• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    System for calibrating laser scanning. Use is made of a calibration plate with reference marks on which a directed beam is directed and forms a laser spot. The laser spot is registered by an imaging assembly and a motorized mount. The movement of the imaging assembly can be coordinated through the movement of the laser scanner to track the laser spot on the plate. After photographing different positions, the coordinates of the laser spots are derived from their relative position to the known positions of the reference marks.
    公开号:BE1022258B1
    申请号:E2014/0713
    申请日:2014-09-19
    公开日:2016-03-07
    发明作者:Kurt Renap；Sam Coeck
    申请人:Materialise N.V.；
    IPC主号:
    专利说明:

    System and method for calibrating a system of laser scanning
    Appeal of priority
    This application is in accordance with 35 U.S.C. § 119 (a) relying on priority to UK patent application GB 1317974.2 filed September 19, 2013, and in accordance with 35 U.S.C. § 119 (e) to the Provisional US Patent Application No. 51 / 880,125 filed September 19, 2013, both of which are incorporated in their entirety in this text as a reference.
    Background of the Invention Field of application of the invention
    The present application relates to the calibration of laser scanning systems. More particularly, the present application relates to a system and method for calibrating a system of laser scanning using a motion-sensitive camera and a calibration plate as a reference.
    Description of the technology involved
    Laser scanning systems are used in a multitude of applications. One of these applications is the domain of additive manufacturing, where three-dimensional solid objects are formed on the basis of a digital model. Since the manufactured objects are three-dimensional, additive manufacturing is also commonly referred to as three-dimensional ("3D") printing. The use of laser scanning systems in additive manufacturing is particularly strong in production techniques such as stereolithography and selective laser sintering ("SLS"). These techniques use laser scanning systems to direct a laser beam to a specific location for the purpose of polymerizing or hardening layers of building materials used to create the desired three-dimensional ("3D") object.
    A high degree of precision is required of the laser scanning systems used in combination with additive manufacturing. This high degree of precision contributes to guaranteeing the consistency of the produced object with the digital model. However, to maintain this precision over time, laser scanning systems must be calibrated for various reasons. In a number of cases, calibration is required due to variations in the laser beam that occur due to the use of the device. In other cases, temperature fluctuations can influence the accuracy of the laser scanning system.
    The existing techniques for calibrating laser scanning systems are both expensive and complex. They often contain expensive parts that can only be used to a limited extent and that have to be specially made for the machine to be calibrated. Other techniques rely on complex sensor systems that in turn make every calibration process expensive and complex. Against the background of these and other problems identified by the inventors, there is a need for fast, accurate, and automatic techniques for calibrating laser scanning systems.
    Summary
    In one embodiment, a system is provided for calibrating a system of laser scanning in an additive manufacturing environment. It. The system may include a calibration plate that displays reference marks. The calibration plate can be placed almost parallel to a scanning zone of the laser scanning system. The system may further include a laser scanner configured to send a laser beam to a predetermined location on the calibration plate that forms a laser mark on the calibration plate. An imaging assembly that includes an imaging device can be provided. The imaging device can be configured for photographing at least a portion of the calibration plate that is associated with the predetermined location on the calibration plate. A computer control system that contains one or more computers with a memory and a processor can also be part of the system. The computer control system can be configured with a view to causing the laser scanner to direct the laser beam to a plurality of predetermined locations on the calibration plate, thereby creating one or more laser marks. The computer control system can be further configured to receive an image from each of the closest locations. The coordinates of the laser marks can be determined for each predetermined location based on the position of the laser marks formed relative to the reference marks on the calibration plate, and the scanner corrections are also determined based on the determined coordinates of the laser marks.
    In another embodiment, a method is provided for calibrating a laser scanner in an additive manufacturing environment. The method can be accompanied by the introduction of a calibration plate into the environment of additive manufacturing. The device can be placed substantially parallel to a scanning zone of the laser scanner system. The method is further associated with forming one or more marks on the calibration plate by directing a laser beam from the laser scanner at a plurality of predetermined locations. An imaging assembly records an image of each of the markers and the predetermined locations. The coordinates of the laser marks are determined for each predetermined location based on the position of the laser marks relative to at least one reference mark on the calibration plate. Scanner corrections are then determined based on the determined coordinates of the laser marks.
    Brief description of the drawings
    Figure 1 is an example of a system for designing and producing three-dimensional objects.
    Figure 2 illustrates a functional block diagram of one example of the computer of Figure 1.
    Figure 3 illustrates an advanced process for the production of a three-dimensional object.
    Figure 4A is an example of a laser scanning system that can be calibrated by systems and methods described in this text.
    Figure 4B is an example of components of a calibration device that can be used in combination with the laser scanning system of Figure 4A.
    Figure 5A is an example of a calibration plate with reference marks in accordance with one or more embodiments.
    Figure 5B is an example of a calibration plate with laser dots added by the laser scanner.
    Figure 5C is an example of a calibration plate with laser scan lines created by the laser scanner.
    Figure 5D is another example of laser markings that can be made by the scanner on the calibration plate.
    Figure 6 is a flow chart illustrating one example of a process according to which a laser scanning system can be calibrated.
    Figure 7 is another flowchart illustrating another example of a process according to which a laser scanning system can be calibrated.
    Figure 8 is an example of a table illustrating expected and measured coordinates of laser marks.
    Figure 9 is a flow chart illustrating another process according to which a laser scanning system can be calibrated.
    Figure 10 is a flow chart illustrating yet another process according to which a laser scanning system can be calibrated.
    Detailed description of certain embodiments of the invention
    The systems and methods described in this text provide a simple and inexpensive way to calibrate laser scanning systems that are used in combination with three-dimensional printing applications. A calibration plate with reference marks can be used to record laser scans of the laser scanning device. An image-forming assembly, for example a digital camera, can be positioned above the calibration plate and can be configured with a view to taking photographic images of the markings made by the laser scans on the plate. The coordinates of the laser marks can then be determined for each predetermined location based on the position of the formed laser marks relative to the reference marks on the calibration plate. Scanner corrections can then be determined using these coordinates.
    Embodiments of this invention can be used in a system for designing and producing three-dimensional objects. With reference to Figure 1, an example is illustrated of a computer environment suitable for implementing a system of design and production of a three-dimensional object. This environment contains a system 100. The system contains one or more computers 102a-102d which can take various forms, such as, for example, any workstation, any server, or any other computer device that can process information. In a number of aspects, each of the computers 102a-102d can be connected by any suitable communication technology (e.g., an internet protocol) to a network 105 (e.g., the internet). Accordingly, the computers 102a-102d can mutually transmit and receive information (e.g., software, digital representations of three-dimensional objects, commands or instructions to operate an additive manufacturing device, etc.) via the network 105.
    The system 100 further includes one or more devices of additive manufacturing (e.g., 3D printers) 106a-106b. As illustrated, the device of additive manufacturing 106a is directly connected to a computer 102d (and through the computer 102d connected to the computers 102a-102c via the network 105), and the device of additive manufacturing 106b is directly connected to the computers 102a-102d via the network 105. Those skilled in the art will therefore understand that a device of additive manufacturing 106 can be connected directly to a computer 102, to a computer 102 by means of a network 105, and / or to one computer 102 can be connected via another computer 102 and through the network 105.
    It should be noted that although the system 100 has been described with regard to a network and one or more computers, the techniques described in this text also apply to a single computer 102 which may be directly connected to device of additive manufacturing 106.
    Figure 2 illustrates a functional block diagram of one example of the computer of Figure 1. The computer 102a includes a processor 210 in data communication with a memory 220, an input device 230 and an output device 240. In a number of embodiments, the processor is furthermore in data communication with a optional network interface card 260. Although described as a separate component, it should be understood that the functional blocks described with respect to computer 102a should not be different structural elements. By way of example, the processor 210 and the memory 220 can be included in a single chip or a single board.
    The processor 210 may be a universal processor or a digital signal processor (digital signal processor, DSP), an application-specific integrated circuit (application-specific integrated circuit, ASIC), a field-programmable gate array (field programmable gate array, FPGA) or another programmable logic unit, a separate port or transistor, separate hardware components, or any combination thereof, to perform the functions described in this text. A processor can also be implemented as a combination of computer equipment, for example a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in combination with a DSP core, or any other such configuration.
    The processor 210 can be coupled, via one or more buses, to read information from, or write to, the memory 220. The processor can additionally, or as another possibility, contain memory, e.g. processor registers. The memory 220 may contain processor cache, including a multi-level hierarchical cache in which different levels exhibit different options and different access speeds. This memory 220 may further comprise a random access memory (RAM), as well as other devices with a volatile memory or devices with a non-volatile memory. The data storage can consist of hard disks, optical disks such as compact dises (CDs) or digital video dises (DVDs), flash memory, diskettes, magnetic tape, and Zip drives.
    The processor 210 can also be coupled to an input device 230 and an output device 240 for resp. get input from, and deliver output to, a user of computer 102a. Suitable input devices include, but are not limited to, a keyboard, buttons, keys, switches, pointing devices, a mouse, a joystick, a remote control device, an infrared detector, a voice recognition system, a barcode reader, a scanner, a video camera (possible) coupled with image processing software to detect, for example, hand or face movements, a motion detector, a microphone (possibly linked to sound processing software to detect, for example, voice commands). Suitable output devices include, but are not limited to, visual output devices, including screens and printers, audio output devices, including speakers, headphones, earphones and alarms, additive manufacturing devices, and haptic output devices.
    The processor 210 may further be coupled to a network interface card 260. The network interface card 260 prepares data generated by the processor 210 for transmission via a network in accordance with one or more data transmission protocols. The network interface card 260 also decodes data received over a network in accordance with one or more data transmission protocols. The network interface card 260 can contain a transmitter, a receiver or both a transmitter and a receiver. In other embodiments, the transmitter and the receiver can be two different components. The network interface card 260 can be in the form of a universal processor or a digital signal processor (digital signal processor, DSP), an application-specific integrated circuit (application-specific integrated circuit, ASIC), a field-programmable gate array (field programmable gate array, FPGA) or another programmable logic unit, a separate port or transistor, separate hardware components, or any combination thereof to perform the functions described in this text.
    Figure 3 illustrates a process 300 for the production of a three-dimensional object or a three-dimensional device. As illustrated, in a step 305, a digital representation of the object is designed by means of a computer, e.g., the computer 102a. For example, two-dimensional or three-dimensional information can be entered into the computer 102a to assist in designing the digital representation of the three-dimensional object. Moving to a step 310, information is sent from the computer 102a to an additive manufacturing device, e.g., the additive manufacturing device 106, and the device 106 starts the additive manufacturing process in accordance with the received information. In a step 315, the device of additive manufacturing 106 continues the production of the three-dimensional object using suitable materials, for example, a liquid resin.
    These suitable materials can be, but are not limited to, a photopolymer resin, polyurethane, methyl methacrylate-acrylonitrile-butadiene-styrene copolymer, resorbable materials such as polymer-ceramic composites, etc. Examples of commercially available materials are: the materials of the DSM Somos® series 7100, 8100, 9100, 9420, 10100, 11100, 12110, 14120 and 15100 from DSM Somos; Stratasys materials ABSplus-P430, ABSi, ABS-ESD7, ABS-M30, ABS-M30Î, PC-ABS, PC-ISO, PC, ULTEM 9085, PPSF and PPSU; the line materials Accura Plastic, DuraForm, CastForm, Laserform and VisiJet from 3-Systems; the PA materials line, PrimeCast and PrimePart materials and Alumide and CarbonMide from EOS GmbH. The VisiJet materials line from 3-Systems can contain Visijet Flex, Visijet Tough, Visijet Clear, Visijet HiTemp, Visijet e-stone, Visijet Black, Visijet Jewel, Visijet FTI, etc. Examples of other materials include Objet materials such as Objet Fullcure, Objet Veroclear, Objet Digital Materials, Objet Duruswhite, Objet Tangoblack, Objet Tangoplus, Objet Tangoblackplus, etc. Another example of materials is Renshape 5000 and 7800 series materials . Further, in a step 320, the three-dimensional object is generated.
    Figure 4 illustrates an example of an additive manufacturing 400 device for generating a three-dimensional (3D) object. In this example, the device of additive manufacturing 400 is a device of stereolithography. The device of Stereolithography 400 contains a reservoir 402 that can hold a volume of a liquid, for example a resin used to build the three-dimensional object. The device of Stereolithography 400 further comprises a conveying system 404 that can be used to transport the liquid from the reservoir 402 to an object-coating head 406. The conveying system may include one or more tubes, pipes or hoses configured with the eye in mind for transporting the liquid from the reservoir 402. In a number of embodiments, the conveying system 400 may contain materials of metal or plastic, such as ultra-high molecular weight polyethylene (UHMWPE), polyacrylate (PA), polyvinyl chloride (PVC) or any other other suitable material. While this specific example provides a Stereolithography device with a conveying system, those skilled in the art will appreciate that other types of Stereolithography devices may not use a conveying system to bring resin to a building platform. Instead, the building platform may be configured to sink into the reservoir during the course of the production process.
    The stereolithography device may further exhibit a conductive structure in the reservoir 402, which is configured to conduct a flow of the fluid from the reservoir 402 to the transport system 404. The structure may, for example, be a series of tubes or display plates strategically positioned to direct the flow of fluid to transport system 404. The device 400 may also include a building zone where the liquid resin is deposited. The construction zone generally contains a support for the construction zone on which the three-dimensional object is built.
    The device of Stereolithography 400 also contains a light source. The light source is usually included for the purpose of polymerizing the liquid to form a three-dimensional object. The light source can take various forms. In a number of embodiments, the light source may be an electromagnetic light source, for example, an ultraviolet light source (UV) or an infrared light source. Generally, the light source can be any type of laser beam with the ability to harden the liquid.
    In a number of embodiments, the device of Stereolithography 400 may include at least one pump used to pump the liquid from the reservoir 402 to the object coating head 406. By way of example, a displacement pump can be and / or a pump of the centrifugal type. In some embodiments, the pump may include a filter unit to further filter the liquid resin before being deposited on the building zone. In a number of aspects, the pump can provide a defined flow (e.g. 0.5-40 l / min) that can be fixed or adjusted by means of an active feedback loop. The feedback loop can for example be set based on measurements of the current. As another example, the feedback can be indirect using measurements of the thickness of the layers deposited in the process of additive manufacturing.
    The device of Stereolithography 400 can be used for the purpose of generating one or more three-dimensional objects layer after layer. The device of Stereolithography 400 may, for example, use a liquid resin (e.g., a photopolymer resin) to create an object layer after layer, such as by depositing the resin from the object coating head 406 in the form of a curtain . In these implementations, the object coating head 406 can deposit successive layers of the liquid resin to form the object. To begin with, the head 406 coating the object can deposit a layer of the three-dimensional object on the support for the building zone. Successive layers can then be deposited on the previous layer of the three-dimensional object.
    Upon depositing each layer, the light source, which can be controlled by a computer as described above, can follow a specific pattern on the surface of the liquid resin to thereby form the dimensions of the three-dimensional object. The exposure to the light source polymerizes or hardens the pattern followed on the resin and attaches it to the layer beneath it. After a coating has been polymerized, the support for the building zone can be reduced by the thickness of a single layer and a new layer pattern is followed and adhered to the previous layer. The building process is complete when the three-dimensional object is formed by depositing all layers of the three-dimensional object.
    With reference to Figure 4, another example of an additive manufacturing device is provided. In this example, the device of additive manufacturing 410 is a device of laser sintering. Just like the design of Stereolithography, the design of laser sintering 410 offers the possibility to build up three-dimensional objects layer by layer. The layers are formed from powder, for example the powder surface 414 as illustrated in Figure 4B. Successive layers of powder are spread on top of each other by means of, for example, a leveling drum 422. After depositing, a computer-controlled CO2 laser beam scans the surface and selectively connects the powder particles of the corresponding cross-section of the product. In this example, the laser source 412 is an X-Y movable infrared laser source. As such, the laser source can be moved along an X axis and along a Y axis so as to direct its beam at a specific location on the top layer of powder. In a number of embodiments, the laser sintering device may further include a laser scanner (not in the drawing in Figure 4B) that receives a laser beam from a stationary laser source 412 and diverts it over movable mirrors to direct the beam to a specified location in the operating area of the establishment. In the course of exposure to the laser, the temperature of the powder rises above the glass transition point after which adjacent particles flow together to create the three-dimensional object. The device 410 can also include a radiation heater and an atmosphere-controlling device 416. The radiant heater can be used to heat the powder between recoding a new layer of powder while scanning that layer. The atmosphere monitoring device can be used throughout the process to avoid unwanted scenarios such as, for example, the oxidation of powder.
    In some embodiments, the powder can be distributed using one or more movable pistons 418 (a) and 418 (b) that push powder from a powder container 428 (a) and 428 (b) into a container 426 that forms the shaped object 424. The depth of the container is in turn also controlled by a movable piston 420 which increases the depth of the container by means of a downward movement when additional powder is moved from the powder receptacles 428 (a) and 428 (b) into the container 426.
    As described above, both in the case of the Stereolithography device 400 and in the case of the laser sintering device 410, the laser scanner may require periodic calibration to ensure that the structure of the three-dimensional objects produced is consistent with the designs entered . Figure 4C is a general illustration of various components of a calibration device 430 that can be used with a view to calibrating the laser scanner used in the additive manufacturing 400/410 devices illustrated in Figures 4A and 4B.
    The calibration device includes a control computer 434. The control computer 434 may be the computer 102 (a) of Figure 2, or the computer 305 of Figure 3. Alternatively, the control computer 434 may be a separate computer configured with the eye in mind to guide the calibration process. The control computer 434 can be connected to a laser scanning device 444. As described above, the laser scanning device can include movable mirrors which can direct the laser beam received from a laser source to the building zone. The laser source may also be a movable laser source 412, such as that illustrated in Figure 4B, or may also be the laser scanner provided in the device of Stereolithography 400 of Figure 4A. The control computer 434 may further comprise software that controls the movement and functionality of the laser scanning device 444. The control computer 434 may be configured as such for the purpose of controlling the movement and activation of the laser scanning device.
    The control computer 434 of the calibration device 430 can also be connected to an imaging assembly 436. The imaging assembly can be configured with a view to obtaining images from a calibration plate 448. More specifically, the imaging assembly 436 are configured for the purpose of obtaining images of laser spots and / or other markings made by the laser scanning device 444 on the calibration plate 448. Additional details regarding the calibration plate 448 will be discussed below with reference to the figures. 5A-5D.
    The calibration plate 448 can be positioned in the construction zone 450 of the additive manufacturing 400/410 device. In a number of embodiments, the calibration plate can be positioned in exactly the same location as the powder surface 414 of the laser sintering device 410. In other embodiments, such as those in which the laser scanning device of a Stereolithography device 400 is calibrated by means of the calibration device 430, the calibration plate 448 can be positioned at exactly the same location as the liquid resin in the course of the normal operation of the device. Alternatively, the calibration plate 448 may also be positioned outside the building zone 450, generally in a position closer to the laser scanning device 444. This configuration type may provide a simpler way to insert and remove the calibration plate 448 from the device of additive manufacturing 400/410 since there is no need to remove any resin and / or powder from the device.
    With reference to Figures 4D and 4E, more detailed views of the imaging assembly are also provided. Figure 4D is a block diagram illustrating various components of the imaging assembly 436 in accordance with one or more embodiments. In this example, the imaging assembly 436 includes a camera 450. The camera 450 may be a commercially available digital camera with a resolution sufficiently high to record laser spots and other markings on the calibration plate 448 with sufficient details to control the device of calibrate laser scanning. Alternatively, the camera may take the form of a specially developed camera configured for the purpose of recording laser spots reflecting the surface of the calibration plate.
    To record laser spots on the calibration plate, it may prove necessary to position the camera 450 in such a way that it faces the area close to the laser spot created by the laser scanner 444. Accordingly, the imaging assembly 436 will also include a confirmation 452. In a number of embodiments, the attachment may be a pivot / tilt attachment that provides a sufficient range of motion to record images in different locations on the calibration plate 448. The attachment 452 may be driven by a motor 454. The motor 454 may be configured with for the purpose of receiving control signals from the control computer 434 which provide instructions regarding the movement of the camera 450. In a number of embodiments, the camera may, in addition to being able to move with rotation and tilting, be further mounted on a projection arm of a camera. crane, also called a crane arm. The crane arm can offer an additional movement option so that the camera can not only rotate and tilt, but can also physically change its location in order to better register images of laser spots and / or markings on the calibration plate 448. Figure 4E provides an illustration of one Example of an Imaging Assembly 436. In this example, ordinary commercially available components are used. The imaging assembly 436 can be mounted on the device of additive manufacturing 400/410. It can either be mounted temporarily for the purpose of calibrating the laser scanning device 444 but can also be mounted permanently so that the calibration can be performed without having to extensively adjust and prepare the device for normal use.
    With reference to Figure 5A, an example of a calibration plate 448 is illustrated. In this specific example, the calibration plate 448 is a plate that contains markings on the basis of which the precise location of laser spots can be determined. These markers can also be called reference markers. In the calibration plate illustrated in Figure 5A, the reference marks are represented as a grid with horizontal lines 502-510 and vertical lines 512-520. These reference marks can be printed on the plate or can be engraved in the calibration plate as another possibility by means of any engraving technique.
    In general, the calibration plate can be formed from a material that is partially reflective. In particular, the calibration plate can be formed from a material that clearly has reference marks for calibration, e.g., grid lines 502-520, but which is at the same time not reflective such that laser light completely dominates a photographic image recorded by the imaging assembly 436. In a number of embodiments, the calibration plate can be a black anodized aluminum plate. The aluminum plate may, for example, be a Dibond plate painted white and gray, such as an aluminum-plastic-aluminum sandwich panel as is known in the printing industry. In still other embodiments, in addition to grid markings, coordinates can also be assigned to one or more of the grid lines 502-520. The coordinates can contribute to later identifying markers that are recorded by the imaging assembly in the course of the calibration process. In a number of embodiments, the coordinates can be provided by, for example, adding a small bar code that provides the actual coordinates for each of the reference markers. Other types of markers may be used as markers for location identification. In the example illustrated in Figure 5A, a bar code can be added at each intersection of a horizontal grid line, for example horizontal grid line 502, and a vertical grid line, for example vertical grid line 512. To ensure that the calibration plate provides accurate information in the course of the calibration process , the reference plate itself can be calibrated to ensure that the actual positions of the reference marks are known.
    With reference to Figure 5B, an example of a calibration plate 448 with a plurality of laser spots 532 is illustrated. Only one of the laser spots 532 is indicated by means of a reference number, but it must be clear that the other points shown on the calibration plate are also laser spots. The laser spots are created by a laser beam created by the laser source, and diverted by the laser scanner and / or directed to the calibration plate 448. In each of these cases, the laser scanner is controlled by the control computer 434 to direct its beam to a known position. In accordance with one or more embodiments, the imaging assembly 436 is also controlled by the control computer 434 so that the view image of the camera is directed to the location of each of the laser spots, so that an image can be recorded from both the spot and the surrounding reference markings. In a number of embodiments, the camera can be moved in combination, with the laser scanner, in such a way that laser spots are recorded as they are formed on the surface of the calibration plate. Alternatively, each of the laser spots can first be formed on the surface of the calibration plate, and then the imaging assembly 536 can be positioned at a later time to record the laser spots. In each of these cases, as soon as the images of all the positions of the laser spots and the near reference marks have been recorded, the precise location of the laser spots is determined on the basis of their relative position with respect to the reference marks which, as described above, are known positions have previously been calibrated to ensure its accuracy. It should be noted that since the location of the laser spots is determined by their relative position with respect to the reference marks, it is not necessary to know the exact location from where the images were taken by the imaging assembly 536. Furthermore, For example, the laser spots should not be created or localized on the reference marks themselves, but rather their location is determined by their relative position relative to the reference marks, such as a distance and direction of the laser spot relative to the reference marks.
    Since the laser scanner coordinate was recorded for each of the laser spots, the laser scanner coordinate can be compared to the actual coordinates provided by the reference marks on the calibration plate to determine whether the laser scanner hits the exact location as desired by the entered coordinate.
    Figure 5C provides an illustration of another embodiment for markings made by the laser scanner on the calibration plate 448. Instead of creating laser spots on the reference plate 448, lines are scanned on the reference plate here. The actual location of these lines can also be deduced by determining their position with respect to the vertical and horizontal grid lines engraved in the calibration plate 448. Similarly, Figure 5D shows an illustration where the laser marks are crosses.
    Using the calibration system as described above, a laser scanner can be calibrated in an accurate, inexpensive and relatively simple manner. Figure 6 is a flow chart illustrating one example of a process according to which a laser scanning system can be calibrated. The process starts at block 602, where the calibration plate 448 is positioned in the laser scanning zone. As described above, in embodiments where the laser scanner is part of an additive manufacturing device, the calibration plate 448 can be placed in the vicinity of the powder and / or the resin used to print a three-dimensional object. In a number of embodiments, the calibration plate 448 can be manually positioned at the correct location by means of, for example, brackets and slots that ensure that it is correctly positioned.
    Alternatively, the device of additive manufacturing can be designed in such a way that the calibration plate is automatically moved to the appropriate location in the course of a calibration process. Once the calibration plate 448 is correctly positioned, the process proceeds to block 604. There, a laser beam is directed to scan a predetermined location of the calibration plate to create a laser marking. As described above with reference to Figs. 5B-5D, the laser marking can take various forms. In a number of embodiments, the laser marking can be a regular laser spot. As another possibility, as illustrated in Figures 5C-5D, the laser marks can be more complex.
    Once the laser marks have been created by the beam, the process proceeds to block 606. There, an image of the laser mark and the reference marks in the vicinity of the laser marks is recorded by the imaging device 536. As described above, in a number of embodiments , the image is recorded by means of a digital camera mounted in on a motorized rotating and tilting attachment or on any other attachment. In addition, the movement of the digital camera can be simultaneously controlled by the control computer 534 to follow the movement of the laser scanner. It should be noted that, in a number of embodiments, the camera has sufficient resolution to be positioned at an angle wide enough to grasp the entire reference plate. If the resolution is high enough to show each laser marker (e.g., laser spots) with different pixels, a single image can be used to determine the actual position of the coordinates of the laser marks.
    The process then proceeds to block 608, where the computer control system 534 determines the coordinates of the laser marks based on the reference marks and the position of the laser marks. As described above, in a number of embodiments, this determination can be performed by comparing the position of the laser marks with respect to the locations of known reference marks on the calibration plate 448. In some embodiments, this comparison can lead to a table of coordinates that provides input positions of the scanner and measured positions of the laser marks, to indicate the differences between them. An example of a part of such a table 800 is given in Figure 8. Corrections can be determined for the calibration of the laser scanning system by means of this or a similar type of table and / or other data set. In a number of embodiments, these corrections can be stored in a scanner calibration table that is specific to the laser scanning device undergoing the calibration process. Once the corrections are determined, the process proceeds to block 612 where the laser scanner is calibrated in accordance with the determined corrections.
    Figure 7 is another flowchart illustrating another example of a process according to which a laser scanning system can be calibrated. The process starts at block 702, where the calibration plate 448 is positioned in the laser scanning zone. The process then proceeds to block 704, where the laser beam scans a selected location on the calibration plate. As described above, the scan can be one that creates a laser spot, or it can create any other type of laser marking such as a cross or a line.
    The process then proceeds to block 706. If the imaging assembly 534 (e.g., the digital camera) is positioned to record an image of the laser marking made on the calibration plate, the process proceeds to block 710. If, however, it is determined that the imaging assembly is not positioned to record the image, the process proceeds instead to block 708, where the imaging assembly is maneuvered to a position where it is capable of taking a suitable image of the image laser marking.
    The process then proceeds to block 710, where an image of the desired laser marking is recorded by the image-forming assembly and stored in a memory. The process then proceeds to block 712, where it is determined whether there are any other locations on the calibration plate to be scanned by the laser scanner. If this is the case, the process proceeds to block 714, where the next location is selected. The process then returns to block 704 so that the additional scanning and image recording can be performed and finally returns to decision block 712. However, if it is determined in decision block 712 that there are no other locations on the calibration plate to be scanned, the process continues to block 716. There, the specific location of each of the laser marks is determined relative to the reference marks on the calibration plate 448. The process then proceeds to block 718, where the appropriate laser scanner corrections are determined based on the location of the laser marks in comparison with the desired locations of each scan. Therefore, for each laser marking located at an actual location that is not in accordance with the location selected to receive the scan, a correction is determined to compensate for the discrepancy. Once the corrections are determined, the process then proceeds to block 720, where the laser scanning device is calibrated in accordance with the determined corrections.
    In the process as described above with reference to Figure 7, the imaging assembly is provided on a movable mount so that it can be positioned to record images of specific zones on the calibration plate. In some embodiments, movable mounting may not be necessary and a single image of the entire calibration plate may be recorded and used instead to determine the specific location of each of the laser marks established relative to the reference marks on the calibration plate 448. In this alternative technique, the shutter speed of the imaging device (e.g., a digital camera) is set long enough for multiple laser scans to be performed and multiple images to be recorded in a single recorded total image. Consequently, in this alternative process, the image registration of the entire calibration plate 448 starts and the scanning is performed in each of the locations on the plate to be scanned, after which the image registration ends.
    Figure 9 is a flowchart showing an illustration of this alternative process. The process starts at block 902, where the calibration plate is positioned in the scanning zone of the additive manufacturing device. The process then proceeds to block 904 where the imaging assembly, generally a digital camera, is positioned to record an image of the entire calibration plate 448. In some embodiments, the digital camera can be positioned directly above the plate. Alternatively, the digital camera can be placed at an angle, not directly above the plate. "
    In this embodiment, the shutter speed can be adjusted in such a way that there is sufficient exposure at the time the image recording starts. The shutter speed (also called exposure time) of the digital camera can, for example, be set to 30 sec or more. During this period, the laser scanner can be aimed at many different locations on the calibration plate. Accordingly, the process of image registration on block 906 begins, for example, with the opening of the shutter opening to allow the registration of an image of the calibration plate 448. The process then proceeds to block 908 where the computer control system directs the laser beam to scan one or more selected locations on the calibration plate 448. The process then proceeds to block 910. There, the system checks whether other locations need to be scanned on the calibration plate. If this is the case, the process proceeds to block 912 where the additional location is selected. At that time, the process returns to block 908 where the laser beam is directed at the selected additional location.
    If no additional locations are identified on decision block, the process proceeds to block 914 and the image registration process ends. In general, the process ends by closing the shutter on the camera device. At that time, a single image of the entire calibration plate including each of the marks created by the laser scans as well as the reference marks on the calibration plate 448 is recorded. With the registered image, the process then proceeds to block 916, where the system determines the laser mark coordinates based on the reference marks and the position of the laser mark. Using the determined laser marking coordinates, the scanner corrections are then determined in block 918. Once the scanner corrections have been determined, the process then proceeds to block 920, where the laser scanner on the device is calibrated in accordance with the determined corrections.
    In a number of embodiments, a combination of the approaches illustrated in Figures 7 and 9 can be implemented. In this combination of approaches, the shutter speed can be slowed as illustrated in Figure 1 to enable the camera to record an image of multiple laser scans in a single shot. However, the camera can also be positioned in such a way that it does not take an image of the entire calibration plate 448, but instead is moved to a different area of the plate after each exposure where it can record a different image of multiple laser scans in the course of the next exposure. Figure 10 shows an illustration of this combined process.
    The process starts at block 1002, where the calibration plate is positioned in the scanning zone. The process then proceeds to block 1004 where a camera location is selected. The camera is then moved to its correct position on block 1006, where it can record an image of the calibration plate. The process then proceeds to block 1008 where the image registration process begins. As described above with reference to Figure 9, the shutter speed can be set to a very long time to allow a plurality of scans to be performed when the photograph is taken.
    The process then proceeds to block 1010. There, a location for scanning on the calibration plate is selected. The process then proceeds to block 1012 where the laser beam is directed by the laser scanner at the selected location on the calibration plate. Once the scan has been performed, the process proceeds to decision block 1014, where it is determined whether and in the course of the current aperture of the camera other locations must be scanned. So that is the case, the process returns to block 1010. The additional location is selected and the laser beam is directed to that location in block 1012.
    If there are no additional locations for the scanner on decision block 1014 in the course of the current exposure, no additional scans are performed in this image registration process and the process is terminated in block 1016. The process then proceeds to decision block 1018 to determine determine if there are additional locations on the calibration plate for which images are to be recorded by the imaging assembly. So that is the case, the process returns to block 1004 where the new camera location is selected and the process is repeated.
    If no additional locations are required, the process proceeds to block 1020 where the coordinates of the laser marking are determined based on the reference marks and the position of the laser marks in the recorded images. The process then proceeds to block 1022 where the laser corrections are determined based on the position of the laser marks as determined in the previous step. Once the corrections have been determined, the process then proceeds to block 1024, where the laser scanner is calibrated in accordance with the determined corrections.
    The systems and methods described in this text offer a number of advantages over the existing calibration techniques. In particular, the imaging assembly can be constructed using non-expensive, commercially available standard components such as digital cameras and motorized rotary and tilt mounts. Thanks to it. Using a calibration plate, a simple mechanical design can be worked out that can be used with a variety of different machines.
    In addition, to the extent that a calibration plate must be specific to a size or type of a machine, the calibration plate can be produced in a simple manner and reference marks can be applied to the plate by a simple printing or laser engraving process. Moreover, the use of the calibration plate avoids the need to use consumables such as paper, disposable substrates, etc.
    In a number of embodiments, the systems and methods described in this text, including the processes as described above with reference to Figures 6, 7, 9 and 10, may be configured with a view to being implemented in a network, as before described with reference to Figure 1. By way of example, images recorded by the imaging device, for example an image of the laser mark and the reference mark in the vicinity of the laser mark, can be transmitted in a network (such as the internet) to a computer, for example one or more of the computers 102a-d of figure 1, which analyzes the image. In this way, the recording of the images (e.g. blocks 604 and 606, blocks 704-714, blocks 906-914, and / or blocks 1004-1018) can be controlled by a first computer, for example a computer 102 (a ) from Figure 2, the computer 305 from Figure 3, or the control computer 434 from Figure 4. The image can then be sent by the first computer over the network 105 to a second computer that controls the analysis of the image (by way of example blocks 608-610, blocks 716-718, blocks 916-918, and / or blocks 1020-1022), such as one or more of the computers 102a-d. The second computer that controls image analysis can then determine laser corrections to be made to the laser scanner and send data (e.g., a calibration file) regarding the required laser corrections to the first computer over the network 105. The first computer can then control the calibration of the laser scanner (e.g. block 612, 720, 920, and / or 1024) in accordance with the received data.
    Various embodiments described in this text provide for the use of a computer control system. Those skilled in the art understand that these embodiments can be implemented using different types of computer devices, including computer environments or configurations for general use and / or computer environments or configurations for specific purposes. Examples of known computer systems, environments and / or configurations that may be suitable to be used in combination with the embodiments. as described above, are, but are not limited to, personal computers, server computers, handhelds or laptops, multiprocessor systems, microprocessor-based systems, programmable consumer electronics, network PCs, mini-computers, mainframe computers, decentralized computer environments with any of the aforementioned systems or devices, etc. These devices may contain stored instructions which, if executed on a microprocessor in the computer device, cause the computer device to perform specified actions for the purpose of executing the instructions. As used in this text, "instructions" refers to computer-implemented steps for processing information in the system. Instructions can be implemented in software, firmware or hardware and can include any type of programmed steps that are taken by components of the system.
    A microprocessor can be any conventional microprocessor with one or more chips, such as a Pentium® processor, a Pentium® pro processor, an 8051 processor, an MIPS® processor, a Power PC® processor, or an Alpha® processor. The microprocessor may also be any conventional special purpose microprocessor, for example a digital signal processor or a graphic processor. The microprocessor generally includes conventional address lines, conventional data lines, and one or more conventional control lines.
    Aspects and embodiments of the invention described in this text can be implemented in the form of a method, a device, a manufactured article, using standard programming or engineering techniques to produce software, firmware, hardware or any combination thereof . The term "produced article" as used herein refers to code or logic implemented in hardware or permanent computer readable media such as optical disks, and volatile or non-volatile memory devices or temporary computer readable media such as signals, carriers, etc. Such hardware may include, but is not limited to, field programmable gate arrays (FPGAs), application-specific integrated circuits (application-specific integrated circuits, ASICs), complex programmable logic chips (complex programmable logic) devices, CPLDs), programmable logic arrays (microprocessors, or other similar processing devices). in the drawings:
    FIG. 1
    FIG. 2
    FIG. 4B
    FIG. 4C
    FIG. 4D
    FIG. 6
    FIG. 7
    FIG. 8
    FIG. 9
    FIG. 10
    权利要求:
    Claims (22)
    [1]
    CONCLUSIONS
    A system for calibrating a system of laser scanning in an additive manufacturing environment, comprising: a calibration plate showing reference marks, the calibration plate being placed substantially parallel to a scanning zone of the laser scanning system; a laser scanner configured to send a laser beam to a predetermined location on the calibration plate that forms a laser mark on the calibration plate; an imaging assembly including an imaging device, the imaging device configured to photograph at least a portion of the calibration plate associated with the predetermined location on the calibration plate; and a computer control system comprising one or more computers with a memory and a processor, the computer control system being configured for: causing the laser scanner to direct the laser beam to a plurality of predetermined locations on the calibration plate and thereby one or create multiple laser marks; receiving an image of at least a portion of the calibration plate including at least one of the one or more laser marks; determining the coordinates of the laser marks for each predetermined location based on the position of the formed laser marks relative to the reference marks on the calibration plate; and determining scanner corrections based on the determined coordinates of the laser marks and independent of a position of the imaging assembly.
    [2]
    The system for calibrating a system of laser scanning according to claim 1, wherein the reference marks contain a plurality of grid lines that are visible on the calibration plate.
    [3]
    The system for calibrating a laser scanning system according to claim 2, wherein the grid lines are printed on the calibration plate.
    [4]
    The system for calibrating a laser scanning system according to claim 2, wherein the reference markers further include bar code information indicative of a coordinate position associated with specific locations on the grid lines.
    [5]
    The system for calibrating a laser scanning system according to claim 1, wherein the imaging assembly further comprises a movable mount, and wherein the computer control system is further configured for positioning the imaging assembly by means of the movable attachment, in a location close to the plurality of predetermined locations on the calibration plate and recording an image of each of the predetermined locations.
    [6]
    The system for calibrating a laser scanning system according to claim 5, wherein the imaging assembly further comprises a digital camera, and wherein the movable mount is mounted on a motorized rotating and tilting mount.
    [7]
    The system for calibrating a system of laser scanning according to claim 1, wherein the laser marking comprises at least one of a laser spot, intersecting lines and a laser line.
    [8]
    The system for calibrating a laser scanning system according to claim 1, wherein the additive manufacturing environment comprises at least one of a selective laser sintering device and a stereolithography device.
    [9]
    The system for calibrating a laser scanning system according to claim 8, wherein the calibration plate is positioned in a construction zone of the at least one of the selective laser sintering device and the stereolithography device.
    [10]
    The system for calibrating a laser scanning system according to claim 9, wherein at least one of powder resin and liquid resin remains in the building zone after the calibration plate is positioned in the device and also in the course of device calibration.
    [11]
    A method for calibrating a laser scanner in an environment of additive manufacturing, the method comprising: introducing a calibration plate into the environment of the additive manufacturing, wherein the device is located substantially parallel to a scanning zone of the system of the laser scanner placed; forming one or more marks on the calibration plate by directing a laser beam from the laser scanner at a plurality of predetermined locations; registering, by means of an image-forming assembly, an image of the one or more formed marks; determining the coordinates of the laser marks for each predetermined location based on the position of the one or more formed laser marks relative to at least one reference mark on the calibration plate; and determining scanner corrections based on the determined coordinates of the laser marks and independent of a position of the imaging assembly.
    [12]
    The method of claim 11, wherein the at least one reference mark includes a plurality of grid lines that are visible on the calibration plate.
    [13]
    The method of claim 12, wherein the plurality of grid lines are printed on the calibration plate.
    [14]
    The method of claim 12, wherein coordinates indicative of the specific locations of the plurality of grid lines are stored in the memory of a computer.
    [15]
    The method of claim 12, wherein the reference markers further include bar code information indicative of a coordinate position associated with specific locations on the grid lines.
    [16]
    The method of claim 11, wherein the laser marking includes at least one of a laser spot, intersecting lines, and a laser line.
    [17]
    The method of claim 11, further comprising positioning the imaging assembly in a location close to the plurality of predetermined locations on the calibration plate, the imaging assembly including a digital camera as well as a motorized rotating and tilting attachment.
    [18]
    The method of claim 11, wherein the additive manufacturing environment includes at least one of a selective laser sintering device and a stereolithography device.
    [19]
    The method of claim 18, wherein the calibration plate is positioned in a construction zone of the at least one of the selective laser sintering device and the stereolithography device.
    [20]
    The method of claim 19, wherein at least one of powder resin and liquid resin remains in the building zone after the calibration plate is positioned in the device and also in the course of the device calibration.
    [21]
    A method for calibrating a laser scanner in an additive manufacturing environment, the method comprising: receiving an image registered by an image-forming assembly, the image including one or more laser marks formed by aiming a laser beam from the laser scanner at a plurality of predetermined locations on a calibration plate introduced into the additive manufacturing environment; determining the coordinates of the laser marks for each predetermined location based on the position of the one or more formed laser marks relative to at least one reference mark on the calibration plate; determining scanner corrections based on the determined coordinates of the laser marks and independent of a position of the imaging assembly; and sending the scanner corrections to at least one computer for controlling the calibration of the laser scanner.
    [22]
    The method of claim 21, wherein the sending and receiving is performed over a network.
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    同族专利:
    公开号 | 公开日
    EP3046747B1|2019-12-25|
    JP2016532586A|2016-10-20|
    US9993976B2|2018-06-12|
    WO2015040185A1|2015-03-26|
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    法律状态:
    优先权:
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    GBUS61880125|2013-09-19|
    USUS61880125|2013-09-19|
    GBGB1317974.2A|GB201317974D0|2013-09-19|2013-10-10|System and method for calibrating a laser scanning system|
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