Material repositioning and continuous carving method based on top-shooting plane tracking and related equipment

Abstract

The invention provides a material repositioning and continuous carving method based on top shooting plane tracking and related equipment. The method comprises the steps that visual marks are inscribed in at least three positions of the surface of a material; calculating a first mapping relation based on the initial pixel coordinates of the visual marks in the initial material image and the design coordinates of the visual marks in the machine tool coordinate system; executing an initial processing path determined based on the first mapping relation and the design pattern; in the machining process, responding to a repositioning trigger event, pausing machining and recording a pause point, and calculating a second mapping relation based on the current pixel coordinate and the design coordinate of the visual mark in the current material image; and calculating a pose transformation relationship between the second mapping relationship and the first mapping relationship, performing coordinate transformation on the unfinished initial processing path based on the pose transformation relationship to obtain a continuous engraving processing path, positioning a continuous engraving starting point in the continuous engraving processing path according to the pause point, and continuing to execute laser processing from the continuous engraving starting point. Accurate continuous carving can be achieved when the workpiece moves.

Description

Technical Field

[0001] This application belongs to the field of laser processing technology, and in particular relates to a material repositioning and continuous carving method and related equipment based on top-viewing plane tracking. Background Technology

[0002] Currently, consumer-grade laser processing equipment or light industrial laser processing equipment typically uses camera pre-alignment or frame positioning to place the workpiece. Once the material shifts during processing (e.g., warping or interference with the laser head / nozzle / pressure bar), or if it is removed for inspection and then put back, traditional methods struggle to restore the original coordinate system, leading to problems such as: misalignment between the original path and the actual material position, resulting in workpiece scrap; inability to perform mid-process inspection and resume carving in situ; and reliance on manual visual adjustment, resulting in large errors and low efficiency. Summary of the Invention

[0003] The purpose of this application is to provide a material repositioning and sculpting device based on top-view planar tracking, which aims to at least solve the problems described in the background art.

[0004] Firstly, this application provides a material repositioning and sculpting method based on top-viewing plane tracking, the method comprising: The laser processing unit is controlled to inscribe visual marks at at least three locations on the surface of the material fixed to the processing table; at least three locations are not in a straight line. An initial material image including visual markers is acquired by a top-mounted vision unit, and a first mapping relationship is calculated based on the initial pixel coordinates of each visual marker in the initial material image and the design coordinates of each visual marker in the machine tool coordinate system. The initial processing path is determined based on the first mapping relationship and the design pattern, and the laser processing unit is controlled to execute the initial processing path. During the processing, in response to the repositioning trigger event, the laser processing is paused and the pause point is recorded. The current material image is acquired through the top-mounted vision unit, and the second mapping relationship is calculated based on the current pixel coordinates of each vision mark in the current material image and the design coordinates of each vision mark in the machine tool coordinate system. Calculate the pose transformation relationship between the second mapping relationship and the first mapping relationship, perform coordinate transformation on the incomplete initial processing path based on the pose transformation relationship to obtain the continued carving processing path, locate the continued carving starting point on the continued carving processing path according to the pause point, and control the laser processing unit to continue laser processing from the continued carving starting point.

[0005] In a further technical solution, when there are three positions, the three positions form an scalene triangle, and the length of the shortest side of the scalene triangle is greater than or equal to a preset ratio of the length of the short side of the material's outline.

[0006] In a further technical solution, the visual marker is a composite graphic composed of a target frame, a cross, and a three-dot matrix.

[0007] In a further technical solution, before controlling the laser processing unit to inscribe visual marks at at least three locations on the surface of the material fixed to the processing table, the method further includes: Obtain the resolution information and material property information of the top-mounted visual unit; The processing diameter or side length of the visual mark is determined based on resolution and attribute information.

[0008] In a further technical solution, the initial processing path is determined based on the first mapping relationship and the design pattern, including: Convert the design pattern into a design processing path; Based on the first mapping relationship, the designed machining path is mapped from the drawing coordinate system to the machine tool coordinate system to obtain the initial machining path.

[0009] In a further technical solution, when laser processing is paused, a laser power fade-out control strategy is adopted at the pause point; when laser processing is resumed at the resumed carving start point, a laser power fade-in control strategy is adopted at the resumed carving start point, and for processing areas with filling paths, the filling phase during resumed carving is aligned with the filling phase during pause.

[0010] In a further technical solution, the incomplete initial machining path is transformed based on the pose transformation relationship to obtain the continued carving machining path, including: Based on the pose transformation relationship, the incomplete initial machining path is mapped from the design coordinate system to the current machine tool coordinate system to obtain the continued carving machining path.

[0011] Secondly, this application provides a material repositioning and sculpting device based on top-viewing plane tracking, the device comprising: A visual marking module is used to control the laser processing unit to mark visual marks at at least three positions on the surface of the material fixed to the processing table; the at least three positions are not in a straight line. The first mapping relationship calculation module is used to acquire an initial material image including visual markers through a top-mounted vision unit, and calculate the first mapping relationship based on the initial pixel coordinates of each visual marker in the initial material image and the design coordinates of each visual marker in the machine tool coordinate system. The initial processing module is used to determine the initial processing path based on the first mapping relationship and the design pattern, and to control the laser processing unit to execute the initial processing path. The second mapping relationship calculation module is used to pause laser processing and record the pause point in response to the repositioning trigger event during the processing. It acquires the current material image through the top vision unit and calculates the second mapping relationship based on the current pixel coordinates of each vision mark in the current material image and the design coordinates of each vision mark in the machine tool coordinate system. The continuation carving module is used to calculate the pose transformation relationship between the second mapping relationship and the first mapping relationship. Based on the pose transformation relationship, it performs coordinate transformation on the incomplete initial processing path to obtain the continuation carving processing path. According to the pause point, it locates the continuation carving start point on the continuation carving processing path and controls the laser processing unit to continue laser processing from the continuation carving start point.

[0012] Thirdly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the material repositioning and sculpting method based on top-viewing plane tracking provided in any embodiment of the first aspect.

[0013] Fourthly, this application provides a computer device, comprising: One or more processors; Memory; and One or more computer programs, the processor and the memory being connected via a bus, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, wherein the processors, when executing the computer programs, implement the steps of the material repositioning and sculpting method based on top-viewing plane tracking provided in any embodiment of the first aspect.

[0014] The technical solution provided in this application enables fully automated, high-precision repositioning and seamless re-engraving after material displacement or interruption, significantly reducing the scrap rate and improving the intelligence level of the equipment. Specifically, the control system of the laser processing equipment first controls the laser to engrave at least three non-collinear visual marks on the material surface. This creates a unique and stable physical reference for each piece of material, overcoming the limitations of traditional technologies that rely on natural contours or fixtures. Then, an initial material image containing the visual marks is acquired through a top-mounted vision unit, and the first mapping relationship is calculated based on the pixel coordinates of the visual marks in the initial visual image and their design coordinates in the known machine tool coordinate system, thereby accurately establishing a mathematical model of the initial pose of the material. After laser processing is interrupted due to workpiece displacement or user inspection, the system takes another picture to obtain the current material image. Then, based on the pixel coordinates of each visual marker in the current material image and the design coordinates of each visual marker in the machine tool coordinate system, a second mapping relationship is calculated. The pose transformation relationship between the second mapping relationship and the first mapping relationship is also calculated to accurately quantify the material displacement. Then, based on the pose transformation relationship, the coordinate transformation of the incomplete initial processing path is performed to generate a continuation carving processing path that perfectly matches the new pose of the material. This fundamentally solves the core problem of misalignment between the processing path and the actual material. Finally, the starting point of the continuation carving is located in the continuation carving processing path by the pause point recorded when processing is paused, and the laser processing unit is controlled to continue processing from that point, thus completing the closed loop of the entire process from anomaly detection to precise continuation carving. This application utilizes the synergistic effect of a technology chain encompassing self-created benchmarks, precise sensing, intelligent correction, and seamless continuity. This enables materials that have been randomly inspected and returned during processing or have been accidentally displaced during processing to be automatically and accurately reset to the design coordinate system. This avoids the scrapping of entire pieces due to inaccurate resets in traditional methods, which is particularly significant for processing high-value materials. At the same time, this process transforms the highly complex operation that relies on manual experience and visual inspection into a one-click automated process, reducing the technical requirements for operators and making processing-inspection-continuation carving a repeatable and reliable standardized quality control process. Ultimately, this results in significant comprehensive benefits in improving processing reliability, adaptability, and production efficiency. Attached Figure Description

[0015] Figure 1 This is a flowchart of a material repositioning and sculpting method based on top-viewing plane tracking provided in an embodiment of this application; Figure 2 This is a functional block diagram of a material repositioning and sculpting device based on top-viewing plane tracking provided in an embodiment of this application; Figure 3 This is a structural block diagram of a computer device provided in one embodiment of this application. Detailed Implementation

[0016] To make the objectives, technical solutions, and beneficial effects of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0017] To illustrate the technical solution described in this application, specific embodiments are provided below.

[0018] Firstly, this application provides a material repositioning and re-engraving method based on top-viewing plane tracking. This method can achieve fully automatic, high-precision repositioning and seamless re-engraving after material displacement or interruption. Before processing, the system first controls a laser processing unit to engrave visual marks on the material surface, providing a stable reference for establishing a pose mapping relationship. Then, an initial material image is acquired through a top-viewing vision unit, and a first mapping relationship is calculated based on the initial pixel coordinates of each visual mark and the design coordinates, thereby accurately establishing the initial pose of the material. During processing, after responding to a repositioning trigger event, processing is paused and the pause point is recorded. The current material image is acquired, and a second mapping relationship is calculated. Then, the pose transformation relationship between the second and first mapping relationships is calculated, which can accurately quantify the material displacement. Based on the pose transformation relationship, the coordinate transformation of the incomplete initial processing path is performed to obtain the re-engraving processing path, fundamentally solving the problem of misalignment between the processing path and the actual material position. Finally, the re-engraving starting point is located in the re-engraving processing path according to the pause point, and the laser processing unit is controlled to continue processing, completing the entire process from anomaly detection and pose repositioning to seamless re-engraving. Through the synergistic effect of the above steps, the materials that have been moved or returned after sampling can be automatically and accurately restored to the design coordinate system. This avoids the scrapping of workpieces caused by inaccurate resetting in the traditional method, and transforms the operation that relies on human experience into an automated process. Ultimately, this has produced significant beneficial effects in improving processing reliability, adaptability and production efficiency.

[0019] In some embodiments, the method includes steps that can be found in [reference needed]. Figure 1 The following will use the application of this method to the control system of laser processing equipment as an example to illustrate the various steps included in this method. The control system is the core of the calculation and control of the laser processing equipment, including processors, motion control cards, etc., and is responsible for operations such as image processing, coordinate calculation, path planning and equipment control.

[0020] S101, Control the laser processing unit to inscribe visual marks at at least three locations on the surface of the material fixed to the processing table. The at least three locations are not in a straight line.

[0021] A laser processing unit refers to the core component of a laser processing equipment responsible for performing engraving or cutting operations, including the laser, laser head (galvanometer or motion platform), power controller, etc. A top-mounted vision unit refers to the image acquisition system fixedly installed above the machining area in the laser processing equipment, including a camera, lens, and illumination device, used to capture images of the material surface. Visual markings are specific patterns (such as targets, crosses, etc.) clearly identifiable by the camera, engraved on the material surface by a laser. They serve as unique reference points created on the material.

[0022] The material can be rigid or near-planar, such as wood, leather, acrylic, cardboard, aluminum plate, etc.

[0023] Before processing the material, the system automatically engraves visual markings on the material surface. The engraving process uses a low-power laser to create the markings without completely cutting or penetrating the material. Furthermore, the engraved visual markings are miniature, do not affect the final aesthetics, and can be located at the corners or inside the edges of the material.

[0024] The number of visual markers can be three. When there are three positions, the three positions form an unequal-sided triangle, and the length of the shortest side of the unequal-sided triangle is greater than or equal to a preset proportion (such as 10%) of the length of the short side of the material's shape, in order to improve numerical stability.

[0025] In a further technical solution, visual markers on the material surface may be obscured or contaminated, causing the system to be unable to identify all visual markers from the image. Therefore, the number of visual markers can be greater than three, for example, five, to improve the fault tolerance.

[0026] In a further technical solution, the visual marker is a composite graphic composed of a target frame, a cross, and a three-dot matrix. That is, the visual marker is a graphic that simultaneously includes the features of a target frame, a cross, and a three-dot matrix.

[0027] The target bounding box provides a clear, closed outline. This allows image processing algorithms to quickly and stably locate the approximate area of ​​a visual marker in a material image (i.e., coarse localization), especially against complex backgrounds or on different materials. The intersection of the crosshairs provides an ideal feature point for sub-pixel localization. Image processing algorithms can accurately calculate the center coordinates of this intersection point, with an accuracy down to a fraction of a pixel (e.g., 0.1 pixels), thus enabling high-precision relocalization. The three-dot matrix enhances the visual marker's resistance to interference. For example, if a part of the visual marker is slightly scratched or contaminated, it is usually difficult to completely destroy all three points of the three-dot matrix simultaneously. Image processing algorithms can infer the accurate center of the visual marker by identifying the remaining points and combining this with the integrity of the target bounding box and the crosshairs. Furthermore, the tiny pattern formed by the three dots helps image processing algorithms determine whether the marker is distorted due to reflection or local deformation; therefore, the three-dot matrix improves the visual marker's resistance to reflection or deformation.

[0028] Visual markings are directly engraved on the surface of the material by the laser processing unit. Using such visual markings to determine the coordinates of the material after displacement is more robust and accurate than relying on natural edges or external fixtures.

[0029] S102. Acquire an initial material image including visual markers through a top-mounted vision unit, and calculate the first mapping relationship based on the initial pixel coordinates of each visual marker in the initial material image and the design coordinates of each visual marker in the machine tool coordinate system.

[0030] After the visual markings are inscribed, the top-mounted vision unit can be controlled to take pictures to obtain an initial material image including the visual markings. The initial material image refers to the material image acquired before processing.

[0031] After acquiring the initial material image, visual markers in the initial material image are identified, and the pixel coordinates of each visual marker in the initial material image are extracted and recorded as the initial pixel coordinates. At the same time, the design coordinates of each visual marker in the machine tool coordinate system are acquired. Finally, the first mapping relationship is calculated based on the initial pixel coordinates and design coordinates of these visual markers.

[0032] The first mapping relationship is used to describe the initial pose relationship between the material plane and the machine tool coordinate system. It can be a mathematical transformation model (such as a homography matrix) that can describe the initial position and orientation (i.e., initial pose state) of the material plane relative to the machine tool coordinate system at the start of machining.

[0033] The machine tool coordinate system refers to the inherent and precise physical coordinate system of laser processing equipment. The coordinates of all processing paths are ultimately defined and executed based on this coordinate system. Design coordinates refer to the predetermined theoretical positions of visual markers within the machine tool coordinate system.

[0034] S103. Determine the initial processing path based on the first mapping relationship and the design pattern, and control the laser processing unit to execute the initial processing path.

[0035] Design patterns are digital representations of graphics, text, or patterns that users expect to ultimately form on materials. They are typically vector files (such as AI, DXF, SVG) or high-resolution bitmap files (such as BMP, PNG).

[0036] The design of the machining path, also known as the "toolpath," is a series of control instructions converted from a design pattern by software. It defines the specific movement trajectory of the laser head (such as sequence and coordinate points), machining type (such as cutting or engraving), laser switch, power, speed, and other parameters. Specifically, it can be a machining path file, such as specific NC code or a proprietary format of the equipment manufacturer.

[0037] In some technical solutions, the operation of determining the initial machining path based on the first mapping relationship and the design pattern can first convert the design pattern into a design machining path, and then map the design machining path from the drawing coordinate system to the machine tool coordinate system based on the first mapping relationship to obtain the initial machining path. That is, using the first mapping relationship (such as the homography matrix H), the coordinates of each point in the design machining path are transformed from the drawing coordinate system to the machine tool coordinate system, and finally a series of executable instructions (i.e., the initial machining path) in the machine tool coordinate system are obtained.

[0038] The drawing coordinate system, also known as the design coordinate system or world coordinate system, is a stable coordinate reference system independent of the physical world. However, it serves as the origin and reference point of a two-dimensional virtual coordinate system defining the design and machining path. The drawing coordinate system is related to the boundary of the design pattern itself or a user-defined reference point, used to accurately describe the design path. The machine tool coordinate system, on the other hand, is an inherent and precise physical coordinate system of the laser processing equipment. Its origin is typically a fixed point on the machine tool table (such as the home point), and its X and Y axes are aligned with the machine tool's motion axes.

[0039] The initial processing path is the path that the laser processing unit can directly execute, which ensures that the movement trajectory of the laser head in physical space can accurately correspond to the actual position of the material fixed on the processing table.

[0040] S104. During the processing, in response to the repositioning trigger event, the laser processing is paused and the pause point is recorded. The current material image is acquired through the top-mounted vision unit. The second mapping relationship is calculated based on the current pixel coordinates of each vision mark in the current material image and the design coordinates of each vision mark in the machine tool coordinate system.

[0041] A relocation trigger event refers to a specific condition that triggers the system to execute the relocation process (including steps S104-S105). This can include periodic triggers (e.g., every certain processing time), event-driven triggers (e.g., collision detection, door opening), and manual triggers (e.g., user pressing a sampling button). A pause point is the precise location where processing is interrupted when a relocation trigger event occurs. The system automatically records the coordinates or index of this point in the initial processing path. An incomplete initial processing path refers to the portion of the path from the pause point to the end of the entire designed processing path.

[0042] After the relocation trigger event occurs, the system controls the laser processing unit to pause laser processing and record the pause point, and controls the top-mounted vision unit to acquire the current material image. The current material image refers to the material image taken after the processing is interrupted. Next, the system identifies the visual markers in the current material image and extracts the pixel coordinates of each visual marker in the current material image. Then, it combines these pixel coordinates with the design coordinates of each visual marker in the machine tool coordinate system to calculate the second mapping relationship.

[0043] The second mapping relationship is also a mathematical transformation model, which is used to describe the current position and orientation (i.e., current pose state) of the new material plane relative to the machine tool coordinate system after the material is shifted or put back.

[0044] S105. Calculate the pose transformation relationship between the second mapping relationship and the first mapping relationship. Based on the pose transformation relationship, perform coordinate transformation on the incomplete initial processing path to obtain the continuing carving processing path. According to the pause point, locate the continuing carving start point on the continuing carving processing path and control the laser processing unit to continue laser processing from the continuing carving start point.

[0045] Pose transformation relations are used to accurately describe the translation, rotation, and scaling that occur when a material's pose changes from an initial pose state (described by the first mapping relation) to the current pose state (described by the second mapping relation). Specifically, a pose transformation relation can be a pose transformation matrix, which is equal to the product of the second mapping relation and the inverse of the first mapping relation.

[0046] The pose transformation relationship is the basis of continuous carving. Continuous carving refers to continuing the remaining carving operations from the interruption point after the processing is interrupted and repositioned.

[0047] To continue the carving process, after calculating the pose transformation relationship, the incomplete initial machining path needs to be transformed using coordinates to obtain the continued carving path. The coordinate transformation operation can be as follows: based on the pose transformation relationship, the incomplete initial machining path is mapped from the design coordinate system to the current machine tool coordinate system, resulting in the continued carving path. Specifically, the coordinate transformation converts all points on the incomplete initial machining path from the original design coordinate system to the current machine tool coordinate system, ensuring that subsequent laser carving operations can accurately land on the correct positions after material displacement, thus solving the problem of workpiece scrap due to path misalignment after workpiece repositioning.

[0048] In this context, the incomplete initial machining path refers to the machining path (toolpath) defined in the design coordinate system that has not yet been executed from the machining pause point to the end of the entire machining task. The continued carving machining path, on the other hand, is a series of executable machining instructions obtained in the current machine tool coordinate system after mapping the incomplete initial machining path as described above. The current machine tool coordinate system refers to the physical coordinate system of the machine tool at the current moment after the material has been shifted or repositioned, with its origin fixed on the machining table.

[0049] After obtaining the engraving path, the starting point for the engraving process is first located on the path based on the pause point. Finally, the laser processing unit is controlled to continue laser processing from the starting point. The starting point refers to the new position on the engraving path corresponding to the pause point after coordinate transformation.

[0050] This technical solution can seamlessly connect virtual path data with physical processing execution through simple index mapping, realizing a closed loop from path planning to physical actions. This ensures that processing can continue accurately and smoothly from the point of interruption.

[0051] In a further technical solution, before controlling the laser processing unit to inscribe visual marks at at least three positions on the surface of the material fixed to the processing table, the method further includes: acquiring the resolution information of the top-mounted visual unit and the property information of the material; and determining the processing diameter or side length of the visual mark based on the resolution information and the property information.

[0052] The resolution information of the top-mounted vision unit refers to the precision parameters of the camera system used for image acquisition, which may include pixel resolution (e.g., a camera sensor with 12 megapixels) and spatial resolution (i.e., the actual physical size represented by each pixel, such as 0.1 mm per pixel). Spatial resolution can be obtained in advance through camera calibration, and it can determine the smallest feature size that the system can clearly resolve.

[0053] Material property information refers to the physical or chemical properties of the material itself being processed. These properties may include material type (such as wood, acrylic, leather, metal foil), surface color, reflectivity, surface roughness, etc. These properties directly affect the contrast between the visual marker and the material background.

[0054] The machining diameter or side length refers to the physical size of the visual marker that is ultimately determined and used for execution. For example, if the visual marker is a circular target, the machining diameter refers to its outer diameter; if the visual marker is a square marker, the side length refers to its outline dimension.

[0055] The system first reads resolution information from camera calibration data, and then obtains the property information of the material to be processed through user input or database queries. Finally, based on preset size calculation rules or algorithm models, it calculates the optimal marking size using the resolution and property information. For example, the size calculation rules may include: calculating the minimum physical size to ensure recognition accuracy based on the resolution information, obtaining a size scaling factor from an experience database based on the material property information, and multiplying the minimum physical size by the scaling factor to obtain the final size. Alternatively, a lookup table method can be used to directly obtain the recommended size from a pre-stored experience data table based on the resolution level and material type.

[0056] This technical solution enables adaptive optimization of visual marker size. Specifically, by comprehensively considering the camera's recognition capability and the display effect of the material surface, it dynamically determines a visual marker size that is moderate in size and high in contrast. This minimizes the impact on the aesthetics of the material and processing efficiency while ensuring that the visual marker can be clearly and stably recognized, thereby improving the robustness and practicality of the system under different hardware and material combinations.

[0057] In a further technical solution, when laser processing is paused, a laser power fade-out control strategy is adopted at the pause point; when laser processing resumes at the resumed point, a laser power fade-in control strategy is adopted at the resumed point, and for processing areas with filling paths, the filling phase during resumed processing is aligned with the filling phase during pause. This technical solution can ensure energy consistency between paused and resumed processing, avoiding seam marks on the material surface.

[0058] In a further technical solution, before executing step 102, or before executing the operation of "calculating the second mapping relationship based on the current pixel coordinates of each visual mark in the current material image and the design coordinates of each visual mark in the machine tool coordinate system" in step S104, it is determined whether the number of visual marks identified from the initial material image or the current material image is greater than or equal to three. If so, the subsequent operation is executed; if not, it is not executed, and the user is prompted with relevant information, such as "the number of visual marks is less than 3. Please check whether there is any occlusion or contamination on the material surface."

[0059] Secondly, this application provides a material repositioning and sculpting device based on top-viewing plane tracking, such as... Figure 2 As shown, the device includes a visual mark inscription module 101, a first mapping relationship calculation module 102, an initial processing module 103, a second mapping relationship calculation module 104, and a continuing engraving module 105. The various modules of the device are described in detail below.

[0060] The visual marking module 101 is used to control the laser processing unit to mark visual marks at at least three positions on the surface of the material fixed to the processing table; the at least three positions are not on the same straight line. The first mapping relationship calculation module 102 is used to acquire an initial material image including visual markers through a top-mounted vision unit, and calculate the first mapping relationship based on the initial pixel coordinates of each visual marker in the initial material image and the design coordinates of each visual marker in the machine tool coordinate system. The initial processing module 103 is used to determine the initial processing path based on the first mapping relationship and the design pattern, and to control the laser processing unit to execute the initial processing path; The second mapping relationship calculation module 104 is used to pause laser processing and record the pause point in response to a repositioning trigger event during the processing, acquire the current material image through the top-mounted vision unit, and calculate the second mapping relationship based on the current pixel coordinates of each vision mark in the current material image and the design coordinates of each vision mark in the machine tool coordinate system. The engraving continuation module 105 is used to calculate the pose transformation relationship between the second mapping relationship and the first mapping relationship, perform coordinate transformation on the unfinished initial processing path based on the pose transformation relationship to obtain the engraving continuation processing path, locate the engraving continuation starting point on the engraving continuation processing path according to the pause point, and control the laser processing unit to continue laser processing from the engraving continuation starting point.

[0061] In a further technical solution, when there are three positions, the three positions form an scalene triangle, and the length of the shortest side of the scalene triangle is greater than or equal to a preset ratio of the length of the short side of the material's outline.

[0062] In a further technical solution, the visual marker is a composite graphic composed of a target frame, a cross, and a three-dot matrix.

[0063] In a further technical solution, the device also includes a marking processing information determination module. This module is used to acquire the resolution information of the top-mounted visual unit and the material's property information before controlling the laser processing unit to inscribe visual marks at at least three positions on the surface of the material fixed to the processing table; and to determine the processing diameter or side length of the visual mark based on the resolution information and property information.

[0064] In a further technical solution, the operation of determining the initial machining path based on the first mapping relationship and the design pattern specifically includes: converting the design pattern into a design machining path; and mapping the design machining path from the drawing coordinate system to the machine tool coordinate system based on the first mapping relationship to obtain the initial machining path.

[0065] In a further technical solution, when laser processing is paused, a laser power fade-out control strategy is adopted at the pause point; when laser processing is resumed at the resumed carving start point, a laser power fade-in control strategy is adopted at the resumed carving start point, and for processing areas with filling paths, the filling phase during resumed carving is aligned with the filling phase during pause.

[0066] In a further technical solution, the operation of performing coordinate transformation on the incomplete initial machining path based on the pose transformation relationship to obtain the continued carving machining path specifically includes: mapping the incomplete initial machining path from the design coordinate system to the current machine tool coordinate system based on the pose transformation relationship to obtain the continued carving machining path.

[0067] Thirdly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the material repositioning and sculpting method based on top-viewing plane tracking provided in any embodiment of the first aspect.

[0068] Fourthly, this application provides a computer device. Figure 3 The diagram shows a specific structural block diagram of a computer device, which includes one or more processors 101, a memory 102, and one or more computer programs. The processors 101 and the memory 102 are connected via a bus. The one or more computer programs are stored in the memory 102 and configured to be executed by the one or more processors 101. When the processors 101 execute the computer programs, they implement the material repositioning and sculpting method based on top-viewing plane tracking provided in any embodiment of the first aspect. The computer device can be a desktop computer or a mobile terminal. The mobile terminal includes at least one of a mobile phone, tablet computer, personal digital assistant, or wearable device.

[0069] It should be understood that the steps in the various embodiments of this application are not necessarily executed sequentially according to the order indicated by the step numbers. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in each embodiment may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0070] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0071] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A material repositioning and sculpting method based on top-viewing plane tracking, characterized in that, The method includes: The laser processing unit is controlled to inscribe visual marks at at least three locations on the surface of a material fixed to the processing table; the at least three locations are not on the same straight line. An initial material image including the visual markers is acquired by a top-mounted vision unit, and a first mapping relationship is calculated based on the initial pixel coordinates of each visual marker in the initial material image and the design coordinates of each visual marker in the machine tool coordinate system. Based on the first mapping relationship and the design pattern, an initial processing path is determined, and the laser processing unit is controlled to execute the initial processing path. During the processing, in response to the repositioning trigger event, the laser processing is paused and the pause point is recorded. The current material image is acquired through the top-mounted vision unit. The second mapping relationship is calculated based on the current pixel coordinates of each vision mark in the current material image and the design coordinates of each vision mark in the machine tool coordinate system. Calculate the pose transformation relationship between the second mapping relationship and the first mapping relationship, perform coordinate transformation on the incomplete initial processing path based on the pose transformation relationship to obtain the continued carving processing path, locate the continued carving starting point on the continued carving processing path according to the pause point, and control the laser processing unit to continue laser processing from the continued carving starting point.

2. The method according to claim 1, characterized in that, When there are three positions, the three positions form an scalene triangle, and the length of the shortest side of the scalene triangle is greater than or equal to a preset ratio of the length of the short side of the material's outline.

3. The method according to claim 1 or 2, characterized in that, The visual marker is a composite graphic consisting of a target frame, a cross, and a three-dot matrix.

4. The method according to claim 1, characterized in that, Before the laser processing unit inscribes visual marks at at least three locations on the surface of the material fixed to the processing table, the method further includes: Obtain the resolution information of the top-mounted visual unit and the property information of the material; The processing diameter or side length of the visual mark is determined based on the resolution information and the attribute information.

5. The method according to claim 1, characterized in that, The step of determining the initial processing path based on the first mapping relationship and the design pattern includes: Convert the design pattern into a design processing path; Based on the first mapping relationship, the designed machining path is mapped from the drawing coordinate system to the machine tool coordinate system to obtain the initial machining path.

6. The method according to claim 1, characterized in that, When laser processing is paused, a laser power fade-out control strategy is adopted at the pause point; when laser processing is resumed at the resumed carving start point, a laser power fade-in control strategy is adopted at the resumed carving start point, and for processing areas with filling paths, the filling phase during resumed carving is aligned with the filling phase during pause.

7. The method according to claim 1, characterized in that, The step of performing coordinate transformation on the incomplete initial processing path based on the pose transformation relationship to obtain the continued carving processing path includes: Based on the pose transformation relationship, the incomplete initial machining path is mapped from the design coordinate system to the current machine tool coordinate system to obtain the continued carving machining path.

8. A material repositioning and continuous carving device based on top-viewing plane tracking, characterized in that, The device includes: A visual marking module is used to control the laser processing unit to mark visual marks at at least three positions on the surface of a material fixed to the processing table; the at least three positions are not on the same straight line. The first mapping relationship calculation module is used to acquire an initial material image including the visual markers through the top-mounted vision unit, and calculate the first mapping relationship based on the initial pixel coordinates of each visual marker in the initial material image and the design coordinates of each visual marker in the machine tool coordinate system. An initial processing module is used to determine an initial processing path based on the first mapping relationship and the design pattern, and to control the laser processing unit to execute the initial processing path. The second mapping relationship calculation module is used to pause laser processing and record the pause point in response to a repositioning trigger event during the processing. It acquires the current material image through the top-mounted vision unit and calculates the second mapping relationship based on the current pixel coordinates of each vision mark in the current material image and the design coordinates of each vision mark in the machine tool coordinate system. The continuing carving module is used to calculate the pose transformation relationship between the second mapping relationship and the first mapping relationship, perform coordinate transformation on the unfinished initial processing path based on the pose transformation relationship to obtain the continuing carving processing path, locate the continuing carving start point on the continuing carving processing path according to the pause point, and control the laser processing unit to continue laser processing from the continuing carving start point.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the material repositioning and sculpting method based on top-viewing plane tracking as described in any one of claims 1 to 7.

10. A computer device, comprising: One or more processors; Memory; as well as One or more computer programs, wherein the processor and the memory are connected via a bus, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, characterized in that, when the processor executes the computer programs, it implements the steps of the material repositioning and sculpting method based on top-viewing plane tracking as described in any one of claims 1 to 7.

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