Method for calibrating position of laser head, and processing device

Abstract

Disclosed in the present application are a method for calibrating the position of a laser head, and a processing device. A laser head is disposed on the processing device, and the processing device comprises a guide member, a camera and a processing platform, wherein the processing platform is provided with a consumable, which is recoverable after laser ablation / irradiation, at a preset position; and the camera and the laser head are slidably connected to the guide member. The method comprises: controlling a laser head to move to a position above a preset position on a processing platform, or controlling the processing platform to move so as to enable the laser head to be positioned above the preset position on the processing platform; controlling the laser head to emit a laser beam towards a recoverable consumable, so as to obtain a marking pattern on the recoverable consumable; controlling a camera to move, according to a target movement amount, to the vicinity of the preset position, and capturing, by means of the camera, an image of the recoverable consumable including the marking pattern; and on the basis of the image and the target movement amount, obtaining position information of the laser head. A recoverable consumable is used during the calibration of the position of a laser head, such that the calibration process can be repeatedly performed without the loss of consumables, thereby reducing production costs.

Description

Methods and processing equipment for calibrating laser head position

[0001] This application claims priority to Chinese Patent Application No. 2025103339167, filed on March 20, 2025, entitled "Method and Processing Apparatus for Calibrating Laser Head Position", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of 3D printing technology, and in particular to a method and processing equipment for calibrating the position of a laser head. Background Technology

[0003] In laser-based hand-eye coordination tasks (such as laser engraving and laser cutting), the calibration of the positional relationship between the laser and the camera has a crucial impact on the task. Traditional calibration processes often require the use of materials, resulting in significant material waste. Summary of the Invention

[0004] This application provides a method and processing equipment for calibrating the position of a laser head that can reduce material loss during the calibration process.

[0005] In a first aspect, this application provides a method for calibrating the position of a laser head, wherein the laser head is disposed on a processing device, the processing device includes a guide, a camera, and a processing platform; wherein the processing platform is provided with a consumable that can be recovered after laser ablation / illumination at a preset position; the camera and the laser head are slidably connected to the guide;

[0006] The methods include:

[0007] Control the laser head to move above a preset position on the processing platform, or control the processing platform to move so that the laser head is above a preset position on the processing platform;

[0008] The laser head is controlled to emit a laser beam toward the recoverable consumable to obtain a marking pattern on the recoverable consumable;

[0009] Control the camera to move around the preset position according to the target movement amount, and take an image of the recoverable consumable containing the marked pattern through the camera;

[0010] The position information of the laser head is obtained based on the image and the target's movement.

[0011] In some feasible implementations, the processing equipment also includes a 3D printing head connected to the laser head; the 3D printing head is slidably connected to a guide, and a camera is fixedly mounted on the 3D printing head;

[0012] Controlling the camera to move around a preset position according to the target's movement includes:

[0013] Control the 3D printing head to move around the preset position according to the target movement amount.

[0014] In some feasible implementations, before controlling the laser head to move above a preset position on the processing platform, or controlling the processing platform to move so that the laser head is above a preset position on the processing platform, the method further includes:

[0015] After detecting that the connection between the laser head and the 3D printing head has been lost, the laser head is controlled to reconnect to the 3D printing head.

[0016] In some feasible implementations, the recoverable consumables are thermal paper or photosensitive paper.

[0017] In some feasible implementations, reusable consumables are attached to the surface of the processing platform facing the laser head.

[0018] In some feasible implementations, the processing platform includes a processing area and a non-processing area, with reusable consumables pasted in the non-processing area and the processing area used to place the product to be processed.

[0019] In some feasible implementations, thermal insulation material is installed between the recoverable consumables and the processing platform.

[0020] In some feasible implementations, the 3D printing head is controlled to move to the vicinity of a preset position within a preset time according to the target movement amount, and the preset time is determined based on the recovery time of the recoverable consumable.

[0021] Among some feasible implementation methods, the approach also includes:

[0022] Based on the position information of the laser head, the target movement is updated, and the camera is controlled to move around the preset position according to the updated target movement. The camera then captures a new image of the consumable containing the marked pattern.

[0023] Based on the updated target movement and the new image, the new position information of the laser head is obtained.

[0024] In some feasible implementations, an image containing the marked pattern on the recoverable consumable is captured by a camera, including:

[0025] Consumables can be recovered by taking photos with a camera;

[0026] Determine whether the photos taken by the camera contain marked patterns;

[0027] If the camera does not capture a marked pattern in the photo, change the camera's position until the photo contains the marked pattern.

[0028] In some feasible implementations, the 3D printing head includes a nozzle, and the target movement is the distance between the nozzle and the laser head.

[0029] In some feasible implementations, the position information of the laser head is the relative position between the laser head and the camera.

[0030] In a second aspect, this application also provides a processing apparatus, which includes a laser head, a processing platform, a 3D printing head connected to the laser head, and a processor, the processor being configured to perform the method described in the first aspect.

[0031] In this application, the processing platform is equipped with recoverable consumables that can be burned by a laser. By controlling the laser head to emit laser light towards the recoverable consumables, the color of the consumables is changed to form a marking pattern. Then, the 3D printing head is controlled to move, causing a camera to capture an image of the recoverable consumables with the marking pattern. The image is analyzed to calculate the relative position of the laser head and the camera, thus completing the calibration of the laser head position. Using recoverable consumables for laser head position calibration allows the calibration process to be repeated without wasting consumables, reducing production costs. Repeated calibration also improves calibration accuracy. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application 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 this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 is a schematic diagram of the structure of a processing equipment provided in this application;

[0034] Figure 2 is a schematic diagram of another processing equipment provided in this application;

[0035] Figure 3 is a flowchart of the laser head calibration process provided in this application;

[0036] Figure 4 is a schematic diagram of the laser head in its initial position during the laser head positioning process of the processing equipment provided in this application;

[0037] Figure 5 is a schematic diagram of the structure of the laser head forming a marking pattern on the recoverable consumable during the laser head position calibration process of the processing equipment provided in this application;

[0038] Figure 6 is a schematic diagram of the structure when the camera captures the marking pattern on the recoverable consumable during the laser head positioning process of the processing equipment provided in this application;

[0039] Figure 7 is a schematic diagram of the processing equipment provided in this application when processing zero point;

[0040] Figure 8 is a flowchart of another method for calibrating the laser head position provided in this application;

[0041] Figure 9 is a schematic diagram of the processing platform provided in this application;

[0042] Figure 10 is a flowchart of the process equipment provided in this application for repeatedly calibrating the laser head position;

[0043] Figure 11 is a flowchart of another method for repeatedly calibrating the laser head position of the processing equipment provided in this application;

[0044] Figure 12 is a flowchart of the camera capturing the marking pattern on the recoverable consumables provided in this application;

[0045] Figure 13 is a schematic diagram of a processing device including a cutting blade assembly provided in this application;

[0046] Figure 14 is a schematic diagram of another processing device including a cutting blade assembly provided in this application;

[0047] Figure 15 is a flowchart of the calibration cutter assembly position provided in this application;

[0048] Figure 16 is a flowchart of another method for calibrating the position of the cutter assembly provided in this application;

[0049] Figure 17 is a flowchart of the repeated calibration of the cutting tool assembly position of the processing equipment provided in this application.

[0050] Figure captions: 100-3D printing head, 101-camera, 200-laser head, 201-cutter assembly, 300-guide, 400-processing platform, 401-processing area, 402-non-processing area, 403-recoverable consumable, 404-thermal insulation material, 405-cutting consumable, 500-laser head in stand-alone state, 501-camera in stand-alone state, 503-cutter assembly in stand-alone state. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the application will now be described in further detail with reference to the accompanying drawings.

[0052] Please refer to Figure 1. The processing equipment provided in this application includes a processing platform 400 and a 3D printing head 100 connected to a laser head 200. The processing platform 400 has a recoverable consumable 403 that can be burned / illuminated by the laser at a preset position. The 3D printing head 100 is slidably connected to a guide 300, and a camera 101 is fixedly mounted on the 3D printing head 100. Please refer to Figure 2. In some feasible embodiments, the camera 501 may not be mounted on the 3D printing head. In this case, the laser head 500 and the camera 501 are independent, directly slidably connected to the guide, and can move along the guide above the processing platform. When the laser head is calibrated, it is controlled to emit a laser beam to the recoverable consumable at a preset position. After forming a marking pattern on the recoverable consumable, the marking pattern is photographed by the camera, and the relative position between the laser head and the camera is calculated based on the photographed image. The processing platform features laser-burned / illuminated consumables at preset locations that can recover their color. These consumables can be materials with recoverable color, such as thermal paper, photosensitive paper, or fluorescent materials with temperature-controlled properties. For thermal paper, under laser irradiation, the laser spot is heated to a temperature exceeding the temperature required for the thermal paper to change color, forming a marking pattern for easy camera capture. After the thermal paper returns to room temperature, its color returns to its normal temperature color. For photosensitive paper, under laser irradiation, the photosensitive paper absorbs laser energy and changes color to form a marking pattern, which is then easily captured by a camera. After the photosensitive paper has reacted completely, its color returns to its pre-laser burn color. For fluorescent materials with temperature-controlled properties, under laser irradiation, the laser spot is heated to a temperature exceeding the temperature required for the fluorescent material to change color, forming a marking pattern for easy camera capture. After the fluorescent material returns to room temperature, its color returns to its normal temperature color. Typically, hand-eye calibration tasks require acquiring the position of a laser spot within the camera's field of view. When the laser spot extends beyond the field of view, it needs to be allowed to burn / illuminate the object, leaving a trace. The camera is then moved to capture this burn / illuminate trace to calculate the relative position between the laser point and the camera. This burning / illumination is usually destructive, significantly reducing the lifespan of the product or calibration consumables. In this application, reusable consumables are used as calibration materials. Laser calibration does not cause physical damage or destruction to reusable consumables such as thermal paper, photosensitive paper, or fluorescent materials with temperature control characteristics. These reusable consumables can be calibrated and erased multiple times without damaging the material itself, enabling reuse after laser calibration. Furthermore, based on the reversible nature of these consumables, their position does not need to be changed before each calibration. The relatively fixed position of the reusable consumables reduces the number of times the processing equipment needs to be repositioned to the preset position, thereby reducing changes in the laser head's processing path due to changes in the preset position and improving calibration accuracy.

[0053] In some feasible embodiments, the processing equipment is a gantry structure (as shown in Figure 1), the guide 300 is supported by two Z-axis vertical columns, the guide 300 can move up and down along the Z-axis, the 3D printing head 100 can move along the guide 300 in the Y-axis direction, and the processing platform 400 moves in the X-axis direction. Optionally, the processing equipment can be a CoreXY structure, the guide 300 is supported by a frame on the processing equipment, the 3D printing head 100 can move along the guide 300 in the XY plane under the drive of a belt, and the processing platform 400 is connected to a Z-axis lead screw to achieve movement in the Z-axis direction. For example, the guide 300 can be at least one of a Y-axis linear guide, a carbon rod, and an X-axis optical axis. Optionally, the processing equipment can also be a cantilever structure, the guide 300 is supported by one Z-axis column, the guide 300 can move up and down along the Z-axis, the 3D printing head 100 can move along the guide 300 in the Y-axis direction, and move along the processing platform 400 in the X-axis direction.

[0054] Figure 1 should be understood as merely illustrative and does not limit the structural type of the processing equipment. In this application, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can refer to a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly defined. "Connection" includes detachable and non-detachable connections. For example, a fixed connection can include detachable fixed connections and non-detachable fixed connections, a rotating connection can include detachable rotating connections and non-detachable rotating connections, and a sliding connection can include detachable sliding connections and non-detachable sliding connections. A connection can also be a direct connection or an indirect connection through a component. For example, a detachable fixed connection refers to a connection where the positional relationship between at least two connected objects can be fixed in the installed state; similar examples include rotating connections, sliding connections, etc.

[0055] In some feasible embodiments, the processing platform serves as a platform for manufacturing and processing the 3D printing head and laser head. A guide member supports the 3D printing head and laser head. The 3D printing head is slidably connected to the guide member, and during processing, the 3D printing head can slide linearly along the Y-axis direction of the guide member's extension or slide in the XY plane via a belt. The guide member is movably connected to the frame of the processing platform 400, and the guide member can move relative to the frame of the processing platform along the X-axis direction, thereby causing the 3D printing head to follow the guide member's movement relative to the frame of the processing platform along the X-axis direction. The sliding of the 3D printing head on the guide member along the Y-axis direction, the movement of the 3D printing head following the guide member along the X-axis direction, and the up-and-down movement of the processing platform following the guide member along the Z-axis direction can be coordinated by a stepper motor and a transmission system. This allows the stepper motor to drive the 3D printing head 100 to move precisely in three-dimensional space via a lead screw, ensuring that the material processed by the 3D printing head is shaped according to the designed trajectory.

[0056] Please refer to Figure 3. When the camera is fixedly mounted on the 3D printing head, the method for calibrating the position of the laser head 200 provided in this application includes the following steps:

[0057] S101, control the laser head to move above a preset position on the processing platform, or control the processing platform to move so that the laser head is above a preset position on the processing platform.

[0058] Referring to Figure 4, in the initial state of the processing equipment, the 3D printing head 100, camera 101, and laser head 200 are turned on, and initialization operations are performed on the 3D printing head 100, camera 101, and laser head 200, for example, initializing the motion parameters of the 3D printing head 100, camera 101, and laser head 200. For example, the initial state can be the state before the processing equipment is started, reset, or before processing begins.

[0059] Please refer to Figure 5. After the initialization operation is completed, control the laser head 200 to move above the preset position of the processing platform 400. For example, the laser head 200 can be moved above the preset position of the processing platform 400 by controlling the 3D printing head 100, so that the laser head 200 can emit laser light onto the recoverable consumable 403 at the preset position. During the movement, the position of the laser head is monitored in real time to ensure that the laser head accurately reaches the preset position. The laser head 200 and the 3D printing head 100 have a mounting and mounted relationship. When the 3D printing head 100 moves within the processing platform 400, the laser head 200 moves with the 3D printing head 100.

[0060] Alternatively, after detecting a disconnection between the laser head 200 and the 3D printing head 100, and subsequently controlling the laser head 200 to reconnect to the 3D printing head 100, the laser head 200 can be moved to a preset position above the processing platform 400. Sensors are installed on either the laser head 200 or the 3D printing head 100 to monitor the connection status in real time. These sensors can be mechanical contact sensors, photoelectric sensors, or electromagnetic sensors, etc. The processing equipment also includes a controller that acquires the connection status information between the laser head 200 and the 3D printing head 100 in real time through the sensors. If a disconnection is detected, the controller records the disconnection event and initiates the reconnection process. When the sensor detects a disconnection between the laser head 200 and the 3D printing head 100, the control system immediately recognizes this status change. If the laser head 200 is performing a processing task, the control system immediately pauses the current operation to prevent processing errors or equipment damage caused by the disconnection. If the laser head 200 does not perform a processing task, the controller re-establishes the connection between the laser head 200 and the 3D printing head 100, or the operator manually connects the laser head 200 and the 3D printing head 100. After successful reconnection, the controller retrieves the disconnection event recorded by the controller, and the laser head 200 and the 3D printing head 100 continue to execute the instructions that were not completed before the connection was disconnected, that is, continue to control the movement of the 3D printing head to move the laser head 200 above the preset position on the processing platform 400. Alternatively, after successful reconnection, the laser head 200 and the 3D printing head 100 are initialized, restoring them to their initial state before the laser head 200 is controlled to move above the preset position on the processing platform 400. For example, the initial state can be the state before the processing equipment is started, reset, or before processing begins.

[0061] Optionally, the processing platform 400 of this application can move up and down along the Z-axis. When the laser head 200 moves above a preset position in the XY plane, if the distance between the laser head 200 and the preset position is greater than the focal length of the laser emitted by the laser head 200, the processing platform 400 is controlled to move along the Z-axis. In some feasible embodiments, the safe distance between the laser head 200 and the processing platform 400 can be detected by taking pictures and monitoring with a camera 101 connected to the 3D printing head 100. When the distance between the laser head 200 and the preset position is less than or equal to the focal length of the emitted laser and greater than or equal to the safe operating distance of the laser head 200, the processing platform 400 stops moving, thereby ensuring that the laser head 200 emits laser above the preset position and leaves a mark pattern formed by laser burning on the recoverable consumable 403.

[0062] In some feasible implementations, the processing platform 400 can move along the X-axis, the laser head 200 can move along the guide along the Y-axis, and the laser head 200 can also move along the guide along the Z-axis. This allows the laser head 200 to be controlled to move along the Z-axis to a preset height relative to the processing platform, which is related to the focal point of the laser head 200. Furthermore, the laser head 200 can be controlled to move along the Y-axis to above a preset position on the processing platform. Alternatively, the laser head 200 can be kept at a preset height, and the processing platform can be further controlled to move along the X-axis so that the laser head 200 is above the preset position on the processing platform.

[0063] A processing platform refers to a general-purpose workbench that can be used for various processing methods. For example, the processing platform of this application can be used for various processing methods such as 3D printing and laser processing. In 3D printing, the processing platform can be considered a printing platform, which may include a heated bed, and may further include at least one of a printing panel located on the heated bed and a heated bed support for supporting the heated bed, wherein the heated bed support can elastically support the heated bed or fixedly support the heated bed and the printing panel. In laser processing, the processing platform may include a laser pad on which the object to be laser-processed is placed. Optionally, if the processing equipment can perform both 3D printing and laser processing, the processing platform may include a laser pad and may further include a heated bed, and may even include a printing panel. When laser processing is required, the laser pad can be placed on the heated bed; when 3D printing is required, the laser pad is removed and the printing panel is placed on the heated bed. Alternatively, the processing platform can also be a printing platform, where the processing equipment can engrave / cut the printed part while printing, or engrave / cut the printed part on the printing platform after printing is complete. Therefore, reusable consumables can be placed in preset positions on the heated bed, printing panel, or pad.

[0064] S102 controls the laser head to emit laser light towards the recoverable consumable to obtain a marking pattern on the recoverable consumable.

[0065] In some feasible implementations, when the laser head 200 moves above a preset position, and the distance between the laser head 200 and the preset position is less than or equal to the focal length of the emitted laser and greater than or equal to the safe operating distance of the laser head 200, the laser head is ensured to be preheated and in a usable state. Parameters such as the laser power, frequency, and pulse width are set to ensure that the laser head 200 obtains a clear marking pattern on the recoverable consumable 403. The laser head 200 is controlled to emit a laser at a certain power toward the recoverable consumable 403 at the preset position.

[0066] If the recoverable consumable 403 at the preset position is thermal paper, the laser head 200 stops emitting laser light after heating the thermal paper to a color change. If the recoverable consumable 403 at the preset position is photosensitive paper, the laser head 200 stops emitting laser light after irradiating the thermal paper to a color change. If the recoverable consumable at the preset position is a fluorescent material with temperature-controlled properties, the laser head 200 stops emitting laser light after heating the fluorescent material to a temperature exceeding the temperature required for color change to form a marking pattern. This facilitates the camera 101 in capturing the marking pattern. After the fluorescent material returns to room temperature, its color returns to its normal color. The color change mark on the thermal paper, photosensitive paper, or fluorescent material with temperature-controlled properties obtained after the laser head 200 emits laser light is the marking pattern.

[0067] S103, control the 3D printing head to move to the vicinity of a preset position according to a target movement amount, and take an image of the recoverable filament containing the marked pattern by a camera. In some feasible implementations, the target movement amount is a preset value.

[0068] In some feasible implementations, please refer to Figure 6. After the laser head 200 obtains a marking pattern on the recoverable consumable 403, the 3D printing head 100 is controlled to move so as to drive the camera 101, which is fixedly connected to the 3D printing head 100, to move to the vicinity of a preset position according to the target movement amount. The target movement amount is determined according to the mechanical structure between the laser head 200, the 3D printing head 100 and the camera 101. For example, if the movement of the laser head 200, the 3D printing head 100 and the camera 101 is projected onto the XY plane, and the coordinates of the center point of the marking pattern formed by the laser head 200 on the recoverable consumable 403 are (x0, y0) and the coordinates of the camera 101 are (x1, y1), then the target movement amount is dx = |x0 - x1| and dy = |y0 - y1|. Controlling the 3D printing head 100 to move to a preset position according to the target movement ensures that the marking pattern on the recoverable filament 403 is within the field of view of the camera 101. At this point, confirm that the camera 101 is preheated and ready for use. Set parameters such as the camera 101's focal length, aperture, and exposure time to ensure the camera 101 captures a clear image. The camera 101 then photographs the recoverable filament 403, obtaining an image containing the marking pattern on the recoverable filament 403. In this image, the position of the marking pattern is not fixed; it can be in the center of the image or at the edge.

[0069] Optionally, in some feasible embodiments, the 3D printing head 100 includes a nozzle, and the target movement is the distance between the nozzle and the laser head 200. The distance between the nozzle and the laser head 200 can be a design value, determined during the design of the processing equipment; or it can be a measured value, obtained by measuring the distance between the nozzle and the laser head 200 after production is completed, etc.

[0070] In some feasible implementations, after a marking pattern is obtained on the reusable consumable 403, the 3D printing head 100 is controlled to move to the vicinity of a preset position within a preset time according to a target movement amount. The preset time is determined based on the recovery time of the reusable consumable 403, meaning that the marking pattern will remain on the reusable consumable for camera capture within this preset time. After the laser head 200 emits a laser at the preset position onto the reusable consumable 403, the reusable consumable 403 changes color, forming a marking pattern left after laser burning. Based on the reusability of the reusable consumable 403, the retention time of the marking pattern on the reusable consumable 403 is determined according to the recovery time of the reusable consumable 403, and the specific recovery time is determined according to the type of reusable consumable 403. After the laser head 200 emits a laser, it controls the 3D printing head 100 to move to the vicinity of a preset position within a preset time according to the target movement amount. The preset time is less than the recovery time of the recoverable consumable 403, ensuring that the 3D printing head 100 can drive the camera 101 to move around the preset position within the recovery time of the recoverable consumable 403, and capture an image containing the marked pattern. This avoids repeated photography and improves work accuracy and efficiency.

[0071] S104: Based on the image and the target's movement, obtain the laser head's position information.

[0072] For example, the captured images can be preprocessed, such as denoising, grayscale conversion, and binarization, to improve image quality. Image processing techniques are used to extract feature points of the marker pattern, and the position information of the laser head 200 is calculated based on the position of the marker pattern in the image and the amount of target movement.

[0073] In some feasible implementations, the position information of the laser head 200 can be the relative position of the laser head 200 and the camera 101. When the marker pattern is not located at the center of the image, the pixel coordinates of the marker pattern and the image center in the image can be obtained first. The offset between the marker pattern and the image center can be calculated by combining the intrinsic parameter matrix of the camera 101 and the focal length of the camera 101. The offset between the marker pattern and the image center and a preset target movement amount are then superimposed to obtain the relative positional relationship between the camera 101 and the laser head 200. Alternatively, the vector relationship between the marker pattern and the image center in the image can be obtained first, such as obtaining the direction and angle of the marker pattern relative to the image center, determining the angle between the marker pattern and the image center, and then converting the target movement amount into a corresponding target matrix. The vector relationship between the marker pattern and the image center and the target matrix are then combined to obtain the relative positional relationship between the camera 101 and the laser head 200. When the marker pattern is located at the center of the image, the preset target movement amount is the relative positional relationship between the camera 101 and the laser head 200.

[0074] Taking the acquisition of the coordinates of the marker pattern and the image center as an example, the marker pattern is first extracted from the image. For example, when the marker pattern is a marker pattern formed on recoverable consumable 403, blob extraction is performed on the image. Methods for extracting blobs or groups of blobs from an image include, but are not limited to, conventional blob detection (connected component extraction from binary images), corner detection (SIFT, ORB, etc. algorithms), Hough circle detection, convolutional neural network target detection, and other detection algorithms. Taking connected component extraction from a binary image as an example, the image is first converted into a binary image, and then the binary image is scanned twice to identify and mark all connected pixel regions in the image. The total number of pixels in the connected pixel regions and the number of pixels at the boundaries of the connected pixel regions are analyzed to extract the pixel coordinates (x, y) of the marker pattern in the image.

[0075] Then, the position of the marked pattern from the image center is calculated, and the target movement is superimposed to obtain the relative position of the laser head 200 and the camera 101. Assuming the pixel coordinates of the center of camera 101 are (cx, cy), the focal length of camera 101 is f, the target movement of laser head 200 and camera 101 in the X direction is dx, and the target movement of laser head 200 and camera 101 in the Y direction is dy, then the offset of laser head 200 and camera 101 in the X direction is dx_cam = (x - cx) * f, and the offset of laser head 200 and camera 101 in the Y direction is dy_cam = (y - cy) * f. The offsets dx_cam in the X direction and dy_cam in the Y direction represent the relative positional relationship between laser head 200 and camera 101.

[0076] Optionally, in some feasible implementations, the position information of the laser head 200 can be the relative position of the laser head 200 and the camera 101. A mapping relationship between the position of the marker pattern in the image, the amount of target movement, and the relative position between the laser head and the camera can be established in advance. By identifying the position of the marker pattern in the image and the amount of target movement, the relative position of the laser head 200 and the camera 101 can be determined.

[0077] Alternatively, in some feasible implementations, the position information of the laser head 200 can be the position of the laser head in the device coordinates of the processing equipment, that is, the position of the laser head relative to a certain reference point of the processing equipment. A mapping relationship between the position of the marker pattern in the image, the target movement amount, and the position of the laser head in the device coordinates of the processing equipment can be pre-established. By identifying the position of the marker pattern in the image and the target movement amount, the position of the laser head in the device coordinates of the processing equipment can be determined.

[0078] Alternatively, in some feasible implementations, the position information of the laser head 200 can be the relative position of the laser head 200 and the camera 101. The camera can be controlled to move to the vicinity of a preset position according to two different target movement amounts, such as movement amount A and movement amount B, and image A corresponding to movement amount A and image B corresponding to movement amount B and image B corresponding to movement amount B and image A and image B can be captured. The positional difference of the mark pattern in image A and image B is compared, and the positional difference of movement amount A and movement amount B is combined to calculate the position information of the laser head.

[0079] There are many ways to obtain the position information of the laser head based on the image and the target movement in this application, and it is not limited to the examples mentioned above.

[0080] Please refer to Figure 7. The processing equipment has a processing zero point. After the processing equipment determines the positions of the laser head and camera and completes the calibration of the laser head position, it controls the 3D printing head to move so that the camera and laser head move to the processing zero point, ready to process the product to be processed. Alternatively, after completing the calibration of the laser head position, the processing equipment can be directly controlled to process the product to be processed. Or, after completing the calibration of the laser head position, the laser head position can be stored.

[0081] In some feasible implementations, the processing equipment includes a 3D printing head and a camera, with the 3D printing head including a nozzle. When the camera is fixedly connected to the 3D printing head, the relative position between the nozzle and the camera is known, or in other words, the relative position between the nozzle and the camera is calibrated. Based on the relative positions between the camera and the laser head, and between the camera and the nozzle, the position between the laser head and the nozzle can be determined. Therefore, implementing this application allows the laser head to take over the work of the 3D printing head after it has finished working, i.e., laser engraving while printing, or laser engraving after printing is complete. Furthermore, in one feasible implementation of this application, the 3D printing head is slidably connected to a guide, and the laser head is connected to the 3D printing head, i.e., the laser head is indirectly slidably connected to the guide through the 3D printing head. When controlling the laser head for laser processing, since the position between the nozzle and the laser head has been calibrated, the relative movement of the laser head can also be precisely controlled by controlling the movement of the nozzle. This allows a single motion structure, such as a guide or a lead screw, to simultaneously control two processing heads, such as the 3D printing head and the laser head.

[0082] Please refer to Figure 8. When the camera is not mounted on the 3D printing head but is slidably connected to the guide, the steps for calibrating the position of the laser head 500 provided in this application include:

[0083] S201, control the laser head to move above a preset position on the processing platform, or control the processing platform to move so that the laser head is above a preset position on the processing platform.

[0084] In the initial state of the processing equipment, the camera 501 and laser head 500 are turned on, and initialization operations are performed on the camera 501 and laser head 500, for example, initializing the motion parameters of the camera 501 and laser head 500. For example, the initial state can be the state before the processing equipment is started, reset, or before processing begins.

[0085] After initialization, the laser head 500 is moved to a preset position above the processing platform 400 so that it can emit laser light onto the recoverable consumable 403 at the preset position. During the movement, the position of the laser head 500 is monitored in real time to ensure it accurately reaches the preset position.

[0086] Optionally, the processing platform 400 of this application can move up and down along the Z-axis. When the laser head 500 moves above a preset position in the XY plane, if the distance between the laser head 500 and the preset position is greater than the focal length of the laser emitted by the laser head 500, the processing platform 400 is controlled to move along the Z-axis. In some feasible embodiments, the detection of the safe distance between the laser head and the processing platform can be monitored by the processing equipment, for example, by installing a camera in the processing equipment to take pictures and monitor the laser head. When the distance between the laser head 500 and the preset position is less than or equal to the focal length of the emitted laser and greater than or equal to the safe operating distance of the laser head 500, the processing platform 400 stops moving, thereby ensuring that the laser head 500 emits laser light above the preset position and leaves a mark pattern formed by laser burning on the recoverable consumable 403.

[0087] In some feasible implementations, the processing platform can move along the X-axis, the laser head can move along the Y-axis along the guide, and the laser head 500 can also move along the Z-axis with the guide. This allows the laser head to be controlled to move along the Z-axis to a preset height from the processing platform, which is related to the focal point of the laser head. Furthermore, the laser head can be controlled to move along the Y-axis to above a preset position on the processing platform. Alternatively, the laser head can be kept at a preset height, and the processing platform can be further controlled to move along the X-axis so that the laser head is above the preset position on the processing platform.

[0088] S202 controls the laser head to emit laser light towards the recoverable consumable to obtain a marking pattern on the recoverable consumable.

[0089] In some feasible implementations, when the laser head 500 moves above a preset position, and the distance between the laser head 500 and the preset position is less than or equal to the focal length of the emitted laser and greater than or equal to the safe operating distance of the laser head 500, it is ensured that the laser head 500 has been preheated and is in a usable state. Parameters such as the power, frequency, and pulse width of the laser head 500 are set to ensure that the laser head 500 obtains a clear marking pattern on the recoverable consumable 403. The laser head 500 is controlled to emit a laser at a certain power toward the recoverable consumable 403 at the preset position.

[0090] If the recoverable consumable 403 at the preset position is thermal paper, the laser head 500 stops emitting laser light after heating the thermal paper to a color change. If the recoverable consumable 403 at the preset position is photosensitive paper, the laser head 500 stops emitting laser light after irradiating the thermal paper to a color change. If the recoverable consumable 403 at the preset position is a fluorescent material with temperature-controlled properties, the laser head 500 stops emitting laser light after heating the fluorescent material to a temperature exceeding the temperature required for color change to form a marking pattern. This allows the camera 501 to capture the marking pattern. After the fluorescent material returns to room temperature, its color returns to its normal color. The color change mark on the thermal paper, photosensitive paper, or fluorescent material with temperature-controlled properties obtained after the laser head 500 emits laser light is the marking pattern.

[0091] S203, control the camera to move to the vicinity of a preset position according to the target movement amount, and take an image of the recoverable consumable containing the marked pattern by the camera. In some feasible implementations, the target movement amount is a preset value.

[0092] In some feasible implementations, after the laser head 500 obtains a marking pattern on the recoverable consumable 403, the camera 501 is controlled to move to the vicinity of a preset position according to a target movement amount. The target movement amount is determined by the mechanical structure between the laser head 500 and the camera 501. For example, if the movement of the laser head 500 and the camera 501 is projected onto the XY plane, and the coordinates of the center point of the marking pattern formed by the laser head 500 on the recoverable consumable 403 are (x0, y0), and the coordinates of the camera 501 are (x1, y1), then the target movement amount is dx = |x0 - x1|, dy = |y0 - y1|. Controlling the camera to move to the vicinity of the preset position according to the target movement amount ensures that the marking pattern on the recoverable consumable 403 is within the field of view of the camera 501. At this time, it is confirmed that the camera 501 has been preheated and is in a usable state. The focal length, aperture, and exposure time of the camera 501 are set to ensure that the camera 501 captures a clear image. The recoverable consumable 403 is photographed by camera 501 to obtain an image containing the marking pattern on the recoverable consumable 403. In this image, the position of the marking pattern is not fixed; the marking pattern can be in the center of the image or at the edge of the image.

[0093] In some feasible implementations, after a marking pattern is obtained on the recoverable consumable 403, the camera is controlled to move to the vicinity of a preset position within a preset time according to a target movement amount. The preset time is determined based on the recovery time of the recoverable consumable 403, meaning that the marking pattern will remain on the recoverable consumable 403 for the camera to capture within this preset time. After the laser head 500 emits a laser at the preset position onto the recoverable consumable 403, the recoverable consumable 403 changes color, forming a marking pattern left after laser burning. Based on the reusability of the recoverable consumable 403, the retention time of the marking pattern on the recoverable consumable 403 is determined according to the recovery time of the recoverable consumable 403, and the specific recovery time is determined according to the type of recoverable consumable 403. After the laser head 500 emits a laser, the camera is controlled to move to the vicinity of the preset position within a preset time according to a target movement amount. The preset time is less than the recovery time of the recoverable consumable 403, so that the camera 501 moves to the vicinity of the preset position within the recovery time of the recoverable consumable 403, capturing an image containing the marking pattern. This avoids taking repeated photos, improving work accuracy and efficiency.

[0094] S204: Based on the image and the target's movement, obtain the laser head's position information.

[0095] For example, the captured images can be preprocessed, such as denoising, grayscale conversion, and binarization, to improve image quality. Image processing techniques are used to extract feature points of the marker pattern, and the position information of the laser head 500 is calculated based on the position of the marker pattern in the image and the amount of target movement.

[0096] In some feasible implementations, the position information of the laser head 500 can be the relative position of the laser head 500 and the camera 501. When the marker pattern is not located at the center of the image, the pixel coordinates of the marker pattern and the image center in the image can be obtained first. The offset between the marker pattern and the image center can be calculated by combining the intrinsic parameter matrix of the camera 501 and the focal length of the camera 501. The offset between the marker pattern and the image center and a preset target movement amount are then superimposed to obtain the relative positional relationship between the camera 501 and the laser head 500. Alternatively, the vector relationship between the marker pattern and the image center in the image can be obtained first, such as obtaining the direction and angle of the marker pattern relative to the image center, determining the angle between the marker pattern and the image center, and then converting the target movement amount into a corresponding target matrix. The vector relationship between the marker pattern and the image center and the target matrix are then combined to obtain the relative positional relationship between the camera 501 and the laser head 500. When the marker pattern is located at the center of the image, the preset target movement amount is the relative positional relationship between the camera 501 and the laser head 500.

[0097] Taking the acquisition of the coordinates of the marker pattern and the image center as an example, the marker pattern is first extracted from the image. For example, when the marker pattern is a marker pattern formed on recoverable consumable 403, blob extraction is performed on the image. Methods for extracting blobs or groups of blobs from an image include, but are not limited to, conventional blob detection (connected component extraction from binary images), corner detection (SIFT, ORB, etc. algorithms), Hough circle detection, convolutional neural network target detection, and other detection algorithms. Taking connected component extraction from a binary image as an example, the image is first converted into a binary image, and then the binary image is scanned twice to identify and mark all connected pixel regions in the image. The total number of pixels in the connected pixel regions and the number of pixels at the boundaries of the connected pixel regions are analyzed to extract the pixel coordinates (x, y) of the marker pattern in the image.

[0098] Then, the position of the marked pattern from the image center is calculated, and the target movement is superimposed to obtain the relative position of the laser head 500 and the camera 501. Assuming the pixel coordinates of the center of camera 501 are (cx, cy), the focal length of camera 501 is f, the target movement of laser head 500 and camera 501 in the X direction is dx, and the target movement of laser head 500 and camera 501 in the Y direction is dy, then the offset of laser head 500 and camera 501 in the X direction is dx_cam = (x - cx) * f, and the offset of laser head 500 and camera 501 in the Y direction is dy_cam = (y - cy) * f. The offsets dx_cam in the X direction and dy_cam in the Y direction represent the relative positional relationship between laser head 500 and camera 501.

[0099] Optionally, in some feasible implementations, the position information of the laser head 500 can be the relative position of the laser head 500 and the camera 501. A mapping relationship between the position of the marker pattern in the image, the amount of target movement, and the relative position between the laser head and the camera can be established in advance. By identifying the position of the marker pattern in the image and the amount of target movement, the relative position of the laser head 500 and the camera 501 can be determined.

[0100] Alternatively, in some feasible implementations, the position information of the laser head 500 can be the position of the laser head in the device coordinates of the processing equipment, that is, the position of the laser head relative to a certain reference point of the processing equipment. A mapping relationship between the position of the marker pattern in the image, the target movement amount, and the position of the laser head in the device coordinates of the processing equipment can be pre-established. By identifying the position of the marker pattern in the image and the target movement amount, the position of the laser head in the device coordinates of the processing equipment can be determined.

[0101] Alternatively, in some feasible implementations, the position information of the laser head 500 can be the relative position of the laser head 500 and the camera 501. The camera can be controlled to move to the vicinity of a preset position according to two different target movement amounts, such as movement amount A and movement amount B, and to capture image A, which corresponds to movement amount A, containing the marked pattern on the recoverable consumable, and image B, which corresponds to movement amount B, containing the marked pattern on the recoverable consumable. The positional differences of the marked patterns in image A and image B are compared, and the positional information of the laser head is calculated by combining the movement differences of movement amounts A and B.

[0102] There are many ways to obtain the position information of the laser head based on the image and the target movement in this application, and it is not limited to the examples mentioned above.

[0103] The recoverable consumable 403 placed at the preset position can be thermal paper, photosensitive paper, or a fluorescent material with temperature-controlled properties. For thermal paper, under laser irradiation, the area burned by the laser is heated to a temperature exceeding the temperature required for the thermal paper to change color, thus forming a marking pattern for easy camera capture. After the thermal paper returns to room temperature, its color returns to its normal temperature color. For photosensitive paper, under laser irradiation, the photosensitive paper absorbs laser energy and changes color to form a marking pattern, which is then easily captured by a camera. After the photosensitive paper has reacted completely, its color returns to its color before laser burning. For fluorescent materials with temperature-controlled properties, under laser irradiation, the area burned by the laser is heated to a temperature exceeding the temperature required for the fluorescent material to change color, thus forming a marking pattern for easy camera capture. After the fluorescent material returns to room temperature, its color returns to its normal temperature color. Laser calibration will not cause physical damage or destruction to thermal paper, photosensitive paper, or fluorescent materials with temperature control characteristics. Thermal paper, photosensitive paper, or fluorescent materials with temperature control characteristics can be calibrated and erased multiple times without damaging the material itself, realizing the reuse of consumables that can be restored after laser calibration.

[0104] In some feasible implementations, the reusable consumable 403 is adhered to the surface of the processing platform 400 facing the laser head. During laser calibration, the reusable consumable 403 is reusable, and adhering it to the surface facing the laser head reduces the frequency of consumable replacement. When it is necessary to remove the consumable from the processing platform 400, the laser head power can be increased to emit a laser beam towards the reusable consumable 403, thereby peeling the reusable consumable 403 off the processing platform 400.

[0105] Please refer to Figure 9. The processing platform 400 includes a processing area 401 and a non-processing area 402. Recoverable consumables 403 are attached to the non-processing area 402. The processing area 401 is used to place the product to be processed. Before processing the product, the laser head 200 is moved to a position above the recoverable consumable 403 in the non-processing area 402. The laser head 200 emits a laser beam onto the recoverable consumable 403 to form a marking pattern. Then, the camera 101 is moved to photograph the marking pattern on the recoverable consumable 403, obtaining an image containing the marking pattern. The image is analyzed, and the positional relationship between the laser head 200 and the camera 101 is calculated. Based on the obtained positional relationship between the laser head 200 and the camera 101, when the laser head 200 is moved to the processing area 401 to process the product, the positioning deviation caused by the relative positional error between the camera 101 and the laser head 200 is eliminated. This allows the laser head 200 to more accurately position itself on the product, ensuring the processing accuracy of the laser head 200.

[0106] Optionally, the recoverable consumable 403 can be directly adhered to the processing platform 400. Alternatively, a heat-insulating material 404 can be provided between the recoverable consumable 403 and the processing platform 400. The heat-insulating material 404 can be a material that can provide heat insulation, such as ordinary sponge, foam adhesive, or sticker. When a heat-insulating material 404 is provided between the recoverable consumable 403 and the processing platform 400, the retention time of the marking pattern formed on the recoverable consumable 403 after being burned / illuminated by the laser can be extended. For example, if the recoverable consumable 403 is thermal paper, when the laser head 200 emits a laser at the recoverable consumable 403, the heat-insulating material 404 can reduce the heat dissipation from the thermal paper to the processing platform 400, stabilize the temperature of the thermal paper, and thus extend the retention time of the marking pattern formed on the thermal paper, ensuring that the camera can capture an image containing the marking pattern before the marking pattern disappears.

[0107] Please refer to Figure 10. The method for calibrating the laser head 200 position provided in this application can perform single calibration and also improve calibration accuracy through repeated calibration. When the camera is fixedly mounted on the 3D printing head, the repeated calibration method includes the following steps:

[0108] S301 updates the target movement based on the laser head's position information and controls the 3D printing head to move around the preset position according to the updated target movement, and captures a new image of the filament containing the marked pattern through a camera.

[0109] In some feasible embodiments, the position information of the laser head 200 is the relative positional relationship between the laser head 200 and the camera 101 during the last laser calibration. The target movement is updated based on this relative positional relationship. During the last calibration, after the laser head 200 formed a marking pattern on the recoverable consumable 403 with the emitted laser, the camera 101 offset by (dx_init, dy_init) and captured an image of the recoverable consumable 403 containing the marking pattern. The offset of the camera 101 in the X direction (dx_init) and the offset in the Y direction (dy_init) are the new target movement. The 3D printing head 100 is controlled to move to the vicinity of a preset position according to the updated target movement within a preset time. The camera 101 then captures a new image of the recoverable consumable 403 containing the marking pattern. The preset time is determined based on the recovery time of the recoverable consumable 403. After the laser head 200 emits a laser at a preset position onto the recoverable consumable 403, a marking pattern left by laser burning / illumination is formed on the recoverable consumable 403. Based on the reusability of the recoverable consumable 403, the retention time of the marking pattern on the recoverable consumable 403 is determined according to the recovery time of the recoverable consumable 403, and the specific recovery time depends on the type of recoverable consumable 403. After the laser head 200 emits the laser, the 3D printing head 100 is controlled to move to the vicinity of the preset position within a preset time according to the updated target movement amount. The preset time is less than or equal to the recovery time of the recoverable consumable 403, ensuring that the 3D printing head 100 can drive the camera 101 to move around the preset position within the recovery time of the recoverable consumable 403, capturing a new image containing the marking pattern. This avoids repeated photography and improves work accuracy and efficiency.

[0110] S302, based on the updated target movement and the new image, obtain the new position information of the laser head.

[0111] After obtaining a new image containing the marked pattern, the new image needs to be analyzed and calculated to obtain the new position information of the laser head 200, that is, the new relative position of the laser head 200 and the camera 101. Preprocessing of the captured new image, such as denoising, grayscale conversion, and binarization, is performed to improve the image quality. Image processing techniques are used to extract feature points of the marked pattern. Based on the position of the marked pattern in the new image and the updated target movement, the new position information of the laser head 200 is calculated. This new position information can be the new relative position of the laser head 200 and the camera 101. When the marked pattern is not located at the center of the new image, the pixel coordinates of the marked pattern and the center of the new image can be obtained first. The offset between the marked pattern and the center of the new image is calculated by combining the intrinsic parameter matrix of the camera 101 and the focal length of the camera 101. The offset between the marked pattern and the center of the new image is then superimposed with the preset target movement to obtain the relative positional relationship between the camera 101 and the laser head. Alternatively, the vector relationship between the marker pattern and the center of the new image can be obtained first. For example, the direction and angle of the marker pattern relative to the center of the new image can be obtained, the angle between the marker pattern and the center of the new image can be determined, and then the updated target movement can be converted into the corresponding updated target matrix. The vector relationship between the marker pattern and the center of the new image and the updated target matrix can be combined to obtain the new relative position relationship between the camera 101 and the laser head.

[0112] First, the new image is marked with a pattern. For example, when the pattern is a discolored mark formed on recoverable consumable 403, blob extraction is performed on the new image. Methods for extracting blobs or groups of blobs from a new image include, but are not limited to, conventional blob detection (connected component extraction from binary images), corner detection (SIFT, ORB, etc.), Hough circle detection, and convolutional neural network object detection algorithms. Taking connected component extraction from a binary image as an example, the new image is first converted into a binary image, and then the binary image is scanned twice to identify and mark all connected pixel regions in the image. The total number of pixels in the connected pixel regions and the number of pixels at the boundaries of the connected pixel regions are analyzed to extract the pixel coordinates (X, Y) of the pattern in the new image.

[0113] Then, the position of the marker pattern from the center of the new image is calculated, and the new target movement is superimposed to obtain the new relative position of the laser head 200 and the camera 101. Assuming the pixel coordinates of the center of camera 101 are (cx, cy), the focal length of camera 101 is f, the new target movement of laser head 200 and camera 101 in the X direction is dx_init, and the new target movement in the Y direction is dy_init, then the new offset of laser head 200 and camera 101 in the X direction is dx_update, and the new offset in the Y direction is dy_update. Adding the offset dx_cam of the mark pattern and image center in the X direction to the new target movement of laser head 200 and camera 101 in the X direction yields the new offset dx_update of laser head and camera 101 in the X direction = dx_cam + dx_init. Similarly, adding the offset dy_cam of the mark pattern and image center in the Y direction to the new target movement of laser head 200 and camera 101 in the Y direction yields the new offset dy_update of laser head and camera 101 in the X direction = dy_cam + dy_init. The new offsets dx_update in the X direction and dy_update in the Y direction of the laser head 200 and camera 101 represent the new relative positional relationship between the laser head 200 and camera 101.

[0114] During the Nth iteration of calibration, the relative position of the laser head 200 and the camera 101 when the camera 101 captures the marking pattern is updated as the new target movement amount of the 3D printing head. After the laser head forms the marking pattern on the recoverable consumable with the laser emitted from it in the N-1th iteration, the camera 101 is offset by [dx_update(N-1), dy_update(N-1)], and an image containing the marking pattern on the recoverable consumable is captured. Therefore, the new target movement amount of the 3D printing head in the Nth iteration is the offset amount of the camera 101 in the N-1th iteration, that is: dx_init(N) = dx_update(N-1), dy_init(N)

[0115] = dy_update(N-1).

[0116] Please refer to Figure 11. When the camera is not mounted on the 3D printing head but is slidably connected to the guide, the recalibration method includes the following steps:

[0117] S401 updates the target movement based on the laser head's position information and controls the camera to move around the preset position according to the updated target movement, and captures a new image containing the marked pattern that can be recovered from the consumable.

[0118] In some feasible embodiments, the position information of the laser head 500 is the relative positional relationship between the laser head 500 and the camera 501 during the last laser calibration. The target movement is updated based on this relative positional relationship. During the last calibration, after the laser head 500 formed a marking pattern on the recoverable consumable 403 with the emitted laser, the camera 501 offset by (dx_init, dy_init) and captured an image of the recoverable consumable 403 containing the marking pattern. The offset of the camera 501 in the X direction (dx_init) and the offset in the Y direction (dy_init) are the new target movement. The camera is controlled to move to the vicinity of a preset position according to the updated target movement within a preset time. A new image containing the marking pattern on the recoverable consumable 403 is captured by the camera 501. The preset time is determined based on the recovery time of the recoverable consumable 403. After the laser head 500 emits a laser at a preset position onto the recoverable consumable 403, a marking pattern left by laser burning / illumination is formed on the recoverable consumable 403. Based on the reusability of the recoverable consumable 403, the retention time of the marking pattern on the recoverable consumable 403 is determined according to the recovery time of the recoverable consumable 403, and the specific recovery time depends on the type of recoverable consumable 403. After the laser head 500 emits the laser, the 3D printing head 100 is controlled to move to the vicinity of the preset position within a preset time according to the updated target movement amount. The preset time is less than or equal to the recovery time of the recoverable consumable 403, ensuring that the 3D printing head 100 can drive the camera 501 to move around the preset position within the recovery time of the recoverable consumable 403, capturing a new image containing the marking pattern. This avoids repeated photography and improves work accuracy and efficiency.

[0119] S402, based on the updated target movement and the new image, obtain the new position information of the laser head.

[0120] After obtaining a new image containing the marked pattern, the new image needs to be analyzed and calculated to obtain the new position information of the laser head 500, that is, the new relative position of the laser head 500 and the camera 501. Preprocessing of the captured new image, such as denoising, grayscale conversion, and binarization, is performed to improve the image quality. Image processing techniques are used to extract feature points of the marked pattern. Based on the position of the marked pattern in the new image and the updated target movement, the new position information of the laser head 500 is calculated. This new position information can be the new relative position of the laser head 500 and the camera 501. When the marked pattern is not located at the center of the new image, the pixel coordinates of the marked pattern and the center of the new image can be obtained first. The offset between the marked pattern and the center of the new image is calculated by combining the intrinsic parameter matrix of the camera 501 and the focal length of the camera 501. The offset between the marked pattern and the center of the new image is then superimposed with the preset target movement to obtain the relative position relationship between the camera 501 and the laser head 500. Alternatively, the vector relationship between the marker pattern and the center of the new image can be obtained first. For example, the direction and angle of the marker pattern relative to the center of the new image can be obtained, the angle between the marker pattern and the center of the new image can be determined, and then the updated target movement can be converted into the corresponding updated target matrix. The vector relationship between the marker pattern and the center of the new image and the updated target matrix can be combined to obtain the new relative position relationship between the camera 501 and the laser head 500.

[0121] First, the new image is marked with a pattern. For example, when the pattern is a discolored mark formed on recoverable consumable 403, blob extraction is performed on the new image. Methods for extracting blobs or groups of blobs from a new image include, but are not limited to, conventional blob detection (connected component extraction from binary images), corner detection (SIFT, ORB, etc.), Hough circle detection, and convolutional neural network object detection algorithms. Taking connected component extraction from a binary image as an example, the new image is first converted into a binary image, and then the binary image is scanned twice to identify and mark all connected pixel regions in the image. The total number of pixels in the connected pixel regions and the number of pixels at the boundaries of the connected pixel regions are analyzed to extract the pixel coordinates (X, Y) of the pattern in the new image.

[0122] Then, the position of the marker pattern from the center of the new image is calculated, and the new target movement is superimposed to obtain the new relative position of the laser head 500 and the camera 501. Assuming the pixel coordinates of the center of camera 501 are (cx, cy), the focal length of camera 501 is f, the new target movement of laser head 500 and camera 501 in the X direction is dx_init, and the new target movement in the Y direction is dy_init, then the new offset of laser head 500 and camera 501 in the X direction is dx_update, and the new offset in the Y direction is dy_update. Adding the offset dx_cam of the mark pattern and image center in the X direction to the new target movement of laser head 500 and camera 501 in the X direction yields the new offset dx_update of laser head and camera 501 in the X direction = dx_cam + dx_init. Similarly, adding the offset dy_cam of the mark pattern and image center in the Y direction to the new target movement of laser head 500 and camera 501 in the Y direction yields the new offset dy_update of laser head and camera 501 in the X direction = dy_cam + dy_init. The new offsets dx_update in the X direction and dy_update in the Y direction of the laser head 500 and camera 501 represent the new relative positional relationship between the laser head 500 and camera 501.

[0123] During the Nth iteration of calibration, the relative position of the laser head 500 and the camera 501 when the camera 501 captures the marking pattern is updated as the new target movement amount of the 3D printing head. After the laser head forms the marking pattern on the recoverable consumable with the laser emitted from it in the N-1th iteration, the camera 501 is offset by [dx_update(N-1), dy_update(N-1)], and an image containing the marking pattern on the recoverable consumable is captured. Therefore, the new target movement amount of the 3D printing head in the Nth iteration is the offset amount of the camera 501 in the N-1th iteration, that is: dx_init(N) = dx_update(N-1), dy_init(N)

[0124] = dy_update(N-1).

[0125] Based on the recovery characteristics of the recoverable consumable 403, no material loss occurs during repeated calibration. Repeated calibration also improves calibration accuracy. In some feasible embodiments, the calibration accuracy of the laser head position in this application can reach 0.01mm, and even higher accuracy can be achieved when considering camera intrinsic parameters.

[0126] Please refer to Figure 12. Whether it is a single calibration or repeated calibration, an image containing the marked pattern on the recoverable consumable is captured by a camera. The steps for capturing the image containing the marked pattern on the recoverable consumable include:

[0127] The S501 uses a camera to photograph recoverable filaments. Before the laser head emits a laser beam at the recoverable filament, a photograph of the filament is taken as the original image. After the laser head emits a laser beam at the filament, the 3D printing head is controlled to move to the vicinity of a preset position according to the target movement amount or the new target movement amount. The camera connected to the 3D printing head then takes a photograph of the recoverable filament to obtain the actual image.

[0128] S502 determines whether a photograph taken by the camera contains a marker pattern. The original image and the actual image are converted into binary images, and contours are detected in both the binary images of the original image and the binary images of the actual image. The presence of a marker pattern is determined based on the shape, area, and other features of the contours.

[0129] S503: If the image captured by the camera does not contain a marked pattern, move the 3D printing head to change the camera's shooting position or move the camera directly until the image captured by the camera contains a marked pattern. For example, when the image captured by the camera does not contain a marked pattern, using the coordinates of the laser emission port of the laser head 200 as the origin and the distance between the image center of the camera and the laser emission port as the displacement, control the 3D printing head to move clockwise or directly control the camera to move, using the camera to search for a marked pattern on the recoverable consumable. Once the camera finds a marked pattern, control the 3D printing head to stop moving or control the camera to stop moving, and then use the camera to photograph the recoverable consumable to obtain an image containing the marked pattern.

[0130] In some feasible embodiments, the 3D printing head 100 includes a nozzle, and the target movement amount can be the distance between the nozzle and the laser head 200. Before the laser head 200 processes the product to be processed in the processing area 401 on the processing platform 400, the 3D printing head 100 is moved to move the laser head 200 to a predetermined position, or after the 3D printing head 100 is moved to move the laser head 200 to a predetermined position, the laser head 200 emits a laser beam onto the recoverable consumable 403, forming a marking pattern on the recoverable consumable 403. The 3D printing head 100 is then moved to a predetermined position according to the distance between the nozzle and the laser head 200, and the 3D printing head 100 sprays printing material onto the marking pattern through the nozzle. The camera 101 captures an image of the marking pattern and the printing material, and the positional relationship between the nozzle and the laser head 200 is calculated by analyzing the image, thus completing the position calibration of the laser head 200. After a single or repeated calibration, the 3D printing head 100 is moved to a position above the processing area 401, and then printed part or all of the product to be processed. Based on the predetermined positional relationship between the nozzle and the laser head 200, the laser head 200 can be controlled to process part of the printed product after the 3D printing head 100 has printed a portion of the product, or it can be controlled to process the printed product after the 3D printing head 100 has printed all of the product. This allows the processing equipment to perform both 3D printing and laser processing, avoiding repeated disassembly and reassembly of the 3D printing head 100 and the laser head 200, thus improving processing efficiency.

[0131] In some feasible implementations, the processing equipment can be a multi-freedom system, such as a multi-joint robotic arm with guide 300, where multiple joints of the robotic arm can change independently. The 3D printing head and the laser head connected to the 3D printing head are located at the end of the robotic arm. The robotic arm can drive the 3D printing head to achieve translational motion in two-dimensional space, or it can drive the 3D printing head to achieve rotational motion in three-dimensional space. In this case, the method for calibrating the position of the laser head includes the following steps:

[0132] The laser head 200 is controlled to move above a preset position on the processing platform 400, or the processing platform 400 is controlled to move so that the laser head 200 is above a preset position on the processing platform 400. The preset position coordinates (X, Y, Z) on the processing platform are determined. Based on the current position and the preset position of the 3D printing head, the translation amount of each joint of the robotic arm and the rotation angle around each joint are calculated. After calculating the motion path of the 3D printing head, the 3D printing head is controlled to move to move the laser head above the preset position. During the movement, the position of the laser head is monitored in real time to ensure that the laser head accurately reaches the preset position. When the distance between the laser head and the preset position is greater than the focal length of the laser emitted by the laser head, the processing platform can be controlled to move closer to the laser head. The safe distance between the laser head and the processing platform can be detected by taking pictures with a camera 101 connected to the 3D printing head.

[0133] The laser head 200 is controlled to emit a laser beam towards the recoverable consumable 403 to obtain a marking pattern on the recoverable consumable 403. Ensure the laser head is preheated and ready for use, and set parameters such as laser power, frequency, and pulse width to ensure a clear marking pattern is obtained on the recoverable consumable. The laser head is then controlled to emit the laser beam towards the recoverable consumable to form a marking pattern on it.

[0134] The 3D printing head 100 is controlled to move to a preset position according to a target movement amount, and the camera 101 captures an image of the recoverable consumable 403 containing the marked pattern. After the laser head 200 obtains the marked pattern on the recoverable consumable 403, the 3D printing head 100 is controlled to move so that the camera 101, which is fixedly connected to the 3D printing head 100, moves to a preset position according to the target movement amount. The target movement amount is determined by the mechanical structure between the laser head 200, the 3D printing head 100, and the camera 101. For example, if the coordinates of the center point of the marked pattern formed by the laser head 200 on the recoverable consumable 403 are (x0, y0, z0) and the coordinates of the camera 101 are (x1, y1, z1), then the target movement amount is dx = |x0 - x1|, dy = |y0 - y1|, dz = |z0 - z1|. Controlling the 3D printing head 100 to move to a preset position according to the target movement ensures that the marking pattern on the recoverable filament 403 is within the field of view of the camera 101. At this point, confirm that the camera 101 is preheated and ready for use. Set parameters such as the camera 101's focal length, aperture, and exposure time to ensure the camera 101 captures a clear image. The camera 101 then photographs the recoverable filament 403, obtaining an image containing the marking pattern on the recoverable filament 403. In this image, the position of the marking pattern is not fixed; it can be in the center of the image or at the edge.

[0135] Based on the image and target movement, the laser head's position information is obtained. The captured image undergoes preprocessing, such as denoising, grayscale conversion, and binarization, to improve image quality. Image processing techniques are used to extract feature points of the marker pattern. Based on the marker pattern's position in the image and the target movement, the laser head's position information, such as the relative positional relationship between the laser head and camera 101, is calculated. PnP is used.

[0136] The (Perspective-n-Point) algorithm or other geometric methods are used to convert 2D image coordinates into 3D spatial coordinates. Based on the calculated positional deviation between the laser head and camera 101, the positional information of the laser head is corrected. If the deviation is large, fine-tuning is performed to compensate for the error. The corrected positional information is then updated in the system as a reference for subsequent processing steps.

[0137] Referring to Figure 13, the laser head in the processing equipment can be switched to a cutting assembly 201. The processing equipment includes a processing platform 400 and a 3D printing head 100 connected to the cutting assembly 201. The processing platform 400 has a cutting consumable 405 at a preset position. The 3D printing head 100 is slidably connected to a guide 300, and a camera 101 is fixedly mounted on the 3D printing head 100. Referring to Figure 14, in some feasible embodiments, the camera 501 may not be mounted on the 3D printing head. In this case, the cutting assembly 503 and the camera 501 are independent, directly slidably connected to the guide, and can move along the guide above the processing platform. When the cutting assembly is calibrated, it cuts the cutting consumable at a preset position to form a marking pattern, for example, drawing a cross pattern on the cutting consumable as a marking pattern. After the marking pattern is formed on the cutting consumable, the camera captures the marking pattern, and the relative position between the cutting assembly and the camera is calculated based on the captured image.

[0138] Please refer to Figure 15. When the camera 101 is fixedly mounted on the 3D printing head 100, this application also provides a method for calibrating the position of the cutter assembly 201, the specific steps of which include:

[0139] S601, control the cutting assembly to move above a preset position on the machining platform, or control the machining platform to move so that the cutting assembly is above a preset position on the machining platform.

[0140] In the initial state of the processing equipment, the 3D printing head 100, camera 101, and cutter assembly 201 are turned on, and initialization operations are performed on the 3D printing head 100, camera 101, and cutter assembly 201, for example, initializing the motion parameters of the 3D printing head 100, camera 101, and cutter assembly 201. For example, the initial state can be the state before the processing equipment is started, reset, or before processing begins.

[0141] After initialization, the cutter assembly 201 is moved to a position above the preset location on the processing platform 400. For example, the 3D printing head 100 can be moved to move the cutter assembly 201 above the preset location on the processing platform 400, allowing the cutter assembly 201 to cut the cutting material 405 at the preset location to form a marking pattern. During the movement, the position of the cutter assembly 201 is monitored in real time to ensure it accurately reaches the preset location. The cutter assembly 201 and the 3D printing head 100 have a mounting and mounted relationship; when the 3D printing head 100 moves within the processing platform 400, the cutter assembly 201 moves with it.

[0142] Alternatively, after detecting a disconnection between the cutter assembly 201 and the 3D printing head 100, and subsequently reconnecting the cutter assembly 201 to the 3D printing head 100, the cutter assembly 201 can be controlled to move above a preset position on the processing platform 400. Sensors are installed on the cutter assembly 201 or the 3D printing head to monitor the connection status in real time. These sensors can be mechanical contact sensors, photoelectric sensors, or electromagnetic sensors, etc. The processing equipment also includes a controller that acquires connection status information between the cutter assembly 201 and the 3D printing head 100 in real time through the sensors. If a disconnection is detected, the controller records the disconnection event and initiates a reconnection process. When the sensor detects a disconnection between the cutter assembly 201 and the 3D printing head 100, the control system immediately recognizes this status change. If the cutter assembly 201 is performing a processing task, the control system immediately pauses the current operation to prevent processing errors or equipment damage caused by the disconnection. If the cutter assembly 201 is not performing a processing task, the controller re-establishes the connection between the cutter assembly 201 and the 3D print head 100, or the operator manually connects the cutter assembly 201 and the 3D print head 100. After successful reconnection, the controller retrieves the disconnection event recorded, and the cutter assembly 201 and the 3D print head 100 continue to execute instructions that were not completed before the connection was disconnected. Alternatively, after successful reconnection, the cutter assembly 201 and the 3D print head 100 are initialized, restoring them to their initial state. For example, the initial state could be the state before the processing equipment is started, reset, or before processing begins.

[0143] Optionally, the processing platform 400 of this application can move up and down along the Z-axis. When the cutter assembly 201 moves above the preset position in the XY plane, if the distance between the cutter assembly 201 and the preset position is greater than the cutting distance of the cutter assembly 201, the processing platform 400 is controlled to move along the Z-axis. In some feasible embodiments, the safe distance between the cutter assembly 201 and the processing platform 400 can be detected by taking pictures with a camera 101 connected to the 3D printing head 100. When the distance between the cutter assembly 201 and the preset position is equal to the cutting distance of the cutter assembly 201 and greater than or equal to the safe operating distance of the cutter assembly 201, the processing platform 400 stops moving, thereby ensuring that the cutter assembly 201 marks a pattern on the cutting consumable 405 at the preset position.

[0144] In some feasible implementations, the processing platform can move along the X-axis, the cutter assembly 201 can move along the guide along the Y-axis, and the cutter assembly 201 can also move along the guide along the Z-axis. This allows the cutter assembly 201 to be controlled to move along the Z-axis to a preset height relative to the processing platform, which is related to the cutting distance of the cutter assembly 201. Furthermore, the cutter assembly 201 can be further controlled to move along the Y-axis above a preset position on the processing platform. Alternatively, the cutter assembly 201 can be kept at a preset height, and the processing platform can be further controlled to move along the X-axis so that the cutter assembly 201 is above the preset position on the processing platform.

[0145] A processing platform refers to a general-purpose workbench that can be used for various processing methods. For example, the processing platform of this application can be used for various processing methods such as 3D printing and cutting. In 3D printing, the processing platform can be considered a printing platform, which may include a heated bed, and may further include at least one of a printing panel located on the heated bed and a heated bed support for supporting the heated bed, wherein the heated bed support can elastically support the heated bed or fixedly support the heated bed and the printing panel. In cutting, the processing platform may include a cutting pad on which the object to be cut is placed. Optionally, if the processing equipment can perform both 3D printing and cutting, the processing platform may include a cutting pad and may further include a heated bed, and may even include a printing panel. When cutting is required, the cutting pad can be placed on the heated bed; when 3D printing is required, the cutting pad is removed and the printing panel is placed on the heated bed. Alternatively, the processing platform can also be a printing platform, where the processing equipment can cut the printed part while printing, or cut the printed part on the printing platform after printing is complete. Therefore, the cutting consumable 405 can be placed in a preset position on the heated bed, printing panel, or pad.

[0146] S602, controls the cutter assembly to cut the cutting consumable to obtain a marking pattern on the cutting consumable.

[0147] In some feasible implementations, when the cutter assembly 201 moves above a preset position, and the distance between the cutter assembly 201 and the preset position is equal to the cutting distance of the cutter assembly 201 and greater than or equal to the safe operating distance of the cutter assembly 201, it is ensured that the cutter assembly 201 has been preheated and is in a usable state. Parameters such as the cutting speed and cutting depth of the cutter assembly 201 are set to ensure that the cutter assembly 201 obtains a clear marking pattern on the cutting consumable 405.

[0148] S603, control the 3D printing head to move to the vicinity of a preset position according to a target movement amount, and capture an image of the cutting filament containing the marked pattern using a camera. In some feasible implementations, the target movement amount is a preset value.

[0149] In some feasible implementations, after the marking pattern is obtained on the cutting material 405 by the cutter assembly 201, the 3D printing head 100 is controlled to move so as to drive the camera 101, which is fixedly connected to the 3D printing head 100, to move to the vicinity of a preset position according to the target movement amount. The target movement amount is determined according to the mechanical structure between the cutter assembly 201, the 3D printing head 100 and the camera 101. For example, if the movement of the cutter assembly 201, the 3D printing head 100 and the camera 101 is projected onto the XY plane, if the coordinates of the center point of the marking pattern formed by the cutter assembly 201 on the cutting material 405 are (x0, y0) and the coordinates of the camera 101 are (x1, y1), then the target movement amount is dx = |x0 - x1| and dy = |y0 - y1|. Controlling the 3D printing head 100 to move to a preset position according to the target movement ensures that the marking pattern on the cutting filament 405 is within the field of view of the camera 101. At this point, confirm that the camera 101 is preheated and ready for use, and set parameters such as focal length, aperture, and exposure time to ensure that the camera 101 captures a clear image. The camera 101 then captures an image of the cutting filament 405, obtaining an image containing the marking pattern on the cutting filament 405. In this image, the position of the marking pattern is not fixed; it can be in the center of the image or at the edge.

[0150] Optionally, in some feasible implementations, the 3D printing head includes a nozzle, and the target movement is the distance between the nozzle and the cutter assembly 201. The distance between the nozzle and the cutter assembly 201 can be a design value, determined during the design of the processing equipment; or it can be a measured value, obtained by measuring the distance between the nozzle and the cutter assembly 201 after production is completed, etc.

[0151] S604: Based on the image and the target movement, obtain the position information of the cutter component.

[0152] For example, the captured image can be preprocessed, such as denoising, grayscale conversion, and binarization, to improve image quality. Image processing techniques are used to extract feature points of the marker pattern, and the position information of the cutter component 201 is calculated based on the position of the marker pattern in the image and the amount of target movement.

[0153] In some feasible implementations, the position information of the cutter assembly 201 can be the relative position of the cutter assembly 201 and the camera 101. When the marking pattern is not located at the center of the image, the pixel coordinates of the marking pattern and the image center in the image can be obtained first. The offset between the marking pattern and the image center can be calculated by combining the intrinsic parameter matrix of the camera 101 and the focal length of the camera 101. The offset between the marking pattern and the image center and a preset target movement amount are then superimposed to obtain the relative positional relationship between the camera 101 and the cutter assembly 201. Alternatively, the vector relationship between the marking pattern and the image center in the image can be obtained first, such as obtaining the direction and angle of the marking pattern relative to the image center, determining the angle between the marking pattern and the image center, and then converting the target movement amount into a corresponding target matrix. The vector relationship between the marking pattern and the image center and the target matrix are then combined to obtain the relative positional relationship between the camera 101 and the cutter assembly 201. When the marking pattern is located at the center of the image, the preset target movement amount is the relative positional relationship between the camera 101 and the cutter assembly 201.

[0154] Taking the acquisition of the coordinates of the marker pattern and the image center as an example, firstly, the position of the marker pattern is obtained through an image detection algorithm. Then, the distance of the marker pattern from the image center is calculated, and the target movement is superimposed to obtain the relative position of the cutter component 201 and the camera 101. Assuming the pixel coordinates of the center of camera 101 are (cx, cy), the focal length of camera 101 is f, the target movement of cutter component 201 and camera 101 in the X direction is dx, and the target movement of cutter component 201 and camera 101 in the Y direction is dy, then the offset of cutter component 201 and camera 101 in the X direction is dx_cam = (x - cx) * f, and the offset of cutter component 201 and camera 101 in the Y direction is dy_cam = (y - cy) * f. The offsets dx_cam in the X direction and dy_cam in the Y direction represent the relative positional relationship between cutter component 201 and camera 101.

[0155] Optionally, in some feasible implementations, the position information of the cutter assembly 201 can be the relative position of the cutter assembly 201 and the camera 101. A mapping relationship between the position of the marker pattern in the image, the amount of target movement, and the relative position between the cutter assembly 201 and the camera can be established in advance. By identifying the position of the marker pattern in the image and the amount of target movement, the relative position of the cutter assembly 201 and the camera 101 can be determined.

[0156] Alternatively, in some feasible implementations, the position information of the cutting assembly 201 can be its position in the device coordinates of the processing equipment, that is, the position of the cutting assembly 201 relative to a certain reference point of the processing equipment. A mapping relationship can be pre-established between the position of the marker pattern in the image, the target movement amount, and the position of the cutting assembly 201 in the device coordinates of the processing equipment. By identifying the position of the marker pattern in the image and the target movement amount, the position of the cutting assembly 201 in the device coordinates of the processing equipment can be determined.

[0157] Alternatively, in some feasible implementations, the position information of the cutter assembly 201 can be the relative position of the cutter assembly 201 and the camera 101. The camera can be controlled to move to the vicinity of a preset position according to two different target movement amounts, such as movement amount A and movement amount B, and image A corresponding to movement amount A and movement amount B corresponding to movement amount B can be captured. The positional difference of the mark pattern in image A and image B can be compared, and the positional difference of movement amount A and movement amount B can be combined to calculate the position information of the cutter assembly 201.

[0158] There are many ways to obtain the position information of the cutter component 201 based on the image and the target movement in this application, and it is not limited to the above examples.

[0159] Please refer to Figure 16. When the camera is not mounted on the 3D printing head but is slidably connected to the guide, the method for calibrating the position of the cutter assembly 503 provided in this application includes the following steps:

[0160] S701, control the cutting assembly to move above a preset position on the machining platform, or control the machining platform to move so that the cutting assembly is above a preset position on the machining platform.

[0161] In the initial state of the processing equipment, the camera 501 and the cutter assembly 503 are turned on, and initialization operations are performed on the camera 501 and the cutter assembly 503, for example, initializing the motion parameters of the camera 501 and the cutter assembly 503. For example, the initial state can be the state before the processing equipment is started, reset, or before processing begins.

[0162] After initialization, the cutter assembly 503 is moved to a preset position above the processing platform 400, allowing it to cut the cutting consumable 405 at the preset position to form a marking pattern. During the movement, the position of the cutter assembly 503 is monitored in real time to ensure it accurately reaches the preset position.

[0163] Optionally, the processing platform 400 of this application can move up and down along the Z-axis. When the cutter assembly 503 moves above the preset position in the XY plane, if the distance between the cutter assembly 503 and the preset position is greater than the cutting distance of the cutter assembly 503, the processing platform 400 is controlled to move along the Z-axis. In some feasible embodiments, the safe distance between the cutter assembly 503 and the processing platform can be detected by taking pictures with a camera installed in the processing equipment. When the distance between the cutter assembly 503 and the preset position is equal to the cutting distance of the cutter assembly 503 and greater than or equal to the safe operating distance of the cutter assembly 503, the processing platform 400 stops moving, thereby ensuring that the cutter assembly 503 marks a pattern on the cutting consumable 405 at the preset position.

[0164] In some feasible implementations, the processing platform can move along the X-axis, the cutter assembly 503 can move along the guide along the Y-axis, and the cutter assembly 503 can also move along the guide along the Z-axis. This allows the cutter assembly 503 to be controlled to move along the Z-axis to a preset height relative to the processing platform, the preset height being related to the cutting distance of the cutter assembly 503. Furthermore, the cutter assembly 503 can be further controlled to move along the Y-axis above a preset position on the processing platform; or the cutter assembly 503 can be kept at a preset height while the processing platform is further controlled to move along the X-axis, so that the cutter assembly 503 is above the preset position on the processing platform.

[0165] S702 controls the cutter assembly to cut the cutting consumable to obtain a marking pattern on the cutting consumable.

[0166] In some feasible implementations, when the cutter assembly 503 moves above a preset position, and the distance between the cutter assembly 503 and the preset position is equal to the cutting distance of the cutter assembly 503 and greater than or equal to the safe operating distance of the cutter assembly 503, it is ensured that the cutter assembly 503 has been preheated and is in a usable state. Parameters such as the cutting speed and cutting depth of the cutter assembly 503 are set to ensure that the cutter assembly 503 obtains a clear marking pattern on the cutting consumable 405.

[0167] S703, control the camera to move to the vicinity of a preset position according to the target movement amount, and capture an image of the cutting consumable containing the marked pattern using the camera. In some feasible implementations, the target movement amount is a preset value.

[0168] In some feasible implementations, after the cutting assembly 503 obtains a marking pattern on the cutting consumable 405, the camera 501 is controlled to move to the vicinity of a preset position according to a target movement amount. The target movement amount is determined by the mechanical structure between the cutting assembly 503 and the camera 501. For example, if the movement of the cutting assembly 503 and the camera 501 is projected onto the XY plane, and the coordinates of the center point of the marking pattern formed by the cutting assembly 503 on the cutting consumable 405 are (x0, y0), and the coordinates of the camera 501 are (x1, y1), then the target movement amount is dx = |x0 - x1|, dy = |y0 - y1|. Controlling the camera to move to the vicinity of the preset position according to the target movement amount ensures that the marking pattern on the cutting consumable 405 is within the field of view of the camera 501. At this time, it is confirmed that the camera 501 has been preheated and is in a usable state. The focal length, aperture, and exposure time of the camera 501 are set to ensure that the camera 501 captures a clear image. The cutting consumable 405 is photographed by camera 501 to obtain an image containing the marking pattern on the cutting consumable 405. In this image, the position of the marking pattern is not fixed; the marking pattern can be in the center of the image or at the edge of the image.

[0169] S704: Based on the image and the target movement, the position information of the cutter component is obtained.

[0170] For example, the captured image can be preprocessed, such as denoising, grayscale conversion, and binarization, to improve image quality. Feature points of the marker pattern are extracted using image processing techniques, and the position information of the cutter assembly 503 is calculated based on the position of the marker pattern in the image and the amount of target movement.

[0171] In some feasible implementations, the position information of the cutter assembly 503 can be the relative position of the cutter assembly 503 and the camera 501. When the marking pattern is not located at the center of the image, the pixel coordinates of the marking pattern and the image center in the image can be obtained first. The offset between the marking pattern and the image center can be calculated by combining the intrinsic parameter matrix of the camera 501 and the focal length of the camera 501. The offset between the marking pattern and the image center and a preset target movement amount are then superimposed to obtain the relative positional relationship between the camera 501 and the cutter assembly 503. Alternatively, the vector relationship between the marking pattern and the image center in the image can be obtained first, such as obtaining the direction and angle of the marking pattern relative to the image center, determining the angle between the marking pattern and the image center, and then converting the target movement amount into a corresponding target matrix. The vector relationship between the marking pattern and the image center and the target matrix are then combined to obtain the relative positional relationship between the camera 501 and the cutter assembly 503. When the marking pattern is located at the center of the image, the preset target movement amount is the relative positional relationship between the camera 501 and the cutter assembly 503.

[0172] Taking the acquisition of the coordinates of the marker pattern and the image center as an example, firstly, the position of the marker pattern is obtained through an image detection algorithm. Then, the distance of the marker pattern from the image center is calculated, and the target movement is superimposed to obtain the relative position of the cutter component 503 and the camera 501. Assuming the pixel coordinates of the center of camera 501 are (cx, cy), the focal length of camera 501 is f, the target movement of cutter component 503 and camera 501 in the X direction is dx, and the target movement of cutter component 503 and camera 501 in the Y direction is dy, then the offset of cutter component 503 and camera 501 in the X direction is dx_cam = (x - cx) * f, and the offset of cutter component 503 and camera 501 in the Y direction is dy_cam = (y - cy) * f. The offsets dx_cam in the X direction and dy_cam in the Y direction represent the relative positional relationship between cutter component 503 and camera 501.

[0173] Optionally, in some feasible implementations, the position information of the cutter assembly 503 can be the relative position of the cutter assembly 503 and the camera 501. A mapping relationship between the position of the marker pattern in the image, the amount of target movement, and the relative position between the cutter assembly 503 and the camera can be established in advance. By identifying the position of the marker pattern in the image and the amount of target movement, the relative position of the cutter assembly 503 and the camera 501 can be determined.

[0174] Alternatively, in some feasible implementations, the position information of the cutter assembly 503 can be its position in the device coordinates of the processing equipment, that is, the position of the cutter assembly 503 relative to a certain reference point of the processing equipment. A mapping relationship can be pre-established between the position of the marker pattern in the image, the target movement amount, and the position of the cutter assembly 503 in the device coordinates of the processing equipment. By identifying the position of the marker pattern in the image and the target movement amount, the position of the cutter assembly 503 in the device coordinates of the processing equipment can be determined.

[0175] Alternatively, in some feasible implementations, the position information of the cutter assembly 503 can be the relative position of the cutter assembly 503 and the camera 501. The camera can be controlled to move to the vicinity of a preset position according to two different target movement amounts, such as movement amount A and movement amount B, and image A corresponding to movement amount A and movement amount B corresponding to movement amount B can be captured. The positional difference of the mark pattern in image A and image B can be compared, and the positional difference of movement amount A and movement amount B can be combined to calculate the position information of the cutter assembly 503.

[0176] There are many ways to obtain the position information of the cutter component 503 based on the image and the target movement in this application, and it is not limited to the above examples.

[0177] Please refer to Figure 17. The method for calibrating the position of the cutter assembly provided in this application can not only perform a single calibration, but also improve calibration accuracy through repeated calibration. The repeated calibration method includes the following steps:

[0178] S801 updates the target movement based on the position information of the cutter assembly and controls the 3D printing head or camera to move around the preset position according to the updated target movement, and captures a new image of the cutting material containing the marked pattern through the camera.

[0179] In some feasible embodiments, the position information of the cutter assembly is the relative positional relationship between the cutter assembly and the camera during the last calibration. The target movement amount is updated based on the relative positional relationship between the cutter assembly and the camera during the last calibration. During the last calibration, after the cutter assembly cuts the cutting consumable to form a marking pattern, the camera offsets by (dx_init, dy_init) and captures an image of the cutting consumable containing the marking pattern. The offset of the camera in the X direction, dx_init, and the offset in the Y direction, dy_init, are the new target movement amount.

[0180] S802, based on the updated target movement and the new image, obtains the new position information of the cutter component.

[0181] After obtaining a new image containing the marked pattern, the new image needs to be analyzed and calculated to obtain the new position information of the cutting component, i.e., the new relative position of the cutting component and the camera. Preprocessing of the captured new image, such as denoising, grayscale conversion, and binarization, is performed to improve the image quality. Image processing techniques are used to extract feature points of the marked pattern. Based on the position of the marked pattern in the new image and the updated target movement, the new position information of the cutting component is calculated. This new position information can be the new relative position of the cutting component and the camera. When the marked pattern is not located at the center of the new image, the pixel coordinates of the marked pattern and the center of the new image can be obtained first. The offset between the marked pattern and the center of the new image is calculated by combining the camera's intrinsic parameter matrix and focal length. The offset between the marked pattern and the center of the new image is then superimposed with the preset target movement to obtain the relative position relationship between the camera 101 and the cutting component. Alternatively, the vector relationship between the marker pattern and the center of the new image can be obtained first. For example, the direction and angle of the marker pattern relative to the center of the new image can be obtained, the angle between the marker pattern and the center of the new image can be determined, and then the updated target movement can be converted into the corresponding updated target matrix. The vector relationship between the marker pattern and the center of the new image and the updated target matrix can be combined to obtain the new relative position relationship between the camera and the cutter component.

[0182] First, the new image is marked with a pattern. Methods for extracting patterns from a new image include, but are not limited to, corner detection (SIFT, ORB, etc.), Hough circle detection, and convolutional neural network object detection algorithms. Taking connected component extraction from a binary image as an example, the new image is first converted into a binary image. Then, the binary image is scanned twice to identify and mark all connected pixel regions in the image. The total number of pixels in the connected pixel regions and the number of pixels at the boundaries of the connected pixel regions are analyzed to extract the pixel coordinates (X, Y) of the marked pattern in the new image.

[0183] Then, the position of the marker pattern from the center of the new image is calculated, and the new target movement is superimposed to obtain the new relative position of the cutter component and the camera. Assuming the pixel coordinates of the camera center are (cx, cy), the camera focal length is f, the new target movement of the cutter component and camera in the X direction is dx_init, and the new target movement in the Y direction is dy_init, then the new offset of the cutter component and camera 101 in the X direction is dx_update, and the new offset in the Y direction is dy_update. The offset dx_cam of the marker pattern and image center in the X direction is superimposed with the new target movement of the cutter component and camera in the X direction to obtain the new offset dx_update of the cutter component and camera in the X direction: dx_update = dx_cam + dx_init. Similarly, the offset dy_cam of the marker pattern and image center in the Y direction is superimposed with the new target movement of the cutter component and camera in the Y direction to obtain the new offset dy_update of the cutter component and camera in the X direction: dy_update = dy_cam + dy_init. The new offsets dx_update in the X direction and dy_update in the Y direction of the cutter component and the camera represent the new relative positional relationship between the cutter component and the camera.

[0184] When the calibration is repeated for the Nth time, the relative position of the cutter component and the camera when the camera captures the marking pattern for the N-1th time is updated as the new target movement amount. After the cutter component cuts the cutting material to form the marking pattern for the N-1th time, the camera 101 is offset by [dx_update(N-1), dy_update(N-1)] and an image containing the marking pattern is captured. Then, the new target movement amount for the Nth time is the offset of the camera for the N-1th time, that is: dx_init(N)=dx_update(N-1), dy_init(N)=dy_update(N-1).

[0185] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0186] Furthermore, the use of terms such as "first," "second," etc., in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0187] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0188] Furthermore, the technical solutions of the various embodiments of this application can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When 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 application.

[0189] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for calibrating the position of a laser head, characterized in that, The laser head is mounted on a processing device, which includes a guide, a camera, and a processing platform. The processing platform has reusable consumables that can be recovered after laser ablation / illumination at a preset position. The camera and the laser head are slidably connected to the guide. The method includes: Control the laser head to move above a preset position on the processing platform, or control the processing platform to move so that the laser head is above a preset position on the processing platform; The laser head is controlled to emit a laser beam toward the recoverable consumable to obtain a marking pattern on the recoverable consumable; The camera is controlled to move to the vicinity of the preset position according to the target movement amount, and an image of the recoverable consumable containing the marking pattern is captured by the camera; Based on the image and the target movement, the position information of the laser head is obtained.

2. The method as described in claim 1, characterized in that, The processing equipment also includes a 3D printing head connected to the laser head; the 3D printing head is slidably connected to the guide, and the camera is fixedly mounted on the 3D printing head; Controlling the camera to move to the vicinity of the preset position according to the target movement includes: The 3D printing head is controlled to move around the preset position according to the target movement amount.

3. The method as described in claim 2, characterized in that, Before controlling the laser head to move above a preset position on the processing platform, or controlling the processing platform to move so that the laser head is above a preset position on the processing platform, the method further includes: After detecting that the connection between the laser head and the 3D printing head has been lost, the laser head is controlled to reconnect to the 3D printing head.

4. The method as described in claim 1, characterized in that, The reusable consumable is thermal paper or photosensitive paper.

5. The method as described in claim 1, characterized in that, The reusable consumable is adhered to the surface of the processing platform facing the laser head.

6. The method as described in claim 1, characterized in that, The processing platform includes a processing area and a non-processing area. The reusable consumables are attached to the non-processing area, and the processing area is used to place the product to be processed.

7. The method as described in claim 1, characterized in that, The recoverable consumables are provided with heat insulation material between them and the processing platform.

8. The method as described in claim 2, characterized in that, The 3D printing head is controlled to move to the vicinity of the preset position within a preset time according to the target movement amount, and the preset time is determined based on the recovery time of the recoverable consumable.

9. The method as described in claim 1, characterized in that, The method further includes: Based on the position information of the laser head, the target movement amount is updated, and the camera is controlled to move to the vicinity of the preset position according to the updated target movement amount, and a new image of the recoverable consumable containing the marking pattern is captured by the camera; Based on the updated target movement and the new image, the new position information of the laser head is obtained.

10. The method as described in claim 1, characterized in that, The step of capturing an image of the recoverable consumable containing the marking pattern using the camera includes: The recoverable consumables are photographed using the camera; Determine whether the photograph captured by the camera contains the marked pattern; If the photo taken by the camera does not contain the marked pattern, the camera's shooting position is changed until the photo taken by the camera contains the marked pattern.

11. The method as described in claim 2, characterized in that, The 3D printing head includes a nozzle, and the target movement is the distance between the nozzle and the laser head.

12. The method as described in claim 1, characterized in that, The position information of the laser head is the relative position between the laser head and the camera.

13. A processing equipment, characterized in that, The processing equipment includes a laser head, a processing platform, a 3D printing head connected to the laser head, and a processor, the processor being configured to perform the method as described in any one of claims 1-12.

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