Integrated galvanometer laser projection method and integrated galvanometer laser control device

Abstract

The invention discloses an integrated galvanometer laser projection method and an integrated galvanometer laser control device. The integrated galvanometer laser projection method comprises the steps that 1, a control card stores various data in a classified mode; when an upper computer issues a system parameter instruction, a communication interface is automatically switched according to a communication mode of the upper computer, and instruction data is analyzed and stored in an EEPROM (Electrically Erasable Programmable Read-Only Memory); 2, after the upper computer issues an instruction, the control card cooperatively controls the on-off state of the laser light source and the deflection angle of the laser galvanometer, and the position and the focal length of the lens are adjusted; 3, positioning an instruction according to a target point of the upper computer; the control card cooperatively controls the laser and the galvanometer to coarsely position the center of the target; and performing fine positioning on the center of the target by taking the target point obtained by coarse positioning as an initial reference position. The integrated galvanometer laser control device has the advantages that the environmental adaptability, the control precision and the operation convenience of the integrated galvanometer laser control device are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser positioning and galvanometer control technology, and in particular to an integrated galvanometer laser projection method and an integrated galvanometer laser control device. BACKGROUND

[0002] Galvanometer control technology plays a core role in the fields of laser processing, precision marking, and optical scanning. Its principle is to drive a reflecting mirror with a high-speed servo system to achieve high-precision deflection and trajectory control of a laser beam in two-dimensional space.

[0003] The current mainstream galvanometer system usually uses standardized protocols, coupled with dual-axis high-speed motors and position feedback devices, to achieve high-resolution and fast-response scanning performance. However, as application scenarios continue to expand towards "high-speed dynamic control" and "large range high precision", the drawbacks of traditional galvanometer control schemes gradually emerge. Problems such as limited communication bandwidth, trajectory update lag, and poor robustness of control algorithms continue to emerge, which have already failed to meet the increasing requirements of real-time performance and intelligent level of intelligent manufacturing and advanced optical systems.

[0004] Further analysis found that the traditional galvanometer control system mainly has three technical bottlenecks in system architecture. First, the communication interface is single, making it difficult to support multi-device collaboration and real-time data interaction; second, the data storage mechanism is fixed, lacking flexibility in configuration for different application scenarios; third, the traditional motion control algorithm is difficult to balance response speed and trajectory accuracy in high-speed and large-angle deflection scenarios, and is prone to dynamic errors. These technical defects seriously hinder the further expansion and application of laser scanning systems in high-end fields such as industrial automation and precision measurement, and thus have room for further improvement. SUMMARY

[0005] The present application proposes an integrated galvanometer laser projection method and an integrated galvanometer laser control device. This method integrates multi-protocol communication mechanisms, configurable hybrid storage schemes, and intelligent motion control algorithms, breaking the dependence on external auxiliary devices of traditional schemes, and significantly improving the environmental adaptability, control accuracy, and operation convenience of the integrated galvanometer laser control device.

[0006] Specifically, the application supports multiple industrial standard communication protocols, including TCP, USART, etc., has good system compatibility and scalability, and can meet the linkage control requirements of multiple types of devices; at the same time, the integrated galvanometer laser control device integrates FLASH, SRAM and EEPROM and other multi-level hybrid storage media, provides efficient and reliable data storage and management capabilities, and adapts to the control strategy switching and data caching requirements in different application scenarios; in terms of control algorithm, the application proposes an intelligent interpolation algorithm based on kinematics optimization, and combines the unique corner delay adaptive adjustment mechanism, effectively solves the technical problems such as excessive vibration and slow response often occurring in the large-angle and high-speed steering process of traditional galvanometer systems, so as to realize more smooth and accurate trajectory control and dynamic response.

[0007] The integrated galvanometer laser projection method and the integrated galvanometer laser control device provided by the application adopt the following technical solutions: An integrated galvanometer laser projection method, comprising the following steps: Step one: the control card classifies and stores various data; when the host computer issues a system parameter instruction, the communication interface is automatically switched according to the communication mode of the host computer, the instruction data is analyzed and stored in the EEPROM; Step two: after the host computer issues an instruction, the control card cooperates to control the on-off state of the laser light source and the deflection angle of the laser galvanometer, and adjusts the lens position and focal length; Step three: according to the target point positioning instruction of the host computer; the control card cooperates to control the laser and the galvanometer to coarsely position the target center; the target point obtained by coarse positioning is used as the initial reference position, and the target center is finely positioned; Step four: analyze the graphic file issued by the host computer, extract the graphic contour information and coordinate point sequence, and insert interpolation points between adjacent points in the graphic to generate a continuous trajectory; Step five: dynamic delay calculation is performed on the feature points in the trajectory; Step six: send the processed coordinate sequence to the galvanometer; Step seven: the control card cooperates to control the on-off state of the laser light source and the deflection angle of the laser galvanometer in the light path, so that the laser beam is projected on the surface of the object according to the set trajectory.

[0008] Compared with the prior art, the application can support various industrial standard communication protocols, including TCP, USART, etc., has good system compatibility and expansibility, and can meet the linkage control requirements of various types of equipment, by automatically switching the communication interface according to the communication mode of the host computer; the application can provide efficient and reliable data storage and management capabilities, adapt to the control strategy switching and data caching requirements in different application scenarios, by classifying and storing various data and analyzing and storing instruction data to EEPROM to realize multi-level hybrid storage media; the application can effectively solve the technical problems of excessive vibration and slow response of the traditional galvanometer system in the large-angle and high-speed steering process, by proposing an intelligent interpolation algorithm based on kinematic optimization and combining the unique corner delay adaptive adjustment mechanism, so as to realize more smooth and accurate trajectory control and dynamic response; and the application can calculate a reasonable motion path according to the spatial position between the starting point and the target endpoint.

[0009] Preferably, the step one specifically comprises the following steps: Step 1.1: When the host computer issues a system parameter instruction, the control card automatically switches to a serial port mode or a TCP mode according to the communication mode of the control card and the host computer, and analyzes the received data; Step 1.2: Store the analyzed parameters in EEPROM to realize non-volatile storage; Step 1.3: Implement hierarchical storage according to data types: store high-frequency read-write data, important but occasionally modified configuration parameters, solidified configuration information or infrequently changed large amounts of data in SRAM, EEPROM and FLASH respectively; Step 1.4: Perform redundant backup and verification on system critical parameters: the control card redundantly backs up the system critical parameters in at least two storage media; during system startup or operation, the control card regularly checks the integrity and validity of the critical parameters.

[0010] Preferably, the step two specifically comprises the following steps: Step 2.1: The host computer issues an instruction to the control card, and the control card cooperates with the switching state of the laser light source in the optical path and the deflection angle of the laser galvanometer to project the laser near the reflective target point of the target scanning area in a "cross" projection manner; Step 2.2: Adjust the position of the optical platform carrying the lens, cooperate with the collimation and beam expansion assembly and the dynamic focusing device in the optical path, and realize control of the size of the laser line; Step 2.3: The laser forms a minimum spot near the target point, and stores the current focal length parameter as a system reference value; the focal length parameter will be automatically called to complete focal length reset during subsequent power-on.

[0011] Preferably, the step three specifically comprises the following steps: Step 3.1: The host computer issues a target point positioning instruction, and the control card controls the laser and the galvanometer to expand the scanning range outward in a matrix manner with a fixed step size around the preset target point after parsing the instruction; Step 3.2: The target center position is determined in real time based on the reflection signals captured by the optical sensor, and the coarse positioning of the target center is completed; Step 3.3: The coarse positioning is terminated when the scanning expands to the preset maximum range or the target point is successfully identified, and whether to start fine positioning is determined according to the identification result; if the coarse positioning fails, an error code is returned to the host computer; if the coarse positioning succeeds, the fine positioning mode is entered with the coarse positioning coordinates as the initial reference point; Step 3.4: The laser and the galvanometer are controlled with the target point obtained by coarse positioning as the initial reference position, the scanning range is reduced around the coarse positioning point, and high-precision positioning scanning is performed, and finally the fine positioning target point coordinates are fed back to the host computer.

[0012] Preferably, the step four specifically comprises the following steps: Step 4.1: The host computer sends a graphic file in a specified format to the control card through a preset data transmission protocol; Step 4.2: The control card receives and parses the graphic file content, and extracts the graphic contour information and coordinate point sequence; Step 4.3: According to the galvanometer motion speed and the dynamic response ability of the system, the control card inserts intermediate coordinate points between adjacent coordinate points of the graphic; Step 4.4: The continuous and smooth galvanometer motion trajectory and the laser beam moving along the preset path are obtained.

[0013] Preferably, the step five specifically comprises the following steps: Step 5.1: Special points in the trajectory are identified, including the starting and ending points of the trajectory, and the sudden change points where the curvature changes exceed a set threshold; Step 5.2: At the special points, the control card inserts an adjustable time delay, so that the laser switch action is delayed until the galvanometer motion is stable.

[0014] Preferably, the step six specifically comprises: after completing the calculation of the interpolation points and the path planning, the control card automatically converts the coordinate data into a high-speed data communication protocol conforming to the galvanometer industry standard; and sends the processed coordinate sequence to the galvanometer.

[0015] The mirror laser control device is suitable for the integrated mirror laser projection method, and comprises a host computer, a control card, a laser mirror scanning device and a laser energy feedback device.

[0016] By adopting the technical scheme, compared with the prior art, the mirror laser control device forms a highly integrated design architecture through the host computer, the control card, the laser mirror scanning device and the laser energy feedback device, innovatively integrates laser power control, mirror motion control, target point positioning and graphic projection and the like through the integrated mirror laser projection method, can not only realize rapid and accurate positioning of a target point, efficient planning of a mirror motion path and accurate projection of graphic content in a complex environment, but also can support various industrial standard communication protocols and integrate multi-level hybrid storage media.

[0017] In summary, the present application has at least one of the following beneficial technical effects: 1. Firstly, the present application can support various industrial standard communication protocols including TCP, USART and the like by automatically switching a communication interface according to a communication mode of the host computer, has good system compatibility and expansibility, and can meet the linkage control requirements of various types of equipment; secondly, the control card classifies and stores various data and analyzes instruction data and stores them to an EEPROM, realizes multi-level hybrid storage media, provides efficient and reliable data storage and management capabilities, and adapts to control strategy switching and data caching requirements in different application scenarios; finally, the present application proposes an intelligent interpolation algorithm based on kinematic optimization, and combines a unique corner delay adaptive adjustment mechanism, effectively solves the technical problems of excessive vibration and slow response often occurring in the traditional mirror system during large-angle and high-speed steering, so as to realize smoother and more accurate trajectory control and dynamic response, and the present application calculates a reasonable motion path according to the spatial positions between a starting point and a target endpoint; 2. The mirror laser control device forms a highly integrated design architecture through the host computer, the control card, the laser mirror scanning device and the laser energy feedback device, innovatively integrates laser power control, mirror motion control, target point positioning and graphic projection and the like through the integrated mirror laser projection method, can not only realize rapid and accurate positioning of a target point, efficient planning of a mirror motion path and accurate projection of graphic content in a complex environment, but also can support various industrial standard communication protocols and integrate multi-level hybrid storage media. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a partial connection diagram of the mirror laser control device in the embodiment; Figure 2The figure is used to verify the effect of target positioning and galvanometer control in the embodiment. DETAILED DESCRIPTION

[0019] The following will be described in detail in combination with the accompanying Figures 1-2 The application is further described in detail.

[0020] The embodiment of the application discloses an integrated galvanometer laser projection method and an integrated galvanometer laser control device.

[0021] Reference Figure 1 And Figure 2 The integrated galvanometer laser control device comprises a host computer, a control card, a laser galvanometer scanning device and a laser energy feedback device, the host computer is in electrical signal connection with the control card, and the control card, the laser galvanometer scanning device and the laser energy feedback device are in electrical signal connection.

[0022] The laser galvanometer scanning device comprises a laser emitter, a laser collimation and beam expansion device, a laser dynamic focusing device and a laser scanning galvanometer.

[0023] The laser energy feedback device comprises a beamsplitter and a photosensitive plate.

[0024] The control card circuit comprises an Ethernet port circuit, a serial port circuit, a galvanometer differential circuit, a photoelectric signal detection circuit and a series of voltage conversion circuits.

[0025] The specific integrated galvanometer laser projection method comprises Step one: the control card classifies and stores various data; when the host computer issues a system parameter instruction, the communication interface is automatically switched according to the communication mode of the host computer, the instruction data is analyzed and stored in EEPROM; Step one specifically comprises the following steps: Step 1.1: when the host computer issues a system parameter instruction, the control card automatically switches to a serial port mode or a TCP mode according to the communication mode of the host computer, and analyzes the received data; Step 1.2: store the analyzed parameters in EEPROM to realize non-volatile storage; it can ensure that the data can be preserved in the case of power failure; Step 1.3: hierarchical storage is implemented according to data types: high-frequency read-write data, important but occasionally modified configuration parameters, solidified configuration information or infrequently changed large amounts of data are respectively stored in SRAM, EEPROM and FLASH; it is beneficial to improve system operation efficiency and data security; Step 1.4: Redundant backup and verification of key system parameters: The control card redundantly backs up key system parameters (such as safety limits, verification codes, etc.) in two or more storage media to prevent system abnormalities caused by single-point storage failures; during system startup or operation, the control card regularly verifies the integrity and effectiveness of key parameters to ensure consistency and effectiveness.

[0026] Step two: After the host computer issues an instruction, the control card cooperates to control the on-off state of the laser light source and the deflection angle of the laser galvanometer, adjusts the lens position and focal length; Step two specifically includes the following steps: Step 2.1: The host computer issues an instruction to the control card, which cooperates to control the on-off state of the laser light source and the deflection angle of the laser galvanometer in the optical path, and positions the laser in a "cross" projection manner near the target point of the target scanning area; Step 2.2: By adjusting the position of the optical platform carrying the lens, cooperating with the collimating and expanding assembly and the dynamic focusing device in the optical path, fine control of the laser line size is achieved; Step 2.3: The laser forms a minimum spot of less than 10 nanometers near the target point, and stores the current focal length parameter as the system reference value; the focal length parameter will be automatically called to complete focal length reset during subsequent power-on.

[0027] Step three: According to the target point positioning instruction of the host computer; the control card cooperates to control the laser and galvanometer to coarsely position the target center; and according to the target point obtained by coarse positioning as the initial reference position, the target center is finely positioned; Step three specifically includes the following steps: Step 3.1: The host computer issues a target point positioning instruction, and after the control card analyzes the instruction, it cooperates to control the laser and galvanometer, taking the preset target point as the center, and expanding outward in a matrix manner near the preset target point with a fixed step size; Step 3.2: Based on the reflected signal captured by the optical sensor, the target center position is determined in real time to complete coarse positioning of the target center; Step 3.3: When the scanning expands to the preset maximum range or successfully identifies the target point, coarse positioning is terminated, and the control card determines whether to start fine positioning according to the identification result; if coarse positioning fails, an error code is returned to the host computer; if coarse positioning is successful, the coarse positioning coordinates are taken as the initial reference point to enter fine positioning mode; Step 3.4: In fine positioning mode, the laser and galvanometer are controlled with the target point obtained by coarse positioning as the initial reference position, the scanning range is reduced around the coarse positioning point, high-precision positioning scanning is performed, and finally the fine positioning target point coordinates are fed back to the host computer.

[0028] The principle of the control card expanding outwardly and the light sensor capturing the reflected signal is as follows: the control card controls the laser beam to scan through the target point at a certain step, at this time the reflected signal is guided by the beam splitter, captured by the light sensor, and converted into the strength of the electrical signal according to the strength of the light signal. By introducing negative feedback, the slight change in temperature caused by the temperature drift of the electronic element is suppressed, and the amplitude of the electrical signal converted from the same light intensity is changed. At the same time, after calibration, the analog quantity generated by the light sensor can be converted into digital quantity by self-adaptive level comparison threshold, and the laser beam is judged in the form of high level and low level whether it passes through the target point.

[0029] Step four: analyze the graphic file issued by the upper computer, extract the graphic contour information and coordinate point sequence; and insert interpolation points between adjacent points in the graphic to generate a continuous trajectory; Step four specifically includes the following steps: Step 4.1: the upper computer sends the graphic file to the control card in a specified format through a preset data transmission protocol; Step 4.2: the control card receives and analyzes the graphic file content, extracts the key graphic contour information and coordinate point sequence; Step 4.3: the control card inserts intermediate coordinate points between adjacent coordinate points of the graphic according to the then set galvanometer motion speed and the dynamic response ability of the system, so that the laser beam can move along the preset trajectory with the galvanometer, effectively improving the service life of the galvanometer; Step 4.4: obtain a continuous and smooth galvanometer motion trajectory and a laser beam moving along a preset path.

[0030] Step five: dynamic delay calculation is performed on the feature points in the trajectory; Step five specifically includes the following steps: Step 5.1: identify special points in the trajectory, including the starting and ending points of the trajectory and the sudden change points whose curvature changes exceed a set threshold; Step 5.2: at the special points, the control card performs dynamic delay processing, that is, adjustable time delay is inserted near some key points, so that the laser switch action is delayed until the galvanometer motion is stable, thereby improving the accuracy and consistency of the graphic projection and avoiding the image edge offset caused by the unstable galvanometer.

[0031] Step six: send the processed coordinate sequence to the galvanometer; Step six specifically includes: after the calculation of the interpolation points and the path planning, the control card automatically converts the coordinate data into a high-speed data communication protocol conforming to the industry standard of the galvanometer; and sends the processed coordinate sequence to the galvanometer, so as to be compatible with the common galvanometer on the market.

[0032] Step 7: The control card coordinates the switching status of the laser source in the optical path and the deflection angle of the laser galvanometer, so that the laser beam is projected onto the object surface along the set trajectory.

[0033] Furthermore, in this embodiment, a laser projection calibration board is prepared, on which 48 reflective target points are distributed, and several contour grooves with a width of 1mm are machined on the surface of the board by mechanical processing. The purpose of this calibration board is to verify the positioning accuracy of the calibrated laser positioning projection system.

[0034] Through step three of the present invention, each target point is coarsely and finely positioned to obtain the precise coordinate position of the target point.

[0035] Then, using steps one through seven, the calibration board is spatially positioned, and finally, laser projection is performed according to the grooves on the calibration board.

[0036] like Figure 2 As shown, the control card, in conjunction with the laser and galvanometer, accurately projects the laser into the groove, thereby verifying that the present invention has a good effect on target point positioning and galvanometer control.

[0037] It should be noted that the various embodiments of this application can be arbitrarily combined into new embodiments, provided that the solutions do not conflict and the technical solutions can coexist.

[0038] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An integrated galvanometer laser projection method, characterized in that: Includes the following steps: Step 1: The control card categorizes and stores various data; when the host computer issues system parameter commands, the control card automatically switches the communication interface according to the host computer's communication mode, parses the command data, and stores it in the EEPROM; Step 2: After the host computer issues the command, the control card coordinates the switching status of the laser source and the deflection angle of the laser galvanometer, and adjusts the lens position and focal length. Step 3: According to the target point positioning instructions from the host computer, the control card coordinates the laser and galvanometer to perform coarse positioning of the target center; based on the target point obtained from the coarse positioning as the initial reference position, the target center is then finely positioned. Step 4: Parse the graphic file sent by the host computer, extract the graphic outline information and coordinate point sequence; insert interpolation points between adjacent points in the graphic to generate a continuous trajectory; Step 5: Perform dynamic delay calculations on feature points in the trajectory; Step Six: Send the processed coordinate sequence to the galvanometer; Step 7: The control card coordinates the switching status of the laser source in the optical path and the deflection angle of the laser galvanometer, so that the laser beam is projected onto the object surface along the set trajectory.

2. The integrated galvanometer laser projection method according to claim 1, characterized in that: Step one specifically includes the following steps: Step 1.1: When the host computer sends system parameter commands, the control card automatically switches to serial port mode or TCP mode according to its communication method with the host computer, and parses the received data; Step 1.2: Store the parsed parameters in EEPROM to achieve non-volatile storage; Step 1.3: Implement hierarchical storage according to data type: Store frequently read and written data, important but occasionally modified configuration parameters, fixed configuration information, or large amounts of data that are not frequently changed into SRAM, EEPROM, and FLASH respectively; Step 1.4: Perform redundant backups and verifications of key system parameters: The control card performs redundant backups of key system parameters on at least two storage media; during system startup or operation, the control card periodically verifies the integrity and validity of key parameters.

3. The integrated galvanometer laser projection method according to claim 1, characterized in that: Step two specifically includes the following steps: Step 2.1: The host computer sends instructions to the control card, which coordinates the switching status of the laser source in the optical path and the deflection angle of the laser galvanometer to position the laser near the reflective target point in the target scanning area in a "+" projection manner. Step 2.2: By adjusting the position of the optical platform of the carrier lens, and in conjunction with the collimating and beam expanding components and dynamic focusing device in the optical path, the size of the laser line can be controlled; Step 2.3: The laser forms the smallest spot near the target point and stores the current focal length parameter as the system reference value; the focal length parameter will be automatically called upon subsequent power-on to complete the focal length reset.

4. The integrated galvanometer laser projection method according to claim 1, characterized in that: Step three specifically includes the following steps: Step 3.1: The host computer sends out the target point positioning command. After the control card interprets the command, it will coordinate the control of the laser and the galvanometer to expand outward in a matrix manner with a fixed step size in the vicinity of the preset target point as the center. Step 3.2: Determine the target center position in real time based on the reflected signal captured by the optical sensor to complete the coarse positioning of the target center; Step 3.3: When the scan expands to the preset maximum range or the target point is successfully identified, the coarse localization is terminated, and the fine localization is started based on the identification result. If the coarse localization fails, an error code is returned to the host computer; if the coarse localization is successful, the fine localization mode is entered with the coarse localization coordinates as the initial reference point. Step 3.4: Control the laser and galvanometer to use the target point obtained by coarse positioning as the initial reference position, narrow the scanning range around the coarse positioning point, perform high-precision positioning scanning, and finally feed back the coordinates of the precisely positioned target point to the host computer.

5. The integrated galvanometer laser projection method according to claim 1, characterized in that: Step four specifically includes the following steps: Step 4.1: The host computer sends the graphic file in the specified format to the control card through the preset data transmission protocol; Step 4.2: The control card receives and parses the graphic file content, extracting the graphic outline information and coordinate point sequence; Step 4.3: Based on the galvanometer's motion speed and the system's dynamic response capability, the control card inserts intermediate coordinate points between adjacent coordinate points in the graphic. Step 4.4: Obtain a continuous and smooth galvanometer motion trajectory and a laser beam moving along a preset path.

6. The integrated galvanometer laser projection method according to claim 1, characterized in that: Step five specifically includes the following steps: Step 5.1: Identify special points in the trajectory, including the start and end points of the trajectory, and abrupt changes in curvature exceeding a set threshold; Step 5.2: At a specific point, the control card will insert an adjustable time delay, delaying the laser switching action until the galvanometer movement stabilizes before triggering.

7. The integrated galvanometer laser projection method according to claim 1, characterized in that: Step six specifically includes: after completing the calculation of interpolation points and path planning, the control card automatically converts the coordinate data into a high-speed data communication protocol that conforms to the galvanometer industry standard; and sends the processed coordinate sequence to the galvanometer.

8. An integrated galvanometer laser control device, characterized in that: The method is suitable for implementing the integrated galvanometer laser projection method as described in any one of claims 1-7, comprising a host computer, a control card, a laser galvanometer scanning device, and a laser energy feedback device, wherein the host computer is electrically connected to the control card, and the control card, the laser galvanometer scanning device, and the laser energy feedback device are electrically connected.

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