CN118218778A

CN118218778A - Laser marking method, device and system

Info

Publication number: CN118218778A
Application number: CN202311751461.8A
Authority: CN
Inventors: 曹阳; 孙亚轩; 彭和平
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2023-12-18
Filing date: 2023-12-18
Publication date: 2024-06-21

Abstract

The application provides a laser marking method, a laser marking device and a laser marking system. The laser marking system comprises a marking machine, a visual positioning device and a computing device, wherein the relative positions of the marking machine and the visual positioning device are fixed, and the marking machine is used for marking on the surface of a marked workpiece according to a marked pattern. First, a visual positioning device captures a first image, the first image including a marking of a surface of a workpiece. Next, the computing device determines a marking trajectory from the first image, the marking trajectory being used to indicate a scanning trajectory of the laser beam generated by the marking machine. The laser marking method provided by the application can realize high-precision and high-flexibility laser marking operation on a large-breadth marking workpiece by positioning the relative position and posture of the marking machine in real time in the marking process.

Description

Laser marking method, device and system

Technical Field

The present application relates to the field of system control, and in particular, to a laser marking method, device and system.

Background

The laser marking machine can be used for marking, engraving, marking and the like on the surface of an object by utilizing the interaction characteristic of the laser beam and the material of the object and controlling the energy of the laser beam and the position of a focusing point. The technology has the characteristics of high precision, high speed and high reliability, and is widely applied to industrial production. The hand-held laser marking machine has obvious advantages compared with a desk-top laser marking machine in certain scenes due to portability, so that the hand-held laser marking machine is widely applied in various industries. The current hand-held laser marking machine mainly supports surface marking with a plane and a small radian, and the marking machine and a marked workpiece are required to be kept relatively fixed during marking operation.

Disclosure of Invention

The application provides a laser marking method, a device and a system, wherein a visual positioning device is fixed relative to a marking machine head, the relative position and the gesture of the marking machine head and a marking workpiece are positioned in real time by collecting image information in the marking process, the track direction of a laser beam generated by the marking machine head is ensured to be accurately scanned to the position corresponding to a standard reaching area, and the marking operation with high precision is completed in the process of smoothly moving the marking machine in a handheld mode.

In a first aspect, a laser marking method is provided, and the laser marking method is applied to a laser marking system, wherein the laser marking system comprises a marking machine, a visual positioning device and a computing device, the relative positions of the marking machine and the visual positioning device are fixed, and the marking machine is used for marking on the surface of a marked workpiece according to a marking pattern. First, a first image is acquired by a visual positioning device, wherein the first image includes a marking of a surface of a workpiece. Next, the computing device determines a marking trajectory from the first image, wherein the marking trajectory is used to indicate a scanning trajectory of a laser beam generated by the marking machine.

In some possible embodiments, the marking machine marks the surface of the marked workpiece within a visual positioning field of view established by the visual positioning device, wherein the visual positioning field of view includes a spatial extent covered by an image acquired by the visual positioning device.

In some possible embodiments, the specific method for determining the marking track by the computing device according to the first image includes the following procedures: firstly, a computing device acquires a first image, wherein the first image is an image acquired in the marking operation process through a visual positioning device, the first image comprises a plurality of auxiliary marking points for marking the surface of a workpiece, and the auxiliary marking points are arranged around a marking area for marking the surface of the workpiece. Next, the computing device determines a first positional pose of the visual positioning device relative to the surface of the marked workpiece from the plurality of auxiliary marking points of the first image, wherein the first positional pose includes a spatial position and an angle of the visual positioning device relative to the surface of the marked workpiece. Finally, the computing device determines a marking trajectory from the first position pose.

In some possible embodiments, the specific method for determining the marking track by the computing device according to the first position gesture includes the following procedures: firstly, the computing equipment determines a second position posture according to the first position posture and a calibration conversion relation, wherein the calibration conversion relation comprises a conversion relation between the position posture of the visual positioning device and the position posture of the marking machine, and the second position posture comprises a spatial position and an angle of the marking machine relative to the surface of the marking workpiece. And secondly, the computing equipment determines a bearable range according to the second position and posture, wherein the bearable range comprises a region range in which the marking machine can effectively perform marking operation in a marking workpiece region under the second position and posture. Finally, the computing device determines a marking trajectory from the markable range.

In some possible embodiments, the specific method for determining the marking track by the computing device according to the marking range includes the following procedures: firstly, the computing equipment determines a first marking point set from a first graph point set according to a marking range, wherein the first marking point set comprises part or all of coordinate point sets corresponding to non-marked parts of marked graphs, the first graph point set comprises coordinate point sets corresponding to marked graphs on the surface of a marked workpiece under a visual positioning coordinate system, and the visual positioning coordinate system is a coordinate system established based on a visual positioning device. And secondly, the computing equipment determines a second marking point set according to a calibration conversion relation and the first marking point set, wherein the second marking point set comprises coordinates of each point in the first marking point set in a marking coordinate system, the calibration conversion relation is a coordinate conversion relation between a visual positioning coordinate system and the marking coordinate system, and the marking coordinate system is a coordinate system established based on a marking machine. Finally, the computing device determines a marking trajectory from the second set of marking points, wherein the marking trajectory includes a scanning trajectory for controlling a laser beam generated by the marking machine.

In some possible embodiments, after the computing device acquires the first image, the method further includes the flow of first the computing device acquiring a second set of pattern points corresponding to the marking pattern in a workpiece coordinate system, wherein the workpiece coordinate system includes a coordinate system established based on the marked workpiece surface. Secondly, the computing equipment determines a positioning conversion relation according to a plurality of auxiliary mark points included in the first image; the positioning conversion relation comprises a coordinate conversion relation between a workpiece coordinate system and a visual positioning coordinate system. And finally, the computing equipment determines a first graph point set according to the positioning conversion relation and the second graph point set, wherein the first graph point set comprises part or all of coordinate point sets corresponding to marked graphs under a visual positioning coordinate system.

In some possible embodiments, the laser marking method may further comprise the following steps before the computing device determines the first set of marking points from the first set of graphic points according to the markable range. Firstly, the computing equipment acquires one or more second images, wherein the second images are images which are acquired by a visual positioning device and comprise a marking area and a plurality of auxiliary marking points, the marking area is an area on the surface of a marking workpiece for performing laser marking operation, and the auxiliary marking points are arranged around the marking area. And secondly, the computing equipment edits the marking graph through one or more second images and determines a second graph point set, wherein the second graph point set comprises a set of a plurality of coordinate points of the marking graph under a workpiece coordinate system, and the workpiece coordinate system comprises a coordinate system established by taking a certain point of the surface of the marking workpiece as an origin.

In some possible embodiments, the method for determining the marking track by the computing device according to the second marking point set may include the following steps. First, the computing device determines a first speed, wherein the first speed is an expected speed of the marking machine during a current marking cycle. And secondly, the computing equipment determines a marking track corresponding to the second marking point set according to a track planning algorithm and the first speed, wherein the marking track passes through coordinate points in the second marking point set.

In some possible embodiments, the laser marking method further comprises the relevant steps of the following calibration method before the computing device acquires the first image. First, a marking machine marks a calibration pattern on a test marking plate, wherein the calibration pattern comprises a checkerboard pattern. Secondly, the visual positioning device acquires a first calibration image, wherein the first calibration image comprises an image acquired by the visual positioning device, and the relative position of the visual positioning device and the marking machine is fixed in the marking process. And determining a coordinate point set of the calibration graph under the visual positioning coordinate system according to a first calibration image by the computing equipment, wherein the first calibration image comprises image information of the calibration graph. And finally, the computing equipment determines a calibration conversion relation according to a corresponding calibration track point set of the calibration graph under the marking coordinates and a coordinate point set of the calibration graph under the visual positioning coordinate system, wherein the calibration conversion relation comprises a conversion relation between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system comprises a coordinate system established by taking a laser beam emitting port of the marking machine as an origin.

In a second aspect, a laser marking apparatus is provided. The first image is an image acquired in the marking operation process through the visual positioning device, and comprises a plurality of auxiliary marking points for marking the surface of the workpiece, wherein the auxiliary marking points are arranged around a marking area for marking the surface of the workpiece. And the processing unit is used for determining a first position posture of the visual positioning device relative to the surface of the marked workpiece according to the plurality of auxiliary marking points of the first image, wherein the first position posture comprises the spatial position and the angle of the visual positioning device relative to the surface of the marked workpiece. The processing unit is further used for determining a second position posture according to the first position posture and a calibration conversion relation, wherein the calibration conversion relation comprises a conversion relation between the position posture of the visual positioning device and the position posture of the marking machine, and the second position posture comprises a spatial position and an angle of the marking machine relative to the surface of the marking workpiece. The processing unit is further used for determining a bearable range according to the second position and posture, wherein the bearable range comprises a region range in which the bearable machine can perform effective marking operation in a marking workpiece region under the second position and posture. The processing unit is further configured to determine a marking track according to the markable range, where the marking track includes a scanning track for controlling a laser beam generated by the marking machine. Finally, a transmitting unit is used for transmitting the marking track to a marking machine, wherein the marking machine is used for generating and controlling the laser beam.

In some possible embodiments, the processing unit is specifically configured to operate as follows. First, a first marking point set is determined from a first graph point set according to a marking range, wherein the first marking point set comprises part or all of coordinate point sets corresponding to non-marked parts of marked graphs, the first graph point set comprises coordinate point sets corresponding to marked graphs on the surface of a marked workpiece under a visual positioning coordinate system, and the visual positioning coordinate system comprises a coordinate system established based on a visual positioning device. And secondly, determining a second marking point set according to a calibration conversion relation and the first marking point set, wherein the second marking point set comprises coordinates of each point in the first marking point set in a marking coordinate system, the calibration conversion relation is a coordinate conversion relation between a visual positioning coordinate system and the marking coordinate system, and the marking coordinate system is a coordinate system established based on a marking machine. Finally, determining a marking track according to the second marking point set, wherein the marking track comprises a scanning track for controlling a laser beam generated by the marking machine.

In a third aspect, a marking machine is proposed, which comprises the laser marking device of the second aspect for implementing the method implemented by the computing device in any one of the embodiments of the first aspect.

In a fourth aspect, a laser marking system is provided, the laser marking system comprises a marking machine, a visual positioning device and a computing device, and the marking machine is used for marking on the surface of a marked workpiece according to a marking pattern.

And the visual positioning device is used for acquiring a first image, wherein the first image comprises image information for marking the surface of the workpiece. And the computing device is used for determining a marking track according to the first image, wherein the marking track is used for indicating the scanning track of the laser beam generated by the marking machine.

In some possible embodiments, the visual positioning device is fixed relative to the marking machine, and the marking machine is used for marking the surface of the marked workpiece within the range of the visual positioning field established by the visual positioning device, wherein the visual positioning field comprises the spatial range covered by the image acquired by the visual positioning device.

The computing equipment is particularly used for firstly acquiring a first image, wherein the first image is an image acquired in the marking operation process through a visual positioning device, the first image comprises a plurality of auxiliary marking points for marking the surface of the workpiece, and the auxiliary marking points are arranged around a marking area for marking the surface of the workpiece. And determining a first position posture of the visual positioning device relative to the surface of the marked workpiece according to the plurality of auxiliary marking points of the first image, wherein the first position posture comprises a spatial position and an angle of the visual positioning device relative to the surface of the marked workpiece. And determining a second position posture according to the first position posture and the calibration conversion relation, wherein the calibration conversion relation comprises a conversion relation between the position posture of the visual positioning device and the position posture of the marking machine, and the second position posture comprises a spatial position and an angle of the marking machine relative to the surface of the marking workpiece. A markable range is then determined based on the second positional attitude, wherein the markable range includes a range of areas where the marking machine is capable of performing an effective marking operation in the marked workpiece area in the second positional attitude. And finally, determining a marking track according to the marking range.

The computing device is specifically configured to determine a first set of marking points from a first set of graph points according to a markable range, where the first set of marking points includes a portion or all of a set of coordinate points corresponding to a non-marked portion of a marked graph, the first set of graph points includes a set of coordinate points corresponding to a marked graph on a surface of a marked workpiece under a visual positioning coordinate system, and the visual positioning coordinate system is a coordinate system established based on a visual positioning device. And secondly, determining a second marking point set according to a calibration conversion relation and the first marking point set, wherein the second marking point set comprises coordinates of each point in the first marking point set in a marking coordinate system, the calibration conversion relation is a coordinate conversion relation between a visual positioning coordinate system and the marking coordinate system, and the marking coordinate system is a coordinate system established based on a marking machine. And finally, determining a marking track according to the second marking point set.

In a fifth aspect, a computing device is presented, the computing device comprising a processor and a memory, the memory being for storing instructions, the processor being for executing the instructions to cause the computing device to implement a method implemented by the computing device in any one of the embodiments of the first aspect.

In a sixth aspect, a computer readable storage medium is provided, in which instructions are stored which, when executed by a computing device or cluster of computing devices, implement a method implemented by a computing device in any one of the embodiments of the first aspect.

Drawings

FIG. 1 is a schematic diagram of the operation of a laser marking system provided by the present application;

FIG. 2 is a schematic diagram illustrating the operation of another laser marking system provided by the present application;

FIG. 3 is a schematic diagram of a laser marking two-dimensional code pattern provided by the application;

FIG. 4 is a schematic diagram of the coordinate systems in a laser marking system according to the present application;

FIG. 5 is a flow chart of a method for calibrating a laser marking system provided by the application;

FIG. 6 is a flow chart of a laser marking method provided by the present application;

FIG. 7 is a schematic diagram of a laser marking apparatus according to the present application;

FIG. 8 is a schematic diagram of a computing device provided by the present application;

FIG. 9 is a schematic diagram of a computing device cluster in accordance with the present application;

FIG. 10 is a schematic diagram of another architecture of a computing device cluster provided by the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described by means of implementation examples with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the description of the present application, unless explicitly defined otherwise, terms such as arrangement and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present application in combination with the specific contents of the technical scheme.

The common handheld laser marking equipment needs to keep the marking machine head and the marked workpiece relatively fixed during marking operation, takes the bracket or the semitransparent protective cover as a support, and continuously applies pressure by means of the gravity of the marking machine or the hand of a person, so that the marking machine head and the processed part are attached together to realize relatively fixing. For the handheld marking machine in the prior art, once the marking machine and the workpiece are relatively displaced, the marking pattern can be misplaced to cause marking failure, so that the operation difficulty is high. Meanwhile, the marking machine and the workpiece are required to be kept relatively fixed in the marking process, so that the marking range of the marking machine is small, only the pattern marking in the marking vibrating mirror range is supported, and the large-size pattern marking cannot be realized. Moreover, the specific position of the marking pattern cannot be set accurately in the marking process by the handheld marking machine, so that the actual marking pattern position is deviated or skewed from the ideal marking position. The reason is that the position and posture relation between the laser marking machine and the marked workpiece is unknown, and the laser marking graph takes the coordinate system of the laser marking machine as a reference, so that once the relative position and posture of the laser marking machine and the marked workpiece change, the track left by the laser marking graph on the marked workpiece is interrupted, misplaced and the like, and the marking failure is caused. Moreover, in the case of performing laser marking on oversized parts or relatively complex curved surface parts (such as a vehicle body, a hull, a fan blade, etc.), when a large-format laser marking operation (or laser surface treatment, laser ultra-surface micro-nano structure processing) is required or when the laser marking operation is required at a complex angle and position, a laser marking process of the laser marking machine head, which cannot perform multiple passes, often occurs, so that the laser marking operation cannot be realized.

In order to solve the defects in the prior art, the application provides a laser marking method, a device and a system, wherein a visual positioning device is relatively fixed with a marking machine head, the relative position and the gesture of the marking machine head and a marking workpiece are positioned in real time by collecting image information in the marking process, the track direction of a laser beam generated by the marking machine head can be accurately scanned to the position corresponding to a standard reaching area, and the marking operation with high precision is completed in the process of smoothly moving the marking machine in a handheld mode.

Next, a laser marking system and an application scenario of the system according to the present application will be described in an embodiment.

Referring to fig. 1, fig. 1 is a schematic working diagram of a laser marking system according to the present application. The laser marking system of the present embodiment includes a laser marking machine, wherein the laser marking machine includes a visual positioning device 101, a marking head 102 to hold a grip 105. In addition, the laser marking system of the present embodiment further includes a marking area 103 for marking the surface of the workpiece and a plurality of auxiliary marking points 104 for marking the surface of the workpiece.

First, the visual positioning apparatus 101 will be described. The visual positioning device 101 shown in this embodiment is mounted on the side of the laser marking machine, and is consistent with the direction of the laser emitting port of the marking machine head 102, so that the image information on the surface of the marking workpiece can be directly collected. The visual positioning device 101 is used to determine the position and pose of the laser marking machine and may include one or more of a camera, image processing algorithms, and a control system. In some specific embodiments, the industrial camera included in the visual positioning device 101 captures an image of the laser marked area, with the selection of the industrial camera being dependent on the resolution, frame rate, and photosensitivity requirements of the application. In some specific embodiments, the image processing algorithm included in the visual positioning apparatus 101 processes and analyzes the image captured by the camera and extracts the feature information of the laser marking area, including image features such as edges, corner points, and template matching, and the commonly used image processing algorithms include edge detection, feature extraction, and pattern matching. In some specific embodiments, the control system included in the visual positioning device 101 is responsible for receiving the image captured by the camera and calculating the laser marking position and posture according to the feature information extracted by the image processing algorithm. The control system can also communicate with a motion control system of the laser marking machine to realize real-time position and posture adjustment.

The visual positioning device 101 can enable the laser marking machine to realize non-contact positioning and alignment, and has high precision and high flexibility. The laser marking machine can be suitable for workpieces of various shapes and materials, namely a plane, a curved surface and a special-shaped surface, can be positioned and aligned through a proper image processing algorithm, and continuously adjusts the position and the orientation of the laser marking machine in a handheld marking machine mode through the handheld grip 105, so that marking operation on the marking area 103 is gradually completed.

Before the visual positioning device 101 is used, it needs to be calibrated to determine the internal and external parameters of the camera. The internal parameters of the camera include focal length, distortion, etc., and the external parameters include the position and pose of the camera. Furthermore, after the visual positioning device 101 and the marking head 102 in the present embodiment are mounted and fixed, it is also necessary to calibrate the conversion relationship between the visual positioning coordinate system corresponding to the camera for capturing images in the visual positioning device 101 and the marking coordinate system corresponding to the galvanometer for positioning and moving the laser beam in the marking head 102. The calibration process may be achieved by using a calibration test plate or calibration object, by capturing images containing the calibration test plate or calibration object at a plurality of different positions and attitudes, and then calculating the parameters of the camera using a calibration algorithm. In practical applications, since the performance of the visual positioning device 101 is also affected by factors such as ambient light, reflectivity of the workpiece surface, resolution of the camera, etc., measures such as adding light sources, using filters, adjusting camera parameters, etc. may be required to improve the performance and stability of the visual positioning device 101.

The visual positioning device 101 may be mounted not only to the side of the laser marking machine as shown in fig. 1, but in other possible embodiments the visual positioning device 101 may also be mounted to the top surface of the laser marking machine.

Referring to fig. 2, fig. 2 is a schematic diagram illustrating the operation of another laser marking system. Similar to the embodiment shown in fig. 1, the laser marking system of this embodiment also includes a visual positioning device 201, a marking head 202, a hand grip 205, a marking area 203 for marking the surface of the workpiece, and a plurality of auxiliary marking points 204 for marking the surface of the workpiece. In this embodiment, the visual positioning device 201 mounted on the top surface of the laser marking machine can collect image information through the laser source output port of the marking machine head 202. For a description of the components of the laser marking system shown in fig. 2, reference may be made to the specific details of the embodiment shown in fig. 1, and details thereof will not be repeated. By arranging the visual positioning device 101 on the laser marking machine, the relative position and angle of the marking machine head 102 on the surface of the marking workpiece can be accurately positioned in the marking operation process, and the high-precision laser marking operation can be realized.

Next, the marking head 102 is described. The marking head 102 in this embodiment is configured to generate a laser beam that is controlled to focus and precisely irradiate the surface of the workpiece for marking, and in some possible examples includes one or more of a laser source, a galvanometer scanning module, a focusing lens assembly, a cooling module, and a protective cover. In some embodiments, the laser source included in marking head 102 may be used as a core component of the laser emission to produce a high energy and high focusing laser beam. The type of Laser source can take many forms, and can comprise one or more combination forms among Laser sources such as Fiber lasers (Fiber lasers), CO ₂ lasers (CO ₂ lasers), solid-state lasers (solid-STATE LASER) and semiconductor lasers (Semiconductor Laser), the appropriate laser source type may be selected based on the application requirements of the laser marking and the material properties of the marking object. In some embodiments, the marking head 102 includes a galvanometer Scanning module (Galvo SCANNER SYSTEM) that is responsible for controlling the movement and positioning of the laser beam, depending on the application requirements of the marking head, it may be a laser system including a planar galvanometer (Flat Mirror), a Scanning galvanometer (Scanning Mirror), an acousto-Optic galvanometer (Acousto-optical Modulator, AOM), electro-Optic Modulator (EOM), resonant Mirror (resonator Mirror), One or more forms among a two-dimensional galvanometer (2D Mirror), a three-dimensional galvanometer (3D Mirror), a Micro-Electro-MECHANICAL SYSTEMS, MEMS Mirror, and a High-Speed galvanometer (High-Speed Mirror). In some possible embodiments, the galvanometer scanning module includes a scanning galvanometer and a galvanometer driver, where the scanning galvanometer may include one or more mirrors. They are mounted on a rotatable or tiltable structure, the direction of the laser beam being controlled by rotating or tilting the angle of the mirror. The material of the scanning galvanometer is typically a high reflectivity metal lens, such as copper, aluminum, or gold-plated silicon. The surface quality and reflectivity of the scanning galvanometer have a significant impact on the quality and energy loss of the laser beam. The galvanometer driver can be responsible for driving and controlling the scanning galvanometer in a manner comprising electromagnetic driving or electric driving. The electromagnetic driver uses an electromagnetic coil to generate a magnetic field, and the movement of the scanning galvanometer is controlled by changing the direction and the magnitude of the magnetic field. The motorized drive then uses a motor and transmission to effect rotation or tilting of the scanning galvanometer. The scan driver needs to have high precision and high speed control capability to ensure accurate positioning and fast scanning of the laser beam.

The marking area 103 is described later. The marking area 103 is located in a certain area on the surface of the marking workpiece, and it can be seen that the marking area in this embodiment is a rectangular plane, and in other possible embodiments, the marking area 103 may be configured as a two-dimensional plane pattern with different shapes according to the difference of the marking patterns. Furthermore, the marking area 103 may be set to be planar, curved, or shaped according to the type of the surface of the marking workpiece, which is not limited herein.

The auxiliary marking point 104 is described again. The auxiliary marking points 104 in the embodiment shown comprise a plurality of circular ring patterns, the plurality of auxiliary marking points 104 are uniformly distributed around the marking area 103 of the surface of the marking workpiece, and in other possible embodiments, the auxiliary marking points 104 may be an auxiliary marking pattern combination formed by a planar geometric pattern comprising a plurality of high-precision geometric features and a clear geometric edge profile. Furthermore, the method of disposing the plurality of auxiliary marking points 104 around the marking area 103 may be a marking method by most common sticker attachment, and may also include a coating spraying, laser irradiation, pattern coverage, etc. or a temporary or semi-permanent pattern marking method, without limitation.

It is appreciated that the pattern of the plurality of auxiliary marking points 104, after being superimposed on the surface of the marking workpiece, may combine the geometric relationships contained between the plurality of auxiliary marking points 104 into auxiliary marking features. During the operation of laser marking, the laser marking system can determine the coordinates of each coordinate point of the set of discretized coordinate points in the visual positioning coordinate system corresponding to the marked pattern used for performing the laser marking operation by acquiring the image information about the auxiliary marking feature contained in the image by the visual positioning device 101. In this process, the conversion relationship between the visual positioning coordinate system and the workpiece coordinate system is determined by the aforementioned auxiliary marking feature, wherein the workpiece coordinate system includes a coordinate system established with an origin of a certain point of the surface of the marked workpiece, and the visual positioning coordinate system includes a coordinate system established with an origin of a certain spatial point within the visual positioning field of view determined by the visual positioning device 101. In the present application, the conversion relation of this coordinate point is defined as a positional conversion relation. It can be understood that the discretized coordinate point set corresponding to the marked pattern in the workpiece coordinate system can be imported and edited in the software level, and then the discretized coordinate point set corresponding to the marked pattern is converted into the coordinate point set based on the visual positioning coordinate system through the positioning conversion relation.

Finally, hand grip 105 is described. In the laser marking system provided in this embodiment, since the relative position of the laser marking machine can be determined in real time by the visual positioning device 101 and the auxiliary marking points 104 around the marking area 103, in some embodiments, the laser marking operation can be completed in a gentle moving process of the laser marking machine by a non-fixed manner, such as by hand-holding. The handheld laser marking mode does not need to enable the marking machine head 102 and the marking area 103 to be in a relatively static state in the marking operation process, so that the laser marking operation can be realized on some complex marking surfaces, large-size pattern marking requirements and marking objects which cannot be arranged on a marking working platform in the handheld process.

In more possible embodiments, the laser marking system provided by the present application may further include a computing device having a computing function for processing and computing the data generated by the related functional operations of the marking head 102 and the visual positioning apparatus 101, and for more description of the computing device, reference is made to the embodiment shown in fig. 8 for details of the computing device, which are not described herein.

The relevant contents of the marking area and the auxiliary marking point are described in a specific embodiment for the convenience of understanding by those skilled in the relevant art.

Referring to fig. 3, fig. 3 is a schematic diagram of a laser marking two-dimensional code pattern provided by the present application. The laser-marked two-dimensional code pattern provided in this embodiment includes a marking area 310, an auxiliary marking point 320, a marking pattern 330, and a first marking sub-area 311.

First, the marking area 310 is described. The marking area 310 is an area where the marking pattern 330 is marked on the surface of the marking workpiece by a laser beam. In some possible embodiments, in the case that the size of the marking area 310 is larger or the structure of the marking pattern 330 is finer, the marking area 310 may be divided into a plurality of marking sub-areas, including the first marking sub-area 311, and the operation of marking the object is completed through a plurality of laser marking periods. The first marking sub-area 311 is a portion of the marking area 310 corresponding to the marking pattern that can be completed in one marking cycle.

The auxiliary marking point 320 is next described. A plurality of auxiliary marking points 320 are distributed around the periphery of the marking area 310, and the auxiliary marking points 320 are disposed around the periphery of the marking area 310 before the laser marking operation. The auxiliary marking features formed by the geometric positional relationship between the plurality of auxiliary marking points 320 enable the marking machine to locate the current position and angle relative to the marking area 310 during the marking process through images acquired by the visual locating device.

Finally, the marked-up pattern 330 is introduced. In some possible embodiments, the marking pattern 330 may be completed in one or more marking periods, and the marked pattern is not limited.

In order to realize the laser marking system provided by the application, the application also provides a marking method of the laser marking system, which is used for marking the conversion relation between the position posture of the visual positioning device and the position posture of the marking machine head before the laser marking operation. It can be appreciated that the calibration method of the laser marking system provided by the present application can be applied to the laser marking system in the embodiment shown in fig. 1.

For ease of understanding by the relevant personnel, the laser marking system calibration method of the present application will be described in two embodiments.

Referring to fig. 4, fig. 4 is a schematic diagram of each coordinate system in a laser marking system according to the present application. The present embodiment includes three coordinate systems, a visual positioning coordinate system 401, a marking coordinate system 402, and a workpiece coordinate system 403. It can be seen that this embodiment describes three coordinate systems involved in the present application with the laser marking system of the embodiment shown in fig. 1.

First, a visual positioning coordinate system 401 is described. In the example shown in fig. 4, the visual positioning coordinate system 401 is a coordinate system established with a certain spatial point within the visual positioning field of view determined by the visual positioning device as an origin, and in other possible embodiments, the visual positioning coordinate system 401 may further include a coordinate system established with any point around the visual positioning field of view covered by the visual positioning device as an origin, which is not limited. Furthermore, the coordinate conversion relationship between the plurality of images captured by the visual positioning device can be determined by the visual positioning coordinate system 401, and the plurality of images captured by the visual positioning device can be spliced by using the geometric features of the auxiliary mark points included in the captured images.

Next, the marking coordinate system 402 is described. In the example shown in fig. 4, the marking coordinate system 402 is a coordinate system established with a vibrating mirror for positioning and moving the laser beam in the marking machine head as an origin, and in other possible embodiments, the marking coordinate system 402 may further include a coordinate system established with any point in the laser marking machine as an origin, without limitation. The marking coordinate system 402 can be used for determining marking tracks for controlling laser beams generated by the laser marking machine according to a discretized coordinate point set of marking patterns under the marking coordinate system under different position postures of the laser marking machine.

Finally, the object coordinate system 403 is described. In the example shown in fig. 4, the workpiece coordinate system 403 is a coordinate system established with an auxiliary coordinate point of the surface of the marked workpiece as an origin, and in other possible embodiments, the workpiece coordinate system 403 may also be a coordinate system established with any point of the surface of the marked workpiece, or a coordinate system established with a certain spatial point in the visual positioning field determined by the visual positioning device as an origin, which is not limited herein. The editing function of the laser marking system on the marking graph is used for realizing the operations of editing, importing, exporting and the like on the pattern of the marking graph in the marking area under the workpiece coordinate system 403 and the discretized coordinate point set.

Referring next to fig. 5, fig. 5 is a flowchart of a calibration method of a laser marking system provided by the present application. By the calibration method of the laser marking system provided by the embodiment, the calibration conversion relation between the position and the posture of the visual positioning device and the position and the posture of the marking machine head can be calibrated. The method comprises the following specific steps:

S501: marking a calibration pattern on the test marking plate.

This step is accomplished by a marking machine in the laser marking system that is used to generate and control a laser beam that is used to perform the laser marking operation. After the visual positioning device is relatively fixed with the marking machine head, the laser beam is controlled by the vibrating mirror of the marking machine head to mark and output the input calibration pattern on the test marking plate, wherein the calibration pattern can be some basic geometric patterns, can also comprise patterns with obvious geometric characteristics such as checkerboard patterns and the like, and is not limited.

S502: a first calibration image is acquired.

This step is accomplished by a visual positioning device in the laser marking system for acquiring one or more first calibration images. After the marking machine head marks the calibration pattern on the test marking plate, one or more first calibration images are collected through the visual positioning device, wherein the first calibration images comprise a plurality of images of the calibration pattern collected through the visual positioning device. It can be understood that, because the pattern marked by the calibration pattern on the test board can reflect the position and the posture of the marking machine head, and the visual positioning device is a device structure with the relative position of the visual positioning device and the marking machine being fixed in the marking process, the characteristic of the position posture of the marking pattern in the first calibration image has a determinable conversion relationship with the position posture of the marking machine head.

S503: and determining a coordinate point set of the calibration graph under the visual positioning coordinate system according to the first calibration image.

This step is accomplished by a computing device or means within the laser marking system. The first calibration image includes image information of a calibration pattern, wherein the visual positioning coordinate system may be a coordinate system established with a certain spatial point within a determined visual positioning field of view of the visual positioning device as an origin.

S504: and determining a calibration conversion relation according to the corresponding calibration track point set of the calibration graph under the calibration coordinates and the coordinate point set of the calibration graph under the visual positioning coordinate system.

This step is accomplished by a computing device or means within the laser marking system. The calibration conversion relation is the coordinate conversion relation between the visual positioning coordinate system and the marking coordinate system, and is used for determining the conversion relation between the position posture of the visual positioning device and the position posture of the marking machine head in real time in the laser marking operation process. In the subsequent laser marking process, the calibration conversion relation can be established under the support of the image information comprising the first calibration image and the feature matching algorithm by the aid of the characteristic that the position of the visual positioning device and the position of the marking machine head are relatively fixed. In some possible embodiments, to speed up the calculation of the system during the laser marking operation, the two coordinate systems (the visual positioning coordinate system and the marking coordinate system) mentioned above may be unified into the marking coordinate system after the calibration conversion relationship is obtained, where the marking coordinate system may be a coordinate system established by using a galvanometer for positioning and moving the laser beam in the marking machine head as an origin.

According to the specific operations described in steps S501 to S504, the laser marking system calibration method shown in this embodiment may be implemented.

Other related preparations prior to the laser marking operation are described next.

Before laser marking, the visual positioning device and the marking machine head need to be relatively fixed. The conversion relation between the position posture of the visual positioning device and the position posture of the marking machine head can be determined through a standardized calibration method, namely the calibration conversion relation is determined through the laser marking system calibration method shown in fig. 5, and the calibration conversion relation is the conversion relation between the geometric positioning characteristics of the positioning structure and the position posture of the marking machine head and can be used for realizing conversion between the visual positioning coordinate system and the marking coordinate system in the laser marking operation process.

Before laser marking, a plurality of auxiliary marking points are arranged on the surface of the marked workpiece, and a workpiece coordinate system is established. The auxiliary marking points are distributed around a marking area, wherein the marking area comprises a specific area of the surface of the marking workpiece for laser marking. The number of distribution of auxiliary marking points on the surface of the marking workpiece may be determined according to the size and surface shape of the marking workpiece, and in particular, in some embodiments, the number of auxiliary marking points may be increased in the case where the surface of the marking workpiece is a curved surface, and the number of auxiliary marking points may be decreased in the case where the surface of the marking workpiece is a flat surface. The distribution of the positions of the auxiliary marking points on the surface of the marking workpiece can form specific geometric features, and the geometric features can be identified through image detection acquired by a visual positioning device. The auxiliary marking points are graphical marking points with clear edges and regular shapes and consistent shapes among a plurality of auxiliary marking points, so that specific geometric characteristics can be formed by utilizing the position distribution of the auxiliary marking points on the surface of the marked workpiece according to the image information of the auxiliary marking points displayed in the image acquired by the visual positioning device, the distance and the angle posture of the visual positioning device and the surface of the marked workpiece are judged, and the surface of the marked area is judged to be a plane or a curved surface so as to establish a proper workpiece coordinate system, wherein the workpiece coordinate system comprises a coordinate system established by taking a certain point on the surface of the marked workpiece as an origin, and a coordinate system established by taking a certain spatial point in a visual positioning field determined by the visual positioning device as the origin, and the method is not limited.

For more description of the auxiliary marking points, reference may be made to the specific details of the auxiliary marking points in the embodiments shown in fig. 1 to 3, which are not described herein.

Next, a laser marking method provided by the present application will be described in an embodiment.

Referring to fig. 6, fig. 6 is a flowchart of a laser marking method according to the present application. It will be appreciated that the laser marking method described in this embodiment may be used to implement the functions associated with the laser marking system of the embodiment of fig. 1 or 2.

It will be appreciated that the specific operation steps of the laser marking method in one marking cycle will be specifically described. For the laser marking operation requiring multiple laser marking periods, the flow of each laser marking period may refer to the relevant content of the working flow of the laser marking method in one marking period shown in this embodiment. The method comprises the following specific steps:

S601: a first image is acquired.

The first image is acquired by a visual positioning device, wherein the image information in the first image includes marking the surface of the workpiece. In the process that the visual positioning device collects the first image, the relative positions of the marking machine and the visual positioning device are fixed, and the marking machine carries out laser marking operation on the surface of a marked workpiece in the range of the visual positioning visual field established by the visual positioning device, wherein the visual positioning visual field comprises the spatial range covered by the image collected by the visual positioning device. Subsequently, the computing device acquires a plurality of first images through the present step.

S602: a first positional pose of the visual positioning device relative to the surface of the marked workpiece is determined from a plurality of auxiliary marking points of the first image.

The first positional pose comprises a spatial position and an angle of the visual positioning device relative to the surface of the marking workpiece. The laser marking system can judge the spatial position and the angle of the visual positioning device relative to the marking area of the surface of the marking workpiece according to the image information of a plurality of auxiliary marking points in the first image.

In some possible embodiments, in the case that the first position and orientation of the marking machine is not ideal, so that the first image does not include the image information of the valid auxiliary marking point, the marking machine sends out the prompt information, where the prompt information can be further divided into the following two cases: under the condition that the current position posture of the marking machine displayed in the first image does not face the marking area on the surface of the marking workpiece, the marking machine sends out prompt information to prompt the marking machine to be aligned to the marking area, and under the condition that the current position posture of the marking machine displayed in the first image indicates that the marking machine is too close to/too far away from the marking area, the marking machine sends out prompt information to prompt the marking machine to be far away from/close to the marking area. The mode of sending the prompt information by the marking machine can include one or more modes of sound, characters, images, vibration and the like, and is not limited.

S603: and determining the second position posture according to the first position posture and the calibration conversion relation.

The calibration conversion relation comprises a conversion relation between the position posture of the visual positioning device and the position posture of the marking machine, and the second position posture comprises the spatial position and the angular posture of the marking machine relative to the surface of the marking workpiece. For more description of the calibration conversion relationship, please refer to the specific content described in steps S501 to S504, which is not repeated here.

S604: a first set of beaconing points is determined from the second position pose.

The first set of marked points includes coordinates of a plurality of coordinate points in the marked pattern in a visual positioning coordinate system including a coordinate system established based on the visual positioning device. In some possible examples, the method may include the steps of:

First, a first graph point set is obtained, wherein the first graph point set comprises a coordinate point set corresponding to a marked graph on the surface of a marked workpiece under a visual positioning coordinate system. The specific method for acquiring the first graphic point set may include the following: the first step, a second pattern point set corresponding to the marking pattern under a workpiece coordinate system is obtained, wherein the workpiece coordinate system comprises a coordinate system established based on the surface of the marking workpiece, and the coordinate system can be established by taking a certain space point in a visual positioning field determined by a visual positioning device as an origin. Determining a positioning conversion relation according to a plurality of auxiliary mark points included in the first image; the positioning conversion relation comprises a coordinate conversion relation between a workpiece coordinate system and a visual positioning coordinate system, and a plurality of auxiliary marking points are arranged on the surface of the marked workpiece. And thirdly, acquiring a first graph point set according to the positioning conversion relation and the second graph point set, wherein the first graph point set comprises part or all of coordinate point sets corresponding to marked graphs under a visual positioning coordinate system.

Since the laser marking of the marked pattern may be completed after one or more marking cycles during the laser marking operation. Therefore, in some laser marking embodiments that require multiple marking cycles to complete, the method for obtaining the first graphic point set further includes comprehensively considering the marking point continuity of the last marking cycle, so as to ensure that the first graphic point set completed in the current marking cycle can be mutually continuous and linked with the first graphic point set completed in the last marking cycle.

In some possible embodiments, the second pattern point set may be determined by importing and editing the marking pattern through the pattern setting software of the laser marking system, including setting the position, the zoom size, the rotation angle, and the like of the marking pattern. For ease of understanding by the designer, the marking pattern displayed by the pattern setting software at this time may be a workpiece coordinate system established based on marking the workpiece surface. Finally, the marking graph can be edited appropriately based on the workpiece coordinate system, such as drawing, transformation, rotation, surface fitting and other related graph editing operations.

With respect to the previously mentioned method of determining the second set of pattern points, it has been determined prior to performing the laser marking operation. In some possible examples, the specific operation method for determining the second graphic point set may include the following: one or more second images are acquired through the visual positioning device, and then the marking graph is edited through the one or more second images, and a second graph point set is determined. The second image is an image which is acquired by the visual positioning device and comprises a marking area and a plurality of auxiliary marking points, the marking area is an area for marking the surface of the workpiece and performing laser marking operation, the auxiliary marking points are arranged around the marking area, the second graph point set comprises a set of a plurality of coordinate points of a marking graph under a workpiece coordinate system, and the workpiece coordinate system can be a coordinate system established based on a certain point of the surface of the workpiece as an origin. In some possible examples, in the case where the range of the marking area is large and a plurality of second images need to be acquired to cover the marking area entirely, the plurality of second images are stitched according to image information of a plurality of auxiliary marking points included in the plurality of second images.

And secondly, determining a bearable range according to the second position and posture, wherein the bearable range comprises a region range in which the bearable machine can perform effective marking operation in a marking workpiece region under the second position and posture. Wherein the second position and orientation comprises a spatial position and angle of the marking machine relative to the surface of the marking workpiece.

And finally, determining a first marked point set from the first graph point set according to the marked range and the coordinate point set corresponding to the marked part in the marked graph, wherein the first marked point set comprises part or all of the coordinate point sets corresponding to the unmarked part of the marked graph. It will be appreciated that the operation method of comprehensively considering the continuity of the marking points in the last marking cycle may also be implemented in the process of determining the first marking point set through this step. In the case of an operation method that considers the continuity of the marking points of the last marking cycle, the first marking point set includes a part of the point sets among the coordinate point sets corresponding to the non-marked portions of the marking pattern.

S605: and determining a second marking point set according to the calibration conversion relation and the first marking point set.

The second marking point set comprises coordinates of each point in the first marking point set in a marking coordinate system, the calibration conversion relation is a coordinate conversion relation between a visual positioning coordinate system and the marking coordinate system, and the marking coordinate system is a coordinate system established based on a marking machine.

For more description of the marking coordinate system, reference may be made to the specific content of the marking coordinate system 402 in the embodiment shown in fig. 4, and for more description of the calibration conversion relationships, reference may be made to the descriptions in steps S501 to S504, which are not repeated here.

S606: and determining a marking track according to the second marking point set.

The marking trajectory includes a scanning trajectory for controlling a laser beam generated by the marking machine. First, a first speed is determined, wherein the first speed is an expected speed of the marking machine during a current marking cycle. And secondly, determining a marking track corresponding to the second marking point set according to a track planning algorithm and the first speed, wherein the marking track passes through coordinate points in the second marking point set.

Since the laser marking of the marked pattern may be completed after one or more marking cycles during the laser marking operation. Therefore, in some embodiments of laser marking that require multiple marking cycles to be performed, the method for determining the marking trajectory further includes comprehensively considering a set of partial coordinate points that allow laser marking during the time period of the present marking cycle. The specific method comprises the following steps: first, a third marking point set corresponding to the second marking point set is determined according to a track planning algorithm and a first speed of a laser marking machine, wherein the third marking point set comprises a subset of the second marking point set capable of completing laser marking operation in one marking time. And then determining the marking tracks corresponding to the third marking point set according to a track planning algorithm.

After the data of the marking track is sent to the marking machine, the marking machine controls the scanning track of the generated laser beam according to the marking track, and completes the laser marking operation in one or more laser marking periods.

According to the laser marking method introduced in steps S601 to S606, not only high-flexibility and large-format laser marking can be performed on the surface of a workpiece with a complex structure, but also high-precision laser processing operations such as laser surface treatment, laser super-surface micro-nano structure processing and the like of the marked workpiece can be realized, and the method is not limited.

Next, a laser marking device provided by the present application will be described.

Referring to fig. 7, fig. 7 is a schematic diagram of a laser marking device provided by the present application. The laser marking apparatus 700 provided in this embodiment includes an acquisition unit 710, a processing unit 720, and a transmitting unit 730. The concrete introduction is as follows:

The obtaining unit 710 is configured to obtain a first image, where the first image is an image collected during a marking operation by the visual positioning device, and the first image includes a plurality of auxiliary marking points for marking a surface of the workpiece, and the plurality of auxiliary marking points are disposed around a marking area for marking the surface of the workpiece.

A processing unit 720, configured to determine a first position pose of the visual positioning device relative to the surface of the marking workpiece according to the plurality of auxiliary marking points of the first image, where the first position pose includes a spatial position and an angle of the visual positioning device relative to the surface of the marking workpiece.

The processing unit 720 is further configured to determine a second position and orientation according to the first position and orientation conversion relation, where the orientation conversion relation includes a conversion relation between a position and orientation of the visual positioning device and a position and orientation of the marking machine, and the second position and orientation includes a spatial position and an angle of the marking machine relative to a surface of the marking workpiece.

The processing unit 720 is further configured to determine a bearable range according to the second position and posture, where the bearable range includes a region range in which the bearable machine can perform an effective marking operation in the marking workpiece region under the second position and posture.

The processing unit 720 is further configured to determine a marking track according to the markable range, where the marking track includes a scanning track for controlling a laser beam generated by the marking machine. In some possible embodiments, the processing unit 720 is specifically configured to: firstly, determining a first marking point set from a first graph point set according to a marking range, wherein the position and posture information comprises the distance and the angle of a marking machine relative to a marking workpiece; the first set of index points includes a plurality of coordinate points in a visual positioning coordinate system including a coordinate system established based on the visual positioning device. And secondly, determining a second marking point set according to a calibration conversion relation and the first marking point set, wherein the second marking point set comprises coordinates of each point in the first marking point set in a marking coordinate system, the calibration conversion relation is a coordinate conversion relation between a visual positioning coordinate system and the marking coordinate system, and the marking coordinate system is a coordinate system established based on a marking machine. And finally, determining a marking track according to the second marking point set, wherein the marking track is used for indicating the scanning track of the laser beam generated and controlled by the marking machine.

And a transmitting unit 730 for transmitting the marking track to the marking machine. The marking machine controls the vibrating mirror of the marking machine head to control the emission track of the laser beam according to the marking track, and realizes marking operation on the surface of a marking object.

The laser marking device described in this embodiment may be applied to the laser marking system shown in fig. 1, and is used to implement the laser marking method described in steps S601 to S606 and the laser marking system calibration method described in steps S501 to S504. In some specific embodiments, the laser marking device may also be provided in one or more of a marking machine including a laser marking system, a visual positioning device, and a computing device, without limitation.

The laser marking method, apparatus and system provided according to the present application are described in detail above with reference to fig. 1 to 7, and the computing device and computing device cluster provided according to the present application will be described below with reference to fig. 8 to 10.

Fig. 8 is a schematic structural diagram of a computing device provided by the present application, where the computing device may be applied to an electronic device having computing resources in the laser marking system in the embodiment shown in fig. 1 or fig. 2, so that the laser marking system in the embodiment shown in fig. 1 or fig. 2 implements the laser marking method described in steps S501 to S504 and the laser marking system calibration method shown in steps S601 to S606.

Further, the computing device includes a processor 801, a storage unit 802, a storage medium 803, and a communication interface 804, where the processor 801, the storage unit 802, the storage medium 803, and the communication interface 804 communicate via a bus 805, and also communicate via other means such as wireless transmission.

The processor 801 is comprised of one or more general purpose processors such as a CPU, NPU, or a combination of CPU and hardware chips. The hardware chip is an application-specific integrated circuit (ASIC), a programmed logic device (programmable logic device, PLD), or a combination thereof. The PLD is a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (FPGA) GATE ARRAY, a general-purpose array logic (GENERIC ARRAY logic, GAL), a data processing unit (data processing unit, DPU), a system on chip (SoC), or any combination thereof. Processor 801 executes various types of digitally stored instructions, such as one or more of program code or cores stored in storage unit 802, which enable the computing device to provide a wide variety of services.

In a particular implementation, processor 801 includes one or more CPUs, such as CPU0 and CPU1 shown in FIG. 8, as an embodiment.

In a particular implementation, as one embodiment, the computing device also includes a plurality of processors, such as processor 801 and processor 806 shown in FIG. 8. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). A processor herein refers to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).

The memory unit 802 is configured to store program codes and is controlled by the processor 801 to execute the processing steps of the laser marking method and system in any of the embodiments of fig. 1 to 7. The program code includes one or more software elements.

The memory unit 802 includes a read only memory and a random access memory, and provides instructions and data to the processor 801. The memory unit 802 also includes nonvolatile random access memory. The memory unit 802 is either volatile memory or nonvolatile memory, or includes both volatile and nonvolatile memory. The nonvolatile memory is a read-only memory (ROM), a Programmable ROM (PROM), an erase-program ROM (erasable PROM, EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory is random access memory (random access memory, RAM), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are used, such as static random access memory (STATIC RAM, SRAM), dynamic random access memory (dynamic random access memory, DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (doubledata DATE SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (ENHANCED SDRAM, ESDRAM), synchronous link dynamic random access memory (SYNCHLINK DRAM, SLDRAM), and direct memory bus random access memory (direct rambus RAM, DR RAM). Or a hard disk (hard disk), a U-disk (universal serial bus, USB), a flash memory (flash), an SD card (secure digital memory Card, SD card), a memory stick, etc., and the hard disk is a hard disk drive (HARD DISK DRIVE, HDD), a solid state disk (solid STATE DISK, SSD), a mechanical hard disk (MECHANICAL HARD DISK, HDD), etc., which is not particularly limited by the present application.

The storage medium 803 is a carrier storing data, such as a hard disk (hard disk), a U-disk (universal serial bus, USB), a flash memory (flash), an SD card (secure digital memory Card, SD card), a memory stick, or the like, and the hard disk may be a hard disk drive (HARD DISK DRIVE, HDD), a solid-state disk (solid STATE DISK, SSD), a mechanical hard disk (MECHANICAL HARD DISK, HDD), or the like, and the present application is not particularly limited.

The communication interface 804 is a wired interface (e.g., an ethernet interface), an internal interface (e.g., a high-speed serial computer expansion bus (PERIPHERAL COMPONENT INTERCONNECT EXPRESS, PCIe) bus interface), a wired interface (e.g., an ethernet interface), or a wireless interface (e.g., a cellular network interface or using a wireless local area network interface) for communicating with other servers or units.

Bus 805 is a peripheral component interconnect express (PERIPHERAL COMPONENT INTERCONNECT EXPRESS, PCIe) bus, or an extended industry standard architecture (extended industry standard architecture, EISA) bus, a unified bus (unified bus, ubus or UB), a computer express link (compute express link, CXL), a cache coherent interconnect protocol (cache coherent interconnect for accelerators, CCIX), or the like. The bus 805 is classified into an address bus, a data bus, a control bus, and the like.

The bus 805 includes a power bus, a control bus, a status signal bus, and the like in addition to a data bus. But for clarity of illustration, the various buses are labeled as bus 805 in the figure.

It should be noted that fig. 8 is merely one possible implementation of an embodiment of the present application, and the computing device may include more or fewer components in practical applications, which are not limited herein. For details not shown or described in the embodiments of the present application, reference may be made to the foregoing descriptions of the embodiments of fig. 1 to 7, which are not repeated here.

FIG. 9 is a schematic diagram of a computing device cluster including at least one computing device. The computing device may be a server, such as a central server, an edge server, or a local server in a local data center. In some specific embodiments, the computing device may also be a terminal device such as a desktop, notebook, or smart phone.

As shown in fig. 9, the computing device cluster includes at least one computing device 900. The same instructions for performing the vehicle trajectory tracking control method shown in fig. 7 may be stored in the memory 903 in one or more computing devices 900 in the computing device cluster.

In some possible implementations, the memory 903 of one or more computing devices 900 in the computing device cluster may also each have stored therein a portion of instructions for performing the laser marking method. In other words, a combination of one or more computing devices 900 may collectively execute instructions for performing a laser marking method.

It should be noted that the memories 903 in different computing devices 900 in the computing device cluster may store different instructions for performing part of the functions of the laser marking system. That is, the instructions stored in the memory 903 of the different computing devices 900 may implement the functions of the laser marking system in the embodiment shown in fig. 1 or fig. 2 and the respective constituent components of the laser marking apparatus shown in fig. 7.

The computing device 900 includes a processor 901, a communication interface 902, a memory 903, and a bus 904, wherein further description of the processor 901, the communication interface 902, the memory 903, and the bus 904 may refer to the description of the processor 801, the processor 806, the storage unit 802, the storage medium 803, the communication interface 804, and the bus 805 in the embodiment of fig. 8, and the detailed description is not repeated here.

In some possible implementations, one or more computing devices in a cluster of computing devices may be connected through a network. Wherein the network may be a wide area network or a local area network, etc. Fig. 10 shows one possible implementation. Fig. 10 is a schematic diagram of another architecture of a computing device cluster according to the present application, where two computing devices 1000A and 1000B are connected via a network as shown in fig. 10. Specifically, the connection to the network is made through a communication interface in each computing device. In this possible implementation, the memory 1003 in the computing device 1000A has stored therein instructions for implementing the fetch unit in the embodiment shown in FIG. 7. Meanwhile, instructions for implementing the processing unit and the transmitting unit in the embodiment shown in fig. 7 are stored in the memory 1003 in the computing device 1000B. Further description of the processor 1001, the communication interface 1002, and the bus 1004 in the embodiment shown in fig. 10 may refer to the description of the processor 801, the communication interface 804, and the bus 805 in the embodiment of fig. 8, and the detailed description is not repeated here.

It should be appreciated that the functionality of computing device 1000A shown in fig. 10 may also be performed by a plurality of computing devices. Likewise, the functionality of computing device 1000B may be performed by multiple computing devices.

It should be noted that, the implementation shown in fig. 10 may be an implementation in a case where the processing capability of the computing device 1000A is insufficient, or the storage space of the computing device 1000A is insufficient, or an implementation in other traffic scenarios, and the present application is not limited in particular.

The embodiment of the application also provides another computing device cluster. The connection relationship between the computing devices in the computing device cluster may be similar with reference to the connection manner of the computing device cluster of fig. 9 and fig. 10. In contrast, the same instructions for performing the laser marking method may be stored in the memory 903 in one or more computing devices 900 in the cluster of computing devices.

Embodiments of the present application also provide a computer program product comprising instructions. The computer program product may be a software or program product containing instructions capable of running on a computing device or stored in any useful medium. The computer program product, when run on at least one computing device, causes the at least one computing device to perform a laser marking method.

The embodiment of the application also provides a computer readable storage medium. Computer readable storage media can be any available media that can be stored by a computing device or data storage device such as a data center containing one or more available media. Usable media may be magnetic media (e.g., floppy disks, hard disks, magnetic tape), optical media (e.g., high-density digital video discs (digital video disc, DVD)), or semiconductor media (e.g., solid state drives), etc. The computer-readable storage medium includes instructions that instruct a computing device to perform an information recognition method or instruct a computing device to perform an information recognition method.

The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product includes a plurality of computer instructions. When the computer program instructions are loaded or executed on a computer, the processes or functions in accordance with embodiments of the present invention are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. Computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another.

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various equivalents may be substituted and equivalents will fall within the true scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims

1. The utility model provides a laser marking method, characterized in that is applied to laser marking system, laser marking system includes marking machine, vision positioner and computing equipment, the marking machine with the relative position of vision positioner is fixed, the marking machine is used for marking according to marking pattern on marking work piece surface, the method includes:

The visual positioning device acquires a first image, wherein the first image comprises a surface of a marking workpiece;

the computing device determines a marking track according to the first image, wherein the marking track is used for indicating a scanning track of a laser beam generated by the marking machine.

2. The method of claim 1, wherein the marking machine performs laser marking of the surface of the marked workpiece within a visual positioning field of view established by the visual positioning device, wherein the visual positioning field of view includes a spatial extent covered by an image acquired by the visual positioning device.

3. The method of claim 2, wherein the computing device determining a marking trajectory from the first image comprises:

the computing equipment acquires the first image, wherein the first image is an image acquired in the marking operation process through the visual positioning device, the first image comprises a plurality of auxiliary marking points for marking the surface of the workpiece, and the auxiliary marking points are arranged around a marking area of the surface of the workpiece;

The computing device determining a first position pose of the visual positioning device relative to the surface of the marking workpiece from the plurality of auxiliary marking points of the first image, wherein the first position pose comprises a spatial position and an angle of the visual positioning device relative to the surface of the marking workpiece;

The computing device determines the marking trajectory from the first position pose.

4. The method of claim 3, wherein the computing device determining the marking trajectory from the first position pose comprises:

The computing equipment determines a second position posture according to the first position posture and a calibration conversion relation, wherein the calibration conversion relation comprises a conversion relation between the position posture of the visual positioning device and the position posture of the marking machine, and the second position posture comprises a spatial position and an angle of the marking machine relative to the surface of a marking workpiece;

The computing equipment determines a bearable range according to the second position and posture, wherein the bearable range comprises a region range in which the bearable machine can perform effective marking operation in the marking workpiece region under the second position and posture;

The computing device determines the marking trajectory from the markable range.

5. The method of claim 4, wherein the computing device determining the marking trajectory from the markable range comprises:

The computing equipment determines a first marking point set from a first graph point set according to the marking range, wherein the first marking point set comprises part or all of coordinate point sets corresponding to non-marked parts of the marking graph, the first graph point set comprises coordinate point sets corresponding to the marking graph on the surface of the marking workpiece under a visual positioning coordinate system, and the visual positioning coordinate system is a coordinate system established based on the visual positioning device;

the computing equipment determines a second marking point set according to a calibration conversion relation and the first marking point set, wherein the second marking point set comprises coordinates of each point in the first marking point set in a marking coordinate system, the calibration conversion relation is a coordinate conversion relation between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system is a coordinate system established based on the marking machine;

The computing device determines the marking trajectory from the second set of marking points.

6. The method of any of claims 3-5, wherein after the computing device acquires the first image, the method further comprises:

the computing equipment acquires a second pattern point set corresponding to a marking pattern under a workpiece coordinate system, wherein the workpiece coordinate system comprises a coordinate system established based on the surface of the marking workpiece;

The computing device determines a positioning conversion relation according to the auxiliary mark points included in the first image; wherein the positioning conversion relation comprises a coordinate conversion relation between the workpiece coordinate system and the visual positioning coordinate system;

And the computing equipment determines a first graph point set according to the positioning conversion relation and the second graph point set, wherein the first graph point set comprises part or all of coordinate point sets corresponding to the marked graph under the visual positioning coordinate system.

7. The method of claim 5, wherein prior to the computing device determining the first set of beatable points from the first set of graphical points according to the beatable range, the method further comprises:

the computing equipment acquires one or more second images, wherein the second images are images which are acquired by the visual positioning device and comprise the marking area and the auxiliary marking points, and the marking area is an area for performing laser marking operation on the surface of a marked workpiece;

The computing device edits the marking pattern according to the one or more second images and determines a second pattern point set, wherein the second pattern point set comprises a set of a plurality of coordinate points of the marking pattern under a workpiece coordinate system, and the workpiece coordinate system comprises a coordinate system established by taking a certain point of the surface of the marking workpiece as an origin.

8. The method of any of claims 1-7, wherein the computing device determining a marking trajectory from the second set of marking points comprises:

The computing device determines a first speed, wherein the first speed is an expected speed of the marking machine in a current marking cycle;

The computing device determines a marking track corresponding to the second marking point set according to a track planning algorithm and the first speed, wherein the marking track passes through coordinate points in the second marking point set.

9. The method of any of claims 1-8, wherein prior to the computing device acquiring the first image, the method further comprises:

Marking a calibration graph on a test marking plate by the marking machine;

The visual positioning device acquires a first calibration image, wherein the first calibration image comprises an image acquired by the visual positioning device, and the relative position of the visual positioning device and the marking machine is fixed in the marking process;

The computing equipment determines a coordinate point set of the calibration graph under the visual positioning coordinate system according to the first calibration image, wherein the first calibration image comprises image information of the calibration graph;

The computing equipment determines a calibration conversion relation according to a corresponding calibration track point set of the calibration graph under a marking coordinate and a coordinate point set of the calibration graph under the visual positioning coordinate system, wherein the calibration conversion relation comprises a conversion relation between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system comprises a coordinate system established by taking a laser beam emitting port of the marking machine as an origin.

10. A laser marking apparatus, comprising:

The device comprises an acquisition unit, a marking unit and a marking unit, wherein the acquisition unit is used for acquiring the first image, wherein the first image is an image acquired in the marking operation process through the visual positioning device, the first image comprises a plurality of auxiliary marking points for marking the surface of a workpiece, and the plurality of auxiliary marking points are arranged around a marking area of the surface of the workpiece;

A processing unit, configured to determine a first position posture of the visual positioning device relative to the surface of the marking workpiece according to the plurality of auxiliary marking points of the first image, where the first position posture includes a spatial position and an angle of the visual positioning device relative to the surface of the marking workpiece;

The processing unit is further configured to determine a second position gesture according to the first position gesture and a calibration conversion relationship, where the calibration conversion relationship includes a conversion relationship between a position gesture of the visual positioning device and a position gesture of the marking machine, and the second position gesture includes a spatial position and an angle of the marking machine relative to a surface of the marking workpiece;

The processing unit is further configured to determine a bearable range according to the second position gesture, where the bearable range includes a region range in which the bearable machine can perform an effective marking operation in the marking workpiece region under the second position gesture;

The processing unit is further configured to determine a marking track according to the markable range, where the marking track includes a scanning track for controlling a laser beam generated by the marking machine;

and the sending unit is used for sending the marking track to a marking machine, wherein the marking machine is used for generating and controlling a laser beam.

11. The apparatus according to claim 10, characterized by a processing unit, in particular for:

Determining a first marking point set from a first graph point set according to the marking range, wherein the first marking point set comprises part or all of coordinate point sets corresponding to non-marked parts of marked graphs, the first graph point set comprises coordinate point sets corresponding to marked graphs on the surface of the marked workpiece under a visual positioning coordinate system, and the visual positioning coordinate system is a coordinate system established based on the visual positioning device;

Determining a second marking point set according to a calibration conversion relation and the first marking point set, wherein the second marking point set comprises coordinates of each point in the first marking point set in a marking coordinate system, the calibration conversion relation is a coordinate conversion relation between the visual positioning coordinate system and the marking coordinate system, and the marking coordinate system is a coordinate system established based on the marking machine;

and determining the marking track according to the second marking point set.

12. A marking machine, characterized in that it comprises a laser marking device according to claims 10 to 11 for implementing a method implemented by a computing apparatus according to any one of claims 1 to 9.

13. The utility model provides a laser marking system, its characterized in that, laser marking system includes marking machine, vision positioner and computing equipment, marking machine with vision positioner's relative position is fixed, marking machine is used for marking according to marking pattern on marking workpiece surface, wherein:

The visual positioning device is used for acquiring a first image, wherein the first image comprises image information of the surface of the marking workpiece;

The computing device is used for determining a marking track according to the first image, wherein the marking track is used for indicating a scanning track of a laser beam generated by the marking machine.

14. The system of claim 13, wherein the system further comprises a controller configured to control the controller,

The visual positioning device is fixed with the relative position of the marking machine, and the marking machine is used for marking the surface of the marked workpiece in the range of the visual positioning view field established by the visual positioning device, wherein the visual positioning view field comprises a spatial range covered by the image acquired by the visual positioning device.

15. The system according to claim 13, wherein the computing device is specifically configured to:

the first image is acquired, wherein the first image is an image acquired in the marking operation process through the visual positioning device, the first image comprises a plurality of auxiliary marking points for marking the surface of the workpiece, and the auxiliary marking points are arranged around a marking area of the surface of the workpiece;

Determining a first position and posture of the visual positioning device relative to the surface of the marking workpiece according to the plurality of auxiliary marking points of the first image, wherein the first position and posture comprises a spatial position and an angle of the visual positioning device relative to the surface of the marking workpiece;

Determining a second position posture according to the first position posture and a calibration conversion relation, wherein the calibration conversion relation comprises a conversion relation between the position posture of the visual positioning device and the position posture of the marking machine, and the second position posture comprises a spatial position and an angle of the marking machine relative to the surface of a marking workpiece;

Determining a bearable range according to the second position and posture, wherein the bearable range comprises a region range in which the bearable machine can perform effective marking operation in the marking workpiece region under the second position and posture;

and determining the marking track according to the marking range.

16. The system according to claim 15, wherein the computing device is specifically configured to:

and determining the marking track according to the second marking point set.

17. A computing device comprising a processor and a memory, the memory for storing instructions, the processor for executing the instructions to cause the computing device to implement a computing device-implemented method as in any of claims 1 to 9.

18. A computer readable storage medium having stored therein instructions which, when executed by a computing device or cluster of computing devices, implement a method implemented by a computing device as claimed in any one of claims 1 to 9.