Laser Processing System

Abstract

To provide a laser processing system which dispenses with coordinate matching between a coordinate system of a laser marker and a coordinate system of a camera by a user and is more usable for the user.SOLUTION: A laser processing system 1 comprises a laser marker 100, a camera 500 and an image processing instrument 600. The image processing instrument 600 recognizes an installation position of a first workpiece from a photographed image of the camera 500 and specifies a printing position with a first coordinate system of the camera on the basis of the installation position. The laser marker 100 calculates a parameter for conversion from the first coordinate system into a second coordinate system of the laser marker with calibration processing. The laser marker 100 converts coordinates of the printing position from the first coordinate system into the second coordinate system by using the parameter.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to laser processing systems. [Background technology]

[0002] Japanese Patent Application Laid-Open No. 2016-36840 (Patent Document 1) discloses a laser printing device that calculates the amount of deviation from a reference position based on a captured image of a workpiece, and corrects the printing position based on the amount of deviation.

[0003] Japanese Patent Publication No. 2021-87967 (Patent Document 2) discloses a laser processing device that captures an image of a dummy wafer on which processing marks have been formed, and corrects the coordinates of the target irradiation position of laser light based on the coordinates of the processing marks identified from the captured image.

[0004] Japanese Patent No. 6795060 (Patent Document 3) and Japanese Patent No. 6939955 (Patent Document 4) provide a laser processing system that corrects the laser processing position (hereinafter also referred to as the "printing position") according to the installation position of the workpiece. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-36840 [Patent Document 2] Patent Publication No. 2021-87967 [Patent Document 3] Patent No. 6795060 [Patent Document 4] Patent No. 6939955 [Non-patent literature]

[0006] [Non-Patent Document 1] "Derivation of Projective Transformation Formula", [online], [Retrieved March 11, 2022], Internet (URL: https: / / fermiumbay13.hatenablog.com / entry / 2018 / 08 / 14 / 032643) Summary of the Invention [Problem to be solved by the invention]

[0007] In the laser marking device disclosed in JP 2016-36840 A, a camera is provided so that the optical axis of the laser light is coaxial with the optical axis of the lens included in the camera. In such a case, it is important to adjust the position of the camera and the half mirror. Therefore, the camera is usually built into the laser marking device after its position relative to the half mirror has been adjusted. Therefore, the camera cannot be removed.

[0008] The laser processing apparatus disclosed in JP 2021-87967 A moves the dummy wafer with a moving means to position the camera at the processing mark when capturing an image of the dummy wafer with processing marks. In other words, the relative position of the camera of the laser processing apparatus with respect to the dummy wafer must be changed depending on the timing of laser marking and the timing of capturing the image. Therefore, the laser processing apparatus disclosed in JP 2021-87967 A is a large-scale apparatus equipped with a moving means, and there is a possibility that operational efficiency will decrease.

[0009] According to the techniques disclosed in Japanese Patent No. 6795060 and Japanese Patent No. 6939955, the user needs to align the coordinates in the laser marker's coordinate system with the coordinates in the camera's coordinate system while looking at the print image displayed on the display screen of the display device. This task of aligning the coordinates in the laser marker's coordinate system with the coordinates in the camera's coordinate system is time-consuming for the user.

[0010] An object of the present disclosure is to provide a laser processing system that is easier for users to use, without requiring the user to align the coordinate system of the laser marker with the coordinate system of the camera. [Means for solving the problem]

[0011] A laser processing system according to one aspect of the present disclosure includes a laser marker that uses laser light to print on the surface of a first workpiece to be printed, a camera that captures an image of the first workpiece, and an image processing device that processes the image captured by the camera. The image processing device includes a first identification unit that recognizes the installation position of the first workpiece from the image of the first workpiece captured by the camera and identifies the printing position in a first coordinate system of the camera based on the installation position. The laser marker includes a first acquisition unit that acquires coordinates of the printing position in the first coordinate system, a conversion unit that converts the coordinates of the printing position from the first coordinate system to a second coordinate system using parameters for converting from the first coordinate system to a second coordinate system of the laser marker, and a laser head that scans the laser light based on the coordinates in the converted second coordinate system to print on the surface of the first workpiece. The laser head further performs a formation process that forms a calibration pattern, whose coordinates in the second coordinate system are predetermined, on the surface of a second workpiece to be used for calibration. The camera further images the second workpiece on which the calibration pattern is formed. The image processing device further includes a second identification unit that identifies coordinates of the calibration pattern in the first coordinate system from an image of the second workpiece captured by the camera. The laser marker further includes a second acquisition unit that acquires coordinates of the calibration pattern in the first coordinate system, and a calculation unit that calculates parameters based on the coordinates of the calibration pattern in the first coordinate system and the coordinates of the calibration pattern in the second coordinate system. The optical axis of the laser light and the optical axis of the lens included in the camera are not coaxial. The printing area that the laser head can scan with the laser light is included in the imaging area of ​​the camera.

[0012] This makes it possible to provide a laser processing system that is easier for users to use, as it does not require the user to align the coordinate system of the laser marker with the coordinate system of the camera.

[0013] In the above disclosure, the calibration pattern preferably shows four or more feature points.

[0014] This allows the parameters for conversion from the first coordinate system to the second coordinate system to be calculated.

[0015] In the above disclosure, the forming process preferably includes scanning a laser beam to print four or more feature points on the surface of the second workpiece.

[0016] This allows the calibration pattern to be formed by using the printing function of the laser marker, eliminating the need to provide a separate device for forming the calibration pattern.

[0017] In the above disclosure, preferably, the laser head further scans with visible light. The four or more feature points are projected images formed by scanning with visible light. The formation process includes sequentially forming the four or more feature points one by one. The exposure time of the camera is equal to or longer than the time from when one of the four or more feature points is formed to when the formation of all the remaining feature points is completed.

[0018] This allows the second workpiece to be reused because the calibration pattern is not printed on the surface of the second workpiece, thereby reducing the number of second workpieces that need to be discarded.

[0019] In the above disclosure, preferably, the second identification unit divides the image of the second workpiece captured by the camera into two parts, one vertically and one horizontally, into four partial images. The second identification unit outputs an error if at least one of the four partial images does not include any of the four or more feature points.

[0020] This allows the user to know that the image of the second workpiece captured by the camera is not suitable for calculating the above parameters.

[0021] In the above disclosure, preferably, the laser head further scans with visible light. The four or more feature points are projected images formed by scanning with visible light. The forming process includes sequentially forming the four or more feature points one by one. The camera captures an image of the second workpiece each time one of the four or more feature points is formed, thereby acquiring images of the second workpiece for the number of feature points.

[0022] This allows the second workpiece to be reused because the calibration pattern is not printed on the surface of the second workpiece, thereby reducing the number of second workpieces that need to be discarded.

[0023] In the above disclosure, preferably, the second identification unit outputs an error if none of four or more feature points are included in the same region of the image corresponding to the number of feature points, and the same region is at least one of four regions obtained by dividing each of the images corresponding to the number of feature points into two, vertically and horizontally.

[0024] This allows the user to know that the image of the second workpiece captured by the camera is not suitable for calculating the above parameters. [Effects of the Invention]

[0025] According to the present disclosure, it is possible to provide a laser processing system that is easier for users to use, as it does not require the user to align the coordinate system of the laser marker with the coordinate system of the camera. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a diagram showing an overview of a laser processing system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of a control device according to the present embodiment. [Figure 3] 2 is a diagram showing an example of the configuration of a laser head and an observation optical system in the present embodiment. FIG. [Figure 4]It is a diagram showing an example of the hardware configuration of an image processing device in the present embodiment. [Figure 5] It is a diagram for explaining the outline of the printing process by the laser processing system in the present embodiment. [Figure 6] It is a view of a workpiece with a calibration pattern formed as seen from directly above. [Figure 7] It is a diagram showing an example of calibration pattern information. [Figure 8] It is a diagram showing an example of a selection screen for a calibration pattern. [Figure 9] It is a diagram for explaining the method of calculating parameters by the calculation unit. [Figure 10] It is a diagram showing an example of an editor screen. [Figure 11] It is a diagram showing an example of an input screen for inputting the printing start position. [Figure 12] It is a flowchart showing an example of the calibration process executed by the laser processing system in the present embodiment. [Figure 13] It is a flowchart showing an example of the main processing executed by the laser processing system in the present embodiment. [Embodiments for Carrying Out the Invention]

[0027] Hereinafter, embodiments and modified examples according to the present invention will be described while referring to the drawings. In the following description, the same parts and components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated. Note that the embodiments and modified examples described below may be selectively combined as appropriate.

[0028] [Embodiment] [A. Application Example] Mainly, referring to FIG. 1, the application example of the present disclosure will be described. As an example, the present disclosure is applied to a laser processing system. FIG. 1 is a diagram showing the outline of the laser processing system in the present embodiment.

[0029] Referring to FIG. 1, the laser processing system 1 includes a laser marker 100, a setting device 300, a camera 500 as an observation optical system, an image processing device 600, and a setting device 700. The laser marker 100 uses a laser beam to form a pattern on the surface of the workpiece W, which is the target for marking. "Forming" includes irradiating the surface of the workpiece W with a laser beam to print a pattern on the surface of the workpiece W, and may further include irradiating the surface of the workpiece W with a guide beam, described below, to form a projected image. The pattern may also include at least one of letters, numbers, marks, and symbols. Hereinafter, the surface of the workpiece W on which the pattern is formed is also referred to as the "processed surface."

[0030] The laser marker 100 comprises a laser head 10 and a control device 20. The laser head 10 irradiates a laser beam La onto a processing surface 2 of a workpiece W placed on a stage ST in accordance with instructions from the control device 20. This processes the surface of the workpiece W, and a pattern specified by a user is printed on the surface of the workpiece W.

[0031] The setting device 300 includes an input device 301 and a display device 302. The input device 301 includes, for example, a keyboard, a mouse, and a touch panel. The display device 302 is, for example, a display. The setting device 300 performs various settings for the laser marker 100. The setting device 300 accepts a printing pattern for actual processing and a calibration pattern used in a calibration process described below. The camera 500 images the workpiece W from an oblique direction relative to the processing surface 2 of the workpiece W, and acquires an image including the processing surface 2 of the workpiece W (hereinafter simply referred to as the "image of the workpiece"). The printing area that the laser head 10 can scan with the laser light La is included in the imaging area Fv of the camera 500.

[0032] The image processing device 600 processes the image captured by the camera 500. The setting device 700 includes an input device 701 and a display device 702. The input device 701 includes, for example, a keyboard, a mouse, a touch panel, and the like. The display device 702 is, for example, a display. The setting device 700 performs various settings of the image processing device 600. The setting device 700 receives the printing start position of the printing pattern for bookbinding.

[0033] <Hardware Configuration of Control Device 20> FIG. 2 is a diagram showing an example of the hardware configuration of the control device in the present embodiment. The control device 20 includes a processor 21, a RAM (Random Access Memory) 22, a ROM (Read Only Memory) 23, a storage device 24, a laser head interface 25, an input interface 26, a display interface 27, a communication interface 28, and a memory card interface 29. The processor 21, the RAM 22, the ROM 23, the storage device 24, the laser head interface 25, the input interface 26, the display interface 27, the communication interface 28, and the memory card interface 29 are communicably connected to each other via an internal bus 299.

[0034] The processor 21 is constituted by, for example, at least one integrated circuit. The integrated circuit is constituted by, for example, at least one CPU (Central Processing Unit), at least one ASIC (Application Specific Integrated Circuit), at least one FPGA (Field Programmable Gate Array), or a combination thereof.

[0035] The processor 21 realizes various processes according to this embodiment by loading the program 241 stored in the storage device 24 into the RAM 22 and executing it. The RAM 22 is configured from a volatile memory, and functions as a work memory required for the processor 21 to execute the program 241. The ROM 23 stores programs such as an OS (Operating System) executed by the processor 21.

[0036] The storage device 24 is configured by a nonvolatile memory. Alternatively, the storage device 24 may be, for example, a hard disk or a solid state drive (SSD), and may be either built-in or external. The storage device 24 stores a program 241 for implementing various processes according to this embodiment and various data (for example, pattern information 242 for calibration, etc.).

[0037] The laser head interface 25 is connected to the laser head 10, and outputs to the laser head 10, in accordance with internal commands from the processor 21, signals for instructing irradiation and scanning of laser light, and signals for instructing irradiation and scanning of guide light, which will be described later.

[0038] The input interface 26 mediates data transmission between the processor 21 and the input device 301. The input interface 26 accepts operation commands given by the user operating the input device 301.

[0039] The display interface 27 is connected to a display device 302 and outputs signals for displaying various types of information to the display device 302 in accordance with internal commands from the processor 21 .

[0040] The communication interface 28 mediates data transmission between the control device 20 and the image processing device 600. As an example, the control device 20 acquires, via the communication interface 28, the coordinates of the image captured by the camera 500 in the coordinate system of the camera 500 from the image processing device 600.

[0041] The program 241 is stored in a storage medium such as the memory card 29A and provided. The program 241 is read from the memory card 29A by the memory card interface 29 and installed in the control device 20.

[0042] The program 241 may be provided not as a single program but incorporated into a part of any program. In this case, the processing according to the present embodiment is realized in cooperation with any program. Even a program that does not include such a part of the module does not deviate from the gist of the control device 20 according to the present embodiment. Also, part or all of the functions provided by the program 241 may be realized by dedicated hardware.

[0043] Also, instead of the form of installing the program 241 stored in the memory card 29A in the control device 20, a program downloaded from a distribution server or the like may be installed in the control device 20.

[0044] <C. Configuration of the laser head 10 and the observation optical system> FIG. 3 is a diagram showing an example of the configuration of the laser head and the observation optical system in the present embodiment.

[0045] (c1: Configuration of the laser head 10) The laser head 10 includes a laser oscillator 11, an LD (Laser Diode) 12 for guide light, a dichroic mirror 13, a 3D (three-dimensional) optical system 14, a mirror 15, and a galvanometer mirror 16.

[0046] <0The laser oscillator 11 outputs a laser beam in accordance with instructions from the control device 20. The guide light LD 12 outputs auxiliary light (hereinafter also referred to as "guide light") in accordance with instructions from the control device 20. Visible light is used for the guide light. The dichroic mirror 13 is an optical element that reflects light of a specific wavelength and transmits light of other wavelengths. In this embodiment, the dichroic mirror 13 transmits the laser beam output from the laser oscillator 11 and reflects the guide light output from the guide light LD 12, and guides the laser beam and the guide light coaxially to the mirror 15.

[0047] The mirror 15 reflects the laser light and the guide light, and guides them coaxially to the galvanometer mirror 16. The galvanometer mirror 16 is driven by a stepping motor (not shown). When the stepping motor is driven in accordance with instructions from the control device 20, the galvanometer mirror 16 scans the laser light output from the laser oscillator 11 and the guide light output from the LD 12 for guide light on the processing surface 2 of the workpiece W. In other words, when the galvanometer mirror 16 is driven by the stepping motor, the laser light and the guide light are irradiated onto desired positions on the processing surface 2 of the workpiece W.

[0048] In this embodiment, the laser head 10 is disposed so as to irradiate the laser beam and the guide beam from directly above onto the machining surface 2 of the workpiece W. That is, the laser head 10 is disposed so that the optical axis OP1 of the laser beam and the guide beam irradiated from the laser head 10 is approximately perpendicular to the machining surface 2 of the workpiece W. As the laser beam and the guide beam are scanned by the laser head 10, the optical axis OP1 is tilted with respect to the machining surface 2 of the workpiece W, and the laser beam and the guide beam are irradiated onto desired positions on the machining surface 2.

[0049] This allows the laser head 10 to use the laser light to print a desired pattern on the surface of the workpiece W. In addition, the laser head 10 can form a projected image of the desired pattern on the surface of the workpiece W by irradiating the processing surface 2 of the workpiece W with a guide light coaxial with the laser light.

[0050] (c2: Configuration of Observation Optical System) The observation optical system 525 includes a camera 500 that acquires an image of the workpiece W including the processing surface 2 of the workpiece W irradiated with laser light by the laser head 10, and a mirror 505. The camera 500 acquires an image of the workpiece through the mirror 505 and transmits the image of the workpiece to the image processing device 600.

[0051] The camera 500 is detachably attached to the laser head 10. Thereby, the user can change the type of the camera 500 according to the workpiece and the processing pattern. The mounting position of the camera 500 is provided on the lower surface of the laser head 10 at a position that does not overlap with the laser light exit port 17 so that the user can easily remove the camera 500 and does not block the laser light emitted from the laser head 10. Due to such a mounting position of the camera 500, the optical axis OP2 of the lens 501 included in the camera 500 is not orthogonal to the processing surface 2 of the workpiece W. Therefore, the image of the workpiece acquired by the camera 500 appears distorted. For example, when four vertices of a square are printed on the processing surface 2 of the workpiece W, in the image of the workpiece acquired by the camera 500, the four vertices appear like the four vertices of a trapezoid.

[0052] Also, due to such a mounting position of the camera 500, the optical axis OP1 of the laser light and the optical axis OP2 of the lens 501 included in the camera 500 are not coaxial. The optical axis OP1 of the laser light is set to face the origin of the coordinate system of the laser marker 100 (corresponding to the "second coordinate system") in a state where no processing is being performed. In contrast, the origin of the coordinate system of the camera 500 (corresponding to the "first coordinate system") is set to be at the lower left of the acquired image of the workpiece. Also, the value of one scale does not match between the coordinate system of the laser marker 100 and the coordinate system of the camera 500. Therefore, in the laser processing system 1, the coordinates in the coordinate system of the laser marker 100 and the coordinates in the coordinate system of the camera 500 do not match.

[0053] <D. Hardware Configuration of Image Processing Device 600> 4 is a diagram showing an example of the hardware configuration of an image processing device according to this embodiment. The image processing device 600 includes a processor 601, a RAM 602, a ROM 603, a storage device 604, a camera interface 605, an input interface 606, a display interface 607, a communication interface 608, and a memory card interface 609. The processor 601, the RAM 602, the ROM 603, the storage device 604, the camera interface 605, the input interface 606, the display interface 607, the communication interface 608, and the memory card interface 609 are connected to each other via an internal bus 6999 so as to be able to communicate with each other.

[0054] The processor 601 is configured, for example, by at least one integrated circuit. The integrated circuit is configured, for example, by at least one CPU, at least one ASIC, at least one FPGA, or a combination thereof.

[0055] The processor 601 implements various processes according to this embodiment by loading a program 641 stored in the storage device 604 into the RAM 602 and executing it. The RAM 602 is configured from a volatile memory, and functions as a work memory required for the processor 601 to execute the program 641. The ROM 603 stores programs such as an OS executed by the processor 601.

[0056] The storage device 604 is configured by a nonvolatile memory. Alternatively, the storage device 604 may be, for example, a hard disk, an SSD, or the like, and may be either built-in or external. The storage device 604 stores a program 641 and the like for implementing various processes according to this embodiment.

[0057] The camera interface 605 mediates data transmission between the processor 601 and the camera 500. More specifically, an image capture instruction is output from the processor 601 to the camera 500 via the camera interface 605. The camera interface 605 outputs an image received from the camera 500 to the processor 601.

[0058] The input interface 606 mediates data transmission between the processor 601 and the input device 701. The input interface 606 accepts operation commands given by the user operating the input device 701.

[0059] The display interface 607 is connected to the display device 702 and outputs signals for displaying various types of information to the display device 702 in accordance with internal commands from the processor 601 .

[0060] The communication interface 608 mediates data transmission between the image processing device 600 and the control device 20. As an example, the image processing device 600 transmits the coordinates of the image acquired from the camera 500 in the coordinate system of the camera 500 to the control device 20 via the communication interface 608.

[0061] The program 641 is provided by being stored in a storage medium such as the memory card 29A. The program 641 is read from the memory card 29A by the memory card interface 609 and installed in the image processing device 600.

[0062] Program 641 may be provided not as a standalone program but as part of an arbitrary program. In this case, program 641 cooperates with the arbitrary program to realize the processing according to this embodiment. Even a program that does not include some of these modules does not deviate from the spirit of image processing device 600 according to this embodiment. Furthermore, some or all of the functions provided by program 641 may be realized by dedicated hardware.

[0063] Alternatively, instead of installing the program 641 stored in the memory card 29A in the image processing device 600, a program downloaded from a distribution server or the like may be installed in the image processing device 600.

[0064] <E. Outline of Printing Process> Referring to FIGS. 5 to 11, the outline of the printing process by the laser processing system 1 in the present embodiment will be described.

[0065] FIG. 5 is a diagram for explaining the outline of the printing process by the laser processing system in the present embodiment. The first specifying unit 652, the second specifying unit 650, and the second registering unit 651 shown in FIG. 5 are realized by the processor 601 executing the program 641. Further, the reception unit 151, the first registration unit 150, the first acquisition unit 154, the conversion unit 155, the second acquisition unit 152, and the calculation unit 153 shown in FIG. 5 are realized by the processor 21 executing the program 241.

[0066] The printing process performed by the laser processing system 1 includes four processes. The first process is a calibration process for calculating parameters (hereinafter, also simply referred to as "parameters") for converting the coordinates in the coordinate system of the camera 500 into the coordinates in the coordinate system of the laser marker 100. The second process is a processing pattern registration process for registering the pattern information for the main processing. The third process is a teaching process for registering the teaching information. The fourth process is the main processing for printing the printing pattern for the main processing on the workpiece for the main processing (corresponding to the "first workpiece").

[0067] (e1: Calibration Process) The calibration process will be described. In the calibration process, first, formation processing is performed by the laser head 10 according to the user's selection operation. The formation processing is to form a calibration pattern with coordinates in the coordinate system of the laser marker

[0068] The calibration workpiece is positioned so that its distance from the laser head 10 is the same as that of the workpiece to be processed. The calibration pattern has four or more feature points. In this embodiment, the four vertices of a square are used as the calibration pattern. A plurality of square patterns, each with a different side length, are stored in the storage device 24 of the control device 20 as calibration patterns. In detail, coordinates in the coordinate system of the laser marker 100 indicating each calibration pattern are stored in the storage device 24 of the control device 20 as calibration pattern information 242 (see FIG. 2). The user selects one pattern from the plurality of calibration patterns on a selection screen displayed on the setting device 300.

[0069] Here, an example of a calibration pattern, an example of calibration pattern information 242, and an example of a method for a user to select a calibration pattern will be described with reference to Fig. 6 to Fig. 8. Fig. 6 is a diagram showing a workpiece on which a calibration pattern is formed, viewed from directly above. Fig. 7 is a diagram showing an example of calibration pattern information. Fig. 8 is a diagram showing an example of a calibration pattern selection screen.

[0070] 6, the calibration pattern indicates the four vertices of a square. Specifically, the four vertices of the square are points P1, P2, P3, and P4. The coordinates of these four points in the coordinate system of the laser marker 100 are stored in the storage device 24 as calibration pattern information 242.

[0071] In the example shown in Fig. 6, the coordinates of point P1 are (80, -80), the coordinates of point P2 are (-80, -80), the coordinates of point P3 are (-80, 80), and the coordinates of point P4 are (80, 80). Furthermore, one scale division of the coordinate system of laser marker 100 is set to 1 millimeter. Therefore, in the example shown in Fig. 6, the length L of one side of a square with vertices at points P1, P2, P3, and P4 is 160 millimeters.

[0072] Referring to FIG. 7, table TB is an example of calibration pattern information 242. In the example shown in FIG. 7, four patterns are stored in storage device 24 as calibration patterns. The first pattern is a pattern indicating the four vertices of a square with a side length L of 10 millimeters. The second pattern is a pattern indicating the four vertices of a square with a side length L of 30 millimeters. The third pattern is a pattern indicating the four vertices of a square with a side length L of 90 millimeters. The fourth pattern is a pattern indicating the four vertices of a square with a side length L of 160 millimeters.

[0073] Referring to FIG. 8, selection screen G2 is a screen for the user to select a calibration pattern, and is displayed on display device 302 of setting device 300. Selection screen G2 includes information for identifying the calibration pattern. In the example shown in FIG. 8, the information for identifying the calibration pattern is the length of one side of a square whose vertices are the four points indicated by the calibration pattern. The user selects one pattern from among multiple calibration patterns according to the printing area of ​​the main processing. As a result, the calibration pattern selected by the user is input into laser marker 100.

[0074] 5 again, the receiving unit 151 receives a calibration pattern selected by the user on the selection screen G2. The receiving unit 151 instructs the laser head 10 to perform a forming process using the received calibration pattern. In response to the instruction, the laser head 10 forms the calibration pattern received by the receiving unit 151 on the surface of the workpiece for calibration as the forming process. In detail, the laser head 10 scans the laser light to print four vertices on the surface of the workpiece for calibration.

[0075] Next, the camera 500 captures an image of the calibration workpiece on which the calibration pattern is formed. The camera 500 transmits the image of the calibration workpiece to the image processing device 600.

[0076] The second identification unit 650 acquires an image of the workpiece for calibration from the camera 500. The second identification unit 650 identifies the coordinates of the calibration pattern in the coordinate system of the camera 500 from the image of the workpiece for calibration acquired from the camera 500. The second identification unit 650 transmits the identified coordinates to the laser marker 100.

[0077] The second acquisition unit 152 acquires the coordinates of the calibration pattern in the coordinate system of the camera 500. As an example, the second acquisition unit 152 receives the coordinates of the calibration pattern in the coordinate system of the camera 500 from the image processing device 600. The calculation unit 153 calculates parameters for converting the coordinates in the coordinate system of the camera 500 into coordinates in the coordinate system of the laser marker 100, based on the coordinates of the calibration pattern in the coordinate system of the camera 500 acquired from the image processing device 600 and the coordinates of the calibration pattern in the coordinate system of the laser marker 100. The calculation unit 153 stores the calculated parameters in the storage device 24. This completes the calibration process.

[0078] The second identifying unit 650 may store the coordinates of the calibration pattern in the coordinate system of the camera 500 in the memory card 29A (see FIGS. 2 and 4). In this case, the second acquiring unit 152 acquires the coordinates of the calibration pattern in the coordinate system of the camera 500 from the memory card 29A.

[0079] Furthermore, the second identification unit 650 may display the coordinates of the calibration pattern in the coordinate system of the camera 500 on the display device 702. In this case, the user inputs the coordinates of the calibration pattern in the coordinate system of the camera 500 displayed on the display device 702 into the laser marker 100 using the input device 301. Then, the second acquisition unit 152 accepts the input coordinates of the calibration pattern in the coordinate system of the camera 500.

[0080] Here, a method for calculating parameters by the calculation unit 153 will be described with reference to Fig. 9. Fig. 9 is a diagram for explaining a method for calculating parameters by the calculation unit.

[0081] Image I2 shown in Fig. 9 is an example of an image of a calibration workpiece captured by camera 500. Points P1, P2, P3, and P4 shown in Fig. 9 are examples of calibration patterns formed on the calibration workpiece in the calibration process.

[0082] The parameters calculated by the calculation unit 153 include a first parameter for converting coordinates in the coordinate system of the camera 500 into normal coordinates, and a second parameter for converting the normal coordinates into coordinates in the coordinate system of the laser marker 100. The normal coordinates are the coordinates after projective transformation of the pixels in which points P1, P2, P3, and P4 are captured. In this embodiment, (1,0), (0,0), (0,1), and (1,1) are assigned as the normal coordinates of points P1, P2, P3, and P4, respectively.

[0083] The coordinates (x, y) in the coordinate system of the camera 500 of the pixel at which any point P appears in image I2 can be converted into coordinates (x'', y'') in the coordinate system of the laser marker 100 by using the following equations 1, 2, 3, and 4. Equations 1 and 2 are equations for converting the coordinates (x, y) in the coordinate system of the camera 500 of the pixel at which any point P appears in image I2 into normal coordinates (x', y'). Equations 3 and 4 are equations for converting the normal coordinates (x', y') of any point P into coordinates (x'', y'') in the coordinate system of the laser marker 100. "a" to "h" in equations 1 and 2 represent variables. Furthermore, "L" in equations 3 and 4 represents the length (in millimeters) of one side of a square whose vertices are points P1, P2, P3, and P4.

[0084] x'=(ax+by+c) / (gx+hy+1)...(Formula 1) y'=(dx+ey+f) / (gx+hy+1)...(Formula 2) x''=x'LL / 2...(Formula 3) y''=y'LL / 2 (Equation 4)

[0085] 9, the coordinates of the pixel in image I2 at which point P1 appears in the coordinate system of camera 500 are (x1, y1), the coordinates of the pixel in image I2 at which point P2 appears in the coordinate system of camera 500 are (x2, y2), the coordinates of the pixel in image I2 at which point P3 appears in the coordinate system of camera 500 are (x3, y3), and the coordinates of the pixel in image I2 at which point P4 appears in the coordinate system of camera 500 are (x4, y4). The coordinates of the pixels at which points P1, P2, P3, and P4 appear in the coordinate system of camera 500 are acquired by second acquisition unit 152 (see FIG. 5) as the coordinates of the calibration pattern in the coordinate system of camera 500.

[0086] Furthermore, normalized coordinates of each of points P1, P2, P3, and P4 are assigned by calculation unit 153. Since points P1, P2, P3, and P4 are the four vertices of a square, in the example shown in Fig. 9, calculation unit 153 assigns (1, 0) as the normalized coordinates of the pixel containing point P1, assigns (0, 0) as the normalized coordinates of the pixel containing point P2, assigns (0, 1) as the normalized coordinates of the pixel containing point P3, and assigns (1, 1) as the normalized coordinates of the pixel containing point P4.

[0087] The calculation unit 153 calculates the values ​​of variables a to h in Equations 1 and 2 by solving Equations 1 and 2 for points P1, P2, P3, and P4.

[0088] In detail, the calculation unit 153 obtains equations 1 and 2 for point P1 by substituting the x-coordinate "x1" in the coordinate system of the camera 500 of the pixel in image I2 at which point P1 is captured, the y-coordinate "y1" in the coordinate system of the camera 500 of the pixel in image I2 at which point P1 is captured, the normal x-coordinate "1" of the pixel in which point P1 is captured, and the normal y-coordinate "0" of the pixel in which point P1 is captured into "x", "y", "x'", and "y'" in equations 1 and 2, respectively.

[0089] In addition, the calculation unit 153 obtains equations 1 and 2 for point P2 by substituting the x-coordinate "x2" in the coordinate system of the camera 500 of the pixel in image I2 at which point P2 is captured, the y-coordinate "y2" in the coordinate system of the camera 500 of the pixel in image I2 at which point P2 is captured, the normal x-coordinate "0" of the pixel in which point P2 is captured, and the normal y-coordinate "0" of the pixel in which point P2 is captured into "x", "y", "x'", and "y'" in equations 1 and 2, respectively.

[0090] In addition, the calculation unit 153 obtains equations 1 and 2 for point P3 by substituting the x-coordinate "x3" in the coordinate system of camera 500 of the pixel at which point P3 appears in image I2, the y-coordinate "y3" in the coordinate system of camera 500 of the pixel at which point P3 appears in image I2, the normal x-coordinate "0" of the pixel at which point P3 appears, and the normal y-coordinate "1" of the pixel at which point P3 appears, into "x", "y", "x'", and "y'" in equations 1 and 2, respectively.

[0091] In addition, the calculation unit 153 obtains equations 1 and 2 for point P4 by substituting the x-coordinate "x4" in the coordinate system of camera 500 of the pixel in image I2 at which point P4 is captured, the y-coordinate "y4" in the coordinate system of camera 500 of the pixel in image I2 at which point P4 is captured, the normal coordinate "1" of the x-coordinate of the pixel in image I2 at which point P4 is captured, and the normal coordinate "1" of the y-coordinate of the pixel in image I2 at which point P4 is captured into "x", "y", "x'", and "y'" in equations 1 and 2, respectively.

[0092] The calculation unit 153 calculates the values ​​of the eight variables a to h from the acquired eight equations. The calculation unit 153 can calculate the values ​​of the variables a to h using the equations described in, for example, “Derivation Formula of Projective Transformation,” [online], [searched March 11, 2022], Internet (URL: https: / / fermiumbay13.hatenablog.com / entry / 2018 / 08 / 14 / 032643)” (Non-Patent Document 1).

[0093] The calculation unit 153 stores the calculated values ​​of variables a to h and the value of "L" in equations 3 and 4 in the storage device 24 as parameters for converting coordinates in the coordinate system of the camera 500 into coordinates in the coordinate system of the laser marker 100. The value of "L" in equations 3 and 4 is the length of one side of the square of the calibration pattern accepted by the acceptance unit 151 (see FIG. 5). The values ​​of variables a to h are an example of the above-mentioned first parameter, and the value of "L" in equations 3 and 4 is an example of the above-mentioned second parameter.

[0094] (e2: Processing pattern registration process) The processing pattern registration process will be described with reference to Figures 5 and 10. The processing pattern registration process is a process for registering pattern information for main processing.

[0095] With reference to FIG. 5, in the processing pattern registration process, first, the user uses the setting device 300 to input pattern information for main processing into the laser marker 100. Here, with reference to FIG. 10, a method for inputting pattern information for main processing by the user will be described. FIG. 10 is a diagram showing an example of an editor screen. The editor screen G1 is displayed on the display device 302 of the setting device 300. The user creates a print pattern Q for main processing on the editor screen G1. The print pattern Q for main processing is an example of pattern information for main processing that is input into the laser marker 100. After creating the print pattern Q, the user presses the register button on the editor screen G1. As a result, the pattern information for main processing is input into the laser marker 100.

[0096] 5 again, the first registration unit 150 receives the input pattern information for main processing, and stores the pattern information for main processing in the storage device 24. This completes the processing pattern registration process.

[0097] (e3: Teaching process) The teaching process will be described with reference to Figures 5 and 11. The teaching process is a process for registering teaching information. The teaching information is information that indicates the printing start position during actual processing.

[0098] In the teaching process, first, the camera 500 captures an image of the workpiece for teaching. The workpiece for teaching is a workpiece having the same shape as the workpiece for actual machining, or the workpiece for actual machining itself in a state where actual machining has not yet been performed. The workpiece for teaching is positioned so that its distance from the laser head 10 is the same as that of the workpiece for actual machining. The camera 500 transmits an image of the workpiece for teaching to the image processing device 600.

[0099] The second registration unit 651 acquires an image of the workpiece for teaching from the camera 500. The second registration unit 651 instructs the display device 702 of the setting device 700 to display the image of the workpiece for teaching acquired from the camera 500. As a result, the image of the workpiece for teaching captured by the camera 500 is displayed on the display device 702.

[0100] Here, a method for the user to input the print start position will be described with reference to Fig. 11. Fig. 11 is a diagram showing an example of an input screen for inputting the print start position. Input screen G3 is displayed on display device 702 of setting device 700. An image I1 of a workpiece for teaching, captured by camera 500, is displayed on input screen G3.

[0101] While viewing the image I1 of the workpiece for teaching, the user specifies where on the workpiece for actual processing the printing pattern Q for actual processing is to be printed. As an example, the user specifies the print start position R on the image I1 of the workpiece for teaching displayed on the display device 702. This inputs the print start position into the image processing device 600.

[0102] When the user specifies the print start position R, the second registration unit 651 (see FIG. 5) identifies the relative coordinates between the characteristic part E of the workpiece for teaching, which is shown in the image I1 of the workpiece for teaching, and the specified print start position R, in the coordinate system of the camera 500. The characteristic part E of the workpiece is, for example, an edge part of the workpiece. The relative coordinates between the characteristic part E of the workpiece and the specified print start position R, and the image of the characteristic part E of the workpiece, are information that indicates the print start position for main processing, i.e., an example of teaching information.

[0103] 5 again, the second registration unit 651 stores the relative coordinates between the workpiece characteristic portion E and the specified print start position R, and an image of the workpiece characteristic portion E, as teaching information in the storage device 604. This completes the teaching process.

[0104] (e4: Processing of the main process) The main processing will be described with reference to Fig. 5. The main processing is a process for printing a print pattern for main processing on a workpiece for main processing.

[0105] In the main machining process, first, the camera 500 captures an image of the workpiece for main machining. The camera 500 transmits the image of the workpiece for main machining to the image processing device 600.

[0106] The first identification unit 652 acquires an image of the workpiece for main processing from the camera 500. The first identification unit 652 recognizes the installation position of the workpiece for main processing from the image of the workpiece for main processing acquired from the camera 500, and identifies the printing position in the coordinate system of the camera 500 based on the installation position. In detail, first, the first identification unit 652 identifies the coordinates of characteristic portion E in the coordinate system of the camera 500 based on the image of the workpiece for main processing acquired from the camera 500 and the image of characteristic portion E stored in the storage device 604 during the teaching process. This recognizes the installation position of the workpiece for main processing. Next, the first identification unit 652 identifies the printing start position for main processing in the coordinate system of the camera 500 based on the identified coordinates of characteristic portion E and the relative coordinates stored in the storage device 604 during the teaching process. The printing start position is an example of a "print position." The first specifying unit 652 transmits the specified coordinates, that is, the coordinates in the coordinate system of the camera 500 of the printing start position during main processing, to the laser marker 100.

[0107] The first acquisition unit 154 acquires the coordinates in the coordinate system of the camera 500 of the printing start position during the main processing from the image processing device 600. The conversion unit 155 converts the coordinates of the printing start position during the main processing from the coordinate system of the camera 500 to the coordinate system of the laser marker 100 using parameters. Specifically, the conversion unit 155 substitutes the coordinates in the coordinate system of the camera 500 of the printing start position acquired from the image processing device 600 and the parameters stored in the storage device 24 in the calibration process into the above-mentioned formulas 1, 2, 3, and 4, and solves the above-mentioned formulas 1, 2, 3, and 4 to identify the coordinates in the coordinate system of the laser marker 100 of the printing start position during the main processing. The conversion unit 155 instructs the laser head 10 to print the printing pattern for the main processing on the surface of the workpiece for the main processing based on the pattern information for the main processing stored in the storage device 24 in the processing pattern registration process and the coordinates of the printing start position identified in the coordinate system of the laser marker 100. The laser head 10 receives the instruction and scans the laser light based on the pattern information for the main processing and the coordinates of the printing start position identified in the coordinate system of the laser marker 100 to perform printing on the surface of the workpiece for the main processing. Thereby, the processing of the main processing is completed.

[0108] In the laser processing system 1, the workpiece is arranged in each of the calibration process, the teaching process, and the main processing so that the distance of the calibration workpiece from the laser head 10, the distance of the teaching workpiece from the laser head 10, and the distance of the workpiece for the main processing from the laser head 10 are equal to each other.

[0109] <F. Procedure of printing process> (f1: Procedure of calibration process) 12 is a flowchart showing an example of calibration processing executed by the laser processing system in this embodiment. Steps S1, S2, S6, and S7 are realized by processor 21 of laser marker 100 executing program 241. Steps S3 to S5 are realized by processor 601 of image processing device 600 executing program 641.

[0110] In step S1, the processor 21 receives a calibration pattern to be formed on a calibration workpiece.

[0111] In step S2, the processor 21 instructs the laser head 10 to form the received calibration pattern on the calibration workpiece. As a result, the calibration pattern is formed on the calibration workpiece. Thereafter, the camera 500 captures an image of the calibration workpiece.

[0112] In step S3, the processor 601 receives an image of the workpiece for calibration from the camera 500.

[0113] In step S4, the processor 601 identifies the coordinates of the calibration pattern in the coordinate system of the camera 500.

[0114] In step S5, the processor 601 transmits the coordinates of the calibration pattern in the coordinate system of the camera 500 to the laser marker 100.

[0115] In step S6, the processor 21 receives the coordinates of the calibration pattern in the coordinate system of the camera 500 from the image processing device 600.

[0116] In step S7, based on the coordinates of the received calibration pattern in the coordinate system of the camera 500 and the coordinates of the calibration pattern in the coordinate system of the laser marker 100, the processor 21 calculates parameters for converting the coordinates in the coordinate system of the camera 500 to coordinates in the coordinate system of the laser marker 100, and stores the parameters in the memory device 24.

[0117] After step S7, the calibration process ends.

[0118] (f2: Processing procedure for this process) 13 is a flowchart showing an example of the main processing executed by the laser processing system in this embodiment. Steps S21 to S23 are realized by the processor 601 of the image processing device 600 executing the program 641. Steps S24 to S26 are realized by the processor 21 of the laser marker 100 executing the program 241.

[0119] In step S21, the processor 601 receives an image of the workpiece for main machining from the camera 500.

[0120] In step S22, the processor 601 recognizes the installation position of the workpiece for main processing from the received image of the workpiece for main processing, and specifies the printing position based on the installation position in the coordinate system of the camera 500. The printing position includes at least the printing start position.

[0121] In step S23, the processor 601 transmits the coordinates of the printing position in the coordinate system of the camera 500 to the laser marker 100.

[0122] In step S24, the processor 21 receives the coordinates of the printing position in the coordinate system of the camera 500 from the image processing device 600.

[0123] In step S25, the processor 21 uses the parameters calculated in the calibration process to convert the coordinates of the printing position from the coordinate system of the camera 500 to the coordinate system of the laser marker 100.

[0124] In step S26, the processor 21 instructs the laser head 10 to perform printing on the workpiece for main processing based on the coordinates in the coordinate system of the laser marker 100 after conversion.

[0125] After step S26, the processing of the main processing ends.

[0126] <G. Advantages> In this way, the laser marker 100 calculates parameters for converting the coordinates in the coordinate system of the camera 500 to the coordinates in the coordinate system of the laser marker 100 by the calibration process. Also, the image processing device 600 corrects the printing position based on the installation position of the workpiece for main processing and specifies the coordinates in the coordinate system of the camera 500 of the corrected printing position. Further, the laser marker 100 acquires the coordinates in the coordinate system of the camera 500 of the corrected printing position and uses the parameters calculated by the calibration process to convert the coordinates of the corrected printing position from the coordinate system of the camera 500 to the coordinate system of the laser marker 100. Therefore, according to the laser processing system 1, it is not necessary for the user to align the coordinate systems of the laser marker and the camera.

[0127] Furthermore, the optical axis of the laser light and the optical axis of the lens 501 included in the camera 500 are not coaxial. Therefore, since a half mirror for making the optical axis of the laser light and the optical axis of the lens 501 included in the camera 500 coaxial is not required, the position adjustment between the half mirror and the camera 500 is also not required. Thus, according to the laser processing system 1, since it is not necessary to incorporate the camera 500 into the laser marker 100, the camera 500 can be easily removed.

[0128] Furthermore, the printing area that can be scanned with laser light by the laser head 10 is included in the imaging area of ​​the camera 500. Therefore, there is no need to change the relative position of the camera 500 with respect to the workpiece between the timing of laser printing and the timing of imaging. Therefore, the laser processing system 1 does not require a large-scale device with a moving means, and it is possible to prevent a decrease in work efficiency.

[0129] Therefore, the laser processing system 1 can provide a laser processing system that is easier for the user to use, as it does not require the user to align the coordinate system of the laser marker with the coordinate system of the camera.

[0130] In the above, the four vertices of a square are used as the calibration pattern, but this is not limiting. The calibration pattern may indicate four or more characteristic points. Therefore, the calibration pattern may indicate four vertices of a rectangle, four vertices of a trapezoid, four vertices of a parallelogram, or five vertices of a pentagon. That is, the calibration pattern may indicate each vertex of an n-gon (n is 4 or more). Furthermore, the laser head 10 may print four or more characteristic points as the calibration pattern, or may print a polygon with four or more characteristic points as vertices. Each of the four or more characteristic points may be a single point or a predetermined mark (for example, a cross mark).

[0131] Furthermore, when the calibration pattern indicates five or more feature points, the first parameter can be calculated by applying the least squares method or the like.

[0132] Furthermore, the second identification unit 650 may output an error if the calibration pattern is not properly captured in the image of the calibration workpiece acquired by the camera 500. A case in which the calibration pattern is not properly captured in the image of the calibration workpiece acquired by the camera 500 is, for example, a case in which four or more feature points are captured close to each other or in a state that is close to a straight line in the image of the calibration workpiece acquired by the camera 500. If the calibration pattern is not properly captured in the image of the calibration workpiece acquired by the camera 500, the calculation unit 153 cannot calculate appropriate parameters for converting coordinates in the coordinate system of the camera 500 into coordinates in the coordinate system of the laser marker 100.

[0133] Therefore, the second identification unit 650 may divide the image of the calibration work captured by the camera 500 into two parts, vertically and horizontally, and thereby divide the image of the calibration work into four partial images. Then, the second identification unit 650 may output an error if at least one of the four partial images does not include any of the four or more feature points. As one example, the second identification unit 650 instructs the display device 702 to display an error. As another example, if the setting device 700 includes a speaker, the second identification unit 650 instructs the speaker to output an error sound. As another example, if the setting device 700 includes an indicator, the second identification unit 650 instructs the indicator to light up in a color (e.g., red) that indicates an error.

[0134] This allows the user to know that the image of the workpiece for calibration captured by the camera 500 is not suitable for calculating parameters.

[0135] [Variation 1] The configuration of the laser processing system in Modification 1 is similar to the configuration of the laser processing system 1 in the above-described embodiment, and therefore the same components are denoted by the same reference numerals and their description will not be repeated. In the above-described embodiment, the laser head 10, as a forming process, irradiates the surface of the calibration workpiece with laser light to print four or more feature points on the surface of the calibration workpiece, the coordinates of which are predetermined in the coordinate system of the laser marker 100. In contrast, the laser head 10 in Modification 1, as a forming process, irradiates the surface of the calibration workpiece with visible light to form, on the surface of the calibration workpiece, a projected image indicating four or more feature points, the coordinates of which are predetermined in the coordinate system of the laser marker 100.

[0136] That is, the four or more feature points in Modification 1 are projected images formed by scanning visible light. The visible light is output from the LD 12 for guide light. The laser head 10 forms the four or more feature points one by one in sequence as a forming process. When the camera 500 captures an image of the calibration workpiece, the exposure time of the camera 500 is set to be equal to or longer than the time from when one of the four or more feature points is formed to when all of the remaining feature points are formed.

[0137] Note that, also in Modification 1, the second identifying unit 650 may output an error if the calibration pattern is not properly captured in the image of the calibration work captured by the camera 500. In particular, the second identifying unit 650 may divide the image of the calibration work captured by the camera 500 into four partial images by dividing the image of the calibration work into two parts, vertically and horizontally. Then, the second identifying unit 650 may output an error if at least one of the four partial images does not include any of the four or more feature points.

[0138] [Variation 2] The configuration of the laser processing system in Modification 2 is similar to the configuration of the laser processing system 1 in the above embodiment, and therefore the same components are denoted by the same reference numerals and their description will not be repeated. In the above embodiment, the laser head 10, as a forming process, irradiates the surface of the calibration workpiece with laser light to print four or more feature points on the surface of the calibration workpiece, the coordinates of which are predetermined in the coordinate system of the laser marker 100. In contrast, the laser head 10 in Modification 2, as in Modification 1, as a forming process, irradiates the surface of the calibration workpiece with visible light to form a projection image on the surface of the calibration workpiece, the projection image indicating four or more feature points, the coordinates of which are predetermined in the coordinate system of the laser marker 100.

[0139] That is, the four or more feature points in Modification 2 are projected images formed by scanning visible light. The visible light is output from the LD 12 for guide light. The laser head 10 forms the four or more feature points one by one in sequence as a formation process. The difference between Modification 1 and Modification 2 is how the camera 500 captures an image of the calibration workpiece. In detail, the camera 500 captures an image of the calibration workpiece every time one of the four or more feature points is formed, thereby acquiring images of the calibration workpiece for the number of feature points.

[0140] In Modification 2, the second identification unit 650 may also output an error if the calibration pattern is not properly captured in the images of the workpiece for calibration, i.e., the number of images corresponding to the number of feature points. In particular, the second identification unit 650 may output an error if none of four or more feature points are included in the same region of the images corresponding to the number of feature points. The same region is at least one of four regions obtained by dividing each of the images corresponding to the number of feature points into two, vertically and horizontally.

[0141] [Variation 3] In the above embodiment, the setting device for the laser marker 100 and the setting device for the image processing device 600 are provided separately. In contrast to this, in Modification 3, one setting device is shared by the laser marker 100 and the image processing device 600. The configuration of the laser processing system in Modification 3 is the same as that of the above embodiment except for the fact that one setting device is shared by the laser marker 100 and the image processing device 600, and therefore the same components are given the same reference numerals and their description will not be repeated.

[0142] [Variation 4] Since the configuration of the laser processing system in Modification 4 is similar to the configuration of the laser processing system 1 in the above embodiment, the same components are denoted by the same reference numerals, and the description thereof will not be repeated. In the above embodiment, the calibration workpiece was positioned so that its distance from the laser head 10 was the same as that of the workpiece for actual processing. In contrast, in Modification 4, the calibration workpiece is positioned so that its distance from the laser head 10 is different from that of the workpiece for actual processing. That is, in Modification 4, the distance of the calibration workpiece from the laser head 10 is different from the distance of the workpiece for actual processing from the laser head 10. In Modification 4, the second identifying unit 650 corrects the coordinates of the calibration pattern in the coordinate system of the camera 500 according to the distance of the calibration workpiece from the laser head 10 and the distance of the workpiece for actual processing from the laser head 10.

[0143] [Other variations] Modification 1 and Modification 3 may be combined. Modification 1 and Modification 4 may be combined. Modification 1, Modification 3, and Modification 4 may be combined. Modification 2 and Modification 3 may be combined. Modification 2 and Modification 4 may be combined. Modification 2, Modification 3, and Modification 4 may be combined.

[0144] [Note] The above-described embodiment includes the following technical ideas.

[0145] [Configuration 1] A laser processing system (1), a laser marker (100) that uses laser light to print on the surface of a first workpiece, which is a printing target; A camera (500) that captures an image of the first workpiece; an image processing device (600) for processing images captured by the camera (500); The image processing device (600) includes a first identification unit (652) that recognizes the installation position of the first work from the image of the first work captured by the camera (500) and identifies the printing position in a first coordinate system of the camera (500) based on the installation position, The laser marker (100) a first acquisition unit (154) that acquires the coordinates of the printing position in the first coordinate system; a conversion unit (155) that converts the coordinates of the printing position from the first coordinate system to the second coordinate system using parameters for conversion from the first coordinate system to the second coordinate system of the laser marker (100); a laser head (10) that scans the laser light based on the coordinates in the second coordinate system after the transformation and performs the printing on the surface of the first workpiece, the laser head (10) further performs a forming process of forming a calibration pattern, the coordinates of which in the second coordinate system are predetermined, on a surface of a second workpiece for calibration; The camera (500) further captures an image of the second workpiece on which the pattern is formed, The image processing device (600) further includes a second identification unit (650) that identifies coordinates of the pattern in the first coordinate system from the image of the second work captured by the camera (500), The laser marker (100) a second acquisition unit (152) that acquires coordinates of the pattern in the first coordinate system; a calculation unit (153) that calculates the parameters based on coordinates of the pattern in the first coordinate system and coordinates of the pattern in the second coordinate system, The optical axis of the laser light and the optical axis of the lens (501) included in the camera (500) are not coaxial, A laser processing system, wherein a printing area that can be scanned with the laser light by the laser head (10) is included in an imaging area of ​​the camera (500).

[0146] [Configuration 2] 2. The laser processing system of claim 1, wherein the pattern exhibits four or more feature points.

[0147] [Configuration 3] 3. The laser processing system according to configuration 2, wherein the forming process includes scanning the laser light to print the four or more feature points on the surface of the second workpiece.

[0148] [Configuration 4] The laser head (10) further scans visible light, the four or more feature points are a projected image formed by scanning the visible light, the forming process includes forming the four or more feature points one by one in order; The laser processing system according to configuration 2, wherein the exposure time of the camera (500) is equal to or longer than the time from when one of the four or more feature points is formed to when the formation of all the remaining feature points is completed.

[0149] [Configuration 5] The second specific portion (650) is The image of the second work captured by the camera (500) is divided into two parts, vertically and horizontally, to divide the image into four partial images; 5. The laser processing system according to configuration 3 or 4, wherein an error is output when at least one of the four partial images does not include any of the four or more feature points.

[0150] [Configuration 6] The laser head (10) further scans visible light, the four or more feature points are a projected image formed by scanning the visible light, the forming process includes forming the four or more feature points one by one in order; The laser processing system according to configuration 2, wherein the camera (500) captures an image of the second workpiece each time one of the four or more feature points is formed, thereby acquiring images of the second workpiece as many times as the number of feature points.

[0151] [Configuration 7] The second identification unit (650) outputs an error when none of the four or more feature points is included in the same region of the image corresponding to the number of feature points, The laser processing system according to configuration 6, wherein the same region is at least one of four regions obtained by dividing each of the images corresponding to the number of feature points into two regions vertically and horizontally.

[0152] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0153] 1 laser processing system, 2 processing surface, 10 laser head, 11 laser oscillator, 13 dichroic mirror, 14 3D optical system, 15,505 mirror, 16 galvanometer mirror, 17 exit port, 20 control device, 21,601 processor, 22,602 RAM, 23,603 ROM, 24,604 storage device, 25 laser head interface, 26,606 input interface, 27,607 display interface, 28,608 communication interface, 29,609 memory card interface, 29A memory card, 100 laser marker, 150 first registration unit, 151 reception unit, 152 second acquisition unit, 153 calculation unit, 154 first acquisition unit, 155 conversion unit, 241,641 program, 242 pattern information for calibration, 299,6999 Internal bus, 300,700 setting device, 301,701 input device, 302,702 display device, 500 camera, 501 lens, 525 observation optical system, 600 image processing device, 605 camera interface, 650 second identification unit, 651 second registration unit, 652 first identification unit, E characteristic part, G1 editor screen, G2 selection screen, G3 input screen, I1,I2 images, L length, La laser light, OP1 optical axis, OP2 camera optical axis, P1,P2,P3,P4 points, Q printing pattern, R printing start position, ST stage, W work.

Claims

1. 1. A laser processing system, comprising: a laser marker that uses laser light to print on a surface of a first workpiece that is a printing target; a camera that captures an image of the first workpiece; an image processing device that processes images captured by the camera, the image processing device includes a first identification unit that recognizes an installation position of the first work from an image of the first work captured by the camera, and identifies a printing position in a first coordinate system of the camera based on the installation position; The laser marker includes: a first acquisition unit that acquires coordinates of the printing position in the first coordinate system; a conversion unit that converts the coordinates of the printing position from the first coordinate system to the second coordinate system using parameters for conversion from the first coordinate system to the second coordinate system of the laser marker; a laser head that scans the laser light based on the coordinates in the second coordinate system after the transformation and performs the printing on the surface of the first workpiece, The laser head further performs a forming process of forming a calibration pattern, the coordinates of which in the second coordinate system are predetermined, on a surface of a second workpiece for calibration; The camera further captures an image of the second workpiece on which the pattern is formed, The image processing device further includes a second identification unit that identifies coordinates of the pattern in the first coordinate system from the image of the second workpiece captured by the camera, The laser marker includes: a second acquisition unit that acquires coordinates of the pattern in the first coordinate system; a calculation unit that calculates the parameters based on coordinates of the pattern in the first coordinate system and coordinates of the pattern in the second coordinate system, The optical axis of the laser light and the optical axis of the lens included in the camera are not coaxial, a printing area that can be scanned with the laser light by the laser head is included in an imaging area of ​​the camera.

2. The laser processing system of claim 1 , wherein the pattern exhibits four or more feature points.

3. The laser processing system according to claim 2 , wherein the forming process includes scanning the laser light to print the four or more feature points on the surface of the second workpiece.

4. The laser head further scans visible light; the four or more feature points are a projected image formed by scanning the visible light, the forming process includes forming the four or more feature points one by one in order; 3. The laser processing system according to claim 2, wherein an exposure time of the camera is equal to or longer than a time from when one of the four or more feature points is formed to when all of the remaining feature points are formed.

5. The second specifying unit is The image of the second work captured by the camera is divided into two parts, vertically and horizontally, to divide the image into four partial images; 5. The laser processing system according to claim 3, wherein an error is output when at least one of the four partial images does not include any of the four or more feature points.

6. The laser head further scans visible light; the four or more feature points are a projected image formed by scanning the visible light, the forming process includes forming the four or more feature points one by one in order; 3. The laser processing system according to claim 2, wherein the camera captures an image of the second workpiece each time one of the four or more feature points is formed, thereby acquiring images of the second workpiece as many times as the number of feature points.

7. the second identification unit outputs an error when none of the four or more feature points is included in the same region of the image corresponding to the number of feature points; 7. The laser processing system according to claim 6, wherein the same region is at least one of four regions obtained by dividing each of the images corresponding to the number of feature points into two regions, vertically and horizontally.

Images