A method for correcting distortion of a flying optical path and a laser device

Abstract

The present invention discloses a method for correcting the distortion of a flying optical path and a laser device, and relates to the fields of machine vision and laser processing technology. The method for correcting the distortion of a flying optical path comprises: performing distortion correction and scale correction on a camera, and obtaining mapping relationship data between pixel coordinates and coordinates of an actual product. Determine the deviation between the center position of the camera and the center position of the flying optical path based on the mapping relationship data, and obtain the relative vector of the center position of the camera relative to the center position of the flying optical path; correct the coordinates of the platform based on the relative vector. Construct a reference position table, calculate the theoretical acquisition coordinates based on the relative vector, and move the platform to the theoretical acquisition coordinates; calculate the actual acquisition position of each sampling point, record the optical path offset of each sampling point and store it in the reference position table; calculate the actual optical path deviation compensation amount of the target product based on the reference position table. By adopting the technology provided by the present invention, the correction accuracy and efficiency can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of machine vision and laser processing, and in particular to a method for correcting distortion of a flying optical path and a laser device. Background Art

[0002] In the field of laser industrial production and processing, when an XY platform is equipped with a laser generator for a splicing processing solution, the transmission direction of the laser beam is changed by refracting the laser through mirrors and optical fibers. The laser generator remains stationary, and the mirror moves to form a transmission path with a specific trajectory on the working plane. Compared with moving a large-load laser generator, this method can improve space utilization. However, due to the installation of lenses used to reflect lasers in different positions on the equipment, the radial, torsional and bending deformations of the motion mechanism, and the stress deformation of the mechanical structure that fixes the lens, the angle at which the laser is emitted to the product surface may change. This dynamic light beam directional drift is particularly significant on large platforms or in high-speed and high-acceleration motions, and will directly lead to problems such as spot position error, focus shape change, and uneven energy distribution.

[0003] Based on this, a Chinese invention patent document (CN110470220B) discloses a numerical correction method for coaxial visual deviation in a flight optical path. It corrects a single-axis flight optical path by placing a laser-sensitive material on the laser working surface, emitting a laser to produce a visible light spot, photographing the light spot with a camera and recording the offset. The offset of any point is then calculated by interpolation, making it easier to determine the visual offset compensation function of the slide at different positions on the slide rail, thereby improving the accuracy of the coaxial vision system.

[0004] Although linear interpolation is used to calculate the offset in this Chinese invention patent document, it focuses on correcting the positional deviation of the visual part. This makes its calculation complexity relatively large and its accuracy may be limited in complex motion mechanisms and multi-axis systems, such as the two-axis flying optical path in the XY direction and the three-axis motion in the XYZ direction proposed in this invention patent document. The correction range of the optical path within the entire two-dimensional or three-dimensional platform is limited. Summary of the Invention

[0005] The present invention provides a method for correcting distortion of a flying optical path and a laser device to solve the problem of limited accuracy and range of optical path correction of a two-dimensional platform in the prior art.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is to provide a distortion correction method for a flying optical path, which includes: performing distortion correction and proportional correction on the camera, so that the pixel coordinates of the image captured by the camera form a proportional mapping with the coordinates of the actual object, and obtaining the mapping relationship data between the pixel coordinates and the coordinates of the actual product.

[0007] Determine the deviation between the center position of the camera and the center position Pc of the flying light path based on the mapping relationship data, and obtain the relative vector of the center position of the camera relative to the center position of the flying light path; and correct the coordinates of the platform based on the relative vector of the center position of the camera relative to the center position of the flying light path.

[0008] Construct a reference position table, calculate theoretical acquisition coordinates based on relative vectors, and move the platform to the theoretical acquisition coordinates; collect a laser calibration image corresponding to each sampling point in the reference position table to calculate the actual acquisition position of each sampling point, record the optical path offset of each sampling point and store it in the reference position table; calculate the actual optical path deviation compensation amount of the target product based on the reference position table.

[0009] In some embodiments, the distortion correction and scale correction of the camera are performed so that the pixel coordinates of the image captured by the camera form a proportional mapping with the coordinates of the actual object, including: setting an optical calibration plate of required accuracy at the central shooting position of the camera, and adjusting the camera's acquisition parameters and light source control parameters according to the calibration features and the captured image until the camera's captured image is clear.

[0010] Solidify the camera's acquisition parameters and light source control parameters; perform calibration calculations on the camera's acquired images based on the optical calibration plate, including: partitioning the camera's acquired images to obtain the image dot center distance and physical coordinates of the actual object in each acquired image, and calculating the deformation coefficient and scale coefficient of each partition; and establish a mapping relationship between the camera's image pixel coordinate system and the actual physical world coordinate system based on the calibration calculation results.

[0011] In some embodiments, determining the deviation between the center position of the camera and the center position of the flight light path according to the mapping relationship data, and obtaining the relative vector of the center position of the camera relative to the center position of the flight light path, includes:

[0012] A processing mark is set, wherein the processing mark selects the extreme processing position of the platform; the current coordinates of the platform are obtained, which are recorded as the first platform coordinates; the camera is moved so that the camera can be aligned with the processing mark, and when the center line of the camera completely coincides with the center image of the processing mark, the current coordinates of the platform are recorded as the second platform coordinates; and the relative vector of the center position of the camera relative to the center position of the flying optical path is calculated based on the first platform coordinates and the second platform coordinates.

[0013] In some embodiments, the camera is moved so that it can be aligned with the processing mark. When the center line of the camera completely coincides with the center image of the processing mark, the current coordinates of the platform are recorded as the second platform coordinates, including automatic positioning, specifically:

[0014] A circular laser mark is set at a set coordinate position of the platform, and the platform is moved according to the relative vector; the camera captures an image of the circular laser mark, and calculates a deviation vector between the center of the circular laser mark and the center of the camera's field of view; the position of the platform is adjusted according to the deviation vector so that the center of the circular laser mark is closer to the center of the camera's field of view; multiple iterations are performed until the deviation vector between the center of the circular laser mark and the camera's field of view is less than the required accuracy in any direction, and then the current coordinates of the platform are determined to be the second platform coordinates.

[0015] In some embodiments, constructing a reference position table, calculating theoretical acquisition coordinates based on relative vectors, and moving the platform to the theoretical acquisition coordinates includes: setting the sampling point spacing and number in the X direction and the Y direction, where the sampling point spacing in the X direction is denoted as DisX and the number of sampling points in the X direction is denoted as CountX, and the sampling point spacing in the Y direction is denoted as DisY and the number of sampling points in the Y direction is denoted as CountY.

[0016] Generate a standard two-dimensional network BaseXY, where the two-dimensional network BaseXY is a two-dimensional grid with CountX columns and CountY rows. Set the first platform coordinate to Base[0,0], then the XY coordinates of the theoretical acquisition coordinates Base[m,n] of any point are:

[0017]

[0018]

[0019] Wherein, Psx represents the X coordinate of the first platform coordinate Ps; Psy represents the Y coordinate of the first platform coordinate Ps;

[0020] Move the platform and set the laser calibration image at the theoretical acquisition coordinates Base[m,n].

[0021] In some embodiments, acquiring a laser calibration image corresponding to each sampling point in the reference position table to calculate the actual acquisition position of each sampling point, recording the optical path offset of each sampling point and storing it in the reference position table, includes:

[0022] The actual acquisition position coordinates are calculated based on the relative vector and the theoretical acquisition coordinates Base[m,n], which can be expressed as:

[0023]

[0024] A laser calibration image of the actual acquisition position coordinates AimPos(m,n) of each sampling point corresponding to the standard two-dimensional network BaseXY is collected; the change of the center position of each sampling point in the laser calibration image relative to the image center position is calculated one by one to measure the offset distance of the position of the laser calibration image relative to the theoretical acquisition coordinates, and obtain the offset of each sampling point in the X direction and the Y direction; the standard two-dimensional network BaseXY and the offset of each sampling point in the X direction and the Y direction are stored in the reference position table.

[0025] In some embodiments, the distance between adjacent sampling points in the X direction and the Y direction is greater than or equal to 20 mm to obtain the best sampling yield.

[0026] In some embodiments, the actual optical path deviation compensation amount of any target product is calculated based on the reference position table, including: calculating a reference grid containing the target product based on the standard two-dimensional network BaseXY; obtaining the optical path offset corresponding to each vertex of the reference grid; and calculating the actual optical path deviation compensation amount of the target product based on the optical path offset corresponding to each vertex of the reference grid.

[0027] The technical solution provided by the present invention has the following beneficial effects compared with the prior art:

[0028] The above steps can realize low-cost and one-time completion of optical path detection within the entire travel range (working range). By constructing a reference position table, the computational complexity in actual application is low, and it is applicable to the entire two-dimensional platform and covers the optical path correction range within all platform ranges.

[0029] The aforementioned optical path distortion correction eliminates the need for associating with current fixed coordinates. Instead, coordinates are dynamically modeled based on the target product. This uses relative offset modeling instead of absolute coordinates, improving both the accuracy and versatility of the correction. Furthermore, the correction process can utilize automated image processing instead of manual labor, eliminating the need for manual intervention to improve the correction accuracy of the interferer.

[0030] By completing the optical path detection and correction within the entire stroke at one time, it not only improves the accuracy and range of optical path correction, but also improves production efficiency and processing quality, and has significant technical and economic advantages.

[0031] In some embodiments, the present application also provides a laser device for performing the above-mentioned flight optical path distortion correction method. Further, the laser device includes a vision system, a motion system, a platform, and a laser emission system, and the motion system is provided with a transfer mechanism for driving the movement of the camera.

[0032] Using this technical solution, the laser equipment performs grid sampling across the platform's entire range of motion using the aforementioned flight optical path distortion correction method. It measures the optical path deviation at each sampling point and calculates the compensation amount at any position using bilinear interpolation. This allows for a single optical path measurement across the entire range of motion, eliminating the need for individual distortion correction at each position and improving subsequent processing efficiency. For example, a telecentric lens can be used in conjunction with a high-precision camera in a vision system, with both distortion and scale correction performed in advance to improve subsequent measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. Among them:

[0034] Figure 1 This is a schematic diagram of an embodiment of a method for correcting the distortion of a flying optical path provided by the present invention. Figure 1 ;

[0035] Figure 2 This is a schematic diagram of an embodiment of a method for correcting the distortion of a flying optical path provided by the present invention. Figure 2 ;

[0036] Figure 3 This is an enlarged schematic diagram of a local structure of an embodiment of a laser device provided by the present invention;

[0037] Figure 4 Schematic diagram of a grid of a method for correcting distortion of a flying optical path provided by the present invention;

[0038] Figure 5 This is a schematic diagram of an embodiment of a method for correcting the distortion of a flying optical path provided by the present invention. Figure 3 ;

[0039] Figure 6 The camera field of view of an embodiment of a method for correcting distortion of a flying optical path provided by the present invention is Figure 1 ;

[0040] Figure 7 The camera field of view of an embodiment of a method for correcting distortion of a flying optical path provided by the present invention is Figure 2 ;

[0041] Figure 8 It is a top view of an embodiment of a laser device provided by the present invention. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] It is worth noting that the terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein. Furthermore, the objects distinguished by "first," "second," and the like generally refer to a class of objects and do not limit the number of objects. For example, the first object may be one or more.

[0044] See also Figure 1 As shown, Figure 1 The flowchart of an embodiment of a method for correcting the distortion of a flying optical path provided by the present application is shown as follows: Figure 1 .

[0045] In some embodiments, the method for correcting distortion of the flying optical path includes:

[0046] Step S100 , performing distortion correction and scale correction on the camera so that the pixel coordinates of the image captured by the camera and the coordinates of the actual object form a scale mapping, and obtaining mapping relationship data between the pixel coordinates and the coordinates of the actual product.

[0047] In some applications, the camera (industrial camera) and the end-emitting laser mechanism are typically fixed relative to each other. Therefore, the camera position is usually recordable. The deviation between the actual and theoretical positions can be determined by recording the motion of the camera axis and the theoretical position of the laser processing mark captured by the camera. Therefore, to improve the accuracy of distortion correction in the flight optical path, it is also necessary to minimize the distortion caused by the camera.

[0048] For example, when the pixel coordinates of the camera-captured image are proportionally mapped to the coordinates of the actual object (i.e., the actual physical size), the physical distance of each pixel coordinate relative to the center of the camera can be calculated. Using the calibrated camera described above, subsequent measurement accuracy requirements can be met. For example, if the camera's field of view is 4.2mm*3.5mm, the resolution is 2448*2024, and the accuracy of the calibration plate is 1um, the camera can achieve a visual measurement error of ±2.5um after correction. In some application scenarios, the camera's visual lens can use a telecentric lens, which can further eliminate image deformation caused by product height fluctuations.

[0049] Step S200 , determining the deviation between the center position Ps of the camera and the center position Pc of the flying light path according to the mapping relationship data, and obtaining a relative vector Psc of the center position of the camera relative to the center position of the flying light path.

[0050] Combine Figure 2 As shown, Figure 2 The flowchart of an embodiment of a method for correcting the distortion of a flying optical path provided by the present application is shown as follows: Figure 2 , including the following steps:

[0051] Step S210 , setting a processing mark, wherein the processing mark selects the extreme processing position of the platform.

[0052] For example, the extreme processing position can be the lower left corner of the platform. This position is primarily intended to reduce computational complexity, and this is not a limitation in this application. For example, other extreme positions of the platform can also be selected. The processing mark can be a crosshair or other easily recognizable shape to facilitate determination of the center position of the processing mark (the center position of the current flight optical path).

[0053] Step S220: Obtain the current coordinates of the platform, recorded as the first platform coordinates Ps.

[0054] The precise coordinates of the platform during the machining mark (usually provided by the platform control system) are recorded for subsequent calculations and calibrations, such as obtaining the first platform coordinates Ps(1, 2).

[0055] Step S230 , moving the camera so that the camera can be aligned with the processing mark. When the center line of the camera completely coincides with the center image of the processing mark, the current coordinates of the platform are recorded as the second platform coordinates Pc.

[0056] Using the recorded first platform coordinates Ps and the machining mark, align the camera and laser optical path. Specifically, move the camera so that its visual axis is aligned with the center of the machining mark. For example, when the camera's centerline completely overlaps with the center of the machining mark, the current platform coordinates are recorded as the second platform coordinates Pc (100, 10). The camera movement can be determined by an operator manually moving the camera and continuously capturing images, or it can be determined by automated equipment.

[0057] In step S240 , a relative vector Psc of the center position of the camera relative to the center position of the flying optical path is calculated according to the first platform coordinate Ps and the second platform coordinate Pc.

[0058] The relative vector Psc represents a fixed offset between the camera center and the center of the flight optical path. That is, once the camera capture parameters are fixed, the relative vector Psc remains constant while the mechanical structure remains unchanged. For example, when the first platform coordinates Ps are (1, 2) and the second platform coordinates Pc are (100, 10), the relative vector Psc is calculated based on the difference between the first and second platform coordinates Ps and Pc as:

[0059]

[0060] Step S300: Correct the platform coordinates based on the relative vector Psc. When the camera parameters are fixed, the platform coordinates are converted based on the calculated fixed deviation (relative vector Psc).

[0061] Step S400 : constructing a reference position table, calculating theoretical acquisition coordinates according to the relative vector Psc, and moving the platform to the theoretical acquisition coordinates.

[0062] According to the range of movement of the device, in order to ensure that the optical path deformation of each area in the entire range of the device movement is corrected, in some application scenarios, data sampling is required for the entire range of movement to construct a reference position table. Specifically, step S400, constructing the reference position table includes:

[0063] Set the sampling point spacing and number in the X and Y directions. The sampling point spacing in the X direction is DisX, and the number of sampling points in the X direction is CountX. The sampling point spacing in the Y direction is DisY, and the number of sampling points in the Y direction is CountY.

[0064] Generate a standard two-dimensional network BaseXY based on the sampling points in the X direction and the sampling points in the Y direction. The two-dimensional network BaseXY is a two-dimensional grid with CountX columns and CountY rows. It can define the location of the sampling points to facilitate data collection (the offset of each sampling point in the X and Y directions) and subsequent flight optical path correction calculations.

[0065] Assuming the first platform coordinate Ps is Base[0,0], the XY coordinates of the theoretical acquisition coordinate Base[m,n] of any point are:

[0066]

[0067]

[0068] Wherein, Psx represents the X coordinate of the first platform coordinate Ps; Psy represents the Y coordinate of the first platform coordinate Ps.

[0069] For example, when DisX = 5 mm, DisY = 5 mm, CountX = 3, and CountY = 2, m and n are indexes in the X and Y directions, respectively. The range of m is 0 to CountX − 1 (0 to 2); the range of n is 0 to CountY − 1 (0 to 1). The data distribution of the constructed reference position table is shown in Table 1 below:

[0070] Table 1 Schematic diagram of data distribution of an embodiment of the reference position table BaseXY

[0071]

[0072] By building a reference position table, the positions of all sampling points within the entire travel range can be systematically defined to ensure that all important areas are covered during subsequent laser processing and vision measurement.

[0073] Move the platform and set the laser calibration image to the theoretical acquisition coordinates Base[m,n]. Figure 3 As shown, Figure 3 FIG. 1 shows an enlarged schematic diagram of a local structure of an embodiment of a laser device provided by the present application, wherein the corner position coordinates of the set platform are respectively ( , ), ( , ), ( , ). The above corner positions are as follows Figure 3 As indicated by the arrows in the middle, the above points are the three extreme angular positions of the platform.

[0074] Step S500: Collect the laser calibration image of each sampling point corresponding to the reference position table to calculate the actual acquisition position of each sampling point and record the optical path offset of each sampling point. And stored in the reference position table.

[0075] According to the relative vector Psc and the theoretical acquisition coordinates Base[m,n], the actual acquisition position coordinates are calculated, that is, the control platform moves to the actual acquisition position AimPos, then the current actual acquisition position It can be expressed as:

[0076]

[0077] Collect the laser calibration image of the actual acquisition position coordinates AimPos(m,n) of each sampling point corresponding to the standard two-dimensional network BaseXY. And calculate the change of the center position of each sampling point in the laser calibration image relative to the center position of the image one by one to measure the offset distance of the position of the laser calibration image relative to the theoretical acquisition coordinates, and obtain the offset of each sampling point in the X and Y directions , record offset XY sequence. For each collected laser calibration image, image processing techniques (such as edge detection and morphological operations) can be used to automatically calculate the center position of the marker in the image, which will not be described in detail here.

[0078] The standard two-dimensional network BaseXY and the offset of each sampling point in the X direction and the Y direction Stored in the reference position table. The reference position table may contain multiple sampling points of multiple two-dimensional networks BaseXY, each sampling point also contains the corresponding platform coordinates (X, Y), and the offset of each sampling point in the XY direction measured above .

[0079] Step S600 , calculating the actual optical path deviation compensation amount of the target product according to the reference position table.

[0080] For example, in combination Figure 4 As shown, Figure 4 A grid diagram of a method for correcting distortion of a flying optical path provided in the present application is shown.

[0081] The reference position table has stored the actual transformation offset corresponding to each sampling point For compensation, in some application scenarios, the reference grid containing the current target product can be determined based on the standard two-dimensional network BaseXY, that is, the four sampling points located on the coordinate side of the target product in the reference position table are obtained.

[0082] Obtain the optical path offset t corresponding to the four sampling points of the reference grid. Calculate the actual optical path deviation compensation amount of the target product based on the optical path offset t corresponding to each vertex of the reference grid.

[0083] For example, based on the known compensation data of the four vertices corresponding to the grid, the target product coordinates can be calculated using bilinear interpolation calculation The corresponding optical path offset .like Figure 4 As shown, the compensation data of the four vertices extracted from the two-dimensional network BaseXY is: , 、 、 , then use the bilinear interpolation formula to calculate the target product coordinates Compensation for:

[0084]

[0085] in, , represents the ratio of the target product in the X direction relative to the two-dimensional grid, Indicates the scale of the target product in the Y direction relative to the two-dimensional grid.

[0086] In summary, the above steps can realize the low-cost and one-time completion of optical path detection within the entire travel range (working range). By constructing a reference position table, the computational complexity in actual application is low, and it is applicable to the entire two-dimensional platform and covers the optical path correction range within all platform ranges.

[0087] The aforementioned optical path distortion correction eliminates the need for associating with current fixed coordinates. Instead, coordinates are dynamically modeled based on the target product. This uses relative offset modeling instead of absolute coordinates, improving both the accuracy and versatility of the correction. Furthermore, the correction process can utilize automated image processing instead of manual labor, eliminating the need for manual intervention to improve the correction accuracy of the interferer.

[0088] In some embodiments, the spacing between adjacent sampling points in the X and Y directions is greater than or equal to 20 mm. Since in the actual sampling process, the higher the sampling density, the more measurement data will be collected. Although the corrected numerical value has high accuracy, it takes too long and requires high precision for the measuring equipment, visual system and motion system. In some application scenarios, since the current laser emitters and visual systems are mainly driven by linear motors, and the deformation of the linear motor is less than 2um within a moving range of 20mm, and the precision of the motion system and the visual system is usually less than 2um, in the actual sampling process, too high a sampling density will not achieve higher benefits. Setting the sampling density of adjacent sampling points in the X and Y directions to 20mm will yield higher benefits.

[0089] In some embodiments, combined Figure 5 As shown, Figure 5 The flowchart of an embodiment of a method for correcting the distortion of a flying optical path provided by the present application is shown as follows: Figure 3 The step S100 of performing distortion correction and ratio correction on the camera may include:

[0090] Step S110 , setting an optical calibration plate of required accuracy at the center shooting position of the camera, and adjusting the camera's acquisition parameters and light source control parameters according to the calibration features and the captured image until the camera's captured image is clear.

[0091] For example, camera acquisition parameters such as exposure, gamma, contrast, and brightness gain, as well as the voltage of the light source controller, can affect the camera's final imaging effect, which can cause the position of the calibration plate lines to shift. Therefore, the optical calibration plate is a checkerboard calibration plate, a grid calibration plate, or a dot calibration plate.

[0092] The calibration process is to establish a radial distortion model and a tangential distortion model, obtain the coefficients of radial distortion and tangential distortion, and combine them into distortion coefficients, which will not be described in detail here.

[0093] Step S120 , solidifying the camera's acquisition parameters and light source control parameters.

[0094] The intrinsic parameters of a camera, including its focal length and optical center, can be used to create a camera matrix that removes the distortion caused by a specific camera lens. This camera matrix is ​​unique to a specific camera and can be reused for other images taken with the same camera (with unchanged parameters).

[0095] Step S130, performing calibration calculation on the captured image of the camera according to the optical calibration plate, including:

[0096] For example, the actual size and coordinates of each color block in the physical world can be determined according to the specifications of the calibration plate. According to the visual algorithm, the captured image of the camera is partitioned to obtain the image dot center distance (pixel) of each captured image and the physical distance of the actual object (usually in mm), and the deformation coefficient and scale coefficient corresponding to each partition can be calculated.

[0097] Step S140 , establishing a mapping relationship between the camera's image pixel coordinate system and the actual physical world coordinate system according to the calibration calculation result.

[0098] When the physical coordinates of corresponding points (such as specific points on a checkerboard calibration plate) are known, as well as the pixel coordinates in the captured image, the camera's continuous calibration process can calculate the deformation coefficient and scale coefficient corresponding to each partition. This, in turn, provides the mapping relationship between pixel coordinates and actual physical dimensions.

[0099] In some embodiments, step S230 involves moving the camera so that the camera is aligned with the processing mark. When the center line of the camera completely coincides with the center image of the processing mark, the current coordinates of the platform are recorded as the second platform coordinates Pc. This includes automatic positioning, including:

[0100] Set a circular laser mark at the platform's set coordinate position Pm. For example, with certain metal materials, a clearly visible circular mark can be obtained. Move the platform to the new position based on the relative vector Psc. Typically, the absolute position change caused by structural deformation is less than 1mm. Therefore, after the platform is moved, the circular laser mark at the previous position can still be observed at the new position.

[0101] The camera captures an image of the circular laser mark and calculates the deviation vector between the center of the circular laser mark and the center of the camera's field of view. The position of the platform is adjusted according to the deviation vector so that the center of the circular laser mark is closer to the center of the camera's field of view. For example, in combination with Figures 6 and 7 As shown, Figure 6 The camera field of view of an embodiment of a method for correcting distortion of a flying optical path provided by the present application is shown. Figure 1 ; Figure 7 The camera field of view of an embodiment of a method for correcting distortion of a flying optical path provided by the present application is shown. Figure 2 ,in, Figure 7 for Figure 6 An enlarged schematic diagram of .

[0102] like Figure 6 and Figure 7 The intersection of the scale lines shown is the center of the camera's field of view. The deviation vector of the center of the black dot pattern of the circular laser mark relative to the center of the camera is as follows: Figure 7 As shown in the upper left corner, X=0.01619, Y=0.00510, where R=0.155033. The deviation vector can then be (0.01619, 0.000510). Repeated iterations are performed until the deviation vector between the center of the circular laser mark and the camera's field of view is less than the required accuracy in any direction. The current platform coordinates are then determined to be the second platform coordinates, Pc.

[0103] See also Figure 8 As shown, Figure 8 A top view of an embodiment of a laser device provided by the present application is shown.

[0104] In some embodiments, the present application further provides a laser device for performing the above-mentioned flight optical path distortion correction method. The device includes a vision system 10, a motion system 20, a platform 30, and a laser emission system 40. The motion system 20 is provided with a transfer mechanism 21 for driving the movement of the camera.

[0105] In the embodiment of the present application, the laser device shows a flying light path (such as Figure 8 (shown in the black shaded area in the middle) By using the aforementioned flying optical path distortion correction method, grid sampling is performed across the platform's entire range of motion. The optical path deviation at each sampling point is measured, and the compensation amount at any position is calculated using bilinear interpolation. This allows for a single optical path measurement of the entire range of motion, eliminating the need for separate distortion correction at each position, improving subsequent processing efficiency. For example, vision system 10 can utilize a telecentric lens in conjunction with a high-precision camera, and pre-process distortion and scale correction to improve subsequent measurement accuracy.

[0106] The above description is only an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, should be included in the scope of protection of the present invention.

Claims

1. A method for correcting distortion of a flying optical path, characterized in that: include: Performing distortion correction and scale correction on the camera so that pixel coordinates of the image captured by the camera and coordinates of the actual object form a proportional mapping, and obtaining mapping relationship data between the pixel coordinates and the coordinates of the actual object; Determining a deviation between a center position of the camera and a center position of the flying light path according to the mapping relationship data, and obtaining a relative vector of the center position of the camera relative to the center position of the flying light path, where the relative vector Psc represents a fixed offset of the camera center relative to the center of the flying light path; Correcting the coordinates of the platform according to a relative vector of the center position of the camera relative to the center position of the flying optical path; Constructing a reference position table, calculating theoretical acquisition coordinates based on the relative vector, and moving the platform to the theoretical acquisition coordinates; Collecting a laser calibration image corresponding to each sampling point in the reference position table to calculate the actual acquisition position of each sampling point, recording the optical path offset of each sampling point and storing it in the reference position table; That is, the control platform moves to the actual acquisition position AimPos, then the current actual acquisition position It can be expressed as: in, represents the actual acquisition position coordinates, Base[m,n] represents the theoretical acquisition coordinates, and Psc represents the relative vector of the center position of the camera relative to the center position of the flight light path; Collect the laser calibration image of the actual acquisition position coordinates AimPos(m,n) of each sampling point corresponding to the standard two-dimensional network BaseXY; The actual optical path deviation compensation amount of the target product is calculated according to the reference position table.

2. The method for correcting distortion of a flying optical path according to claim 1, wherein: The distortion correction and scale correction of the camera are performed so that the pixel coordinates of the image captured by the camera and the coordinates of the actual object form a proportional mapping, including: An optical calibration plate of required accuracy is placed at the center shooting position of the camera, and the acquisition parameters and light source control parameters of the camera are adjusted according to the calibration features and the captured image until the captured image of the camera is clear; Solidify the acquisition parameters and light source control parameters of the camera; Calibration calculation is performed on the captured image of the camera according to the optical calibration plate, including: partitioning the captured image of the camera to obtain the image dot center distance of each captured image and the physical coordinates of the actual object, and calculating the deformation coefficient and scale coefficient of each partition; A mapping relationship between the camera's image pixel coordinate system and the actual physical world coordinate system is established based on the calibration calculation result.

3. The method for correcting distortion of a flying optical path according to claim 1, wherein: Determining the deviation between the center position of the camera and the center position of the flying light path according to the mapping relationship data, and obtaining a relative vector of the center position of the camera relative to the center position of the flying light path, includes: Setting a processing mark, wherein the processing mark selects the extreme processing position of the platform; Obtain the current coordinates of the platform, recorded as the first platform coordinates; Move the camera so that the camera can be aligned with the processing mark, and when the center line of the camera completely coincides with the center image of the processing mark, record the current coordinates of the platform as the second platform coordinates; A relative vector of the center position of the camera relative to the center position of the flying optical path is calculated according to the first platform coordinates and the second platform coordinates.

4. The method for correcting distortion of a flying optical path according to claim 3, wherein: Move the camera so that it can be aligned with the processing mark. When the center line of the camera completely coincides with the center image of the processing mark, record the current coordinates of the platform as the second platform coordinates, including automatic positioning, specifically: Set the circular laser mark at the set coordinate position of the platform, moving the platform according to a relative vector of the center position of the camera relative to the center position of the flight optical path; The camera captures an image of the circular laser mark and calculates a deviation vector between the center of the circular laser mark and the center of the camera's field of view; adjusting the position of the platform according to the deviation vector so that the center of the circular laser mark is closer to the center of the field of view of the camera; After multiple iterations until the deviation vector between the center of the circular laser mark and the camera field of view is less than the required accuracy in any direction, the current coordinates of the platform are determined to be the second platform coordinates.

5. The method for correcting distortion of a flying optical path according to claim 1, wherein: The step of constructing a reference position table, calculating theoretical acquisition coordinates according to the relative vector, and moving the platform to the theoretical acquisition coordinates includes: Set the sampling point spacing and number in the X and Y directions. The sampling point spacing in the X direction is DisX, and the number of sampling points in the X direction is CountX. The sampling point spacing in the Y direction is DisY, and the number of sampling points in the Y direction is CountY. Generate a standard two-dimensional network BaseXY, wherein the two-dimensional network BaseXY is a two-dimensional grid with CountX columns and CountY rows; Assuming the first platform coordinate is Base[0,0], the XY coordinates of the theoretical acquisition coordinates Base[m,n] of any point are: Wherein, Psx represents the X coordinate of the first platform coordinate; Psy represents the Y coordinate of the first platform coordinate; Move the platform and set the laser calibration image at the theoretical acquisition coordinates Base[m,n].

6. The method for correcting distortion of a flying optical path according to claim 5, wherein: The step of collecting a laser calibration image corresponding to each sampling point in the reference position table to calculate the actual collection position of each sampling point, recording the optical path offset of each sampling point and storing the offset in the reference position table includes: Calculate the actual acquisition position coordinates based on the relative vector and the theoretical acquisition coordinates Base[m,n], Calculate the change of the center position of each sampling point in the laser calibration image relative to the center position of the image one by one to measure the offset distance of the position of the laser calibration image relative to the theoretical acquisition coordinates, and obtain the offset of each sampling point in the X and Y directions; The standard two-dimensional network BaseXY and the offset of each sampling point in the X direction and the Y direction are stored in the reference position table.

7. The method for correcting the distortion of a flying optical path according to any one of claims 5 or 6, wherein: The distance between adjacent sampling points in the X direction and the Y direction is greater than or equal to 20 mm.

8. The method for correcting distortion of a flying optical path according to any one of claims 1 to 6, wherein: Calculating the actual optical path deviation compensation amount of any target product according to the reference position table includes: Calculate the reference grid containing the target product based on the standard two-dimensional network BaseXY; Obtaining the optical path offset corresponding to each vertex of the reference grid; The actual optical path deviation compensation amount of the target product is calculated according to the optical path offset amount corresponding to each vertex of the reference grid.

9. A laser device, characterized in that: A method for correcting the distortion of a flying optical path according to any one of claims 1 to 8.

10. The laser device according to claim 9, characterized in that The laser equipment includes: a visual system, a motion system, a platform and a laser emission system. The motion system is provided with a transplanting mechanism for driving the camera to move.

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