阅读说明：本技术 一种激光打标系统及其视觉定位方法 (Laser marking system and visual positioning method thereof ) 是由 林悦铭 梁光远 蔡文浩 于 2021-01-15 设计创作，主要内容包括：本发明公开一种激光打标系统,包括主控模块、传送模块、分别与主控模块电性连接的图像采集模块、位姿获取模块、标定相机以及打标模块；所述传送模块上还设有用于承载物料的治具,图像采集模块、标定相机及打标模块均靠近传送模块布置。该系统设有图像采集模块、位姿获取模块,可计算待打标物料与打标标准模板之间的偏移量,从而控制打标模块进行矫正,进而可提高打标精度,同时,在对不同类型的物料进行打标时,只需相应的调整系统参数即可,而不涉及其他机械结构的调整,进而可降低成本、提高工作效率,此外,还提供一种视觉定位方法,该方法原理简单、通俗易懂,且方法执行速度快,可应用于多种需要对物料进行定位的领域,泛用性强。(The invention discloses a laser marking system which comprises a main control module, a transmission module, an image acquisition module, a pose acquisition module, a calibration camera and a marking module, wherein the image acquisition module, the pose acquisition module, the calibration camera and the marking module are respectively and electrically connected with the main control module; still be equipped with the tool that is used for bearing the weight of the material on the transport module, image acquisition module, calibration camera and mark the mark module and all be close to transport module and arrange. The system is provided with an image acquisition module and a pose acquisition module, offset between a material to be marked and a marking standard template can be calculated, the marking module is controlled to correct, marking precision can be improved, meanwhile, when materials of different types are marked, only corresponding system parameters need to be adjusted, adjustment of other mechanical structures is not involved, cost can be reduced, and working efficiency is improved.)

1. A laser marking system is characterized by comprising a main control module, a transmission module, an image acquisition module, a pose acquisition module, a calibration camera and a marking module, wherein the image acquisition module, the pose acquisition module, the calibration camera and the marking module are respectively and electrically connected with the main control module; the conveying module is also provided with a jig for bearing materials, and the image acquisition module, the calibration camera and the marking module are arranged close to the conveying module; the conveying module is used for moving the jig carrying the material to the position below the image acquisition module, and the image acquisition module is used for acquiring material image information and transmitting the material image information to the main control module; the pose acquisition module is used for calculating the offset between the material and a pre-stored marking standard template according to the material image information and transmitting the offset to the main control module; the main control module is used for correcting the marking module according to the offset and controlling the marking module to mark the material.

2. Laser marking system according to claim 1, characterized in that the image acquisition module comprises a laser, a positioning camera arranged above the transport module.

3. The laser marking system according to claim 1, wherein the transport module further includes a position sensor electrically connected to the main control module.

4. A visual positioning method, comprising the steps of:

s1: calibrating a camera;

s2: collecting image information of the marking standard template, calculating and storing coordinates of a center point of the marking standard template according to the image information;

s3: acquiring image information of the material to be marked, which is borne by the jig, and calculating the offset between the material and the marking standard template stored in S2 according to the image information;

s4: according to the offset, the marking module is corrected through the main control module, and the marking module is controlled to mark materials.

5. The visual positioning method of claim 4, wherein the S2 includes the steps of:

s21: placing the marking standard template on a jig and conveying the marking standard template to a preset shooting position through a conveying module;

s22: acquiring image information of the marking standard template through an image acquisition module and transmitting the image information to a main control module;

s23: and calibrating the relation between the camera coordinate system and the basic coordinate system acquired by the camera according to the S1, and acquiring and storing the coordinates of the center point of the marking standard template in the basic coordinate system.

6. The visual positioning method of claim 6, wherein the S3 includes the steps of:

s31: placing a material to be marked on the jig and conveying the material to a preset shooting position through the conveying module;

s32: acquiring image information of the material through an image acquisition module and transmitting the image information to a main control module;

s33: calibrating the relation between a camera coordinate system and a basic coordinate system acquired by a camera according to S1, and acquiring the center point coordinate of the material under the basic coordinate system;

s34: and calculating the offset of the center point coordinate of the marking standard template obtained in the S23 and the material center point coordinate obtained in the S33.

Technical Field

The invention relates to the technical field of visual positioning, in particular to a laser marking system and a visual positioning method thereof.

Background

At present, in the location laser marking field of multiple type industrial product, its basic working method is to place the material on the tool on the production line, then, carry tool, material through the production line on the station, according to just marking work according to the working path that has set up in advance, but traditional is marked the material and is mainly beaten through the blind beating (only establish good mark drawing shelves, and do not have the equipment of visual positioning), consequently, its mark precision is not high, can not reach customer's requirement.

Disclosure of Invention

The invention aims to provide a laser marking system and a visual positioning method thereof, wherein the system is provided with an image acquisition module and a pose acquisition module, and can calculate the offset between a material to be marked and a marking standard template, so that the marking module is controlled to correct, the marking precision can be improved, meanwhile, when different types of materials are marked, only corresponding system parameters need to be adjusted, and other mechanical structures are not involved in adjustment, so that the cost can be reduced, the working efficiency can be improved, in addition, the visual positioning method is also provided, the principle of the method is simple, the method is popular and easy to understand, the execution speed of the method is high, the method can be applied to various fields needing to position the materials, and the universality is strong.

In order to realize the purpose, the following technical scheme is adopted:

a laser marking system comprises a main control module, a transmission module, an image acquisition module, a pose acquisition module, a calibration camera and a marking module, wherein the image acquisition module, the pose acquisition module, the calibration camera and the marking module are respectively and electrically connected with the main control module; the conveying module is also provided with a jig for bearing materials, and the image acquisition module, the calibration camera and the marking module are arranged close to the conveying module; the conveying module is used for moving the jig carrying the material to the position below the image acquisition module, and the image acquisition module is used for acquiring material image information and transmitting the material image information to the main control module; the pose acquisition module is used for calculating the offset between the material and a pre-stored marking standard template according to the material image information and transmitting the offset to the main control module; the main control module is used for correcting the marking module according to the offset and controlling the marking module to mark the material.

Further, the image acquisition module comprises a laser and a positioning camera which are arranged above the conveying module.

Furthermore, a position sensor electrically connected with the main control module is further installed on the transmission module.

In order to achieve the above object, there is also provided a visual positioning method, comprising the steps of:

s1: calibrating a camera;

s2: collecting image information of the marking standard template, calculating and storing coordinates of a center point of the marking standard template according to the image information;

s3: acquiring image information of the material to be marked, which is borne by the jig, and calculating the offset between the material and the marking standard template stored in S2 according to the image information;

s4: according to the offset, the marking module is corrected through the main control module, and the marking module is controlled to mark materials.

Further, the S2 includes the following steps:

s21: placing the marking standard template on a jig and conveying the marking standard template to a preset shooting position through a conveying module;

s22: acquiring image information of the marking standard template through an image acquisition module and transmitting the image information to a main control module;

s23: and calibrating the relation between the camera coordinate system and the basic coordinate system acquired by the camera according to the S1, and acquiring and storing the coordinates of the center point of the marking standard template in the basic coordinate system.

Further, the S3 includes the following steps:

s31: placing a material to be marked on the jig and conveying the material to a preset shooting position through the conveying module;

s32: acquiring image information of the material through an image acquisition module and transmitting the image information to a main control module;

s33: calibrating the relation between a camera coordinate system and a basic coordinate system acquired by a camera according to S1, and acquiring the center point coordinate of the material under the basic coordinate system;

s34: and calculating the offset of the center point coordinate of the marking standard template obtained in the S23 and the material center point coordinate obtained in the S33.

By adopting the scheme, the invention has the beneficial effects that:

the system is provided with an image acquisition module and a pose acquisition module, offset between a material to be marked and a marking standard template can be calculated, the marking module is controlled to correct, marking precision can be improved, meanwhile, when materials of different types are marked, only corresponding system parameters need to be adjusted, adjustment of other mechanical structures is not involved, cost can be reduced, and working efficiency is improved.

Drawings

FIG. 1 is a schematic block diagram of a laser marking system of the present invention;

FIG. 2 is a flow chart of a visual positioning method of the present invention;

wherein the figures identify the description:

1-a main control module; 2, an image acquisition module;

3, a pose acquisition module; 4, calibrating a camera;

5, marking a module; 21-a laser;

22-positioning the camera.

Detailed Description

The invention is described in detail below with reference to the figures and the specific embodiments.

Referring to fig. 1, the present invention provides a laser marking system, which includes a main control module 1, a transmission module, an image acquisition module 2, a pose acquisition module 3, a calibration camera 4 and a marking module 5, which are electrically connected to the main control module 1; the conveying module is also provided with a jig for bearing materials, and the image acquisition module 2, the calibration camera 4 and the marking module 5 are arranged close to the conveying module; the conveying module is used for moving the jig carrying the material to the position below the image acquisition module 2, and the image acquisition module 2 is used for acquiring material image information and transmitting the material image information to the main control module 1; the pose acquisition module 3 is used for calculating the offset between the material and a pre-stored marking standard template according to the material image information and transmitting the offset to the main control module 1; the main control module 1 is used for correcting the marking module 5 according to the offset and controlling the marking module 5 to mark materials.

Wherein the image acquisition module 2 comprises a laser 21 arranged above the conveying module, a positioning camera 22; and the transmission module is also provided with a position sensor electrically connected with the main control module 1.

Continuing to refer to fig. 2, there is also provided a visual positioning method comprising the steps of:

s1: calibrating a camera;

s2: collecting image information of the marking standard template, calculating and storing coordinates of a center point of the marking standard template according to the image information;

s3: acquiring image information of the material to be marked, which is borne by the jig, and calculating the offset between the material and the marking standard template stored in S2 according to the image information;

s4: according to the offset, the marking module 5 is corrected through the main control module 1, and the marking module 5 is controlled to mark materials.

Wherein the S2 includes the steps of:

s21: placing the marking standard template on a jig and conveying the marking standard template to a preset shooting position through a conveying module;

s22: acquiring image information of the marking standard template through the image acquisition module 2 and transmitting the image information to the main control module 1;

s23: and calibrating the relation between the camera coordinate system and the basic coordinate system acquired by the camera 4 according to the S1, acquiring the center point coordinate of the marking standard template in the basic coordinate system and storing the center point coordinate.

The S3 includes the steps of:

s31: placing a material to be marked on the jig and conveying the material to a preset shooting position through the conveying module;

s32: acquiring image information of the material through the image acquisition module 2 and transmitting the image information to the main control module 1;

s33: calibrating the relation between a camera coordinate system and a basic coordinate system acquired by the camera 4 according to S1, and acquiring the center point coordinate of the material under the basic coordinate system;

s34: and calculating the offset of the center point coordinate of the marking standard template obtained in the S23 and the material center point coordinate obtained in the S33.

The working principle of the invention is as follows:

with continued reference to fig. 1-2, the present invention provides a visual positioning method and, in accordance with the method, a laser marking system, which can improve the efficiency and accuracy of material marking; the system comprises a main control module 1, a transmission module, a position sensor and a material collecting module 2, wherein the transmission module can be a transmission assembly line and is used for transmitting a jig loaded with materials to a shooting station; the image acquisition module 2 comprises a laser 21 and a positioning camera 22 which are arranged above a shooting station, the positioning camera 22 can shoot the material on the jig to obtain two-dimensional positioning image information (material image) corresponding to the material image, and because the structured light is modulated by the shape of the surface of the positioning structure on the jig, the image of the structured light can generate corresponding distortion in the positioning image; in this embodiment, the laser 21, the positioning camera 22 and the main control module 1 together form a structured light measurement system, during measurement, the laser 21 projects structured light (e.g., point structured light, line structured light, multi-line structured light, and grid structured light) of different modes onto the surface of the jig, and is modulated by the shape of the surface of the jig, so as to form a corresponding three-dimensional laser pattern, and then the positioning camera 22 photographs the three-dimensional laser pattern to obtain a two-dimensional positioning image (material image information) corresponding to the three-dimensional laser pattern, and since the structured light is modulated by the shape of the surface of the jig, in the positioning image, the image of the structured light is correspondingly distorted, and further, the coordinates of the center point of the material can be obtained according to the relative position and the relative posture between the laser 21 and the positioning camera 22.

Before acquiring coordinates of a center point of a material, calibrating a camera to acquire a relation between a basic coordinate system of the material and a camera coordinate system, during calibration, firstly moving a manufactured calibration plate below a calibration camera 4 for multiple times through a transmission module to acquire point coordinates of the calibration plate at multiple positions under the basic coordinate system and the camera coordinate system, then converting the basic coordinate system into the camera coordinate system, calculating internal and external parameters of the camera, establishing a camera imaging geometric model, and then reversely pushing coordinates of points on image information under the basic coordinate system on the basis of the acquired image information according to the geometric model to acquire coordinates of the material; before obtaining the center point coordinate of the material, the center point coordinate of the marking standard template needs to be obtained in advance, and the method comprises the following steps: firstly, obtaining the relation between a camera coordinate system and a basic coordinate system through calibration, and storing the relation in a system; then, controlling the positioning camera 22 to shoot the marking standard template to obtain the image information of the marking standard template, and calculating the center point coordinate of the marking standard template in the basic coordinate system according to the image information and the relationship between the camera coordinate system and the basic coordinate system; after the center point coordinates of the marking standard template are obtained, the center point coordinates of the material under a basic coordinate system can be obtained according to the steps (similar in principle and not described herein), then the offset of the center point coordinates and the offset are calculated, the marking module 5 is corrected according to the offset, and the marking action is accurately finished.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.