CN118254483A - Laser printing control method and system - Google Patents
Laser printing control method and system Download PDFInfo
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- CN118254483A CN118254483A CN202410531439.0A CN202410531439A CN118254483A CN 118254483 A CN118254483 A CN 118254483A CN 202410531439 A CN202410531439 A CN 202410531439A CN 118254483 A CN118254483 A CN 118254483A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
- B41J2/435—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of radiation to a printing material or impression-transfer material
- B41J2/47—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of radiation to a printing material or impression-transfer material using the combination of scanning and modulation of light
- B41J2/471—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of radiation to a printing material or impression-transfer material using the combination of scanning and modulation of light using dot sequential main scanning by means of a light deflector, e.g. a rotating polygonal mirror
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
- B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/01—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for special character, e.g. for Chinese characters or barcodes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
- B41J3/413—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material for metal
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- Laser Beam Processing (AREA)
Abstract
本发明实施例涉及激光打印技术领域，公开了一种激光打印控制方法，包括：接收用户端传输的待打印信息；发送移动信号至机械臂以将机械臂移动端处的激光模块移动至打印位置；将待打印信息传输至打印系统来进行格式转化以得到激光打印信息；通过激光打印服务器传输激光打印信息至相应的激光打印模块以在打印位置对待打印工件进行打印操作；通过摄像模块来获取待打印工件的工件图像信息，并对工件图像信息进行图像识别以得到识别结果信息，若识别结果信息不符合设定要求则进行预警提醒。本发明实施例中的激光打印控制方法通过自动化、灵活性、质量控制和智能化管理等方面的技术效果，提升了打印效率和质量，降低了生产成本，为企业创造了更大的价值。
The embodiment of the present invention relates to the field of laser printing technology, and discloses a laser printing control method, including: receiving information to be printed transmitted by a user end; sending a moving signal to a mechanical arm to move a laser module at a moving end of the mechanical arm to a printing position; transmitting the information to be printed to a printing system for format conversion to obtain laser printing information; transmitting the laser printing information to a corresponding laser printing module through a laser printing server to perform a printing operation on the workpiece to be printed at the printing position; obtaining the workpiece image information of the workpiece to be printed through a camera module, and performing image recognition on the workpiece image information to obtain recognition result information, and issuing an early warning if the recognition result information does not meet the set requirements. The laser printing control method in the embodiment of the present invention improves printing efficiency and quality, reduces production costs, and creates greater value for the enterprise through technical effects in automation, flexibility, quality control, and intelligent management.
Description
Technical Field
The invention relates to the technical field of laser printing, in particular to a laser printing control method and system.
Background
The conventional VI N code marking method has obvious defects. Firstly, the pneumatic marking machine can mark VI N codes on the automobile beam, but because the pneumatic marking machine uses the pneumatic needle to operate, the loss speed of the needle head is high, frequent replacement is needed, and in addition, the pneumatic marking machine directly sticks paper two-dimensional codes, so that the labor cost and the manufacturing cost of the paper two-dimensional codes are increased, and meanwhile, the production efficiency is also influenced. In addition, pneumatic needle and crossbeam direct contact, the vibrations that produce probably lead to beating the mark head and become flexible to influence mark quality, increased the cost of reprocessing. Meanwhile, the labor intensity of workers in the operation process is relatively high due to the fact that the marking head is heavy. And the existing printing mode is inflexible and has low overall efficiency.
Disclosure of Invention
Aiming at the defects, the embodiment of the invention discloses a laser printing control method which can greatly improve the printing efficiency of a workpiece.
The first aspect of the embodiment of the invention discloses a laser printing control method, which comprises the following steps:
When the entering of the production state is detected, receiving information to be printed transmitted by a user side;
Transmitting a movement signal to a mechanical arm to move a laser module at a moving end of the mechanical arm to a printing position;
Transmitting the information to be printed to a printing system for format conversion to obtain laser printing information, and transmitting the laser printing information to a laser printing server;
Transmitting laser printing information to a corresponding laser printing module through the laser printing server so as to perform printing operation on the workpiece to be printed at the printing position;
and acquiring workpiece image information of the workpiece to be printed through a camera module, carrying out image recognition on the workpiece image information to obtain recognition result information, and carrying out early warning and reminding if the recognition result information does not meet the set requirement.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the workpiece image information includes a laser printing result and a workpiece structure image; after the workpiece image information of the workpiece to be printed is acquired by the camera module, the method further comprises the following steps:
Determining deflection angle information of corresponding workpiece image information through the workpiece structure image;
and performing calibration operation on the laser printing result according to the deflection angle information to obtain a calibrated laser printing result.
In a first aspect of the embodiment of the present invention, the performing image recognition on the laser printing result to obtain recognition result information, and performing early warning and reminding if the recognition result information does not meet a set requirement, includes:
Performing image recognition on the laser printing result to obtain recognition result information;
dividing the identification result information based on a position dividing algorithm to obtain a first position area and a second position area corresponding to the identification result information, wherein a workpiece identity image is printed in the first position area, and production time information is printed in the second position area;
Identifying the workpiece identity image in the first position area to judge whether the workpiece identity image meets a first set requirement, if so, executing the next step, and if not, carrying out early warning reminding;
and identifying the production time information in the second position area to judge whether the generation time information meets a second setting requirement, and if not, carrying out early warning reminding.
In a first aspect of the embodiment of the present invention, the identifying the workpiece identity image in the first location area to determine whether the workpiece identity image meets a first setting requirement includes:
Acquiring a workpiece identity image in the first position area, wherein the workpiece identity image is a workpiece two-dimensional code;
performing area identification on the workpiece identity image to determine the position information of the identification image of the workpiece two-dimensional code;
Determining identification images and coding image information corresponding to the workpiece two-dimensional code according to the position information of the identification images of the workpiece two-dimensional code and the workpiece identity image;
determining first quality information of the two-dimensional codes of the corresponding workpieces according to the identification images;
determining second quality information of the two-dimensional codes of the corresponding workpieces according to the identification images;
Identifying the identification image according to a preset identification rule to determine two-dimensional code version and format information, and matching a corresponding decoding algorithm according to the two-dimensional code version and the format information to identify the encoded image information to obtain corresponding decoding information;
determining third quality information of the two-dimensional codes of the corresponding workpieces according to the decoding information;
And determining whether the workpiece identity image meets a first set requirement according to the first quality information, the second quality information and the third quality information.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the identifying production time information in the second location area to determine whether the production time information meets a second setting requirement includes:
And identifying the production time information in the second position area by adopting an OCR character identification mode to obtain time character information, matching the time character information with preset characters, and if the matching is successful, determining that the time character information meets a second setting requirement.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the sending a movement signal to the mechanical arm to move the laser module at the moving end of the mechanical arm to the printing position, the method further includes:
Determining a simulation motion trail of the mechanical arm;
Acquiring motion attitude information of a corresponding acquisition point position of the mechanical arm in the moving process;
determining a first position of the motion gesture information in a moving process;
Determining a second position matched with the first position and setting gesture information corresponding to the second position in the simulation motion trail;
and determining a correction transformation matrix to realize posture correction based on the motion posture information and the set posture information.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the sending a movement signal to the mechanical arm to move the laser module at the moving end of the mechanical arm to the printing position, the method further includes:
Acquiring a current workpiece image through a camera module, and determining bending angle information based on the current workpiece image;
and correcting the printing process of the laser printing module according to the bending angle information.
A second aspect of an embodiment of the present invention discloses a laser printing control system, including:
A base;
The mechanical arm comprises a mechanical arm body, wherein the mechanical arm body comprises a mechanical fixed end and a mechanical moving end, and the mechanical fixed end is fixed with the base;
the connecting mechanism is arranged at the mechanical moving end;
the laser printing module is arranged at the connecting mechanism and is used for carrying out printing treatment on a workpiece to be printed;
the camera shooting module is arranged at the connecting mechanism;
the laser printing control system comprises a laser printing module, a mechanical arm and a camera shooting module, wherein the laser printing module, the mechanical arm and the camera shooting module are all electrically connected with the control module, the camera shooting module is used for transmitting an acquired workpiece image to the control module, the mechanical arm is used for moving according to a moving signal transmitted by the control module, and the control module is used for executing the laser printing control method according to any one of the first aspect of the embodiment of the invention.
A third aspect of an embodiment of the present invention discloses an electronic device, including: a memory storing executable program code; a processor coupled to the memory; the processor invokes the executable program code stored in the memory to perform the laser printing control method disclosed in the first aspect of the embodiment of the present invention.
A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute the laser printing control method disclosed in the first aspect of the embodiments of the present invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
According to the laser printing control method provided by the embodiment of the invention, the laser module is accurately moved to the printing position by the automatic movement of the mechanical arm, so that the automation degree of the printing process is greatly improved. Meanwhile, the information to be printed is directly transmitted to the laser printing server after format conversion, so that rapid and accurate printing operation is realized, and the production efficiency is improved.
Due to the adoption of the laser printing technology, the method can be suitable for workpieces to be printed of various materials and shapes, so that the printing process has higher flexibility. In addition, the laser printing information can be flexibly adjusted according to the information to be printed transmitted by the user side, so that different printing requirements are met.
The image information of the workpiece to be printed is acquired through the camera module, and image recognition is carried out, so that the accuracy of a printing result can be ensured. If the identification result does not meet the set requirement, the system can timely send out early warning reminding, so that the problems can be timely found and solved, and the printing quality is guaranteed.
The whole printing process is automatically managed by a control method, so that manual intervention is reduced, and the possibility of human errors is reduced. Meanwhile, the early warning and reminding function enables problems to be found and processed in time, and the intelligent level of the production process is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a laser printing control method disclosed in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a flow for performing identification and early warning according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a process for performing print quality determination according to an embodiment of the present invention;
Fig. 4 is a schematic diagram of a two-dimensional code display image disclosed in an embodiment of the present invention;
FIG. 5 is a schematic view of a laser printing mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a laser printing mechanism other than a mechanical arm according to an embodiment of the present invention;
FIG. 7 is a schematic view of another configuration of a laser printing mechanism other than a mechanical arm according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an exploded construction of a laser printing mechanism other than a robotic arm provided by an embodiment of the present invention;
FIG. 9 is a schematic structural view of a fixing assembly according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a laser printing system according to an embodiment of the present invention;
Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Reference numerals: 1. a base; 2. a mechanical arm; 21. a mechanical fixing end; 22. a mechanical moving end; 3. a connecting mechanism; 31. a first connector; 32. a second connector; 4. a laser printing module; 5. a camera module; 6. a visual light source module; 7. a fixing assembly; 71. a fixing hole; 72. an arc-shaped hole; 8. a printing room; 9. a moving mechanism; 91. a jig table; 10. AGV track; 11. a control cabinet; 12. a laser control cabinet; 13. and a robot control cabinet.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present invention are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order. The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
The conventional VI N code marking method has obvious defects. Firstly, although the pneumatic marking machine can mark VI N codes on the automobile beam, the pneumatic needle is used for operation, so that the loss speed of the needle head is high, and the needle head needs to be replaced frequently, thereby not only increasing the maintenance cost, but also affecting the production efficiency. In addition, pneumatic needle and crossbeam direct contact, the vibrations that produce probably lead to beating the mark head and become flexible to influence mark quality, increased the cost of reprocessing. Meanwhile, the labor intensity of workers in the operation process is relatively high due to the fact that the marking head is heavy. And the existing printing mode is inflexible and has low overall efficiency. Based on the above, the embodiment of the invention discloses a laser printing control method, a laser printing control system, electronic equipment and a storage medium, which accurately move a laser module to a printing position through automatic movement of a mechanical arm, thereby greatly improving the automation degree of a printing process. Meanwhile, the information to be printed is directly transmitted to the laser printing server after format conversion, so that rapid and accurate printing operation is realized, and the production efficiency is improved.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a laser printing control method according to an embodiment of the invention. The execution main body of the method described in the embodiment of the invention is an execution main body composed of software or/and hardware, and the execution main body can receive related information in a wired or/and wireless mode and can send a certain instruction. Of course, it may also have certain processing and storage functions. The execution body may control a plurality of devices, such as a remote physical server or cloud server and related software, or may be a local host or server and related software that performs related operations on a device that is located somewhere, etc. In some scenarios, multiple storage devices may also be controlled, which may be located in the same location or in different locations than the devices.
As shown in fig. 1, the laser-based printing control method includes the steps of:
S101: when the entering of the production state is detected, receiving information to be printed transmitted by a user side;
s102: transmitting a movement signal to a mechanical arm to move a laser module at a moving end of the mechanical arm to a printing position;
S103: transmitting the information to be printed to a printing system for format conversion to obtain laser printing information, and transmitting the laser printing information to a laser printing server;
s104: transmitting laser printing information to a corresponding laser printing module through the laser printing server so as to perform printing operation on the workpiece to be printed at the printing position;
S105: and acquiring workpiece image information of the workpiece to be printed through a camera module, carrying out image recognition on the workpiece image information to obtain recognition result information, and carrying out early warning and reminding if the recognition result information does not meet the set requirement.
The printing mode of combining laser printing with the mechanical arm can enable the printing mode to be more suitable for production of a production line; the mode greatly improves the overall production efficiency, and the laser printing module and the camera module are arranged at the same structural position, so that the images acquired by the laser printing module and the camera module can be directly converted and correspond to each other, and the detection efficiency is improved to a certain extent.
More preferably, the workpiece image information includes laser printing results and workpiece structure images; after the workpiece image information of the workpiece to be printed is acquired by the camera module, the method further comprises the following steps:
Determining deflection angle information of corresponding workpiece image information through the workpiece structure image;
and performing calibration operation on the laser printing result according to the deflection angle information to obtain a calibrated laser printing result.
And two image information of a workpiece structure image and a laser printing result are introduced, so that the description of the workpiece is more comprehensive and detailed. This facilitates accurate analysis and processing of the workpiece later. The image information of the workpiece is automatically acquired through the camera module, so that the steps of manual operation are reduced, the automation degree of a production line is improved, and the production efficiency is improved. The deflection angle information is determined by using the workpiece structure image, and the method is more accurate than the traditional manual judgment or simple mechanical detection. Accurate acquisition of angle information is critical to subsequent print calibration.
More preferably, fig. 2 is a schematic diagram of a flow chart of performing recognition early warning disclosed in the embodiment of the present invention, as shown in fig. 2, the performing image recognition on the laser printing result to obtain recognition result information, and performing early warning and reminding if the recognition result information does not meet a set requirement, where the method includes:
S1051: performing image recognition on the laser printing result to obtain recognition result information;
S1052: dividing the identification result information based on a position dividing algorithm to obtain a first position area and a second position area corresponding to the identification result information, wherein a workpiece identity image is printed in the first position area, and production time information is printed in the second position area;
S1053: identifying the workpiece identity image in the first position area to judge whether the workpiece identity image meets a first set requirement, if so, executing the next step, and if not, carrying out early warning reminding;
s1054: and identifying the production time information in the second position area to judge whether the generation time information meets a second setting requirement, and if not, carrying out early warning reminding.
In the embodiment of the invention, the workpiece refers to an automobile bumper, and when the workpiece is implemented, as information of different positions is different, two kinds of information are printed on a common laser printing result, one kind of information is a vehicle identification code, and the other kind of information is time information, wherein the vehicle identification code generally comprises information such as a manufacturer, a year, a vehicle type, a type and a code of the vehicle, an engine code, an assembly site and the like of the vehicle; that is, the information of the vehicle identification code is more important, and the information needs to be identified as the more important information when the vehicle identification code is identified, so that the requirements on the identification accuracy and the printing effect are higher than the generation time information; so that the two can be separately processed when in implementation; thus, the detection efficiency can be further improved.
The scheme is mainly embodied in the aspects of improvement of identification precision, information structuring processing, multiple verification mechanisms, early warning timeliness, operation convenience, flexibility enhancement and the like, and the effects jointly improve the identification accuracy of the workpiece printing result and the performance of an early warning system, so that the method is beneficial to realizing more efficient and reliable production process monitoring.
More preferably, fig. 3 is a schematic flow chart of determining printing quality according to an embodiment of the present invention, and as shown in fig. 3, the identifying the workpiece identity image in the first location area to determine whether the workpiece identity image meets a first setting requirement includes:
S1053a: acquiring a workpiece identity image in the first position area, wherein the workpiece identity image is a workpiece two-dimensional code;
s1053b: performing area identification on the workpiece identity image to determine the position information of the identification image of the workpiece two-dimensional code;
S1053c: determining identification images and coding image information corresponding to the workpiece two-dimensional code according to the position information of the identification images of the workpiece two-dimensional code and the workpiece identity image;
s1053d: determining first quality information of the two-dimensional codes of the corresponding workpieces according to the identification images;
s1053e: determining second quality information of the two-dimensional codes of the corresponding workpieces according to the identification images;
S1053f: identifying the identification image according to a preset identification rule to determine two-dimensional code version and format information, and matching a corresponding decoding algorithm according to the two-dimensional code version and the format information to identify the encoded image information to obtain corresponding decoding information;
s1053g: determining third quality information of the two-dimensional codes of the corresponding workpieces according to the decoding information;
S1053h: and determining whether the workpiece identity image meets a first set requirement according to the first quality information, the second quality information and the third quality information.
The two-dimensional code has different version numbers and formats according to different coding rules, and the two-dimensional code of different versions has different version number information and format information. For the format information of the two-dimensional code, the format information can be represented by two graphs positioned in different areas of the two-dimensional code, the format information represented by the graph of one area can be a backup of the format information represented by the graph of the other area, if the graph of one area is partially or completely damaged or polluted and cannot be identified, the format information represented by the graph of the damaged or polluted part can be obtained through verification according to the information identified by the graph of the other area which is not damaged or polluted, so that the identification degree of the format information is improved, and the specific display content is shown in fig. 4.
When the method is implemented, the identification image generally refers to a loop-shaped position of the two-dimensional code, and the method is mainly used for positioning the two-dimensional code, and then the corresponding two-dimensional code version, format information and the like are attached to the vicinity of the loop-shaped position, so that the corresponding version information is also convenient to acquire. The quality information can be judged by adopting the ratio difference of the pixels, for example, the number of pixels in the first direction and the number of pixels in the second direction of the set loop type mark can be obtained, then the number of pixels in the first direction and the number of pixels in the second direction of the loop type mark of the shot image can be obtained, the corresponding quality information can be determined by obtaining the ratio of the two pixels, and different quality scores corresponding to different threshold intervals can be set. The first direction and the second direction herein may be a lateral direction and a longitudinal direction.
The two-dimensional code is information represented in a graph form, and the data of 0 or 1 represented by each position can be obtained by identifying the graph of the two-dimensional code, so that the coded information is obtained. The two-dimensional code has a specific coding rule, wherein version number information and format information are two essential information required for decoding, so that the coding information needs to be decoded by adopting a preset decoding rule based on the acquired version number information and format information, namely, the decoding is that the data of 0 or 1 represented by each position of the two-dimensional code is identified through the graph of the two-dimensional code, and the decoded information is acquired by decoding the data according to a certain decoding rule. And then the decoded result is subjected to corresponding judgment.
More preferably, the identifying the production time information in the second location area to determine whether the production time information meets a second setting requirement includes:
And identifying the production time information in the second position area by adopting an OCR character identification mode to obtain time character information, matching the time character information with preset characters, and if the matching is successful, determining that the time character information meets a second setting requirement.
The OCR character recognition technology can adapt to production time information of various fonts, sizes and layouts, so that the scheme has strong flexibility and can adapt to different printing requirements and working environments.
The technical effects corresponding to the scheme are mainly reflected in the aspects of improvement of identification accuracy, improvement of automation degree, introduction of a matching verification mechanism, enhancement of early warning reliability, expansion of flexibility and the like. The method has the advantages that the accuracy and the efficiency of production time information identification are improved together, and powerful technical support is provided for monitoring and early warning in the production process.
More preferably, after the sending a movement signal to the mechanical arm to move the laser module at the moving end of the mechanical arm to the printing position, the method further includes:
Determining a simulation motion trail of the mechanical arm;
Acquiring motion attitude information of a corresponding acquisition point position of the mechanical arm in the moving process;
determining a first position of the motion gesture information in a moving process;
Determining a second position matched with the first position and setting gesture information corresponding to the second position in the simulation motion trail;
and determining a correction transformation matrix to realize posture correction based on the motion posture information and the set posture information.
By determining the simulated motion trail of the mechanical arm, the motion trail of the mechanical arm can be simulated and planned in advance, so that the mechanical arm can accurately reach a preset printing position in the actual moving process. This helps to reduce errors in the movement of the robotic arm and improve printing accuracy.
In the moving process of the mechanical arm, the motion gesture information of the corresponding acquisition point position is acquired in real time, and the motion state of the mechanical arm can be known in real time. By determining the first position of the motion gesture information in the moving process and matching the first position with the second position in the simulation motion track, the deviation of the gesture of the mechanical arm can be found in time.
Based on the motion gesture information and the set gesture information, a correction transformation matrix is determined to realize gesture correction, and the gesture of the mechanical arm can be accurately adjusted to be consistent with the expected gesture. This ensures that the robotic arm has the correct pose when it reaches the print position, providing an accurate positioning basis for subsequent laser printing operations.
Through the technical content, the mechanical arm can always keep the correct posture and the correct movement track in the printing process, so that the printing quality and the printing efficiency are improved. This helps to reduce printing errors or repeated operations due to inaccurate arm gestures or trajectories, reducing production costs.
The technical content also enhances the robustness of the overall printing system. Even if some unpredictable factors (such as micro vibration or external interference of the mechanical arm) are encountered in the actual production process, the system can still maintain higher stability and accuracy due to the accurate track planning and posture correction mechanism.
More preferably, after the sending a movement signal to the mechanical arm to move the laser module at the moving end of the mechanical arm to the printing position, the method further includes:
Acquiring a current workpiece image through a camera module, and determining bending angle information based on the current workpiece image;
and correcting the printing process of the laser printing module according to the bending angle information.
The actual shape of the workpiece can be accurately known by acquiring the current workpiece image and determining the bending angle information of the current workpiece image. The laser printing module is favorable for adaptively adjusting the laser printing module according to the bending degree of the workpiece, and ensures that printing contents can be accurately attached to the surface of the workpiece, so that printing precision is improved.
Since the bending angle information is determined based on the workpiece image acquired in real time, the scheme has strong adaptability. The scheme can respond and adjust rapidly and accurately for workpieces with different shapes and different bending degrees and for possible morphological changes of the workpieces in the production process.
The whole correction process depends on image acquisition and automatic analysis of the camera module, manual intervention is not needed, and high automation is realized. This not only improves production efficiency, but also reduces errors due to human factors.
According to the laser printing control method provided by the embodiment of the invention, the laser module is accurately moved to the printing position by the automatic movement of the mechanical arm, so that the automation degree of the printing process is greatly improved. Meanwhile, the information to be printed is directly transmitted to the laser printing server after format conversion, so that rapid and accurate printing operation is realized, and the production efficiency is improved.
Due to the adoption of the laser printing technology, the method can be suitable for workpieces to be printed of various materials and shapes, so that the printing process has higher flexibility. In addition, the laser printing information can be flexibly adjusted according to the information to be printed transmitted by the user side, so that different printing requirements are met.
The image information of the workpiece to be printed is acquired through the camera module, and image recognition is carried out, so that the accuracy of a printing result can be ensured. If the identification result does not meet the set requirement, the system can timely send out early warning reminding, so that the problems can be timely found and solved, and the printing quality is guaranteed.
The whole printing process is automatically managed by a control method, so that manual intervention is reduced, and the possibility of human errors is reduced. Meanwhile, the early warning and reminding function enables problems to be found and processed in time, and the intelligent level of the production process is improved.
Example two
As shown in fig. 10, an embodiment of the present invention provides a laser printing system, including:
A print bay 8, said print bay 8 being adapted to house a laser printing mechanism and a movement mechanism 9 according to any one of the first aspects of the embodiments of the present invention;
A moving mechanism 9, wherein a jig table 91 is arranged on the moving mechanism 9, and the jig table 91 is used for fixing a workpiece to be printed; the moving mechanism 9 is used for moving the workpiece to be printed to a printing position along a set moving direction and moving the workpiece to be printed from the printing position to a next position node;
a laser printing mechanism provided on one side of the moving mechanism 9; the laser printing mechanism is used for carrying out coding operation on the workpiece to be printed.
The laser printing system realizes efficient and automatic coding operation by integrating the printing room 8, the moving mechanism 9 and the laser printing mechanism. The design of the moving mechanism 9 enables the workpiece to be printed to be quickly and accurately moved to the printing position and quickly moved to the next position node after printing is completed, so that continuous operation on a production line is realized, and the production efficiency is greatly improved. The arrangement of the printing room 8 is beneficial to maintaining the stability of the laser printing mechanism and the moving mechanism 9, and reducing the influence of external environmental factors on the operation of the equipment, thereby ensuring the long-term stable operation of the system. The laser printing mechanism is specially used for coding the workpiece to be printed, and the precise control and adjustment capability of the laser printing mechanism ensures the consistency and accuracy of the printing quality. The integrated design of the whole system simplifies the operation flow, and operators can automatically complete subsequent printing work by only placing the workpiece to be printed on the jig table 91, thereby improving the operation convenience.
More preferably, the automatic guided vehicle further comprises an AGV trolley and an AGV track 10, wherein the AGV trolley moves along the AGV track 10 and is used for conveying a corresponding frame to be printed to a corresponding position;
The number of the laser printing mechanisms is two;
The system also comprises a control cabinet 11, a laser control cabinet 12 and a robot control cabinet 13; a third control module is arranged in the control cabinet 11, a second control module is arranged in the laser control cabinet 12, and a first control module is arranged in the robot control cabinet 13; the control cabinet 11, the laser control cabinet 12 and the robot control cabinet 13 are all arranged outside the printing room 8.
The AGV dolly can be automatic along the AGV track 10 removal, will wait to print the frame and transport to the assigned position fast accurately, has reduced time and intensity of labour of manual handling to holistic production efficiency has been improved. By providing special control cabinets 11, 12 and 13 and placing them outside the printing room 8, the stable operation of the maintenance system is facilitated and the risk of production interruption is reduced. The use of AGV dolly has simplified the material handling flow, and operating personnel only need place the work piece on the AGV dolly, can accomplish subsequent transportation and print job voluntarily, has improved the convenience of operation greatly. The equipment such as the control cabinet 11 is arranged outside the printing room 8, so that more reasonable space utilization is facilitated, and equipment maintenance and upgrading are facilitated.
As shown in fig. 5-9, an embodiment of the present invention provides a laser printing mechanism, including:
a base 1;
The mechanical arm 2, wherein the mechanical arm 2 comprises a mechanical arm 2 body, the mechanical arm 2 body comprises a mechanical fixing end 21 and a mechanical moving end 22, and the mechanical fixing end 21 is fixed with the base 1;
a connection mechanism 3 mounted to the mechanical moving end 22;
the laser printing module 4 is arranged at the connecting mechanism 3, and the laser printing module 4 is used for carrying out printing treatment on a workpiece to be printed;
A camera module 5, wherein the camera module 5 is installed at the connecting mechanism 3;
The laser printing device comprises a control module, wherein the laser printing module 4, the mechanical arm 2 and the camera shooting module 5 are electrically connected with the control module, the camera shooting module 5 is used for transmitting acquired workpiece images to the control module, and the mechanical arm 2 is used for moving according to moving signals transmitted by the control module.
The mechanical arms 2 in this embodiment generally have multi-axis degrees of freedom, which means that they can be positioned with high accuracy in three-dimensional space. This flexibility and accuracy is critical for laser printing because it requires precise control of the laser head position to ensure high quality printing results. The robot arm 2 may be customized according to specific application requirements, for example, additional joints may be added or the working range may be adjusted to meet different production environments and task requirements. In contrast, modular robots may be more standardized in design, limiting their applicability and flexibility. Due to the high flexibility and accuracy of the robotic arms 2, they are capable of performing complex motion trajectories and tasks, which may be beyond the capabilities of a modular robot. The robot arm 2 can perform precise printing on an irregular surface or perform a task requiring a fine operation. In the above scheme, the combination of the camera module 5 and the mechanical arm 2 provides real-time visual feedback, so that the system can automatically correct the printing position and path, and the automation level is improved. The flexibility of the robotic arm 2 allows the camera module 5 to acquire images from different angles, thereby providing more comprehensive work area monitoring.
The design of the robot arm 2 is generally more compact, occupies a smaller area, and is suitable for operation in a limited space. This is particularly important for laser printing environments because space utilization efficiency directly affects the layout and cost of the production line. The robotic arms can be adapted to different tasks and workpieces by programming and reprogramming, which makes them highly adaptable in a production environment. In contrast, modular robots may require physical modification or replacement of hardware to accommodate new tasks.
More preferably, the connecting mechanism 3 includes a first connecting member 31 and a second connecting member 32, the first connecting member 31 and the second connecting member 32 are detachably mounted, the first connecting member 31 is fixed at the moving end of the mechanical arm 2, a first mounting position and a second mounting position are provided at the second connecting member 32, the laser printing module 4 is detachably mounted on the second connecting member 32 through the first mounting position, and the camera module 5 is mounted on the second connecting member 32 through the second mounting position.
According to the technical scheme, through the design of the detachable connecting mechanism 3, the rapid switching and maintenance of the laser printing module 4 and the camera module 5 are realized, and the flexibility and the working efficiency of equipment are improved. The detachable connection mode enables the laser printing module 4 and the camera module 5 to be rapidly detached and maintained or replaced when faults occur or the camera module needs to be updated, thereby reducing downtime and improving production efficiency. Because the design of the connecting mechanism 3 allows quick disassembly and assembly, operators can finish the position adjustment of the laser printing module 4 and the camera module 5 in a short time, and the device is suitable for different printing tasks and workpiece requirements. The first connecting piece 31 is fixed at the moving end of the mechanical arm 2, and the second connecting piece 32 is provided with a special first mounting position and a special second mounting position, so that the design ensures the stability of the laser printing module 4 and the camera module 5 during operation, thereby ensuring the printing quality and the accuracy.
More preferably, the image capturing module 5 is disposed parallel to the laser printing module 4.
The technical effect of the parallel arrangement of the camera module 5 and the laser printing module 4 is to improve the accuracy and stability of measurement. The laser printing module 4 and the camera shooting module 5 which are arranged in parallel can adjust the relative positions and angles according to actual needs so as to adapt to different working distances and visual field requirements. This flexibility enables the device to cope with a wider range of measurement scenarios and application challenges. The real-time self-calibration method based on parallel laser ranging can utilize a high-precision laser range finder to continuously measure in the image shooting process so as to obtain real-time position information of the surface of the measured object. The method simplifies the complex operation depending on external characteristics, special pose and calibration objects in the traditional image calibration, and improves the calibration efficiency and accuracy. On the basis of parallel arrangement, key factors influencing measurement accuracy can be found out by quantitatively analyzing factors such as laser ranging errors, laser inclination errors, offset errors and the like, and a corresponding error avoidance method is adopted, so that the measurement performance of the system is further improved.
More preferably, the camera module further comprises a visual light source module 6 electrically connected with the control module, wherein the visual light source module 6 is used for providing an illumination light source for the camera module 5; the vision light source module 6 is disposed at one side of the second connector 32 through the fixing component 7.
By adding the visual light source module 6 electrically connected with the control module in the laser printing mechanism, the mechanism can provide higher-quality image acquisition and processing capacity, thereby improving the overall measurement accuracy and system reliability. The visual light source module 6 provides illumination for the camera module 5, and is favorable for acquiring images which have high contrast and good uniformity and truly reflect the characteristics of the measured object. This is crucial for subsequent image analysis and processing, since good image quality is the basis for accurate measurement and identification. The flexibility of the visual light source module 6 allows it to be adapted to a wide variety of application requirements, for example, different work pieces and environmental conditions can be accommodated by adjusting the angle or intensity of the light source. This adaptability allows the laser printing mechanism to be used more widely in different industrial settings. The visual light source module 6 is designed in consideration of cooperation with the camera module 5, and how to improve measurement accuracy and reliability of the system to the greatest extent. This not only improves the functionality of the device but also may reduce long-term operating costs.
More preferably, the fixing assembly 7 includes a first fixing member and a second fixing member that are symmetrically disposed, and the first fixing member and the second fixing member are symmetrically disposed with a fixing hole 71 and an arc hole 72, the fixing hole 71 is used for positioning one end of the visual light source module 6, and the Hu Xingkong is used for implementing adjustment of the other end of the visual light source module 6.
The scheme of the embodiment positions one end of the visual light source module 6 through the fixing hole 71, so that accurate installation can be realized, and the stability and accuracy of the light source module are ensured. The arcuate hole 72 design allows fine tuning of the other end of the visual light source module 6, which allows the light source module to be adjusted to suit different operating environments and conditions as desired. The symmetrically arranged fixing pieces enable the installation process to be simpler and more convenient, and operators can rapidly complete the installation and adjustment of the visual light source module 6. Accurate positioning and flexible adjustment capability help to improve the working efficiency and print quality of the overall laser printing mechanism.
In the implementation, two fixing holes 71 may be provided on two sides, but the design manner of providing two fixing holes 71 may enable the user to determine the optimal angle when performing the specific position configuration, so that the required effect can be achieved.
More preferably, the control module includes a first control module electrically connected to the mechanical arm 2, a second control module electrically connected to the laser printing module 4, and a third control module electrically connected to the camera module 5.
According to the technical scheme, the control module is subdivided into three sub-control modules which are respectively and electrically connected with the mechanical arm 2, the laser printing module 4 and the camera shooting module 5, so that higher control accuracy and system stability are realized. The separation design of the control module not only improves the control accuracy and the system stability of the laser printing mechanism, but also improves the maintenance efficiency and the flexibility of the system, thereby providing better technical effects in practical application.
More preferably, the camera module 5 is further configured to identify an external environment, and transmit the obtained identification signal to the control module, so that the control module moves the laser printing module 4 to above the surface of the workpiece to be printed according to the identification signal; wherein the identification signal comprises: the position of the workpiece to be printed and the relative position of the laser printing module 4 and the surface of the workpiece to be printed.
According to the technical scheme, the external environment is identified through the camera module 5, and the obtained identification signal is transmitted to the control module, so that the control module can move the laser printing module 4 to the position above the surface of the workpiece to be printed according to the identification signal, and accurate printing is achieved. The transmission and processing of the identification signals provide preconditions for laser printing, ensure the smooth proceeding of the printing process and optimize the whole workflow. According to the technical scheme, through the environment recognition function of the camera module 5 and the synergistic effect of the camera module and the control module, the accurate positioning and automatic operation of the laser printing module 4 are realized, the printing precision and efficiency are improved, and meanwhile, the adaptability of the equipment and the continuity of the workflow are enhanced.
More preferably, the system further comprises a print selection module electrically connected with the control module, wherein the print selection module is configured to enable a user to select a print image and send the print image to the laser printing module 4, and the laser printing module 4 performs laser printing operation according to the print image.
According to the technical scheme, the printing selection module is added, so that diversified printing options are provided for a user, and the operation convenience is improved. The user can directly select the image to be printed through the print selection module, which greatly simplifies the printing process, so that the user can quickly perform the printing operation without complicated setting or conversion steps. The close integration of the print selection module with the control module and the laser printing module 4 ensures that once a user selects a printed image, the control module can quickly respond and direct the laser printing module 4 to begin working, which improves the efficiency of the overall printing process. The printing selection module is added, so that the laser printing mechanism can execute accurate printing tasks, customized printing can be performed according to personalized requirements of users, and the functional diversity of the system is increased.
According to the embodiment of the invention, the automation of the printing process is realized by integrating the mechanical arm 2, the laser printing module 4 and the camera module 5. The manipulator mechanical arm 2 can automatically grasp and move the workpiece to be printed according to the instruction sent by the control module, the laser printing module 4 automatically performs printing processing, and the camera module 5 is responsible for acquiring the image of the workpiece in real time for analysis and adjustment by the control module. The whole printing process does not need manual intervention, and the printing efficiency is greatly improved.
Example III
Referring to fig. 11, fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device may be a computer, a server, or the like, and of course, may also be an intelligent device such as a mobile phone, a tablet computer, a monitor terminal, or the like, and an image acquisition device having a processing function. As shown in fig. 11, the electronic device may include:
A memory 510 storing executable program code;
A processor 520 coupled to the memory 510;
wherein processor 520 invokes executable program code stored in memory 510 to perform some or all of the steps in the laser printing control method of embodiment one.
An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute part or all of the steps in the laser printing control method in the first embodiment.
The embodiment of the invention also discloses a computer program product, wherein the computer program product enables the computer to execute part or all of the steps in the laser printing control method in the first embodiment when running on the computer.
The embodiment of the invention also discloses an application release platform, wherein the application release platform is used for releasing a computer program product, and the computer program product enables the computer to execute part or all of the steps in the laser printing control method in the first embodiment when running on the computer.
In various embodiments of the present invention, it should be understood that the size of the sequence numbers of the processes does not mean that the execution sequence of the processes is necessarily sequential, and the execution sequence of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, comprising several requests for a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a processor in a computer device) to execute some or all of the steps of the method according to the embodiments of the present invention.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a, from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information.
Those of ordinary skill in the art will appreciate that some or all of the steps of the various methods of the described embodiments may be implemented by hardware associated with a program that may be stored in a computer-readable storage medium, including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM), one-time programmable Read-Only Memory (One-time Programmable Read-Only Memory, OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM), or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium capable of being used to carry or store data.
The laser printing control method, system, electronic device and storage medium disclosed in the embodiments of the present invention are described in detail, and specific examples are applied to illustrate the principles and embodiments of the present invention, and the description of the above embodiments is only used to help understand the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
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