Vision positioning method and system for fly-cutting based on linear array camera

Abstract

The application discloses a kind of method and system for visual positioning of fly-cutting based on linear array camera, the method includes the following steps: laser galvanometer controller receives the original signal of main coding device, generates line trigger signal based on original signal;Linear array camera receives and executes once line scanning based on each line trigger signal, and the absolute row number is obtained by counting line trigger signal;Linear array camera analyzes limited line image in real time in the process of line scanning, when identifying the characteristic point of workpiece, the coordinate of characteristic point in current limited line field of view is calculated;Linear array camera sends the absolute row number and line coordinate in the row image where characteristic point is to laser galvanometer controller;Laser galvanometer controller calculates the global processing coordinates of characteristic point according to absolute row number, line scanning width of row image and line coordinate in row, and controls processing device to carry out fly-cutting to workpiece according to global processing coordinates.The scheme of the present application can improve positioning accuracy, and effectively reduce the complexity of image processing, improve operation speed.

Description

Technical Field

[0001] This invention relates to the field of laser processing technology, and in particular to a flying processing visual positioning method and system based on a linear array camera. Background Technology

[0002] In some current laser processing systems, a line scan camera continuously scans based on line scan signals. Simultaneously, the PLC generates a "frame trigger" signal (also known as a "fixed-length signal") based on signals from the encoder / grating ruler and sends this signal to the line scan camera and the laser galvanometer controller. Upon receiving the "frame trigger" signal from the PLC, the line scan camera stitches multiple "line images" into a "frame image" and then calculates the coordinates of the pattern feature points within the field of view using an algorithm. The laser galvanometer controller, upon receiving the "frame trigger" signal from the PLC, latches the current position counter value. (The X coordinates of the origin of the "frame image") are used to superimpose the field of view coordinates onto the origin of the "frame image" to obtain the position of the image feature points in the tape coordinate system. However, in practical applications, errors and other factors may cause the number of rows in some frames to be more or less than the rated number, leading to inaccurate positioning. Summary of the Invention

[0003] The main objective of this invention is to propose a flight processing visual positioning method based on a line array camera, which aims to improve positioning accuracy.

[0004] To achieve the above objectives, the present invention proposes a flight processing visual positioning method based on a linear array camera, comprising the following steps: The laser galvanometer controller receives the raw signal from the main encoding device and generates a line trigger signal based on the raw signal; The line scan camera receives the row trigger signal, performs a row scan based on each row trigger signal, and counts the row trigger signals to obtain the absolute row number; The line scan camera performs real-time analysis of the finite line image during line scanning. When a feature point on the workpiece is identified, the coordinates of the feature point within the current finite line field of view are calculated. The linear array camera sends the absolute row number of the row image containing the feature point and the coordinates within the row to the laser galvanometer controller; The laser galvanometer controller calculates the global machining coordinates of the feature points based on the absolute row number, the line scan width of the row image, and the in-row coordinates, and controls the machining device to perform flying machining on the workpiece based on the global machining coordinates.

[0005] Optionally, in the step of the laser galvanometer controller receiving the original signal from the main encoding device and generating a row trigger signal based on the original signal, the laser galvanometer controller performs frequency division processing on the original signal to generate the row trigger signal; wherein the frequency of the original signal is greater than or equal to the frequency of the row trigger signal.

[0006] Optionally, the absolute row number is The inline coordinates are The line scan width is The global machining coordinates are .

[0007] Optionally, the main encoding device is an encoder or a grating ruler, and the original signal is... Phase signal.

[0008] Optionally, the real-time analysis of the finite row image includes at least one of edge detection, brightness threshold analysis, template matching, or neural network-based image recognition algorithms.

[0009] Optionally, the workpiece is a lithium battery electrode, a thin film material, or a metal strip; the flight processing is laser cleaning, laser marking, laser welding, or laser cutting.

[0010] The present invention also proposes a visual positioning system for implementing the above method, the system comprising: The main encoding device is used to monitor workpiece displacement and output raw signals; A laser galvanometer controller, connected to the main encoding device, is used to receive the original signal and generate a row trigger signal based on the original signal; the laser galvanometer controller is also used to receive and process absolute row numbers and in-row coordinates to synthesize global machining coordinates. A linear scan camera, connected to the laser galvanometer controller, is used to receive the row trigger signal, perform row scanning, row counting, finite row image feature recognition and local positioning, and output the positioning result; The laser processing device, controlled by the laser galvanometer controller, processes the workpiece based on the global processing coordinates.

[0011] Optionally, the laser galvanometer controller integrates a signal frequency division module, which is used to perform frequency division processing on the original signal to obtain the row trigger signal.

[0012] Optionally, the visual positioning system further includes a feeding device and a receiving device. The feeding device is used to place the strip that has not been processed by the laser processing device, wherein the strip has the workpiece on it or the strip itself is the workpiece to be processed. The receiving device is used to collect the strip that has been processed by the laser processing device.

[0013] The linear scan camera in this invention does not rely on "frame triggering" for pattern stitching. It only performs line scanning and feature point localization within a limited line field of view. The position of the feature point in the material belt coordinate system is determined based on the feature point's location information in the line image and the count value of that line image. This reduces the steps of stitching "frame images," thus avoiding situations where the number of line images in a "frame image" is more or less than the rated number, effectively improving positioning accuracy. Furthermore, the image recognition algorithm only needs to cover a limited number of lines, rather than the "multiple lines" within a single frame image defined by the "frame synchronization signal" in traditional methods. This effectively reduces image processing complexity, lowers computational requirements, and increases image processing speed. The line trigger signal is generated by the laser galvanometer controller based on the original signal emitted by the main encoding device. This ensures that the laser galvanometer controller and the linear scan camera operate based on the same original signal, avoiding insufficient positioning accuracy when the laser galvanometer controller and the linear scan camera use different encoding devices, effectively improving positioning accuracy. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. 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 the structures shown in these drawings without creative effort.

[0015] Figure 1 This is a flowchart of an embodiment of the flight processing visual positioning method based on a line array camera according to the present invention; Figure 2 This is a schematic diagram of a row image with feature points; Figure 3 This is a schematic diagram of an embodiment of the flight processing visual positioning system based on a line scan camera according to the present invention.

[0016] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0018] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0019] This invention proposes a flight processing visual positioning method based on a line array camera.

[0020] In embodiments of the present invention, such as Figures 1 to 3 As shown, the flight processing visual positioning method based on a line scan camera includes the following steps: Step S10: The laser galvanometer controller receives the original signal from the main encoding device and generates a line trigger signal based on the original signal. Step S20: The line scan camera receives row trigger signals, performs a row scan based on each row trigger signal, and counts the row trigger signals to obtain the absolute row number; wherein, the absolute row number is defined as... For example, you can refer to Figure 2 The absolute row numbers of the feature points are 5, 12, and 19, respectively. The row image with absolute row number 5 represents the fifth row scan, but it is the first row to contain feature point location information. The row image, with absolute row number 12, represents the twelfth row scan, but the second row contains feature point localization information. The row image, with absolute row number 19, represents the nineteenth row scan, but the third row contains feature point location information. The row image.

[0021] In step S30, the line scan camera performs real-time analysis of a limited row (a single row or several rows containing image features) of the image during line scanning. When a feature point on the workpiece is identified, the coordinates of the feature point within the current limited row field of view are calculated. The workpiece is a lithium battery electrode, thin film material, or metal strip; the in-flight processing includes laser cleaning, laser marking, laser welding, or laser cutting. Real-time analysis of the limited row image includes at least one of edge detection, brightness threshold analysis, template matching, or neural network-based image recognition algorithms. The line scan camera is always in line scanning mode. When a feature point on the workpiece is identified in the line image, its in-row coordinates within the limited row image are obtained after processing by a visual processing algorithm.

[0022] In step S40, the linear scan camera sends the absolute row number and in-row coordinates of the image containing the feature points to the laser galvanometer controller. In step S50, the laser galvanometer controller calculates the global machining coordinates of the feature points based on the absolute row number, the line scan width of the row image, and the in-row coordinates, and controls the machining device to perform fly-through machining on the workpiece based on the global machining coordinates. Here, the in-row coordinates are defined as... The line scan width is Then the global machining coordinates are That is, the global feature points The coordinates are directly equal to the inline coordinates. .

[0023] The linear scan camera in this invention does not rely on "frame triggering" for pattern stitching. It only performs line scanning and feature point localization within a limited line field of view. The position of the feature point in the material belt coordinate system is determined based on the feature point's location information in the line image and the count value of that line image. This reduces the steps of stitching "frame images," thus avoiding situations where the number of line images in a "frame image" is more or less than the rated number, effectively improving positioning accuracy. Furthermore, the image recognition algorithm only needs to cover a limited number of lines, rather than the "multiple lines" within a single frame image defined by the "frame synchronization signal" in traditional methods. This effectively reduces image processing complexity, lowers computational requirements, and increases image processing speed. The line trigger signal is generated by the laser galvanometer controller based on the original signal emitted by the main encoding device. This ensures that the laser galvanometer controller and the linear scan camera operate based on the same original signal, avoiding insufficient positioning accuracy when the laser galvanometer controller and the linear scan camera use different encoding devices, effectively improving positioning accuracy.

[0024] In some embodiments, in step S10, the laser galvanometer controller performs frequency division processing on the original signal to generate a line trigger signal; wherein the frequency of the original signal is greater than (i.e., the frequency division is set to 1 / N, N > 1) or equal to (i.e., the frequency division is set to 1 / 1) the frequency of the line trigger signal. That is, the main encoding device can use a high-precision encoder or grating ruler to reduce the deviation between the measured value and the true value. Using the laser galvanometer controller to perform frequency division processing on the original signal to generate a line trigger signal adapted to the line scan camera improves accuracy while avoiding the need for an additional frequency division device, thus simplifying the system structure.

[0025] In some embodiments, the main encoding device is an encoder or a grating ruler, and the original signal is an A+B phase signal, thus ensuring imaging quality and measurement accuracy.

[0026] This invention also proposes a flight processing visual positioning system based on a linear array camera, referring to... Figure 3 The vision positioning system includes a main encoding device, a laser galvanometer controller, a line scan camera, and a laser processing device. The main encoding device is used to monitor the workpiece displacement and output the raw signal. The laser galvanometer controller is connected to the main encoding device and is used to receive the raw signal and generate a row trigger signal based on the raw signal. The laser galvanometer controller is also used to receive and process the absolute row number and the in-row coordinates to synthesize the global processing coordinates.

[0027] The line scan camera is connected to the laser galvanometer controller to receive line trigger signals, perform line scanning, line counting, limited line image feature recognition and local positioning, and output positioning results; the laser processing device is controlled by the laser galvanometer controller and processes the workpiece based on global processing coordinates.

[0028] Specifically, the system also includes a conveying device for conveying workpieces.

[0029] The linear scan camera in this invention does not rely on "frame triggering" for pattern stitching. It only performs line scanning and feature point localization within a limited line field of view. The position of the feature point in the material tape coordinate system is determined based on the feature point's location information in the line image and the count value of that line image. This reduces the step of stitching "frame images," thus avoiding situations where the number of line images in a "frame image" is more or less than the rated number, effectively improving positioning accuracy. Furthermore, the line trigger signal is generated by the laser galvanometer controller based on the original signal from the main encoding device. This ensures that the laser galvanometer controller and the linear scan camera operate based on the same original signal, avoiding the insufficient positioning accuracy that occurs when the laser galvanometer controller and the linear scan camera use different encoding devices, effectively improving positioning accuracy.

[0030] In some embodiments, the laser galvanometer controller integrates a signal frequency divider module, which performs frequency division processing on the original signal to obtain the line trigger signal. That is, the main encoding device can employ a high-precision encoder or grating ruler to reduce the deviation between the measured value and the true value. Utilizing the signal frequency divider module to perform frequency division processing on the original signal to generate a line trigger signal compatible with the line scan camera improves accuracy while avoiding the need for a separate frequency divider device, thus simplifying the system structure.

[0031] In some embodiments, the conveying device includes a feeding device and a receiving device. The feeding device is used to place the strip that has not been processed by the laser processing device. The strip may have a workpiece on it or the strip itself may be a workpiece to be processed (roll processing). The receiving device is used to collect the strip that has been processed by the laser processing device. That is, the system is used for strip processing.

[0032] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A flight processing visual positioning method based on a linear array camera, characterized in that, Includes the following steps: The laser galvanometer controller receives the raw signal from the main encoding device and generates a line trigger signal based on the raw signal; The line scan camera receives the row trigger signal, performs a row scan based on each row trigger signal, and counts the row trigger signals to obtain the absolute row number; The line scan camera performs real-time analysis of the finite line image during line scanning. When a feature point on the workpiece is identified, the coordinates of the feature point within the current finite line field of view are calculated. The linear array camera sends the absolute row number of the row image containing the feature point and the coordinates within the row to the laser galvanometer controller; The laser galvanometer controller calculates the global machining coordinates of the feature points based on the absolute row number, the line scan width of the row image, and the in-row coordinates, and controls the machining device to perform flying machining on the workpiece based on the global machining coordinates.

2. The method as described in claim 1, characterized in that, In the step of the laser galvanometer controller receiving the original signal from the main encoding device and generating a row trigger signal based on the original signal, the laser galvanometer controller performs frequency division processing on the original signal to generate the row trigger signal; wherein the frequency of the original signal is greater than or equal to the frequency of the row trigger signal.

3. The method as described in claim 1, characterized in that, The absolute line number is The inline coordinates are The line scan width is The global machining coordinates are .

4. The method as described in claim 1, characterized in that, The main encoding device is an encoder or a grating ruler, and the original signal is... Phase signal.

5. The method as described in claim 1, characterized in that, The real-time analysis of the finite row image includes at least one of edge detection, brightness threshold analysis, template matching, or neural network-based image recognition algorithms.

6. The method as described in claim 1, characterized in that, The workpiece is a lithium battery electrode, thin film material, or metal strip; the flight processing is laser cleaning, laser marking, laser welding, or laser cutting.

7. A visual positioning system for implementing the method as described in any one of claims 1 to 6, characterized in that, include: The main encoding device is used to monitor workpiece displacement and output raw signals; A laser galvanometer controller, connected to the main encoding device, is used to receive the original signal and generate a row trigger signal based on the original signal; the laser galvanometer controller is also used to receive and process absolute row numbers and in-row coordinates to synthesize global machining coordinates. A linear scan camera, connected to the laser galvanometer controller, is used to receive the row trigger signal, perform row scanning, row counting, finite row image feature recognition and local positioning, and output the positioning result; The laser processing device, controlled by the laser galvanometer controller, processes the workpiece based on the global processing coordinates.

8. The visual positioning system as described in claim 7, characterized in that, The laser galvanometer controller integrates a signal frequency division module, which is used to perform frequency division processing on the original signal to obtain the row trigger signal.

9. The visual positioning system as described in claim 7, characterized in that, The visual positioning system further includes a feeding device and a receiving device. The feeding device is used to place the material strip that has not been processed by the laser processing device. The material strip has the workpiece on it or the material strip itself is the workpiece to be processed. The receiving device is used to collect the material strip that has been processed by the laser processing device.

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