阅读说明：本技术 基于多个激光振镜的空间曲线联合定位投影系统及其方法 (Space curve joint positioning projection system and method based on multiple laser galvanometers ) 是由 涂俊超 徐兵 史慈南 于 2021-03-18 设计创作，主要内容包括：本发明公开了一种基于多个激光振镜的空间曲线联合定位投影系统及其方法,基于多个激光振镜的空间曲线联合定位投影系统包括多个激光振镜系统和总控装置,所述激光振镜系统包括激光振镜扫描装置和光敏传感装置；所述激光振镜扫描装置包括激光发射器、二维振镜扫描头、准直扩束装置和聚焦装置；所述光敏传感装置包括光敏传感器和光学分光聚焦装置；所述总控装置包括控制板和电脑主机,所述控制板用于协同控制多个激光振镜扫描装置与多个光敏传感装置；所述光敏传感器响应由激光发射器发射后反射回的激光束信号。本发明具有能高效、便捷地完成大范围空间曲线的激光定位投影任务的优点。(The invention discloses a space curve joint positioning projection system and a space curve joint positioning projection method based on a plurality of laser galvanometers, wherein the space curve joint positioning projection system based on the plurality of laser galvanometers comprises a plurality of laser galvanometer systems and a master control device, and each laser galvanometer system comprises a laser galvanometer scanning device and a photosensitive sensing device; the laser galvanometer scanning device comprises a laser transmitter, a two-dimensional galvanometer scanning head, a collimation and beam expanding device and a focusing device; the photosensitive sensing device comprises a photosensitive sensor and an optical splitting and focusing device; the master control device comprises a control panel and a computer host, wherein the control panel is used for cooperatively controlling the plurality of laser galvanometer scanning devices and the plurality of photosensitive sensing devices; the photosensitive sensor responds to the laser beam signal reflected back after being emitted by the laser emitter. The invention has the advantage of efficiently and conveniently completing the laser positioning projection task of a large-range space curve.)

1. The space curve joint positioning projection system based on the multiple laser galvanometers is characterized by comprising multiple laser galvanometer systems (1) and a master control device, wherein the laser galvanometer systems (1) comprise laser galvanometer scanning devices and photosensitive sensing devices; the laser galvanometer scanning device comprises a laser transmitter (11), a two-dimensional galvanometer scanning head (14), a collimation and beam expansion device (12) and a focusing device (13); the photosensitive sensing device comprises a photosensitive sensor (21) and an optical splitting and focusing device; the master control device comprises a control panel (41) and a computer host (42), wherein the control panel (41) is used for cooperatively controlling the plurality of laser galvanometer scanning devices and the plurality of photosensitive sensing devices; the photosensor (21) responds to a laser beam signal reflected back after being emitted by the laser emitter (11).

2. The space curve joint positioning projection method based on the multiple laser galvanometers is characterized by comprising the following steps of:

step one, calibrating a plurality of laser galvanometer systems participating in target curve projection, and storing calibration results;

secondly, arranging a plurality of light-reflecting target spots around the target curve, measuring the spatial positions of the light-reflecting target spots in a target curve coordinate system, and storing the spatial coordinates of all the light-reflecting target spots;

step three, controlling each laser galvanometer system to scan a reflecting target point in a projection range, and obtaining a galvanometer control signal corresponding to the scanning laser beam when the scanning laser beam passes through the center position of the reflecting target point;

step four, solving the position relation between each laser galvanometer system and the target curve according to the calibration result of the galvanometer in the step one and the galvanometer control signal obtained in the step three;

fifthly, dividing the projection area of the whole target curve according to the projection range of each laser galvanometer system and the curvature information of the target curve;

step six, setting a plurality of projection control points required in the linear interpolation projection process for the target curve in the projection range of each laser galvanometer system according to the curvature information and the requirement of projection precision;

and seventhly, controlling all laser galvanometer systems participating in projection to perform laser positioning projection on the target curves in respective areas according to the set projection control points and according to a linear interpolation form, and finishing positioning projection of the whole target curve.

3. The spatial curve joint positioning projection method based on multiple laser galvanometers according to claim 2, characterized in that: step three comprises a substep a and a substep b, wherein:

a, controlling a laser galvanometer system to enable laser spots projected by the laser galvanometer system to fall near a light reflecting target point in a scanning range of the laser galvanometer system, and recording a digital control signal of the laser galvanometer system at the moment;

and a substep b, planning a square scanning area with the side length of r by taking the laser spot corresponding to the digital control signal of the substep a as a center, carrying out laser scanning on the reflecting target point in the area, returning the original path of the laser beam scanned to the reflecting target point to respond to a photosensitive sensor in the laser galvanometer system, recording the digital control signal of the laser galvanometer system when responding, and estimating the galvanometer digital control signal required when projecting to the center of the reflecting target point through the digital control signals.

4. The spatial curve joint positioning projection method based on multiple laser galvanometers according to claim 2, characterized in that: and after the fourth step is finished, combining a plurality of sub-target curves in the projection range of each laser galvanometer system into an integral target curve, comparing the coverage range of the combined target curve with the coverage range of the original target curve, and adjusting the number of the laser galvanometer systems.

5. The spatial curve joint positioning projection method based on multiple laser galvanometers according to claim 2, characterized in that: and for any projection control point in the sixth step, solving a digital control signal which is required to be input by the corresponding laser galvanometer system to project the laser to the projection control point according to the calibration result of the corresponding laser galvanometer system, the position relation in the fourth step and the space coordinate of the projection control point in the target curve coordinate system.

6. The spatial curve joint positioning projection method based on multiple laser galvanometers according to claim 3, characterized in that: in the substep b, in a square scanning area with the side length of r, scanning a reflective target point in the area in the form of laser grid lines, and when the grid lines sweep the reflective target point, returning a laser beam in the original path to enable a photosensitive sensor in the laser galvanometer system to respond.

7. The spatial curve joint positioning projection method based on multiple laser galvanometers according to claim 4, characterized in that: and when the coverage range of the combined target curve is smaller than that of the original target curve, the laser galvanometer systems are added one by one, and the position relation between the combined target curve and the target curve is solved when one laser galvanometer system is added.

8. The spatial curve joint positioning projection method based on multiple laser galvanometers according to claim 2, characterized in that: and step six, the maximum distance error between the actual curve section between any two adjacent projection control points and the laser curve section projected by the laser galvanometer system according to the linear interpolation form meets the requirement of projection precision.

Technical Field

The invention relates to the technical field of laser projection, in particular to a space curve joint positioning projection system and a space curve joint positioning projection method based on a plurality of laser galvanometers.

Background

The laser galvanometer three-dimensional (3D) curve positioning projection technology can control laser beams to rapidly pass through a series of specified point positions in space through high-speed deflection of the galvanometer by means of good collimation and directivity of laser, and then complete pictures are formed by utilizing the visual persistence effect of human eyes. The projection technology can be used for processing 3D curve information designed in a CAD (computer aided design) digital model according to the following steps of 1: the ratio of 1 is accurately projected to a corresponding position in space, so that the digital design information of the product is directly displayed on a real product manufacturing site, and the method is an important technology in the fields of digital manufacturing and detection. Due to the limited range of a single laser galvanometer projection device, when the target to be projected is a large-size space curve, a plurality of galvanometer devices are required to be jointly projected, and particularly, in the application of the technology in the field of large equipment manufacturing, such as wing composite material laying positioning and fuselage barrel section assembling positioning of a wide-body large airplane, the cooperative work of the plurality of galvanometer projection devices is a normalized application requirement.

Since the laser galvanometer does not have the capability of acquiring external space position information, a third-party measuring system (such as a laser tracker and a vision measuring system) is generally required to be used in the process of aligning the space position of the laser galvanometer and the target object to be projected. By means of the measuring function of the third-party measuring system, the laser galvanometer and the target object are unified under a measuring system coordinate system, and therefore the position alignment of the laser galvanometer and the target object is achieved indirectly. However, the indirect alignment method not only greatly reduces the use efficiency of the galvanometer, but also is not beneficial to realizing the joint positioning between the multiple laser galvanometers and the target object due to the limitation of the measurement range of a third-party measurement system. In order to more conveniently and rapidly realize laser positioning projection of a target space curve by using a laser galvanometer, a new space curve joint positioning projection system based on a plurality of laser galvanometers and a method thereof need to be researched and developed, so that joint positioning between the plurality of laser galvanometers and a target object can be directly realized without a third-party measurement system, and the whole target curve is projected.

Disclosure of Invention

The invention aims to provide a space curve joint positioning projection system and a space curve joint positioning projection method based on a plurality of laser galvanometers. The laser positioning projection system has the advantage of being capable of efficiently and conveniently completing the laser positioning projection task of a large-range space curve.

The technical scheme of the invention is as follows: the invention discloses a space curve joint positioning projection system based on a plurality of laser galvanometers, which comprises a plurality of laser galvanometer systems and a master control device, wherein each laser galvanometer system comprises a laser galvanometer scanning device and a photosensitive sensing device; the laser galvanometer scanning device comprises a laser transmitter, a two-dimensional galvanometer scanning head, a collimation and beam expanding device and a focusing device; the photosensitive sensing device comprises a photosensitive sensor and an optical splitting and focusing device; the master control device comprises a control panel and a computer host, wherein the control panel is used for cooperatively controlling the plurality of laser galvanometer scanning devices and the plurality of photosensitive sensing devices; the photosensitive sensor responds to the laser beam signal reflected back after being emitted by the laser emitter.

Compared with the prior art, the projection system has the beneficial effects that: the photosensitive sensing device is additionally arranged in the traditional laser galvanometer system, so that the laser galvanometer system can be aligned with a target object only by scanning a reflective positioning point on the surface of an object to be projected, the joint positioning between a plurality of laser galvanometer systems and the target object can be conveniently and efficiently completed, the division of a projection area and the planning of projection control points are conveniently performed on a large-size target curve, and therefore, the plurality of laser galvanometer systems are simultaneously controlled to complete the positioning projection of the whole target curve, and the laser positioning projection system is suitable for the laser positioning projection operation of large-scale space curves.

The invention discloses a space curve joint positioning projection method based on a plurality of laser galvanometers, which comprises the following steps:

step one, calibrating a plurality of laser galvanometer systems participating in target curve projection, and storing calibration results;

secondly, arranging a plurality of light-reflecting target spots around the target curve, measuring the spatial positions of the light-reflecting target spots in a target curve coordinate system, and storing the spatial coordinates of all the light-reflecting target spots;

step three, controlling each laser galvanometer system to scan a reflecting target point in a projection range, and obtaining a galvanometer control signal corresponding to the scanning laser beam when the scanning laser beam passes through the center position of the reflecting target point;

step four, solving the position relation between each laser galvanometer system and the target curve according to the calibration result of the galvanometer in the step one and the galvanometer control signal obtained in the step three;

fifthly, dividing the projection area of the whole target curve according to the projection range of each laser galvanometer system and the curvature information of the target curve;

step six, setting a plurality of projection control points required in the linear interpolation projection process for the target curve in the projection range of each laser galvanometer system according to the curvature information and the requirement of projection precision;

and seventhly, controlling all laser galvanometer systems participating in projection to perform laser positioning projection on the target curves in respective areas according to the set projection control points and according to a linear interpolation form, and finishing positioning projection of the whole target curve.

Compared with the prior art, the projection method has the beneficial effects that: by means of the photosensitive sensing device added in the laser galvanometer system and the preset galvanometer calibration result, the light path geometrical information of the laser beam projected on the reflective positioning point on the surface of the target object is obtained, so that the position relation between the laser galvanometer system and the target object is solved, on the basis, the invention can realize the position alignment between a plurality of laser galvanometers and a target object, and then according to the curvature information of the surface space curve of the target object and the projection range of each galvanometer, the invention divides the projection area of the large-size target space curve to be projected and plans the projection control points, and finally simultaneously controls all laser galvanometer systems participating in the projection according to the planned projection control points to complete the laser positioning projection of the whole target curve, thereby being suitable for efficiently and conveniently completing the laser positioning projection task of the large-scale space curve.

In the aforementioned method for jointly positioning and projecting a space curve based on multiple laser galvanometers, step three includes sub-step a and sub-step b, where:

a, controlling a laser galvanometer system to enable laser spots projected by the laser galvanometer system to fall near a light reflecting target point in a scanning range of the laser galvanometer system, and recording a digital control signal of the laser galvanometer system at the moment;

and a substep b, planning a square scanning area with the side length of r by taking the laser spot corresponding to the digital control signal of the substep a as a center, carrying out laser scanning on the reflecting target point in the area, returning the original path of the laser beam scanned to the reflecting target point to respond to a photosensitive sensor in the laser galvanometer system, recording the digital control signal of the laser galvanometer system when responding, and estimating the galvanometer digital control signal required when projecting to the center of the reflecting target point through the digital control signals.

In the aforementioned space curve joint positioning projection method based on multiple laser galvanometers, after the fourth step is finished, multiple sub-target curves in the projection range of each laser galvanometer system are combined into an integral target curve, the coverage range of the combined target curve is compared with the coverage range of the original target curve, and the number of the laser galvanometer systems is adjusted.

In the aforementioned method for spatial curve joint positioning projection based on multiple laser galvanometers, for any projection control point in the sixth step, according to the calibration result of the corresponding laser galvanometer system, the position relationship in the fourth step and the spatial coordinate of the projection control point in the target curve coordinate system, a digital control signal required to be input by the corresponding laser galvanometer system to project laser to the projection control point is solved.

In the aforementioned space curve joint positioning projection method based on multiple laser galvanometers, in sub-step b, in a square scanning area with the side length of r, a reflective target point in the area is scanned in the form of a laser grid line, and when a grid line scans the reflective target point, a laser beam returns in a primary path to enable a photosensitive sensor in a laser galvanometer system to respond.

In the aforementioned space curve joint positioning projection method based on multiple laser galvanometers, when the coverage range of the merged target curve is smaller than that of the original target curve, the laser galvanometer systems are added one by one, and the position relationship between the merged target curve and the target curve is solved when one laser galvanometer system is added.

In the aforementioned space curve joint positioning projection method based on multiple laser galvanometers, the maximum distance error between the actual curve segment between any two adjacent projection control points in the sixth step and the laser curve segment projected by the laser galvanometer system according to the linear interpolation form all meets the requirement of projection accuracy.

Drawings

FIG. 1 is a schematic diagram of a hardware configuration of a projection system according to the present invention;

FIG. 2 is a schematic diagram of a hardware structure of a laser galvanometer system;

FIG. 3 is a schematic diagram of a hardware structure of a laser galvanometer calibration system based on a photosensitive sensor;

FIG. 4 is a schematic diagram of the alignment of a single laser galvanometer system with the spatial position of a target object to be projected according to the present invention;

FIG. 5 is a CAD digital-analog diagram of the object to be projected and the target curve in one embodiment of the space curve joint positioning projection method based on multiple laser galvanometers of the present invention;

fig. 6 is a diagram of the effect of the target curve laser positioning projection jointly performed by two laser galvanometer systems in an embodiment of the space curve joint positioning projection method based on multiple laser galvanometers.

Reference numerals: the system comprises a laser galvanometer system, a laser emitter 11, a collimation and beam expansion device 12, a focusing device 13, a two-dimensional galvanometer scanning head 14, a photosensitive sensor 21, a filter 22, a focusing lens 23, a spectroscope 24, a translation mechanism 31, a projection section 32, photogrammetric equipment 33, a control panel 41 and a computer host 42.

Detailed Description

The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.

Example (b): the space curve joint positioning projection system based on the multiple laser galvanometers is structurally shown in fig. 1 and fig. 2, and comprises multiple laser galvanometer systems 1 and a master control device, wherein each laser galvanometer system 1 comprises a laser galvanometer scanning device and a photosensitive sensing device; the laser galvanometer scanning device comprises a laser transmitter 11, a two-dimensional galvanometer scanning head 14, a collimation and beam expansion device 12 and a focusing device 13; the photosensitive sensing device comprises a photosensitive sensor 21 and an optical splitting and focusing device; the general control device comprises a control panel 41 and a computer host 42, wherein the control panel 41 is used for cooperatively controlling the plurality of laser galvanometer scanning devices and the plurality of photosensitive sensing devices; the photosensor 21 responds to the laser beam signal reflected back after being emitted by the laser emitter 11.

The calibration of the laser galvanometer system is realized by means of a laser galvanometer calibration system based on a photosensitive sensor, and the hardware structure is shown in figure 3 and comprises a laser galvanometer scanning device, a photosensitive sensing device and a target point setting device; the laser galvanometer scanning device comprises a laser transmitter 11, a collimation and beam expansion device 12, a focusing device 13 and a two-dimensional galvanometer scanning head 14; the photosensitive sensing device comprises a photosensitive sensor 21 and an optical splitting and focusing device; the target setting device comprises a translation mechanism 31, the translation mechanism 31 is connected with a projection section 32 on which a plurality of reflective targets are arranged, and the space coordinates of the reflective targets are measured by a photogrammetric equipment 33; the master control device comprises a control panel 41 and a computer host 42, wherein the control panel 41 is used for cooperatively controlling the two-dimensional galvanometer scanning head 14, the laser emitter 11, the focusing device 13, the photosensitive sensor 21 and the translation mechanism 31; the light-sensitive sensor 21 is responsive to a laser beam signal emitted by the laser emitter 11 and reflected by the projection cross-section 32.

Preferably, the photogrammetric apparatus 33 is a measuring apparatus that measures the spatial coordinates of a plurality of target points on the projection section 32 at a time, and can measure a plurality of target points with high accuracy over a wide range.

Preferably, the optical beam splitting and focusing device includes a filter 22, a focusing mirror 23 and a beam splitter 24, and can split and focus the reflected laser beam signal returned from the primary path of the two-dimensional galvanometer scanning head 14 to the photosensitive sensor 21.

Preferably, translation mechanism 31 includes driving motor, driving motor's output is connected with the screw rod, be connected with anchor clamps on the screw rod, the anchor clamps below is equipped with the guide rail, anchor clamps are used for fixed projection section 32, and the projection section 32 translation and the translation precision of being convenient for are high.

Preferably, the plurality of reflective targets are glass microsphere reflective points, so that the reflective effect is good.

The calibration of the laser galvanometer system is carried out according to the following steps:

a, selecting a projection section 32 with a proper size according to the size of a calibration range of a laser galvanometer scanning device, and arranging X circular light-reflecting targets on the projection section;

step B, fixing the projection section 32 with the reflective target spots on the translation mechanism 31, so that the projection section 32 can be accurately translated to X positions set at equal intervals;

step C, measuring the space coordinates of all reflective targets on the projection cross sections at the X set positions by using photogrammetric equipment;

the laser emitter 11 emits laser in advance, and the size of a light spot formed by the laser projected on the projection section 32 is minimized by adjusting the focusing device 13;

step D, controlling the laser galvanometer scanning device to project a laser grid line capable of covering the whole projection section 32, responding to a reflected laser beam signal when the grid line sweeps a reflective target point by the photosensitive sensor 21, and recording a rough control digital signal of the two-dimensional galvanometer scanning head 14 at the moment to further obtain rough scanning position information of all the reflective target points on the projection section 32;

step E, with the rough scanning position of each reflective target spot in the step D as the center, controlling the laser galvanometer scanning device to project a laser grid line only capable of covering the reflective target spot, recording accurate control digital signals corresponding to the two-dimensional galvanometer scanning head 14 when the laser scans each reflective target spot according to the response of the photosensitive sensor 21 to the reflected laser beam signals, and estimating the accurate scanning position information of the reflective target spot according to the digital signals;

the reflected laser beam signals in the step D and the step E return from the original path of the two-dimensional galvanometer scanning head 14, and are responded by the photosensitive sensor 21 after sequentially passing through the spectroscope 24, the focusing mirror 23 and the filter 22;

step F, obtaining accurate scanning position information of each light reflecting target point on the projection cross section 32 at the X set positions by means of the step D and the step E, and further obtaining initial calibration data of the laser galvanometer scanning device;

step G, solving the mapping relation between the accurate control digital signal of the two-dimensional galvanometer scanning head 14 and the space coordinate of any point on the projection section 32 according to the initial calibration data obtained in the step F for the projection section 32 at each set position;

step H, for a given digital signal, according to the mapping relation obtained in the step G, the space coordinates of the corresponding light spots can be found on any projection section 32, further, the coordinates of X space points on the emergent laser beam corresponding to the given digital signal can be obtained at X set positions, and then the space vector of the emergent light corresponding to the given digital signal is fitted according to the coordinates of the X space points;

step I, a certain number of digital signals are given, the space vector of the emergent light corresponding to each digital signal can be obtained according to the step H, the final calibration data of the laser galvanometer scanning device is further obtained, and then the mapping relation between the accurate control digital signal D of the two-dimensional galvanometer scanning head 14 and the space vector V of the emergent light corresponding to the accurate control digital signal D is solved according to the final calibration dataAnd completing the calibration of the laser galvanometer scanning device.

The space curve joint positioning projection method based on the multiple laser galvanometers comprises the following steps:

calibrating a plurality of laser galvanometer systems participating in projection of a target curve C to obtain a mapping relation between a digital control signal D of a laser galvanometer scanning device and a space vector V of emergent light corresponding to the digital control signal D under a galvanometer calibration coordinate system;

step two, inArranging a plurality of reflective target points around the target curve C, measuring the spatial positions of the reflective target points arranged around the target curve C by means of high-precision measuring equipment to obtain the reflective target points under a coordinate system of the target curve C (Coordinate system) of spatial pointsN is the total number of the reflective target spots;

step three, controlling a certain laser galvanometer system to enable the laser facula projected by the certain laser galvanometer system to fall near the light reflecting target point in the scanning range of the certain laser galvanometer system, and recording the digital control signal of the laser galvanometer scanning device at the moment as；

By digital control signalsPlanning a square scanning area with the side length of r by taking the corresponding laser spot as the center, scanning a reflective target point in the area in the form of a laser grid line, returning a laser beam in the original path to enable a photosensitive sensor in a laser galvanometer system to respond when the grid line sweeps the reflective target point, recording digital control signals of a laser galvanometer scanning device when the response occurs, and estimating galvanometer digital control signals required by projecting to the center of the reflective target point through the digital control signals；

Step four, obtaining the digital control signal of the galvanometer in step three by the calibration result in step oneCorresponding space vector of emergent laser beamAnd through the space coordinates of the reflecting target points under the target curve C coordinate systemAnd its space vector under the vibrating mirror calibration coordinate systemSolving the position relation between the laser galvanometer system and the target curve C;

repeating the step four, unifying all laser galvanometer systems participating in projection to the target curve CUnder a coordinate system; a schematic diagram of the principle of aligning the single laser galvanometer system with the spatial position of the target object to be projected is shown in fig. 4;

find out to belong to(M is the number of laser galvanometer systems participating in projection) sub-target curves in the projection range of the laser galvanometer systems are recorded asThen all ofTarget curves combined into one wholeIf, ifIf the coverage range is smaller than the original target curve C, the number of the laser galvanometer systems participating in projection is insufficient, the laser galvanometer systems are added one by one, and when one laser galvanometer system is added, the newly added laser galvanometer systems are unified under the coordinate system of the target curve C until the target curve C is reachedThe coverage range of (A) is more than or equal to the original target curve C;

fifthly, dividing the projection area of the whole target curve according to the projection range of each laser galvanometer system and the curvature information of the target curve, and dividing a plurality of sub-target curves；

Sixthly, carrying out sub-target curve on the projection area of the single laser galvanometer systemSetting projection control points according to the curvature information and projection positioning error requirements（Is a sub-target curveTotal number of projection control points) such that any two adjacent projection control points are adjacentAndthe maximum distance error between the actual curve section and the laser galvanometer section projected by the laser galvanometer system according to a linear interpolation form is smaller than the required maximum positioning error;

completing the setting of sub-target curve projection control points in the projection range of all the laser galvanometer systems to form M projection control point sets；

For any projection control pointAccording to the calibration result of the corresponding laser galvanometer system, the position relation in the step four and the space coordinate of the projection control point under the target curve C coordinate system, solving the digital control signal which needs to be input by the corresponding laser galvanometer system to project the laser to the projection control point, thereby forming M digital control signal sets；

Step seven, for the jth laser galvanometer system, the laser galvanometer system is solved according to the step sixCompleting the sub-target curve in the projection range of the laser galvanometer system according to a linear interpolation formAnd (3) controlling all laser galvanometer systems participating in projection to complete laser positioning projection of corresponding sub-target curves, and realizing joint projection of a plurality of laser galvanometer systems to obtain the whole target curve C.

One specific embodiment of the present invention is as follows:

as shown in fig. 5, a polyhedron is used as a projection target object, and two pentagons are selected as target space curves on the surface of the object to perform laser positioning projection operation. Due to the fact that the included angle of the normal vectors of the plane where the two selected pentagons are located is too large, the positioning projection effect of the two target curves is difficult to guarantee simultaneously by adopting a single laser galvanometer system. Therefore, in this embodiment, two laser galvanometer systems are adopted to perform projection operation on a target curve from two different directions, and the position alignment of the two laser galvanometer systems and the polyhedron and the laser positioning projection of the target curve within the projection range of each laser galvanometer system are completed according to the space curve joint positioning projection method based on the multiple laser galvanometers provided by the invention, and the positioning projection effect is shown in fig. 6.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned examples, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.