker, a first intersection point of the first optical path and a first standard height plane, a second marker, and a second intersection point of the first optical path and a second standard height plane according to an embodiment of the present application;

[0018] Figure 5 shows according to an embodiment of the present application Figure 2 a flowchart of the steps after step 230 in the embodiment;

[0019] Figure 6 shows a block diagram of a laser processing calibration device according to an embodiment of the present application;

[0020] Figure 7 shows a schematic structural diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application. Detailed Description of the Embodiments

[0021] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more complete and comprehensive, and will fully convey the concept of the example embodiments to those skilled in the art.

[0022] In addition, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be employed. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0023] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0024] The flowcharts shown in the drawings are only illustrative and do not necessarily include all the content and operations / steps, nor are they necessarily executed in the described order. For example, some operations / steps may be decomposed, while some operations / steps may be combined or partially combined, so the actual execution order may change according to the actual situation.

[0025] There are structural errors when the ranging device is installed, and this error will seriously affect the accuracy of planar ranging and surface modeling, so structural calibration is required.

[0026] For this reason, the embodiments of the present application first provide a calibration method for a ranging device.

[0027] Figure 1 A schematic diagram of the principle according to an embodiment of the present application is shown.

[0028] As Figure 1As shown, the laser head 110 includes a laser exit 111 that can emit a laser, which can be used for operations such as processing and cutting an object. The optical path of this laser is the second optical path 112, and the direction of the second optical path 112 is usually constant. The ranging device 120 includes a light emitter 121 and a light sensor 122. The light emitter 121 can emit light with an optical path being the first optical path. 123 and 124 are respectively the first optical paths emitted by the light emitter 121 of the ranging device 120 at different installation angles. Among them, the first optical path 123 is parallel to the second optical path 112. The angle of the ranging device 120 relative to the laser head 110 can be adjusted by means such as installation and rotation, and thus the first optical path emitted by the light emitter 121 can be adjusted. The included angle between the two first optical paths 123 and 124 is α, and the included angle α is also the included angle between the second optical path 112 and the first optical path 124. The light sensor 122 can measure the distance by detecting the light reflected by the object from the light emitted by the light emitter 121. As Figure 1 shown, the first optical path and the second optical path can be in the same plane, or can be in different planes respectively. The distance between the ranging device 120 and the laser head 110 can be fixed and unchanged.

[0029] Figure 2 The flowchart of the calibration method of the ranging device according to an embodiment of the present application is shown. The calibration method of the ranging device can be executed by various devices capable of calculation and processing, such as a user terminal or a cloud server. The user terminal includes but is not limited to mobile phones, computers, intelligent voice interaction devices, smart home appliances, workstations, etc. Please refer to Figure 2 shown, the calibration method of the ranging device at least includes the following steps:

[0030] In step 210, when the first optical path of the light emitted by the ranging device is parallel to the second optical path of the laser emitted by the laser head, obtain the position offset components of the first optical path and the second optical path on two coordinate axes of the space coordinate system.

[0031] The two coordinate axes of the space coordinate system are the first coordinate axis and the second coordinate axis. The first coordinate axis and the second coordinate axis can be any two of the three coordinate axes X, Y, and Z of the space coordinate system. The azimuth relationship between the first optical path and the second optical path and the three coordinate axes X, Y, and Z can be arbitrary. For example, the first optical path can be parallel to the Z axis or located on the Z axis. Hereinafter, the solution of the embodiment of the present application will be described with the first coordinate axis being the X axis and the second coordinate axis being the Y axis.

[0032] After the ranging device is installed, since the orientation of the light emitter 121 often changes, therefore, the first optical path of the emitted light often cannot be parallel to the second optical path of the laser emitted by the laser head.

[0033] Figure 3 Shows a flowchart of obtaining the position offset components of a first optical path and a second optical path on two coordinate axes of a spatial coordinate system when the first optical path of the light emitted by a ranging device is parallel to the second optical path of the laser emitted by a laser head according to an embodiment of the present application. As Figure 3 shown, it includes the following steps:

[0034] In step 310, control the laser head to emit laser light to a first material located on a first standard height plane to process a first mark on the first material on the first standard height plane.

[0035] As Figure 1 shown, the height of the first standard height plane 131, that is, the distance of the first standard height plane 131 relative to the light emitter 121 of the ranging device 120 is known, and is Figure 1 the first distance h1 shown.

[0036] The first standard height plane 131 can be provided by a jig. The first material can be a piece of paper attached to the first standard height plane 131. The first mark processed on the first material can be a small black dot.

[0037] In step 320, control the laser head to emit laser light to a second material located on a second standard height plane to process a second mark on the second material on the second standard height plane.

[0038] As Figure 1 shown, the height of the second standard height plane 132, that is, the distance of the second standard height plane 132 relative to the light emitter 121 of the ranging device 120 is known, and is Figure 1 the second distance h2 shown.

[0039] The second standard height plane 132 can be provided by a jig. Similar to the first material, the second material can be a piece of paper attached to the second standard height plane 132. The second mark processed on the second material can also be a small black dot.

[0040] In an embodiment of the present application, both the first standard height plane and the second standard height plane are perpendicular to the second optical path.

[0041] Please refer to Figure 1 shown, the second optical path 112 of the laser emitted by the laser head 110 is perpendicular to the first standard height plane 131 and the second standard height plane 132 respectively, that is, the direction of the second optical path 112 of the laser emitted by the laser head 110 is usually constant.

[0042] In step 330, based on the first marker, the first intersection point of the first optical path and the first standard height plane, the second marker, and the second intersection point of the first optical path and the second standard height plane, determine the position offset components of the first optical path and the second optical path on two coordinate axes of the spatial coordinate system when the first optical path is parallel to the second optical path.

[0043] Based on the first marker, the second marker, the first intersection point of the first optical path and the first standard height plane, and the second intersection point of the first optical path and the second standard height plane, determine the position offset components of the first optical path and the second optical path on two coordinate axes of the spatial coordinate system when the first optical path of the light emitted by the distance measuring device is parallel to the second optical path of the laser emitted by the laser head, where the first distance of the first standard height plane relative to the light source of the distance measuring device is less than the second distance of the second standard height plane relative to the light source of the distance measuring device.

[0044] The light source of the distance measuring device is the light emitter 121 of the distance measuring device 120. As Figure 1 shown, compared with the first standard height plane 131, the second standard height plane 132 is closer to the light emitter 121 of the distance measuring device 120.

[0045] Since the position offset components correspond to the parallelism between the first optical path and the second optical path, the position offset components can also be referred to as the position offset components of the distance measuring device relative to the laser head on the coordinate axes of the spatial coordinate system.

[0046] The light emitter 121 can emit light, and its optical path can be the first optical path 124, which will respectively generate intersection points with the first standard height plane 131 and the second standard height plane 132.

[0047] Figure 4 The flowchart shows determining the position offset components of the first optical path and the second optical path on two coordinate axes of the spatial coordinate system when the first optical path is parallel to the second optical path according to the first marker, the first intersection point of the first optical path and the first standard height plane, the second marker, and the second intersection point of the first optical path and the second standard height plane according to an embodiment of the present application. Please refer to Figure 4 shown, which may include the following steps:

[0048] In step 410, move the distance measuring device so that the first intersection point of the first optical path and the first standard height plane coincides with the first marker, and obtain the first moving distances of the distance measuring device on two coordinate axes of the spatial coordinate system during this movement.

[0049] The position of the first intersection point and the first marker can be identified by a camera, and then the distance measuring device can be moved according to the information identified by the camera. It is also possible to move the first marker to make it coincide with the first intersection point.

[0050] As Figure 1 shown, since the distance measuring device 120 is rotatably and fixedly connected to the laser head 110, the distance measuring device 120 can be moved by moving the laser head 110.

[0051] If the two coordinate axes are the X-axis and the Y-axis respectively, the first moving distances (X1, Y1) of the laser head 110 and the distance measuring device 120 in the directions of these two coordinate axes can be recorded.

[0052] In an embodiment of the present application, after obtaining the first moving distances of the distance measuring device on the two coordinate axes of the space coordinate system during this movement process, the method further includes: determining the third distance between the first mark and the first intersection point according to the first moving distances of the distance measuring device on the two coordinate axes of the space coordinate system.

[0053] The deviation between the first optical path and the second optical path on the first standard height plane can be determined in the following manner, that is, the third distance A1 between the first mark and the first intersection point: A1 = sqrt(X1 × X1 + Y1 × Y1), where sqrt is used to calculate the square root.

[0054] In step 420, move the distance measuring device so that the second intersection point of the first optical path and the second standard height plane coincides with the second mark, and obtain the second moving distances of the distance measuring device on the two coordinate axes of the space coordinate system during this movement process.

[0055] If the two coordinate axes are the X-axis and the Y-axis respectively, the second moving distances (X2, Y2) of the laser head 110 and the distance measuring device 120 in the directions of these two coordinate axes can be recorded.

[0056] In an embodiment of the present application, after obtaining the second moving distances of the distance measuring device on the two coordinate axes of the space coordinate system during this movement process, the method further includes: determining the fourth distance between the second mark and the second intersection point according to the second moving distances of the distance measuring device on the two coordinate axes of the space coordinate system; determining the included angle between the first optical path and the second optical path according to the third distance, the fourth distance, the first distance and the second distance; adjusting the light emission angle of the distance measuring device according to the included angle so that the first optical path is parallel to the second optical path.

[0057] In an embodiment of the present application, determining the included angle between the first optical path and the second optical path according to the third distance, the fourth distance, the first distance and the second distance includes: determining the target distance between the first optical path and the second optical path when the first optical path of the light emitted by the distance measuring device is parallel to the second optical path of the laser emitted by the laser head according to the third distance, the fourth distance, the first distance and the second distance; determining the included angle between the first optical path of the light emitted by the distance measuring device and the second optical path of the laser emitted by the laser head according to the target distance, the fourth distance and the second distance.

[0058] The deviation between the first optical path and the second optical path on the second standard height plane can be determined in the following manner, i.e., the fourth distance A2 between the second mark and the second intersection point: A2 = sqrt(X2 × X2 + Y2 × Y2), where sqrt is used to calculate the square root. From (A1 - A) / h1 = (A2 - A) / h2, we can obtain:

[0059] A = (A1 × h2 - A2 × h1) / (h2 - h1),

[0060] where A is the target distance, A1 is the third distance, A2 is the fourth distance, h1 is the first distance, and h2 is the second distance.

[0061] Although in the embodiments of the present application, the third distance and the fourth distance are automatically calculated, in other embodiments of the present application, the third distance and the fourth distance can also be manually measured with a ruler.

[0062] After obtaining the target distance A, the included angle α between the first optical path 124 and the second optical path 112 can be obtained in the following manner: α = asin((A2 - A) / h2), where A is the target distance, A2 is the fourth distance, h2 is the second distance, and asin is the arcsine function.

[0063] Of course, the included angle α between the first optical path 124 and the second optical path 112 can also be obtained through the following formula: α = asin((A1 - A) / h1), where A is the target distance, A1 is the third distance, and h1 is the first distance. Of course, in practical applications, it is preferable to use α = asin((A2 - A) / h2) to obtain α because the distance of A2 is longer than that of A1, so the value of A2 obtained is often more accurate, thereby reducing the error of the obtained α.

[0064] The light emission angle of the ranging device can be automatically adjusted by controlling the rotation motor.

[0065] When the first optical path is parallel to the second optical path, the calibration purpose is achieved.

[0066] In the actual process, calibration can also be achieved without calculating α.

[0067] Please continue to refer to Figure 4 , in step 430, according to the first moving distance, the second moving distance, the first distance, and the second distance of the ranging device on the first coordinate axis, the position offset component of the first optical path and the second optical path on the first coordinate axis is determined when the first optical path is parallel to the second optical path.

[0068] Determine the position offset component of the first optical path and the second optical path on the first coordinate axis of the space coordinate system according to the first moving distance of the distance measuring device on the first coordinate axis of the space coordinate system, the second moving distance of the distance measuring device on the first coordinate axis of the space coordinate system, the first distance, and the second distance, when the first optical path of the light emitted by the distance measuring device is parallel to the second optical path of the laser emitted by the laser head.

[0069] The position offset component of the first optical path and the second optical path on the first coordinate axis of the space coordinate system can be determined in the following way: Ax = ((X1 × h2 - X2 × h1) / (h2 - h1)), where Ax is the position offset component of the first optical path and the second optical path on the first coordinate axis of the space coordinate system, X1 is the first moving distance of the distance measuring device on the first coordinate axis, X2 is the second moving distance of the distance measuring device on the first coordinate axis, h1 is the first distance, and h2 is the second distance.

[0070] In step 440, determine the position offset component of the first optical path and the second optical path on the second coordinate axis when the first optical path is parallel to the second optical path according to the first moving distance, the second moving distance, the first distance, and the second distance of the distance measuring device on the second coordinate axis.

[0071] Determine the position offset component of the first optical path and the second optical path on the second coordinate axis of the space coordinate system according to the first moving distance of the distance measuring device on the second coordinate axis of the space coordinate system, the second moving distance of the distance measuring device on the second coordinate axis of the space coordinate system, the first distance, and the second distance, when the first optical path of the light emitted by the distance measuring device is parallel to the second optical path of the laser emitted by the laser head.

[0072] The position offset component of the first optical path and the second optical path on the second coordinate axis of the space coordinate system can be determined in the following way: Ay = ((Y1 × h2 - Y2 × h1) / (h2 - h1)), where Ay is the position offset component of the first optical path and the second optical path on the second coordinate axis of the space coordinate system, Y1 is the first moving distance of the distance measuring device on the second coordinate axis, Y2 is the second moving distance of the distance measuring device on the second coordinate axis, h1 is the first distance, and h2 is the second distance.

[0073] In step 220, control the laser head to emit a laser to the target material located on the target plane to process a target mark on the target material on the target plane.

[0074] The target plane can be any plane, which can be the first standard height plane or the second standard height plane.

[0075] In step 230, translate the distance measuring device in the corresponding coordinate axis direction according to the position offset components of the first optical path and the second optical path on the two coordinate axes of the space coordinate system.

[0076] In one embodiment of the present application, the ranging device is translated in the corresponding coordinate axis directions according to the position offset components of the first optical path and the second optical path on two coordinate axes of the spatial coordinate system, including: translating the laser head in the corresponding coordinate axis directions according to the position offset components of the first optical path and the second optical path on two coordinate axes of the spatial coordinate system, so as to drive the ranging device connected to the laser head to be translated.

[0077] As described above, the ranging device 120 can be moved by moving the laser head 110. Of course, in other embodiments of the present application, the laser head 110 and the ranging device 120 can be separated, that is, the ranging device 120 can be translated only by directly moving the ranging device 120 itself.

[0078] After this step is executed, it is necessary to determine whether the intersection point of the first optical path of the light emitted by the ranging device and the target plane coincides with the target mark.

[0079] In step 240, if the intersection point of the first optical path of the light emitted by the ranging device and the target plane coincides with the target mark at least partially, it is determined that the calibration of the ranging device is passed.

[0080] The at least partial coincidence here may be that the intersection point of the first optical path of the light emitted by the ranging device and the target plane coincides completely with the target mark, or may be that the intersection point of the first optical path of the light emitted by the ranging device and the target plane coincides partially with the target mark.

[0081] If the intersection point of the first optical path of the light emitted by the ranging device and the target plane coincides with the target mark at least partially, that is, at least a part of the target mark coincides with the intersection point of the first optical path of the light emitted by the ranging device and the target plane, it indicates that the first optical path and the second optical path are parallel.

[0082] Figure 5 Shows according to one embodiment of the present application Figure 2 The flowchart of the steps after step 230 in the embodiment. Please refer to Figure 5 As shown, after the ranging device is translated in the corresponding coordinate axis directions according to the position offset components of the first optical path and the second optical path on two coordinate axes of the spatial coordinate system, the method may further include the following steps:

[0083] In step 250, if the intersection point of the first optical path and the target plane does not coincide with the target mark, the light emission angle of the ranging device is adjusted so that the intersection point of the first optical path and the target plane coincides with the target mark.

[0084] When the intersection point of the first optical path and the target plane does not coincide with the target mark, the light emission angle of the distance measuring device can be adjusted manually or automatically so that the intersection point of the first optical path and the target plane coincides with the target mark at least partially. When the intersection point of the first optical path and the target plane coincides with the target mark partially or completely, the calibration is completed.

[0085] In an embodiment of the present application, after adjusting the light emission angle of the distance measuring device so that the intersection point of the first optical path and the target plane coincides with the target mark, the method may further include the following steps: performing distance measurement or surface modeling based on the distance measuring device.

[0086] The calibrated distance measuring device can be used to measure height or distance, and can also perform surface modeling.

[0087] In summary, according to the calibration method of the distance measuring device provided by the embodiments of the present application, the following beneficial effects can be obtained:

[0088] The offset values in the X-axis and Y-axis directions are measured and calibrated, greatly improving the accuracy of distance measurement and surface modeling.

[0089] The following introduces the device embodiments of the present application, which can be used to execute the calibration method of the distance measuring device in the above embodiments of the present application. For the details not disclosed in the device embodiments of the present application, please refer to the embodiments of the calibration method of the distance measuring device in the above of the present application.

[0090] Figure 6 The block diagram of a laser processing calibration device according to an embodiment of the present application is shown.

[0091] Refer to Figure 6 As shown, a laser processing calibration device 600 according to an embodiment of the present application includes: an offset component acquisition unit 610, configured to acquire the position offset components of the first optical path and the second optical path on two coordinate axes of a space coordinate system when the first optical path of the light emitted by the distance measuring device is parallel to the second optical path of the laser emitted by the laser head; a laser emission unit 620, configured to control the laser head to emit a laser to a target material located on a target plane, so as to process a target mark on the target material on the target plane; a translation unit 630, configured to translate the distance measuring device in the corresponding coordinate axis directions according to the position offset components of the first optical path and the second optical path on two coordinate axes of the space coordinate system; a calibration unit 640, configured to determine that the calibration of the distance measuring device passes if the intersection point of the first optical path of the light emitted by the distance measuring device and the target plane coincides with the target mark at least partially.

[0092] In some embodiments of the present application, based on the foregoing solution, the offset component acquisition unit 610 is configured to: control the laser head to emit laser light towards a first material located on a first standard height plane to machine a first mark on the first material on the first standard height plane; control the laser head to emit laser light towards a second material located on a second standard height plane to machine a second mark on the second material on the second standard height plane; determine, according to the first mark, the first intersection point of the first optical path and the first standard height plane, the second mark, and the second intersection point of the first optical path and the second standard height plane, the position offset components of the first optical path and the second optical path on two coordinate axes in the space coordinate system when the first optical path is parallel to the second optical path.

[0093] In some embodiments of the present application, based on the foregoing solution, the offset component acquisition unit 610 is configured to: move the distance measuring device so that the first intersection point of the first optical path and the first standard height plane coincides with the first mark, and acquire the first moving distances of the distance measuring device on two coordinate axes in the space coordinate system during this movement; move the distance measuring device so that the second intersection point of the first optical path and the second standard height plane coincides with the second mark, and acquire the second moving distances of the distance measuring device on two coordinate axes in the space coordinate system during this movement; determine, according to the first moving distance, the second moving distance, the first distance, and the second distance of the distance measuring device on the first coordinate axis, the position offset component of the first optical path and the second optical path on the first coordinate axis when the first optical path is parallel to the second optical path; determine, according to the first moving distance, the second moving distance, the first distance, and the second distance of the distance measuring device on the second coordinate axis, the position offset component of the first optical path and the second optical path on the second coordinate axis when the first optical path is parallel to the second optical path.

[0094] In some embodiments of the present application, based on the foregoing solution, the device further includes a pre-adjustment unit; after obtaining the first moving distances of the ranging device on two coordinate axes of the space coordinate system during this movement, the pre-adjustment unit is configured to: determine a third distance between the first marker and the first intersection point according to the first moving distances of the ranging device on two coordinate axes of the space coordinate system; after obtaining the second moving distances of the ranging device on two coordinate axes of the space coordinate system during this movement, the pre-adjustment unit is further configured to: determine a fourth distance between the second marker and the second intersection point according to the second moving distances of the ranging device on two coordinate axes of the space coordinate system; determine an angle between the first optical path and the second optical path according to the third distance, the fourth distance, the first distance, and the second distance; adjust the light emission angle of the ranging device according to the angle so that the first optical path is parallel to the second optical path.

[0095] In some embodiments of the present application, based on the foregoing solution, both the first standard height plane and the second standard height plane are perpendicular to the second optical path.

[0096] In some embodiments of the present application, based on the foregoing solution, the translation unit 630 is configured to: translate the laser head in the corresponding coordinate axis directions according to the position offset components of the first optical path and the second optical path on two coordinate axes of the space coordinate system, so as to drive the ranging device connected to the laser head to translate.

[0097] In some embodiments of the present application, based on the foregoing solution, the device further includes an angle adjustment unit; after translating the ranging device in the corresponding coordinate axis directions according to the position offset components of the first optical path and the second optical path on two coordinate axes of the space coordinate system, the angle adjustment unit is configured to: if the intersection point of the first optical path and the target plane does not coincide with the target marker, adjust the light emission angle of the ranging device so that the intersection point of the first optical path and the target plane coincides with the target marker.

[0098] In some embodiments of the present application, based on the foregoing solution, the device further includes a ranging device application unit. After adjusting the light emission angle of the ranging device so that the intersection point of the first optical path and the target plane coincides with the target marker, the ranging device application unit is configured to: perform ranging or surface modeling based on the ranging device.

[0099] According to one aspect of the embodiments of the present application, a laser processing system is provided, including: one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the calibration method of the ranging device as described in the above embodiments.

[0100] When actually applying the solution of the embodiments of the present application, the above laser processing system may exist in the form of an electronic device.

[0101] Figure 7 The structural schematic diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application is shown.

[0102] It should be noted that Figure 7 The computer system 700 of the electronic device shown is only an example and should not bring any restrictions to the functions and usage scope of the embodiments of the present application.

[0103] As Figure 7 shown, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage section 708 into the random access memory (RAM) 703, such as executing the method described in the above embodiments. In the RAM 703, various programs and data required for system operation are also stored. The CPU 701, ROM 702, and RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0104] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as required. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as required so that the computer program read from it can be installed into the storage section 708 as required.

[0105] In particular, according to an embodiment of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, an embodiment of the present application includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes program code for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and / or installed from the removable medium 711. When the computer program is executed by the central processing unit (CPU) 701, various functions defined in the system of the present application are executed.

[0106] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which computer-readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0107] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0108] The units involved in the embodiments described in the present application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation on the units themselves in some cases.

[0109] As one aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the methods described in the above embodiments.

[0110] It should be noted that although several modules or units of devices for action execution are mentioned in the above detailed description, such a division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of the two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0111] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (such as a personal computer, a server, a touch terminal, or a network device, etc.) to execute the methods according to the embodiments of the present application.

[0112] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include well-known knowledge or conventional technical means in the technical field not disclosed in the present application.

[0113] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A calibration method for a distance measuring device, characterized in that: The method comprises: Acquire positional offset components of the first optical path and the second optical path on two coordinate axes of the spatial coordinate system when a first optical path of the light emitted by the distance measuring device is parallel to a second optical path of the laser emitted by the laser head; Controlling the laser head to emit laser light to a target material located on a target plane, so as to process a target mark on the target material on the target plane; According to the position offset components of the first optical path and the second optical path on the two coordinate axes of the space coordinate system, the distance measuring device is translated in the direction of the corresponding coordinate axis; If the intersection of the first optical path of the light emitted by the distance measuring device and the target plane at least partially coincides with the target mark, it is determined that the distance measuring device has been calibrated successfully.

2. The calibration method of the distance measuring device according to claim 1, characterized in that: The step of obtaining position offset components of the first optical path and the second optical path on two coordinate axes of the spatial coordinate system when the first optical path of the light emitted by the distance measuring device is parallel to the second optical path of the laser emitted by the laser head includes: Controlling the laser head to emit laser light to the first material located at the first standard height plane, so as to process a first mark on the first material at the first standard height plane; Controlling the laser head to emit laser light to the second material located at the second standard height plane, so as to process a second mark on the second material at the second standard height plane; Based on the first mark, the first intersection point of the first optical path and the first standard height plane, the second mark and the second intersection point of the first optical path and the second standard height plane, determine the position offset components of the first optical path and the second optical path on the two coordinate axes of the spatial coordinate system when the first optical path is parallel to the second optical path.

3. The calibration method of the distance measuring device according to claim 2, characterized in that: The determining, according to the first mark, the first intersection point of the first light path and the first standard height plane, the second mark, and the second intersection point of the first light path and the second standard height plane, position offset components of the first light path and the second light path on two coordinate axes of a spatial coordinate system when the first light path is parallel to the second light path comprises: Move the distance measuring device so that a first intersection point of the first optical path and the first standard height plane coincides with the first mark, and obtain a first moving distance of the distance measuring device on two coordinate axes of the spatial coordinate system during this movement; Move the distance measuring device so that a second intersection point of the first optical path and the second standard height plane coincides with the second mark, and obtain a second moving distance of the distance measuring device on two coordinate axes of the spatial coordinate system during this movement; Determine, according to a first moving distance, a second moving distance, the first distance, and the second distance of the distance measuring device on the first coordinate axis, a position offset component of the first optical path and the second optical path on the first coordinate axis when the first optical path is parallel to the second optical path; According to the first moving distance, the second moving distance, the first distance and the second distance of the distance measuring device on the second coordinate axis, the position offset component of the first optical path and the second optical path on the second coordinate axis is determined when the first optical path is parallel to the second optical path.

4. The calibration method of the distance measuring device according to claim 3, characterized in that: After obtaining the first moving distance of the distance measuring device on the two coordinate axes of the spatial coordinate system during the moving process, the method further includes: determining a third distance between the first mark and the first intersection point according to a first moving distance of the distance measuring device on two coordinate axes of the spatial coordinate system; After obtaining the second moving distance of the distance measuring device on the two coordinate axes of the spatial coordinate system during the moving process, the method further includes: determining a fourth distance between the second mark and the second intersection point according to a second moving distance of the distance measuring device on the two coordinate axes of the spatial coordinate system; Determine an angle between the first light path and the second light path according to the third distance, the fourth distance, the first distance, and the second distance; The light emission angle of the distance measuring device is adjusted according to the included angle so that the first light path is parallel to the second light path.

5. The calibration method of the distance measuring device according to any one of claims 2 to 4, characterized in that: The first standard height plane and the second standard height plane are both perpendicular to the second optical path.

6. The calibration method of the distance measuring device according to any one of claims 1 to 4, characterized in that: The distance measuring device is translated in the direction of the corresponding coordinate axis according to the position offset components of the first optical path and the second optical path on the two coordinate axes of the space coordinate system, comprising: The laser head is translated in the direction of the corresponding coordinate axis according to the positional offset components of the first optical path and the second optical path on the two coordinate axes of the space coordinate system, so as to drive the distance measuring device connected to the laser head to translate.

7. The calibration method of the distance measuring device according to any one of claims 1 to 4, characterized in that: After translating the distance measuring device in the direction of the corresponding coordinate axis according to the position offset components of the first optical path and the second optical path on the two coordinate axes of the space coordinate system, the method further includes: If the intersection point of the first optical path and the target plane does not coincide with the target mark, the light emission angle of the distance measuring device is adjusted so that the intersection point of the first optical path and the target plane coincides with the target mark.

8. The calibration method of the distance measuring device according to claim 7, characterized in that: After adjusting the light emission angle of the distance measuring device so that the intersection of the first light path and the target plane coincides with the target mark, the method further includes: Distance measurement or surface modeling is performed based on the distance measurement device.

9. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the calibration method of the distance measuring device according to any one of claims 1 to 8 is implemented.

10. A laser processing system, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the calibration method of the distance measuring device according to any one of claims 1 to 8.

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