CN114295056B - Rapid correction method and application of visual positioning system of laser processing equipment - Google Patents
Rapid correction method and application of visual positioning system of laser processing equipment Download PDFInfo
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Abstract
The invention discloses a quick correction method and application of a visual positioning system of laser processing equipment, wherein the correction method comprises the following steps: setting a graphic mark on a workpiece to manufacture a standard workpiece; constructing a workpiece coordinate system according to the positioning mark, wherein coordinate axes of the workpiece coordinate system are parallel to a unified coordinate system of the visual positioning system; determining a test point and a test line by using the graphic mark, and actually measuring the coordinate (X 0,Y0) of the test point in a workpiece coordinate system, wherein an included angle alpha 0 is formed between the test line and an X axis or a Y axis of the workpiece coordinate system; constructing a visual workpiece coordinate system corresponding to the workpiece coordinate system by utilizing a visual positioning system of laser processing equipment, and measuring coordinates (X 1,Y1) of a corresponding test point in the visual workpiece coordinate system, wherein an included angle alpha 1 is formed between the test line and an X axis or a Y axis of the visual workpiece coordinate system; the X-direction error compensation amount Δx=x 1-X0, the Y-direction error compensation amount Δy=y 1-Y0, and the angle error compensation amount Δα=α 1-α0 are calculated, respectively, to correct errors of the visual positioning system. The correction method can be used for rapidly correcting the vision system and improving the production efficiency.
Description
Technical Field
The invention relates to the field of laser processing, in particular to a quick correction method and application of a visual positioning system of laser processing equipment.
Background
In the laser processing equipment with the visual positioning system, the coordinate system of the visual positioning system and the coordinate system of the movement of the laser relative to the workpiece are calibrated, so that the two coordinate systems are overlapped, and the coordinate system is hereinafter called unified coordinate system. Before the laser is used for processing the workpiece, the machine vision is used for observing the coordinate position of a positioning mark on the workpiece or a fixture for clamping the workpiece in a unified coordinate system, and then the laser is used for processing the workpiece. The positioning mark has a certain geometric dimension, the machine vision is usually used for capturing the edge line of the positioning mark image, the position and the angle offset of the image in a unified coordinate system are calculated by comparing the edge line with the edge of the positioning template, and the position and the angle of the processed graphic digital model are compensated and corrected to be overlapped with the position in the workpiece coordinate system. However, the edge of the positioning mark is not a geometric line without width, in the visual image of machine vision, the edge is of a certain width, the algorithm searches the position of the point with the largest gradient of the brightness change of the image along the direction perpendicular to the edge as the edge, and the point set forms the edge found by the algorithm. Obviously, the edges found by the vision system are related to the details of the shot images, the details of the images are different according to different lighting conditions of different devices, are related to individual differences of imaging lenses of different devices, and are more related to the specific form of the positioning mark. In the on-axis vision positioning system, the vision influence is distorted in diamond shape and chromatic aberration at a position deviated from the center of the plane field lens, and thus, the position is deviated. Even with achromatic field lens, diamond distortion is unavoidable. For the above reasons, the position and angle of the positioning mark captured by the visual positioning system are not the true position and angle thereof in the unified coordinate system.
In order to ensure the accuracy of the laser processing position and angle, the laser processing device needs to process a plurality of real products (generally 5-10 products) before first putting into use or producing a new product, measure the position deviation of the laser processing part on each product, calculate the average deviation amount, and then compensate the average deviation amount into a digital model of laser processing. The process is commonly called as first part, is complex and complicated, consumes products and consumes time.
Taking keyboard marking as an example, 108 key caps need to be marked on a standard keyboard, each key cap needs to measure the offset and the angle offset in the X, Y directions, according to the minimum test of 5 keyboards, 540 key caps need to be measured, at least 1 measurement point with control precision is arranged on each key cap, and each measurement point measures X, Y dimension measurement in two directions and one angle measurement. If 100 marking machines are arranged in a workshop to produce the same product, the workload of visual deviation compensation is very large, and the quick production of equipment is not facilitated.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a quick correction method and application of a visual positioning system of laser processing equipment, and the visual positioning system can be quickly corrected by the correction method, so that the material waste is avoided, the labor cost is reduced, and the production efficiency is improved.
In order to achieve the above purpose, the invention adopts the following technical scheme: a method for rapidly calibrating a vision positioning system of a laser processing apparatus, the steps of the calibration method comprising:
Setting a graphic mark on a workpiece to manufacture a standard workpiece;
Constructing a workpiece coordinate system according to the positioning mark, wherein coordinate axes of the workpiece coordinate system are parallel to a unified coordinate system of the visual positioning system;
Determining a test point and a test line by the graphic mark, and actually measuring the coordinate (X 0,Y0) of the test point in the workpiece coordinate system, wherein an included angle alpha 0 is formed between the test line and an X axis or a Y axis of the workpiece coordinate system;
constructing a visual workpiece coordinate system corresponding to the workpiece coordinate system by utilizing a visual positioning system of laser processing equipment, and measuring coordinates (X 1,Y1) of the corresponding test point in the visual workpiece coordinate system, wherein an included angle alpha 1 is formed between the test line and an X axis or a Y axis of the visual workpiece coordinate system;
The X-direction error compensation amount Δx=x 1-X0, the Y-direction error compensation amount Δy=y 1-Y0, and the angle error compensation amount Δα=α 1-α0 are calculated, respectively, to correct errors of the visual positioning system.
In the above technical solution, "constructing the object coordinate system according to the positioning mark" includes: the method comprises the steps that a positioning mark for visual positioning is arranged on a workpiece, the positioning mark is provided with characteristic lines parallel to an X axis and a Y axis of a unified coordinate system, the characteristic lines parallel to the X axis of the unified coordinate system in the positioning mark are selected as the X axis of the workpiece coordinate system, and the direction of the characteristic lines is the same as the direction of the X axis in the unified coordinate system; selecting the characteristic line parallel to the Y axis of the unified coordinate system in the positioning mark as the Y axis of the workpiece coordinate system, wherein the direction of the characteristic line is the same as the Y axis direction in the unified coordinate system;
A positioning mark for visual positioning is arranged on a workpiece, no characteristic line parallel to the X axis and the Y axis of the unified coordinate system exists in the positioning mark, two characteristic points on the positioning mark are selected, one characteristic point is taken as an origin point, and a straight line passing through the origin point and forming a specific angle with the connecting line of the two characteristic points is taken as the X axis, so that a workpiece coordinate system is constructed; the specific angle is an included angle between a connecting line of the two characteristic points and an X axis in a unified coordinate system; the X direction of the constructed workpiece coordinate system is the same as the X axis direction of the unified coordinate system; the constructed object coordinate system is a rectangular coordinate system.
In the above technical solution, "constructing the object coordinate system according to the positioning mark" further includes: when no positioning mark for visual positioning is available on the workpiece, 2 positioning marks are formulated on a precise jig for clamping the workpiece; and constructing the coordinate system of the workpiece by the formulated positioning marks.
In the above technical solution, the step of "setting the graphic mark on the workpiece" includes setting the graphic mark by any one of laser marking, screen printing, and chemical etching, and may also be setting the graphic mark by other methods.
In the above technical solution, the test point is a point on the graphic mark, which is constructed by an image algorithm, such as a center of a circle of a circular mark, a certain vertex of a polygonal mark, or a centroid of any graphic.
In the above technical solution, the test line is a line generated by an edge inspection function of an image algorithm or a straight line passing through two points constructed by the image algorithm in the graphic mark.
In the technical scheme, the graphic mark comprises a round mark, a linear mark, a rectangular mark and a triangular mark; one or two of the workpieces are arranged on the workpiece.
In the above technical scheme, the coordinate value of the test point in the workpiece coordinate system is actually measured by adopting an image measuring instrument, and the included angle between the test line and the X axis or the Y axis of the workpiece coordinate system is formed.
A visual positioning system correction method under the condition that a large workpiece is subjected to multipoint visual positioning, which applies the visual positioning system rapid correction method of the laser processing equipment, comprises the following steps:
More than two locating marks are selected on the master workpiece, preferably two locating marks that are farther apart along the master workpiece. Setting a graphic mark close to each positioning mark, wherein the distance between the graphic mark and the corresponding positioning mark is small enough; the "spacing is small enough" means that the field angle of the visual positioning system of the laser processing device can completely cover one graphic mark and the corresponding positioning mark.
And constructing a workpiece coordinate system by utilizing each positioning mark, and measuring the coordinates (X i,Yi) of the test point on the graphic mark in the corresponding workpiece coordinate system.
Constructing a visual workpiece coordinate system corresponding to the workpiece coordinate system by utilizing a visual positioning system of laser processing equipment, and measuring the corresponding coordinates (X' i,Y′i) of the test point in the visual workpiece coordinate system, wherein i refers to an ith positioning mark.
And respectively calculating the difference value (delta X i,ΔYi) between the coordinate (X i,Yi) of each positioning mark in the workpiece coordinate system and the coordinate (X' i,Y′i) of the visual workpiece coordinate system as the error compensation quantity of the test point on the ith positioning mark in the visual positioning system, wherein delta X i＝X′i-Xi,ΔYi＝Y′i-Yi.
During actual production and processing, the whole visual positioning is carried out on the workpiece before laser processing, and the method specifically comprises the following steps:
Capturing coordinate values (X' i,Y′i) of a plurality of selected positioning marks on the workpiece in a unified coordinate system by using a corresponding visual positioning system of which the standard workpiece is subjected to visual error compensation, and calculating weight center coordinates of all the selected positioning marks Wherein:
n is the number of the selected positioning marks.
Calculating theoretical weight center coordinates of the selected positioning marks in a unified coordinate systemWherein:
(X i,Yi) is the theoretical coordinates of the selected positioning marker in a unified coordinate system.
The position correction of the vision positioning system is used for integrally moving the position of the laser processing figure digital model, wherein:
Calculating the actual placed inclination angle alpha' of the workpiece in the unified coordinate system and the theoretical inclination angle alpha of the laser processing figure digital model in the unified coordinate system, taking the difference delta alpha as an angle compensation quantity, and taking the laser processing figure weight center coordinate after position correction A digital model of a pattern machined for a central rotating laser, wherein:
Δα＝α′-α；
α＝tan-1k；
α′＝tan-1k′；
The graphic mark is preferably a circle as the graphic mark, so that the center coordinates can be conveniently searched by using a graphic image processing software tool and used as the test point.
The correcting method of the visual positioning system of the laser processing equipment is used for correcting the situation that a plurality of workpieces are clamped on a carrier, and comprises the steps of performing visual positioning correction on each workpiece on the carrier one by one, and specifically comprises the following steps:
manufacturing standard workpieces with graphic marks for each workpiece clamping position on the carrier;
Constructing a workpiece coordinate system, a test point and a test line for each standard workpiece; actually measuring the coordinates of the test point in the constructed workpiece coordinate system, and actually measuring the included angle between the test line and the coordinate axis of the workpiece coordinate system;
Clamping all standard workpieces on a carrier, and constructing a visual workpiece coordinate system, a test point and a test line for each standard workpiece on the carrier by utilizing a visual positioning system of laser processing equipment; measuring coordinates of a test point in the visual workpiece coordinate system, and measuring an included angle between a test line and a coordinate axis of the visual workpiece coordinate system;
And using the difference value between the coordinates of the test point in the workpiece coordinate system and the coordinates of the visual workpiece coordinate system as the error compensation quantity of the visual positioning system at the position of the standard workpiece. And using the difference value between the included angle between the test line and the X axis in the workpiece coordinate system and the included angle between the test line and the X axis in the visual workpiece coordinate system as the angle error compensation quantity of the visual positioning system at the position of the standard workpiece.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. According to the invention, a standard workpiece is manufactured, a graphic mark is arranged on the standard workpiece, a test point and a test line are determined, the vision positioning system of the laser processing equipment is utilized to measure the position of the test point and the included angle between the test line and a coordinate axis under a unified coordinate system, the position of the test point and the included angle between the test line and the coordinate axis under the workpiece coordinate system are actually measured, the vision error compensation quantity of the vision positioning system of the laser processing equipment for the workpiece is determined by the difference value of the position of the test point and the difference value of the included angle under the two coordinate systems, so that the manufacturing of a large number of first workpieces is avoided, namely, the actually measured large number of laser processing positions are avoided, the average position deviation is counted, and the complicated work of positioning error compensation of the vision system is carried out. Ensuring that the first part is a qualified product during processing, improving the production efficiency and reducing the material waste.
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments, as illustrated in the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a visual correction method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a workpiece measurement in accordance with an embodiment of the invention;
FIG. 3 is a schematic view of a workpiece processing in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a workpiece measurement in accordance with a second embodiment of the invention;
FIG. 5 is a schematic diagram of a workpiece processing in accordance with a second embodiment of the present invention;
FIG. 6 is a diagram illustrating measurement of a key cap in accordance with a third embodiment of the present invention;
Fig. 7 is a diagram illustrating a keyboard positioning method according to a third embodiment of the present invention.
Reference numerals of the above drawings: 1. a standard workpiece; 2. a graphic mark; 3. a test point; 4. a test line; 5. laser processing a pattern; 6. positioning marks; 7. a standard key cap; 8. a keyboard; 9. a first circle; 10. a second circle; 11. precision jig.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one: referring to fig. 1 to 3, a method for quickly correcting a visual positioning system of a laser processing apparatus is exemplified in this embodiment in which a workpiece has two sides perpendicular to each other. If the workpiece has a left edge and a lower edge which are perpendicular to each other, and the left edge and the lower edge of the actual placement situation of the workpiece on the laser processing device are respectively parallel to the Y axis and the X axis of the unified coordinate system, the process requires that the distances from the laser processing pattern 5 to the left edge and the lower edge are within a specified tolerance range.
The correction method comprises the following steps:
Manufacturing a standard workpiece 1: a workpiece is taken, and two graphic marks 2, including a circular mark and a linear mark, are arranged on the upper surface of the workpiece in a laser marking mode.
Constructing a workpiece coordinate system: searching the left edge and the lower edge of the standard workpiece 1 by using the edge inspection function of the image measuring instrument, constructing an intersection point of extension lines of the two edges, taking the intersection point as a coordinate origin, taking the lower edge as an X axis, and taking the left edge as a Y axis, so as to construct a workpiece coordinate system. The workpiece coordinate system is a rectangular coordinate system.
Data on the standard workpiece 1 were measured: capturing the center of a circle of a circular target by using an image measuring instrument as a test point 3, and measuring the coordinate (X 0,Y0) of the circle in a workpiece coordinate system; the lower edge of the linear target is captured by an image measuring instrument and used as a test line 4, and the included angle alpha 0 between the test line and the X axis of the workpiece coordinate system is measured.
Measuring data of the standard workpiece 1 with a visual positioning system of the laser processing apparatus: and clamping the standard workpiece 1 on a machine table, constructing a visual workpiece coordinate system, a test point 3 and a test line 4 by using the same method as the measured data, measuring the position coordinate (X 1,Y1) of the test point 3 in the visual workpiece coordinate system, and forming an included angle alpha 1 between the test line 4 and the X axis of the visual workpiece coordinate system.
Calculating an error compensation amount: the X-direction error compensation amount Δx=x 1-X0, the Y-direction error compensation amount Δy=y 1-Y0, and the angle error compensation amount Δα=α 1-α0 are calculated, respectively. The Δx is used as an error compensation amount of the laser processing equipment visual positioning system for the workpiece in the X direction. The delta Y is used as an error compensation quantity of a visual positioning system of the laser processing equipment for the workpiece in the Y direction. The delta alpha is used as an angle error compensation quantity to correct errors of the visual positioning system.
For producing the same product by using a plurality of machine stations, a standard workpiece 1 can be manufactured, and the correction method in the embodiment is repeated for all machine stations by using the standard workpiece 1 so as to correct the error of the visual positioning system of each machine station.
Referring to fig. 3, after obtaining the error compensation amount of each machine, during actual production, before laser processing, the vision positioning system searches the edge of the left lower part of the workpiece in a vision searching area preset in the vision positioning template, and compares the edge with the edge in the vision positioning template; and calculating the coordinate position offset. The position of the digital model of the laser processing pattern 5 in the unified coordinate system is moved after the error compensation amount is added. And calculating the angle offset, adding the angle error compensation amount, rotating the digital model of the laser processing pattern 5, and then carrying out laser processing.
Wherein the graphic marks 2 may be made by screen printing, chemical etching or other means, in addition to laser marking.
In this embodiment, a circular label and a linear label are selected and combined to determine the test point 3 and the test line 4. One vertex of the polygon can be used as a test point 3 and one side of the polygon can be used as a test line 4 by setting the graphic mark 2 of the polygon.
Embodiment two: referring to fig. 4 to 5, in this embodiment, taking the feature that the workpiece is not available for visual positioning as an example, that is, the edge of the workpiece is not sharp enough, the visual positioning system cannot capture the edge of the workpiece, and the visual correction can be assisted by the precise jig 11, so that the workpiece is clamped by the same precise jig 11 during production and processing.
The correction method comprises the following steps:
manufacturing a standard workpiece 1: a workpiece is taken, a square mark is arranged on the upper surface of the workpiece in a laser marking mode, the square mark is used as a graph mark 2, the workpiece is clamped on the precise jig 11, and the whole formed after the workpiece provided with the graph mark 2 is clamped on the precise jig 11 is used as a standard workpiece 1.
The precise jig 11 is provided with two positioning marks 6 for constructing a workpiece coordinate system, and after the standard workpiece is clamped on the laser processing equipment, the central connecting line of the standard workpiece is parallel to the X axis of the unified coordinate system. In this embodiment, the precision jig 11 is capable of ensuring that the accuracy of the relative position and angle between the workpiece and the positioning mark 6 is within the tolerance allowable range after clamping the workpiece. The laser-machined pattern and the relative position of the two positioning marks 6 are required to be within the allowable tolerance.
Constructing a workpiece coordinate system: the center points of the two positioning marks 6 are respectively captured by an image measuring instrument, one of the center points is taken as an original point, a straight line passing through the two center points is taken as an X axis, a straight line passing through the original point and perpendicular to the X axis is taken as a Y axis, and a workpiece coordinate system is constructed, wherein the workpiece coordinate system is a rectangular coordinate system.
Data on the standard workpiece 1 were measured: capturing four sides of a square target by using an image measuring instrument, constructing four vertexes of the square target through intersection points of extension lines of the four sides, constructing diagonal lines of the square target by using two groups of diagonal vertexes, and taking the intersection points of the diagonal lines as test points 3. The coordinates (X 0,Y0) of the test point 3 in the workpiece coordinate system are measured with an image measuring instrument. The lower frame line facing to the X axis side in the square mark is used as a test line 4, and an included angle alpha 0 between the test line 4 and the X axis of the workpiece coordinate system is measured by using an image.
Measuring data of the standard workpiece 1 with a visual positioning system of the laser processing apparatus: and placing the standard workpiece 1 under a processing head of a machine table, constructing a visual workpiece coordinate system, a test point 3 and a test line 4 by using a visual positioning system of the machine table in the same method as the measured data, measuring the position coordinates (X 1,Y1) of the test point 3 in the visual workpiece coordinate system, and forming an included angle alpha 1 between the test line 4 and the X axis of the visual workpiece coordinate system.
Calculating an error compensation amount: the X-direction error compensation amount Δx=x 1-X0, the Y-direction error compensation amount Δy=y 1-Y0, and the angle error compensation amount Δα=α 1-α0 are calculated, respectively. The Δx is used as an error compensation amount of the laser processing equipment visual positioning system for the workpiece in the X direction. The delta Y is used as an error compensation quantity of a visual positioning system of the laser processing equipment for the workpiece in the Y direction. The delta alpha is used as an angle error compensation quantity to correct errors of the visual positioning system.
Referring to fig. 5, after the error compensation amount of each machine is obtained, a visual search area covering two positioning marks 6 is set at the time of actual production, and coordinates of the two positioning marks 6 in a unified coordinate system are positioned in the visual search area. And constructing a workpiece coordinate system to obtain the transformation relation between the workpiece coordinate system and the unified coordinate system. And compensating the error compensation quantity (delta x, delta y, delta alpha) calculated by the coordinates of the known digital model of the laser processing figure 5 in the workpiece coordinate system, converting the compensated digital model into a unified coordinate system, and processing the laser processing figure 5 on the surface of the workpiece according to the compensated position and angle.
By the method, the visual positioning system is corrected by using the precise jig 11, and the precise jig 11 is used in actual production, so that the difference of visual compensation caused by the geometric differences of workpieces of different types of products can be eliminated, and the visual positioning system is not required to be corrected again as long as the shapes and the relative positions of the two positioning marks 6 on the jig are unchanged when the products are switched.
Embodiment III: referring to fig. 6 to 7, a visual positioning system correction method for a large workpiece under the condition of multipoint visual positioning, which applies the above-mentioned visual positioning system rapid correction method of laser processing equipment, includes:
Manufacturing a standard key cap 7: taking two unmarked key caps, and marking a first circle 9 at the central position of the key caps by using laser respectively to serve as a graphic mark 2; a second circle 10 is marked on the lower left corner of the key cap for indicating the direction.
Constructing a keycap coordinate system: capturing four sides of the keycap by using an image measuring instrument, constructing four vertexes of the keycap through intersection points of extension lines of the four sides, constructing diagonal lines of the keycap by using two groups of diagonal vertexes, and taking the intersection points of the diagonal lines as original points. A key cap coordinate system is constructed with a straight line passing through the origin and parallel to the lower edge as the X axis and a straight line passing through the origin and parallel to the left edge as the Y axis. The keycap coordinate system is a rectangular coordinate system. Wherein the second circle 10 is located in the third quadrant of the keycap coordinate system.
Data on the measured standard keycap 7: the center of the first circle 9 is captured by an image measuring instrument and used as a test point 3, the coordinate of the test point 3 on the two standard key caps 7 is measured in a key cap coordinate system (X 01,Y01)、(X02,Y0 2). The coordinates of the center of the first circle 9 can be understood as the offset of the center of the first circle 9 and the center of the key cap in the X-axis direction and the Y-axis direction respectively.
The data of the standard key cap 7 are measured by a visual positioning system of the laser processing equipment: two standard key caps 7 are respectively installed at the letter E and letter M positions on the keyboard 8, and a second circle 10 for indicating the positions is positioned at the left lower part of the key caps for positioning the keyboard 8. The keyboard 8 is placed on a clamping jig of the equipment, a visual key cap coordinate system, a test point 3 and a test line 4 are constructed in the same method as the actual measurement data, and the position coordinates of the test point 3 of the two standard key caps 7 in the visual key cap coordinate system are measured and are respectively (X 11,Y11)、(X21,Y2 1). Namely, (X 11,Y1 1) and (X 21,Y2 1) are the representation values of (X 01,Y0 1) and (X 02,Y0 2), respectively, in the unified coordinate system of the visual positioning system. The differences (Δx1, Δy1) and (Δx2, Δy2) are taken as the error compensation amounts of the vision positioning system at E, M positions respectively. Wherein the method comprises the steps of ΔX1＝X11-X01,ΔY1＝Y11-Y01,ΔX2＝X12-X02,ΔY2＝Y12-Y02.
Referring to fig. 7, in actual production, the coordinate positions of the centers of the E-key cap and the M-key cap in the unified coordinate system are captured by visual positioning. The coordinate positions thereof are compensated and corrected by error compensation amounts (Δx1, Δy1) and (Δx2, Δy2), respectively, and the compensated and corrected coordinates are (X 'E,Y′E) and (X' M,Y′M), respectively, wherein:
X′E＝XE+ΔX1；
Y′E＝YE+ΔY1；
X′M＝XM+ΔX2；
Y′M＝YM+ΔY2；
(X E,YE) is the theoretical coordinate of the center of the E key cap in a unified coordinate system;
(X M,YM) is the theoretical coordinate of the M key cap center in the unified coordinate system.
Taking the midpoint of the connecting line of the centers of the two key caps as the key cap weight center, the coordinates of the weight center measured by the visual positioning system in a unified coordinate system areThe theoretical coordinates of the weight center in the unified coordinate system are/>Wherein:
The slope of the two key cap center connecting lines measured by the visual positioning system in a unified coordinate system is k ', and the inclination angle is alpha';
the theoretical slope of the central connecting line of the two key caps in a unified coordinate system is k, and the inclination angle is alpha;
Wherein:
α′＝tan-1k′；
α＝tan-1k；
Moving the keyboard marking image file as a whole (deltax, deltay), wherein:
rotating the keyboard marking picture file by delta alpha by taking the moved weight center coordinates as the center, wherein:
Δα＝α′-α；
The overall visual positioning of the keyboard 8 is thus completed.
Embodiment four: a correcting method of a visual positioning system of the laser processing equipment is applied to correct the situation that a plurality of workpieces are clamped on one carrier. It is substantially similar to embodiment one, except that:
Manufacturing standard key caps 7 for all key caps on a keyboard 8, constructing a workpiece coordinate system, a test point 3 and a test line 4 for each standard key cap 7, actually measuring coordinates (X, Y) i of the test point 3 in the workpiece coordinate system, and actually measuring an angle alpha i between the test line 4 and an X axis, wherein i is a key cap serial number;
Mounting each standard key cap 7 on a keyboard 8 to manufacture a standard keyboard;
Placing the standard keyboard at a marking station of a keyboard marking machine, and measuring each standard key cap 7 on the standard keyboard by using a visual positioning system of the keyboard marking machine, namely: constructing a visual key cap coordinate system, a test point 3 and a test line 4, and measuring the coordinate of the test point 3 and the included angle between the test line 4 and an X axis;
Visual error compensation is carried out on the visual positioning system of the keyboard marking machine at each key cap position, namely: the visual deviation in the X direction of the ith key cap position is compensated by DeltaX i＝X′i-Xi, the visual deviation in the Y direction of the ith key cap position is compensated by DeltaY i＝Y′i-Yi, and the visual angle deviation of the ith key cap position is compensated by Deltaalpha i＝α′i-αi.
After compensation and correction, in actual production, the visual positioning system before marking each key cap performs visual positioning on the key cap and then marks, so that the first piece for correcting the image file can be omitted.
In practical application, a vision correction program can be compiled, the positions and angles of the graphic marks 2 on each keycap of the standard keyboard are recorded into the program by using the image measuring instrument, when the vision correction is carried out on the equipment, the vision positioning system of the equipment automatically detects the positions and angles of the graphic marks 2 of each standard keycap 7 on the standard keyboard, the compensation quantity of each keycap position is automatically calculated, and the vision compensation correction of hundreds of keycap positions can be completed within ten seconds.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (7)
1. A quick correction method for a visual positioning system of laser processing equipment is characterized by comprising the following steps of: the correction method comprises the following steps:
Setting a graphic mark on a workpiece to manufacture a standard workpiece;
constructing a workpiece coordinate system according to the positioning mark, wherein coordinate axes of the workpiece coordinate system are parallel to a unified coordinate system of the visual positioning system; the constructing the object coordinate system according to the positioning mark comprises the following steps:
The method comprises the steps that a positioning mark for visual positioning is arranged on a workpiece, the positioning mark is provided with a characteristic line parallel to an X axis or a Y axis of a unified coordinate system, the characteristic line parallel to the X axis of the unified coordinate system in the positioning mark is selected as the X axis of the workpiece coordinate system, and the direction of the characteristic line is the same as the direction of the X axis in the unified coordinate system; selecting the characteristic line parallel to the Y axis of the unified coordinate system in the positioning mark as the Y axis of the workpiece coordinate system, wherein the direction of the characteristic line is the same as the Y axis direction in the unified coordinate system;
or, a positioning mark for visual positioning is arranged on the workpiece, no characteristic line parallel to the X axis and the Y axis of the unified coordinate system exists in the positioning mark, two characteristic points on the positioning mark are selected, one characteristic point is taken as an origin point, and a straight line passing through the origin point and forming a specific angle with the connecting line of the two characteristic points is taken as the X axis, so that a workpiece coordinate system is constructed; the specific angle is an included angle between a connecting line of two characteristic points and an X axis in a unified coordinate system, the X axis direction of a constructed workpiece coordinate system is the same as the X axis direction of the unified coordinate system, and the constructed workpiece coordinate system is a rectangular coordinate system;
Determining a test point and a test line by the graphic mark, and actually measuring the coordinate (X 0,Y0) of the test point in the workpiece coordinate system, wherein an included angle alpha 0 is formed between the test line and an X axis or a Y axis of the workpiece coordinate system; the test point is a point on the graphic mark, which is constructed by an image algorithm; the test line is a line generated by the edge inspection function of the image algorithm or a straight line passing through two points constructed by the image algorithm in the graphic mark;
constructing a visual workpiece coordinate system corresponding to the workpiece coordinate system by utilizing a visual positioning system of laser processing equipment, and measuring coordinates (X 1,Y1) of the corresponding test point in the visual workpiece coordinate system, wherein an included angle alpha 1 is formed between the test line and an X axis or a Y axis of the visual workpiece coordinate system;
The X-direction error compensation amount Δx=x 1-X0, the Y-direction error compensation amount Δy=y 1-Y0, and the angle error compensation amount Δα=α 1-α0 are calculated, respectively, to correct errors of the visual positioning system.
2. The method of claim 1, wherein constructing a workpiece coordinate system from the positioning marks further comprises: when no positioning mark for visual positioning is available on the workpiece, making a positioning mark on a precise jig for clamping the workpiece; and constructing the coordinate system of the workpiece by the formulated positioning marks.
3. The method for rapid calibration of a vision positioning system of a laser processing apparatus of claim 1, wherein: the disposing the graphic mark on the workpiece includes disposing the graphic mark using any one of laser marking, screen printing, and chemical etching.
4. The method for rapid calibration of a vision positioning system of a laser processing apparatus of claim 1, wherein: the graphic mark comprises a circular mark, a linear mark, a rectangular mark and a triangular mark; one or two of the workpieces are arranged on the workpiece.
5. The method for rapid calibration of a vision positioning system of a laser processing apparatus of claim 1, wherein: and adopting an image measuring instrument to measure coordinate values of the test points in the workpiece coordinate system, wherein an included angle between the test line and an X axis or a Y axis of the workpiece coordinate system is formed.
6. A visual positioning system correction method under multipoint visual positioning of a large workpiece is characterized by comprising the following steps of: the visual positioning system correction method adopts the visual positioning system rapid correction method of the laser processing equipment according to any one of claims 1 to 5, and comprises the following specific steps:
selecting more than two positioning marks on a standard workpiece, setting a graphic mark close to each positioning mark, wherein the positioning marks and the graphic marks can be simultaneously positioned in the field angle of a visual positioning system;
Constructing a workpiece coordinate system by utilizing each positioning mark, and actually measuring the coordinates (X i,Yi) of a test point on the graphic mark in the corresponding workpiece coordinate system;
Constructing a visual workpiece coordinate system corresponding to the workpiece coordinate system by utilizing a visual positioning system of laser processing equipment, and measuring the corresponding coordinates (X 'i,Yi') of the test point in the visual workpiece coordinate system, wherein i refers to an ith positioning mark;
Calculating the difference (DeltaX i,ΔYi) between the coordinates (X i,Yi) of each positioning mark in the object coordinate system and the coordinates (X 'i,Yi') in the visual object coordinate system as the test on the ith positioning mark
Error compensation amount of the point-in-view positioning system, wherein DeltaX i＝Xi′-Xi,ΔYi＝Yi′-Yi;
Capturing coordinate values (X 'i,Yi') of a plurality of selected positioning marks on the workpiece in a unified coordinate system by using a corresponding visual positioning system of which the standard workpiece is subjected to visual error compensation, and calculating weight center coordinates of all the selected positioning marks Wherein:
n is the number of the selected positioning marks;
calculating theoretical weight center coordinates of the selected positioning marks in a unified coordinate system Wherein:
(X i,Yi) is the theoretical coordinates of the selected positioning marker in the unified coordinate system;
The position correction of the vision positioning system is used for integrally moving the position of the laser processing figure digital model, wherein:
Calculating the actual placed inclination angle alpha' of the workpiece in the unified coordinate system and the theoretical inclination angle alpha of the laser processing figure digital model in the unified coordinate system, taking the difference delta alpha as an angle compensation quantity, and taking the laser processing figure weight center coordinate after position correction A digital model of a pattern machined for a central rotating laser, wherein:
Δα＝α′-α；
α＝tan-1k；
α′＝tan-1k′；
The slope of the connecting line of the centers of the two positioning marks measured by the visual positioning system in a unified coordinate system is k';
the theoretical slope of the connecting line of the centers of the two positioning marks in a unified coordinate system is k.
7. A visual positioning system correction method for clamping a plurality of workpieces on a carrier is characterized by comprising the following steps of: the visual positioning system correction method adopts the visual positioning system rapid correction method of the laser processing equipment according to any one of claims 1 to 5, and comprises the following specific steps:
manufacturing standard workpieces with graphic marks for each workpiece clamping position on the carrier;
Constructing a workpiece coordinate system, a test point and a test line for each standard workpiece; actually measuring the coordinates of the test point in the constructed workpiece coordinate system, and actually measuring the included angle between the test line and the coordinate axis of the workpiece coordinate system;
Clamping all standard workpieces on a carrier, and constructing a visual workpiece coordinate system, a test point and a test line for each standard workpiece on the carrier by utilizing a visual positioning system of laser processing equipment; measuring coordinates of a test point in the visual workpiece coordinate system, and measuring an included angle between a test line and a coordinate axis of the visual workpiece coordinate system;
Using the difference value between the coordinates of the test point in the workpiece coordinate system and the coordinates of the visual workpiece coordinate system as the error compensation quantity of the visual positioning system at the position of the standard workpiece; and using the difference value between the included angle between the test line and the X axis in the workpiece coordinate system and the included angle between the test line and the X axis in the visual workpiece coordinate system as the angle error compensation quantity of the visual positioning system at the position of the standard workpiece.
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