CN115846891B - Control method of laser engraving equipment, laser engraving equipment and computer readable storage medium - Google Patents
Control method of laser engraving equipment, laser engraving equipment and computer readable storage medium Download PDFInfo
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- CN115846891B CN115846891B CN202310181301.8A CN202310181301A CN115846891B CN 115846891 B CN115846891 B CN 115846891B CN 202310181301 A CN202310181301 A CN 202310181301A CN 115846891 B CN115846891 B CN 115846891B
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Abstract
The invention relates to a control method of laser engraving equipment, the laser engraving equipment and a computer readable storage medium, wherein the method comprises the following steps: when a laser engraving instruction is received, controlling the mechanical arm moving module to move to a target moving position, and determining a laser engraving area surface corresponding to a product to be processed; obtaining pose setting parameters, laser etching picture files and laser etching processing parameters corresponding to the laser etching area surface; controlling the mechanical arm moving module to place a product to be processed according to pose setting parameters; controlling the laser etching module to execute laser etching operation on the laser etching area surface according to the laser etching pattern file and the laser etching processing parameters; when the execution of the laser etching operation is finished, determining the next laser etching area surface corresponding to the product to be processed, and returning to execute the step of obtaining the pose setting parameters, the laser etching picture files and the laser etching processing parameters corresponding to the laser etching area surface until all the laser etching area surfaces corresponding to the product to be processed finish the laser etching operation, thereby solving the problems of low automation and intelligent degree of laser etching equipment.
Description
Technical Field
The invention relates to the technical field of laser processing, in particular to a control method of laser engraving equipment, the laser engraving equipment and a computer readable storage medium.
Background
In the field of laser processing, two-dimensional laser engraving machines have been widely used in the planar engraving of various products. However, the traditional two-dimensional laser carving machine is difficult to meet the processing requirements, and the conventional processing mode of the laser carving machine is low in operation automation and intelligent degree, and if multi-surface carving is to be completed, the placement position and the placement angle of the workpiece are required to be manually and repeatedly adjusted, so that after one surface of the curved surface workpiece is carved, the placement position and the placement angle of the curved surface workpiece are manually adjusted, and carving is realized on the other surface of the curved surface workpiece until the processing requirements of the curved surface workpiece are met.
Disclosure of Invention
The invention mainly aims to provide a control method of laser engraving equipment, which aims to solve the problems of low automation and intelligent degree of the operation of the existing laser engraving machine on the processing mode of a three-dimensional complex curved surface workpiece.
In order to achieve the above purpose, the control method of the laser etching equipment provided by the invention is applied to the laser etching equipment, the laser etching equipment comprises a mechanical arm moving module, a clamp module and a laser etching module, the clamp module is used for clamping a product to be processed, the mechanical arm moving module comprises a moving arm and a connector, the connector is connected with the moving arm, the connector is connected with the clamp module, and the moving arm drives the clamp module to move through the connector; the laser engraving module comprises an engraving head and can perform laser engraving on the product to be processed on the moved fixture module; the method comprises the following steps:
when a laser engraving instruction is received, controlling the mechanical arm moving module to move to the target moving position, and determining a laser engraving area surface corresponding to the product to be processed;
acquiring pose setting parameters, laser engraving drawing files and laser engraving processing parameters corresponding to the laser engraving area surface;
controlling the mechanical arm moving module to place the product to be processed according to the pose setting parameters;
controlling the laser etching module to execute laser etching operation on the laser etching area surface according to the laser etching figure file and the laser etching processing parameters;
And when the execution of the laser etching operation is finished, determining the next laser etching area surface corresponding to the product to be processed, and returning to execute the step of acquiring the pose setting parameters, the laser etching image files and the laser etching processing parameters corresponding to the laser etching area surface until all the laser etching area surfaces corresponding to the product to be processed finish the laser etching operation.
Optionally, the step of determining the laser engraving area surface corresponding to the product to be processed includes:
identifying the product to be processed, and determining the product shape and/or product identification of the product to be processed;
and determining the laser etching area surface corresponding to the product to be processed according to the product shape and/or the product mark.
Optionally, before the step of controlling the mechanical arm moving module to move the product to be processed to the target moving position, the method further includes:
acquiring three-dimensional reference coordinates of a three-dimensional model corresponding to the product to be processed;
drawing a laser carving pattern on the three-dimensional model;
determining the mapping coordinates of the laser carving pattern on the three-dimensional model;
and controlling the mechanical arm moving module to perform initial pose calibration based on the three-dimensional reference coordinates, and determining a target moving position corresponding to the calibrated mechanical arm moving module according to the mapping coordinates.
Optionally, the mapping mode of the laser etching pattern is projection mapping, and the step of determining the mapping coordinates of the laser etching pattern on the three-dimensional model includes:
determining whether a target mapping area of the laser carving pattern on the three-dimensional model is a plane area or not;
if the laser etching identification points are the plane areas, the laser etching identification points corresponding to the target mapping areas are obtained;
and determining the mapping coordinates according to the laser carving identification points.
Optionally, the mapping mode of the laser etching pattern is package mapping, and after the step of determining whether the target mapping area of the laser etching pattern on the three-dimensional model is a planar area, the method further includes:
if the target mapping area is not the plane area;
dividing the target mapping region into a plurality of sub-mapping regions, wherein the division of the sub-mapping regions is associated with a Z-axis coordinate;
and determining the mapping coordinates according to the sub-laser carving identification points of each sub-mapping area.
Optionally, the mechanical arm moving module includes a moving arm, the moving arm is configured to calibrate a pose of the mechanical arm moving module, and controlling the mechanical arm moving module to perform initial pose calibration based on the three-dimensional reference coordinates includes:
Acquiring the current pose of the movable arm, and predicting the target pose of the movable arm according to the three-dimensional reference coordinates;
determining a degree of deviation between the target pose and the current pose;
determining the translation amount and the rotation amount of the movable arm according to the deviation degree;
determining control parameters of the moving arm which meet the translation amount and the rotation amount as target control parameters;
and controlling the moving arm to move to the target pose according to the target control parameters so as to calibrate the initial pose of the mechanical arm moving module, thereby enabling the coordinates of the product to be processed to be consistent with the coordinates of the three-dimensional model.
Optionally, determining, according to the mapping coordinate, the target movement position corresponding to the calibrated mechanical arm movement module includes:
acquiring a pre-stored homogeneous coordinate matrix corresponding to the mapping coordinates;
normalizing the homogeneous coordinate matrix to obtain an X-axis coordinate equation, a Y-axis coordinate equation and a Z-axis coordinate equation corresponding to the mapping coordinates;
generating an affine transformation matrix corresponding to the mapping coordinate on the mechanical arm moving module according to the mapping coordinate, the X-axis coordinate equation, the Y-axis coordinate equation and the Z-axis coordinate equation;
And determining target movement coordinates corresponding to the mapping coordinates based on the affine transformation matrix, and determining the target movement position of the mechanical arm movement module according to the target movement coordinates.
Optionally, the laser carving device is provided with a depth camera, the depth camera is used for shooting the product to be processed at a plurality of preset angles, depth image data is generated, and before the step of obtaining the three-dimensional reference coordinates of the three-dimensional model corresponding to the product to be processed, the laser carving device further comprises:
acquiring a plurality of depth image data of the product to be processed, which are acquired by the depth camera at a plurality of angles;
carrying out noise reduction pretreatment on the depth image data to obtain a pretreated image;
acquiring camera pose corresponding to the depth camera when shooting the depth image data at each angle, and generating a rigid transformation matrix according to each camera pose;
constructing an initial three-dimensional model based on the rigid transformation matrix;
extracting depth values corresponding to the products to be processed in each pretreatment image;
and optimizing the initial three-dimensional model based on the depth value to obtain a three-dimensional model corresponding to the product to be processed.
In addition, in order to achieve the above purpose, the present invention also provides a laser engraving apparatus, which includes: the laser etching device comprises a memory, a processor and a control program of the laser etching device, wherein the control program is stored in the memory and can run on the processor, and the control program of the laser etching device realizes the steps of the control method of the laser etching device when being executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer readable storage medium, on which a control program of a laser etching apparatus is stored, which when executed by a processor, implements the steps of the control method of the laser etching apparatus as described above.
The embodiment of the invention provides a control method of laser etching equipment, laser etching equipment and a computer readable storage medium, wherein the laser etching equipment and the computer readable storage medium are used for determining pose setting parameters, laser etching image files and laser etching processing parameters respectively corresponding to all laser etching area surfaces of a product to be processed, and controlling a mechanical arm moving module to place the product to be processed according to the pose setting parameters, so that the laser etching area surfaces face to a laser etching module, the laser etching module is used for executing laser etching operation on the laser etching area surfaces according to the laser etching image files and the laser etching processing parameters, so that the laser etching operation is completed on all the laser etching area surfaces corresponding to the product to be processed, manual placement is not needed, and the mechanical arm moving module of the control equipment is used for placing the product to be processed according to the pose setting parameters corresponding to the laser etching area surfaces, so that the laser etching equipment can automatically perform sustainable laser etching on all the laser etching area surfaces of the product to be processed, the automation degree is high, and the laser etching work efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a laser engraving apparatus according to various embodiments of a control method of the present invention;
FIG. 2 is a schematic diagram of a laser engraving apparatus according to an embodiment of the present invention;
FIG. 3 is a block diagram of a fixture module according to an embodiment of the present invention;
FIG. 4 is a schematic top view of the fixture module of FIG. 3;
FIG. 5 is a schematic diagram of a mechanical arm moving module in FIG. 2;
FIG. 6 is a schematic diagram illustrating a structure of a stopper according to an embodiment of the present invention;
FIG. 7 is a flow chart of a first embodiment of a method of controlling a laser engraving apparatus of the present invention;
FIG. 8 is a flow chart of a control method of the laser engraving apparatus according to a second embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In the following description, suffixes such as "module", "part" or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a laser etching apparatus according to various embodiments of a control method of the laser etching apparatus of the present invention.
As shown in fig. 1, the laser engraving apparatus may include: a memory 101 and a processor 102. It will be appreciated by those skilled in the art that the block diagram of the terminal shown in fig. 1 is not limiting of the terminal, and that the terminal may include more or fewer components than shown, or may combine certain components, or a different arrangement of components. The memory 101 stores an operating system and a control program of the laser etching apparatus. The processor 102 is a control center of the laser engraving device, and the processor 102 executes a control program of the laser engraving device stored in the memory 101 to implement the steps of the control method of the laser engraving device according to the embodiments of the present invention.
As shown in fig. 2, the present invention provides a laser engraving apparatus 1000 for performing laser engraving on a product 2000 to be processed, where the laser engraving apparatus 1000 includes:
the fixture module 10, the fixture module 10 is used for clamping the product 2000 to be processed; the mechanical arm moving module 20 comprises a moving arm 21 and a connector 22, the connector 22 is connected with the moving arm 21, the connector 22 is connected with the clamp module 10, and the moving arm 21 drives the clamp module 10 to move through the connector 22; the laser etching module 30, the laser etching module 30 includes an engraving head, and can carry out laser etching on the product 2000 to be processed on the moved fixture module 10.
Alternatively, the product to be processed 2000 employs a complex curved workpiece, such as an automobile part, a turbine blade, or the like, for example.
It is understood that the present invention can be applied to other products 2000 to be processed. In this embodiment, the laser engraving module 30 includes a vertically downward engraving head, which is a laser engraving head capable of engraving a workpiece vertically below.
As shown in fig. 5, the mechanical arm moving module 20 is set corresponding to the laser engraving module 30, the mechanical arm moving module 20 is set on the right of the laser engraving module 30, the moving arm 21 in the mechanical arm moving module 20 is a six-axis mechanical arm, and after the moving arm 21 is connected with the fixture module 10, the moving arm 21 can drive the fixture module 10 to move in six degrees of freedom, so that the product 2000 to be processed fixed on the fixture module 10 can be directly engraved by the laser engraving module 30.
In more detail, the laser engraving apparatus 1000 further includes a dust collection module, which is disposed corresponding to the engraving head, and can absorb the waste generated by the product 2000 to be processed during engraving, so as to prevent potential safety hazards.
As shown in fig. 4, the jig module 10 includes: the bottom plate 12 and spacing subassembly 13, spacing subassembly 13 set up on bottom plate 12, and spacing subassembly 13 includes a plurality of stopper 131, and a plurality of stopper 131 set up on the top of bottom plate 12, and the product 2000 of waiting to process is connected with bottom plate 12 through stopper 131.
In detail, in this embodiment, the operator fixes the product 2000 to be processed on the bottom plate 12 through the limiting component 13, the limiting component 13 includes a plurality of limiting blocks 131, the limiting blocks 131 are arranged along the length direction of the product 2000 to be processed, the limiting blocks 131 are fixedly arranged on the bottom plate 12 through bolts, the outer surfaces of the limiting blocks 131 are attached to the outer surfaces of the product 2000 to be processed, and the limiting blocks 131 play a role in limiting and fixing workpieces.
Be provided with the through-hole on the bottom plate 12 for being convenient for transport and save material, the through-hole sets up under the prerequisite that does not influence the mechanical properties of bottom plate 12, and is provided with the handle on the bottom plate 12, and the quantity of handle is two, and two handles are the diagonal angle setting on bottom plate 12, and the handle does not cause the interference to other parts, and the operating personnel of being convenient for carries anchor clamps module 10 through the handle.
As shown in fig. 6, the stopper 131 includes a boss 1311 and a stopper body 1312, the boss 1311 being provided on the stopper body 1312 in a vertical direction, the boss 1311 and the stopper body 1312 forming a step surface, the step surface being connected with the product 2000 to be processed.
In detail, in the present embodiment, the protrusion 1311 is parallel to the bottom plate 12, and the step surface formed by the protrusion 1311 and the stopper body 1312 is attached to the lower surface of the workpiece, so that the product 2000 to be processed is overlapped with the stopper 131. The top of the boss 1311 has a vertical through hole, and the surface of the product 2000 to be processed also has a vertical through hole, and when the product 2000 to be processed is overlapped with the boss 1311, an operator can pass through the two vertical through holes through the ball plug to fix the product 2000 to be processed with the boss 1311. The outer surfaces of the boss 1311 and the stopper body 1312 need to be chamfered to avoid damaging the product 2000 to be processed.
In more detail, it is understood that the top of the stopper 131 can be configured as a groove or an inclined surface, a spherical surface, etc. according to actual needs.
As shown in fig. 4, the limiting component 13 further includes a spacer 132, the spacer 132 is disposed on the base plate 12 corresponding to the limiting block 131, a portion of the limiting block 131 is connected with the base plate 12 through the spacer 132, and the spacer 132 is used to match the connection positions of the outer surfaces of the limiting blocks 131 and the product 2000 to be processed.
In detail, in the present embodiment, since the vertical height of the plurality of stoppers 131 on the product 2000 to be processed needs to be changed along with the height change of the product 2000 to be processed, and the stoppers 131 are of uniform specification due to cost consideration, the cushion blocks 132 need to be disposed under the stoppers 131, so that the outer surface of the stoppers 131 can be attached to the product 2000 to be processed, and deformation of the product 2000 to be processed is avoided.
It will be appreciated that when other components are provided on the base plate 12, the vertical height or angle of the component may be changed by providing a plurality of pads 132 having different vertical heights and being disposed at an angle to the base plate 12.
As shown in fig. 3, the limiting assembly 13 includes an elbow clamp assembly 133, the elbow clamp assembly 133 includes a horizontal elbow clamp 1331, the cushion block 132 includes a first cushion block 1321, the horizontal elbow clamp 1331 is horizontally disposed on the bottom plate 12 through the first cushion block 1321, the product 2000 to be processed has a vertical plane 2002 and a horizontal plane 2001, and the horizontal elbow clamp 1331 clamps the vertical plane 2002 of the product 2000 to be processed, and the horizontal elbow clamp 1331 is used for preventing the product 2000 to be processed from moving along the horizontal direction.
In detail, in the present embodiment, the horizontal toggle clamp 1331 is disposed at the end of the product 2000 to be processed, so as to prevent the end of the product 2000 to be processed from being deformed, the horizontal toggle clamp 1331 includes a horizontal grip through which the horizontal toggle clamp 1331 can be quickly locked or unlocked, the product 2000 to be processed has a vertical plane 2002 perpendicular to the bottom plate 12 and a horizontal plane 2001 horizontal to the bottom plate 12, and the vertical plane 2002 of the product 2000 to be processed can be clamped and fixed by the horizontal toggle clamp 1331.
In more detail, the first cushion block 1321 is disposed on the bottom plate 12, and the first cushion block 1321 is L-shaped, so that the horizontal grip and the horizontal elbow clamp 1331 are located on the same horizontal plane 2001, and the horizontal elbow clamp 1331 is attached to the lower surface of the product 2000 to be processed through the first cushion block 1321.
As shown in fig. 3, the toggle clamp assembly 133 further includes a vertical toggle clamp 1332, the spacer 132 further includes a second spacer 1322, the vertical toggle clamp 1332 is connected to the base plate 12 through the second spacer 1322, the vertical toggle clamp 1332 clamps the horizontal plane 2001 of the product 2000 to be processed, and the vertical toggle clamp 1332 is used for preventing the product 2000 to be processed from moving in a vertical direction.
In detail, in the present embodiment, the vertical toggle clamp 1332 also includes a vertical grip through which the vertical toggle clamp 1332 can be quickly locked or unlocked, and the horizontal plane 2001 of the product 2000 to be processed can be clamped and fixed by the vertical toggle clamp 1332.
In more detail, the second cushion block 1322 is correspondingly arranged along with the vertical height of the complex vertical workpiece, the horizontal plane 2001 of the product 2000 to be processed is provided with a horizontal plane 2001 through hole, the corresponding through hole on the second cushion block 1322 is provided with a pin, the pin penetrates through the horizontal plane 2001 through hole to be connected with the product 2000 to be processed, the pin is used for fixing the product 2000 to be processed and limiting the horizontal position of the product 2000 to be processed, and the product 2000 to be processed can be fixed on the limiting block 131 by jointly clamping the horizontal elbow clamp 1331 and the vertical elbow clamp 1332.
As shown in fig. 3, the fixture module 10 further includes a quick connector 111 and a quick connector 14, the quick connector 14 is disposed on the base plate 12 near one end of the moving arm 21, the quick connector 111 is connected with the base plate 12 through the quick connector 14, and the quick connector 111 can be connected with the connector 22.
In detail, the quick connector 14 further has a reinforcing rib disposed along two ends of the quick connector 14 for reinforcing mechanical properties of the quick connector 14, and it can be understood that the quick connector 111 is disposed at one end of the quick connector 14 far away from the limiting block 131, so that the quick connector 111 is connected with the connector 22.
As shown in FIG. 2, the laser engraving apparatus 1000 further includes a fence 40, the fence 40 being disposed along the circumference of the laser engraving apparatus 1000.
In detail, in the present embodiment, the guard rail 40 is disposed around the circumference of the laser engraving apparatus 1000, and the guard rail 40 is used to protect the laser engraving apparatus 1000.
As shown in fig. 2, the guard rail 40 includes a plurality of operation seats 41, and the operation seats 41 have a loading plate 411, and the loading plate 411 is connected to the jig module 10.
In detail, in the present embodiment, the number of the operation seats 41 is two, and the two operation seats 41 are disposed on the same horizontal plane 2001, wherein one operation seat 41 is used for feeding, that is, for placing an unprocessed workpiece; the other operation mouth seat 41 is used for blanking, namely is used for placing a machined workpiece, an operator only needs to place the workpiece on one operation mouth seat 41 and fix the workpiece on the fixture module 10, and then the workpiece on the fixture module 10 of the other operation mouth seat 41 is taken down to finish laser engraving machining of the product 2000 to be machined, so that the fixture is prevented from being replaced for multiple times, and the working efficiency is improved.
As shown in fig. 3, the loading plate 411 includes a fixing block 4111, the fixing block 4111 is disposed on the loading plate 411 near one end of the moving arm 21, the fixture module 10 is connected to the loading plate 411 through the fixing block 4111, and the fixing block 4111 is used for limiting and fixing the loading plate 411.
In detail, the fixing blocks 4111 are plural, the fixing blocks 4111 include a first fixing block and a second fixing block, the first fixing block is disposed at one end of the floor far away from the quick connector 111, the second fixing block is disposed at one end close to the quick connector 111, and the bottom plate 12 is limited to the loading plate 411 by the combined action of the first fixing block and the second fixing block.
In this embodiment, the loading plate 411 of the operation port seat 41 fixes and limits a clamp module 10 including a limiting component 13 and a bottom plate 12 through a fixing block, an operator carries a product 2000 to be processed onto the bottom plate 12 fixed on the loading plate 411, a protrusion 1311 on the limiting block 131 is abutted to the lower surface of the product 2000 to be processed, then the product 2000 to be processed is biaxially fixed through a horizontal elbow clamp 1331 and a vertical elbow clamp 1332, the product 2000 to be processed is fixed on the limiting block 131, the moving arm 21 drives the connector 22 to be connected with the quick connector 111, the fixed connection of the moving arm 21 and the clamp module 10 is realized, the clamp module 10 is driven by the moving arm 21 to move to the corresponding position of the laser engraving module 30 after the connection is completed, the engraving head of the laser engraving module 30 is used for vertically downwards engraving, the relative angle between the clamp module 10 and the engraving head is continuously adjusted, the clamp module 10 is moved onto the operation port seat 41 through the moving arm 21 after the laser engraving is finished, the product 2000 to be processed, the operator unlocks the product 2000 to be processed with the clamp module 10 after the laser engraving is finished, and the product 2000 to be processed is unlocked by the operator.
Based on the structural block diagram of the laser engraving device, various embodiments of the control method of the laser engraving device are provided.
In an embodiment, the present invention provides a control method of a laser etching apparatus, which is applied to the laser etching apparatus, please refer to fig. 7, fig. 7 is a first flow chart of an embodiment of the control method of the laser etching apparatus. In this embodiment, the control method of the laser etching apparatus includes the following steps:
step S10, when a laser engraving instruction is received, controlling the mechanical arm moving module to move to a target moving position, and determining a laser engraving area surface corresponding to the product to be processed;
in this embodiment, after performing pose calibration on the mechanical arm moving module and determining the target moving position, the laser etching device waits for receiving a laser etching instruction initiated by a user, and immediately controls the mechanical arm moving module to move to the target moving position to execute laser etching processing operation on a product to be processed when receiving the laser etching instruction.
Optionally, before the step of controlling the mechanical arm moving module to move to the target moving position, the method further includes:
acquiring three-dimensional reference coordinates of a three-dimensional model corresponding to the product to be processed;
Drawing a laser carving pattern on the three-dimensional model;
determining the mapping coordinates of the laser carving pattern on the three-dimensional model;
and controlling the mechanical arm moving module to perform initial pose calibration based on the three-dimensional reference coordinates, and determining a target moving position corresponding to the calibrated mechanical arm moving module according to the mapping coordinates.
The specific implementation steps of this embodiment can be seen in the second embodiment, and will not be described in detail in this embodiment.
The method comprises the steps of establishing a three-dimensional model of a product to be processed, ensuring that coordinates of the three-dimensional model and coordinates of the product to be processed are consistent, taking three-dimensional reference coordinates of the three-dimensional model as pose calibration references of a mechanical arm moving module of laser engraving equipment, taking mapping coordinates of laser engraving pattern simulation drawing on the three-dimensional model as target moving position references of the mechanical arm moving module, and controlling the mechanical arm moving module to move to a target moving position corresponding to the mapping model for processing after pose calibration is carried out on the mechanical arm moving module.
As an optional implementation manner, determining the laser etching area surface corresponding to the product to be processed in step S10 includes:
Identifying the product to be processed, and determining the product shape and/or product identification of the product to be processed;
and determining the laser etching area surface corresponding to the product to be processed according to the product shape and/or the product mark.
The product shape refers to the presence or appearance of the product to be processed. The product identification refers to a unique identification of the product to be processed. The product identification can be used for determining a product to be processed corresponding to the product identification, the product shape of the product to be processed associated with the product identification and the laser engraving area surface corresponding to the product to be processed.
Identifying a product to be processed, wherein a camera arranged on the curved surface laser engraving equipment can be used for shooting the product to be processed, collecting an image of the product to be processed, comparing the image with a pre-stored reference image, and determining the product shape and/or the product identification of the product to be processed according to the reference image when the image is matched with the reference image or the matching degree of the image and the reference image is greater than the preset matching degree.
It should be noted that the pre-stored reference image refers to an image of the product to be processed. The pre-stored reference image may correlate the product identification and the product shape of the product to be processed, and further the product shape and/or the product identification of the product to be processed may be determined based on the reference image.
Alternatively, the pre-stored reference image may comprise images corresponding to different products to be processed, respectively.
Optionally, the camera may be used to shoot the product to be processed at a plurality of preset angles, so as to determine the product to be processed by shooting and acquiring the image of the obtained product to be processed from the plurality of preset angles, so that the shape of the product to be processed can be more accurately and comprehensively identified and obtained, or the product to be processed can be identified by matching and matching at a plurality of angles based on the images of the plurality of products to be processed acquired from the plurality of preset angles, so that the product identification of the product to be processed can be accurately determined.
It can be understood that the number of the laser carving area surfaces of the product to be processed can be one or at least two.
Optionally, the laser engraving area faces of the product to be processed are different, the shapes corresponding to the laser engraving area faces can be the same or different, similarly, the laser engraving area faces of the product to be processed are different, the laser engraving patterns corresponding to the laser engraving area faces can be the same or different, and the laser engraving processing parameters can be the same or different.
Step S20, obtaining pose setting parameters, laser etching drawing files and laser etching processing parameters corresponding to the laser etching area surface;
Step S30, controlling the mechanical arm moving module to place the product to be processed according to the pose setting parameters;
step S40, controlling the laser etching module to execute laser etching operation on the laser etching area surface according to the laser etching pattern file and the laser etching processing parameters;
and S50, determining the next laser etching area surface corresponding to the product to be processed when the execution of the laser etching operation is completed, and returning to execute the step of obtaining the pose setting parameters, the laser etching image files and the laser etching processing parameters corresponding to the laser etching area surface until all the laser etching area surfaces corresponding to the product to be processed complete the laser etching operation.
In this embodiment, through the position appearance setting parameter that all radium carving regional faces that confirm to wait to process the product respectively correspond, radium carving picture shelves and radium carving processing parameter, control arm removes the module and places the product of waiting to process according to position appearance setting parameter, so that radium carving regional face is towards radium carving module, so that radium carving module carries out laser radium carving operation to radium carving regional face according to radium carving picture shelves and radium carving processing parameter, thereby all radium carving regional faces that wait to process the product and correspond accomplish laser radium carving operation, need not the manual place of each radium carving regional face that the product corresponds that the person is treated one by one, place the product of waiting to process according to the position appearance setting parameter that the radium carving regional face corresponds through the arm removal module of control radium carving equipment, can realize that radium carving equipment carries out the sustainability to carve to each radium carving regional face of the product of waiting to process automatically, until all radium carving regional faces that the product corresponds accomplish laser carving operation.
Optionally, controlling the mechanical arm moving module to move to the target moving position, wherein the posture of the mechanical arm moving module after the posture calibration is kept unchanged in the moving process;
obtaining laser engraving processing parameters generated after the laser engraving pattern is drawn on the three-dimensional model;
and controlling the laser head to carry out laser engraving processing on the product to be processed according to the laser engraving processing parameters.
Optionally, after the laser etching equipment calibrates the mechanical arm moving module and determines the target moving position of the mechanical arm moving module, when receiving the laser etching instruction, controlling the mechanical arm moving module to move to the target moving position, and when the mechanical arm moving module moves to the target moving position, the laser head obtains laser etching processing parameters generated after the laser etching pattern is drawn on the three-dimensional model, thereby carrying out laser etching on the product to be processed on the fixture module according to the laser etching processing parameters.
Specifically, the laser engraving processing parameters comprise laser engraving identification points, and the laser output power and the laser engraving time corresponding to each laser engraving identification point. The laser head moves among all laser engraving identification points according to the laser engraving time and the laser output power, so that the processing of a product to be processed is completed.
In the embodiment, after the correction of each workpiece in the laser engraving device is completed, the laser engraving processing operation is performed on the product to be processed, so that the processing of the product workpiece is realized, the debugging time of the device debugging stage is shortened, and the correction difficulty between the device workpieces is reduced.
In the technical scheme disclosed in this embodiment, through the pose setting parameter that all radium of determining the product to be processed correspond respectively, radium carving picture shelves and radium carving processing parameter, control arm removes the module and places the product to be processed according to pose setting parameter, so that radium carving regional face is towards radium carving module, so that radium carving module carries out laser radium carving operation to radium carving regional face according to radium carving picture shelves and radium carving processing parameter, thereby all radium carving regional faces that the product to be processed corresponds accomplish laser radium carving operation, need not the manual place of each radium carving regional face that the product to be processed corresponds by one, the mechanical arm removes the module through control radium carving equipment and places the product to be processed according to the pose setting parameter that the regional face corresponds, can realize that the automatic each radium carving regional face of treating the product of radium carving equipment carries out the sustainability carving, and automation, intelligent degree is high, and work efficiency of radium carving has been improved.
Based on the above-mentioned first embodiment, a second embodiment of the control method of the laser engraving apparatus of the present invention is provided, please refer to fig. 8, fig. 8 is a flowchart of the second embodiment of the control method of the laser engraving apparatus of the present invention, in which, before the moving of the mechanical arm moving module to the target moving position in step S10, the method includes:
step S60, obtaining three-dimensional reference coordinates of a three-dimensional model corresponding to the product to be processed;
in this embodiment, the laser engraving device is a three-dimensional laser engraving device, and the product to be processed is a complex curved surface processing product. Firstly, carrying out three-dimensional modeling on a product to be processed to obtain a three-dimensional model corresponding to the product to be processed, wherein three-dimensional reference coordinates are arranged on the three-dimensional model, and the three-dimensional reference coordinates are characterized as triaxial optimal coordinates of the product to be processed X, Y, Z, which are generated according to the technological parameters of laser engraving equipment, the stretching amount, the deformation amount and other data of the laser engraving pattern required to be processed on the product to be processed.
Alternatively, the three-dimensional model may be built by modeling the product to be processed of the shape by a professional, or may be built automatically according to the depth image data after the product to be processed is photographed from multiple angles by a depth camera.
It should be noted that, the size between the three-dimensional model and the product to be processed is 1:1, the coordinate axis in the modeling space of the three-dimensional model is consistent with the scale of the coordinate axis in the laser engraving equipment, in other words, when the three-dimensional model moves in the modeling space, the three-dimensional model is clamped by the clamp module, and the movement of the three-dimensional model is consistent with the movement of the product to be processed when the mechanical arm moving module moves to execute the processing operation in the laser engraving equipment, so that the control of the mechanical structure in the laser engraving equipment can be realized through software.
Optionally, the method for determining the three-dimensional reference coordinates includes that firstly, a working range and a corresponding working angle which need to be processed on the product are set by a worker, the working range and the working angle are stored in a process mode, after the three-dimensional reference coordinates in the laser engraving equipment generate a process to obtain the working range and the working angle, a corresponding drawable area of the working range on a three-dimensional model is determined, and tensile deformation parameters when the laser engraving pattern is drawn in the drawable area are obtained. And then obtaining the original pattern coordinates corresponding to the laser carving pattern, and finally generating the three-dimensional reference coordinates according to the stretching deformation parameters and the original pattern coordinates.
It should be noted that the tensile deformation parameter is a preset value of a tester before laser engraving processing.
Specifically, based on the tensile deformation parameters, the change of the original pattern coordinates after the laser engraving pattern is drawn at the target position on the three-dimensional model can be determined, namely, when the deformation is smaller than a preset deformation threshold (namely, when the change of the laser engraving pattern before and after laser engraving is in a permissible change interval), the three-dimensional coordinates of the geometric center of the three-dimensional model in the current posture in the modeling space are used as three-dimensional reference coordinates.
Step S70, drawing a laser engraving pattern on the three-dimensional model;
step S80, determining the mapping coordinates of the laser carving pattern on the three-dimensional model;
in this embodiment, a laser engraving pattern is simulated and drawn on a three-dimensional model, and the mapping coordinates of the laser engraving pattern on the model are determined. The mapping coordinates are characterized as corresponding coordinates after the laser pattern is attached to the target mapping area on the three-dimensional model.
Alternatively, the laser engraving pattern is mapped on the three-dimensional model, which may be a plane or a curved surface. If the target mapping area is a plane, the mapping coordinates are generally not greatly deformed compared with the original pattern of the laser carving pattern, and are mapped in a projection mapping mode. Specifically, the laser etching identification point of the target mapping area is obtained, and the laser etching identification point is input into the mapping coordinate obtaining process in the laser etching equipment to determine the mapping coordinate.
If the target mapping area is a curved surface, the laser carving pattern generates certain deformation compared with the original pattern, and the mapping is performed in a wrapping mapping mode. Specifically, the target map area is divided into a plurality of different sub-map areas based on the Z-axis coordinates. In some embodiments, the regions with different Z-axis coordinates in the target mapping region, that is, the regions determined to be in different planes, divide the curved surface into a plurality of planes (sub-mapping regions), obtain sub-laser etching identification points corresponding to the sub-mapping regions mapped by the laser etching pattern, and count each sub-laser etching identification point to obtain the mapping coordinates.
In other embodiments, the portion of the target mapping region where the Z-axis coordinate is within a certain interval may be divided into sub-mapping regions.
It should be noted that, the laser head of radium carving equipment removes according to the order of radium carving identification point at the during operation for the processing sequence point of radium carving equipment is characterized to radium carving identification point, and the point position of not carrying out the sign then does not go out laser to radium carving pattern that corresponds on waiting to process the product.
Note that, steps S70 and S80 in the present embodiment may be performed before step S60 or simultaneously with step S60, and are not limited in the present embodiment.
Step S90, controlling the mechanical arm moving module to perform initial pose calibration based on the three-dimensional reference coordinates, and determining a target moving position corresponding to the calibrated mechanical arm moving module according to the mapping coordinates;
in this embodiment, after the three-dimensional reference coordinates and the mapping coordinates are determined, the laser engraving device controls the mechanical arm moving module to perform initial pose calibration based on the three-dimensional reference coordinates, so as to ensure that the coordinates of the product to be processed and the corresponding three-dimensional model are consistent.
It should be noted that, the movement of the product to be processed is performed based on the pose change of the mechanical arm moving module, and a certain spatial position difference exists between the mechanical arm moving module and the product to be processed, so that the three-dimensional reference coordinate used for pose calibration is not the actual coordinate after the calibration of the mechanical arm moving module, but the mechanical arm moving module drives the product to be processed to move to the three-dimensional reference coordinate, so as to realize pose calibration.
Optionally, the specific mode for controlling the mechanical arm moving module to calibrate the pose is as follows: the mechanical arm moving module comprises a moving arm, and the moving arm is used for calibrating the pose of the mechanical arm moving module. Firstly, acquiring the current pose of a movable arm, predicting the target pose of the movable arm according to three-dimensional reference coordinates, determining the deviation degree between the target pose and the current pose, determining the translation amount and the rotation amount of the movable arm according to the deviation degree, determining the control parameters of the movable arm meeting the translation amount and the rotation amount as target control parameters, and finally controlling the movable arm to move to the target pose according to the target control parameters so as to calibrate the initial pose of the mechanical arm moving module.
Optionally, the moving mode of the target moving position can change the mapping coordinate of the laser carving pattern on the product to be processed into the target moving coordinate of the mechanical arm moving module through affine transformation, so as to control the mechanical arm moving module to move to the target moving position. Specifically, a homogeneous coordinate matrix corresponding to the mapping coordinate is obtained, the homogeneous coordinate matrix is preset, in order to facilitate data extraction, an X-axis coordinate equation, a Y-axis coordinate equation and a Z-axis coordinate equation corresponding to the mapping coordinate are obtained after normalization processing is carried out on the matrix, and then an affine transformation matrix is determined according to the X-axis coordinate equation, the Y-axis coordinate equation and the Z-axis coordinate equation, so that the mapping relation between the mapping coordinate and the moving coordinate of the mechanical arm moving module can be represented by the affine transformation matrix. Further, based on the affine transformation matrix, the target movement coordinates of the mechanical arm movement module corresponding to the mapping coordinates can be determined, and finally, the target movement position where the mechanical arm movement module should move is determined according to the target movement coordinates.
It should be noted that, in the specific embodiment, the determination of the target moving position is generally integrated into a control process of the mechanical arm moving module, that is, in the actual running process, the laser carving device inputs the mapping coordinates into the control process, so as to obtain the target moving position.
In the technical scheme provided by the embodiment, by establishing a three-dimensional model of a product to be processed and ensuring that the coordinates of the three-dimensional model and the coordinates of the product to be processed are kept consistent, taking the three-dimensional reference coordinates of the three-dimensional model as the pose calibration reference of the mechanical arm moving module of the laser engraving equipment, taking the mapping coordinates of the laser engraving pattern simulated drawing on the three-dimensional model as the target moving position reference of the mechanical arm moving module, and after the pose calibration of the mechanical arm moving module, controlling the mechanical arm moving module to move to the target moving position corresponding to the mapping model for processing when the laser engraving equipment receives a laser engraving instruction. The position change among the mechanical arm moving module, the product to be processed and the three-dimensional model in the whole process is kept highly consistent, and the effect of shortening the equipment debugging time is achieved.
The third embodiment of the control method of the laser engraving apparatus according to the present invention is provided based on the first embodiment or the second embodiment, and in this embodiment, before the step S60, the method further includes:
acquiring a plurality of depth image data of the product to be processed, which are acquired by the depth camera at a plurality of angles;
carrying out noise reduction pretreatment on the depth image data to obtain a pretreated image;
Acquiring camera pose corresponding to the depth camera when shooting the depth image data at each angle, and generating a rigid transformation matrix according to each camera pose;
constructing an initial three-dimensional model based on the rigid transformation matrix;
extracting depth values corresponding to the products to be processed in each pretreatment image;
and optimizing the initial three-dimensional model based on the depth value to obtain a three-dimensional model corresponding to the product to be processed.
Optionally, in order to shorten the debugging time of the apparatus, a way of modeling the product to be processed by the depth image data is provided in the present embodiment. In this embodiment, a depth camera is disposed on the curved laser engraving apparatus, and the depth camera is configured to capture the product to be processed at a plurality of preset angles, so as to generate depth image data. After the depth camera finishes shooting, acquiring each depth image data, and modeling a product to be processed based on the depth image data.
Specifically, noise reduction preprocessing is performed on each piece of collected depth image data to obtain a preprocessed image. Noise of a depth map can be classified into three types of depth missing, depth error and depth inconsistency, wherein the depth missing is characterized by reasons such as too close or too far, surface discontinuity, high light or shadow and the like; depth error is characterized as the error between the depth measurement and the actual product; depth inconsistencies are characterized by the depth of the measurement of the same point being likely to be inconsistent over time. Bilateral filtering is used in most cases to remove noise from the depth map. After denoising, kinectFusion obtains a three-layer depth map pyramid by downsampling for subsequent estimation of camera pose.
And then acquiring the camera pose of the depth camera when the depth camera shoots at each angle, finding the point corresponding relation of the time of shooting the depth image under different poses, and generating a rigid transformation matrix based on the point corresponding relation. Specifically, the camera pose is generally referred to as a six-degree-of-freedom transformation, represented by a rigid transformation matrix T. ICP (Iterative Closest Point ) is a very important algorithm in relative pose estimation, mainly for registration of 3D shapes. A rigid body transformation is calculated by calculating the matching relationship of the point clouds of adjacent frames and then minimizing the Euclidean distance between the point pairs. There is a problem in that errors of adjacent frames are accumulated during scanning, which is called accumulated errors. To eliminate the problem of accumulated errors, there is a frame-to-model camera tracking method that registers the entire model that the current frame has been reconstructed at a time, rather than registering with the previous frame. This approach can reduce the drift in camera tracking to some extent.
After an initial three-dimensional model is built based on the rigid transformation matrix, extracting depth values corresponding to the products to be processed in each preprocessing image, and optimizing the initial three-dimensional model through the depth values, so that texture reconstruction of the products to be processed is realized, and a final three-dimensional model is obtained.
In the technical scheme provided by the embodiment, the depth camera is arranged on the laser carving device, depth image data of a product to be processed are collected from multiple angles through the depth camera, and a three-dimensional model is generated according to the depth image data.
The invention also provides laser etching equipment, which comprises: the method comprises a memory, a processor and a control program of the laser etching device, wherein the control program of the laser etching device is stored in the memory and can run on the processor, and the control program of the laser etching device is executed by the processor to realize the steps of the control method of the laser etching device in any embodiment.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a control program of the laser etching device, and the control program of the laser etching device realizes the steps of the control method of the laser etching device according to any embodiment when being executed by a processor.
In the embodiments of the laser etching apparatus and the computer readable storage medium provided by the present invention, all technical features of each embodiment of the control method of the laser etching apparatus are included, and the expansion and explanation contents of the description are substantially the same as each embodiment of the control method of the laser etching apparatus, which are not repeated herein.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. The utility model provides a control method of radium carving equipment, its characterized in that is applied to radium carving equipment, radium carving equipment includes arm movement module, anchor clamps module and radium carving module, the anchor clamps module is used for the centre gripping to wait to process the product, the anchor clamps module includes: the limiting assembly comprises a plurality of limiting blocks, the limiting blocks are arranged at the top end of the bottom plate, and a product to be processed is connected with the bottom plate through the limiting blocks; the clamp module further comprises a quick connector and a quick connector, the quick connector is arranged at one end, close to the movable arm, of the bottom plate, the quick connector is connected with the bottom plate through the quick connector, the quick connector can be connected with the connector, the quick connector is arranged at one end, far away from the limiting block, of the quick connector, the mechanical arm movable module comprises a movable arm and a connector, the connector is connected with the movable arm, the connector is connected with the clamp module, the movable arm drives the connector to be connected with the quick connector, so that the movable arm is fixedly connected with the clamp module, and the movable arm drives the clamp module to move through the connector; the laser engraving module comprises an engraving head and can perform laser engraving on the product to be processed on the moved fixture module; the method comprises the following steps:
The method comprises the steps of obtaining three-dimensional reference coordinates of a three-dimensional model corresponding to a product to be processed, determining a processing range of the product to be processed, determining a drawable area corresponding to the processing range on the three-dimensional model, obtaining a stretching deformation parameter when a laser engraving pattern is drawn in the drawable area and original pattern coordinates corresponding to the laser engraving pattern, and generating the three-dimensional reference coordinates according to the stretching deformation parameter and the original pattern coordinates;
drawing a laser carving pattern on the three-dimensional model;
determining the mapping coordinates of the laser carving pattern on the three-dimensional model;
controlling the mechanical arm moving module to perform initial pose calibration based on the three-dimensional reference coordinates, and determining a target moving position corresponding to the calibrated mechanical arm moving module according to the mapping coordinates;
when a laser carving instruction is received, controlling the mechanical arm moving module to move to a target moving position, and determining a laser carving area surface corresponding to the product to be processed;
obtaining pose setting parameters, laser etching drawing files and laser etching processing parameters corresponding to the laser etching area surface, wherein the laser etching processing parameters comprise: the laser etching identification points, the laser output power and the laser etching time corresponding to each laser etching identification point;
Controlling the mechanical arm moving module to place the product to be processed according to the pose setting parameters;
controlling the laser etching module to execute laser etching operation on the laser etching area surface according to the laser etching figure file and the laser etching processing parameters;
and when the execution of the laser etching operation is finished, determining the next laser etching area surface corresponding to the product to be processed, and returning to execute the step of acquiring the pose setting parameters, the laser etching image files and the laser etching processing parameters corresponding to the laser etching area surface until all the laser etching area surfaces corresponding to the product to be processed finish the laser etching operation.
2. The method of claim 1, wherein the step of determining the laser etched area corresponding to the product to be processed comprises:
identifying the product to be processed, and determining the product shape and/or product identification of the product to be processed;
and determining the laser etching area surface corresponding to the product to be processed according to the product shape and/or the product mark.
3. The method of claim 1, wherein the mapping mode of the laser engraving pattern is projection mapping, and the step of determining mapping coordinates of the laser engraving pattern on the three-dimensional model comprises:
Determining whether a target mapping area of the laser carving pattern on the three-dimensional model is a plane area or not;
if the laser etching identification points are the plane areas, the laser etching identification points corresponding to the target mapping areas are obtained;
and determining the mapping coordinates according to the laser carving identification points.
4. The method of claim 1, wherein the mapping mode of the laser engraving pattern is package mapping, and after the step of determining whether the target mapping area of the laser engraving pattern on the three-dimensional model is a planar area, further comprising:
if the target mapping area is not the plane area;
dividing the target mapping region into a plurality of sub-mapping regions, wherein the division of the sub-mapping regions is associated with a Z-axis coordinate;
and determining the mapping coordinates according to the sub-laser carving identification points of each sub-mapping area.
5. The method of claim 1, wherein the robotic arm movement module comprises a movement arm for calibrating a pose of the robotic arm movement module, the controlling the robotic arm movement module to perform initial pose calibration based on the three-dimensional reference coordinates comprising:
acquiring the current pose of the movable arm, and predicting the target pose of the movable arm according to the three-dimensional reference coordinates;
Determining a degree of deviation between the target pose and the current pose;
determining the translation amount and the rotation amount of the movable arm according to the deviation degree;
determining control parameters of the moving arm which meet the translation amount and the rotation amount as target control parameters;
and controlling the moving arm to move to the target pose according to the target control parameters so as to calibrate the initial pose of the mechanical arm moving module, thereby enabling the coordinates of the product to be processed to be consistent with the coordinates of the three-dimensional model.
6. The method of claim 1, wherein determining the calibrated target movement position corresponding to the robotic arm movement module according to the mapping coordinates comprises:
acquiring a pre-stored homogeneous coordinate matrix corresponding to the mapping coordinates;
normalizing the homogeneous coordinate matrix to obtain an X-axis coordinate equation, a Y-axis coordinate equation and a Z-axis coordinate equation corresponding to the mapping coordinates;
generating an affine transformation matrix corresponding to the mapping coordinate on the mechanical arm moving module according to the mapping coordinate, the X-axis coordinate equation, the Y-axis coordinate equation and the Z-axis coordinate equation;
And determining target movement coordinates corresponding to the mapping coordinates based on the affine transformation matrix, and determining the target movement position of the mechanical arm movement module according to the target movement coordinates.
7. The method of claim 1, wherein the laser engraving device is provided with a depth camera, the depth camera is used for shooting the product to be processed at a plurality of preset angles, depth image data are generated, and before the step of obtaining the three-dimensional reference coordinates of the three-dimensional model corresponding to the product to be processed, the method further comprises:
acquiring a plurality of depth image data of the product to be processed, which are acquired by the depth camera at a plurality of angles;
carrying out noise reduction pretreatment on the depth image data to obtain a pretreated image;
acquiring camera pose corresponding to the depth camera when shooting the depth image data at each angle, and generating a rigid transformation matrix according to each camera pose;
constructing an initial three-dimensional model based on the rigid transformation matrix;
extracting depth values corresponding to the products to be processed in each pretreatment image;
and optimizing the initial three-dimensional model based on the depth value to obtain a three-dimensional model corresponding to the product to be processed.
8. The utility model provides a radium carving equipment, its characterized in that, radium carving equipment includes: the method for controlling the laser engraving device comprises a memory, a processor and a control program of the laser engraving device, wherein the control program is stored in the memory and can run on the processor, and the control program of the laser engraving device realizes the steps of the method for controlling the laser engraving device according to any one of claims 1 to 7 when being executed by the processor.
9. A computer-readable storage medium, wherein a control program of a laser engraving device is stored on the computer-readable storage medium, which when executed by a processor, implements the steps of the control method of a laser engraving device as claimed in any one of claims 1 to 7.
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| CN110125556B (en) * | 2019-06-12 | 2021-06-29 | 合肥移瑞通信技术有限公司 | Laser engraving machine and control method thereof |
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| CN110666359A (en) * | 2019-11-13 | 2020-01-10 | 深圳泰德激光科技有限公司 | Laser marking method, marking device and computer readable storage medium |
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