Active calibration method for a detection module, system and electronic device

Abstract

An active calibration method for a detection module, a system thereof and an electronic device. The active calibration method for the detection module comprises the steps of: performing a center position analysis on a first light spot image projected by a projection assembly via an industrial camera to correct a shift of a light source component and an optical component of the projection assembly; performing an orientation analysis on a second light spot image projected by the projection assembly via a receiving assembly to correct a rotation of the light source component and the optical component; performing a uniformity analysis on a third light spot image projected by the projection assembly via the industrial camera to correct a tilt of the light source component and the optical component; and performing a sharpness analysis on a fourth light spot image projected by the projection assembly via the industrial camera to correct a sharpness of the light source component and the optical component, so that the light source component and the optical component are positioned at a sharpest position.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of module calibration, in particular to an active calibration method for a detection module, a system thereof and an electronic device. BACKGROUND

[0002] With the rapid development of science and technology, people's requirements for the precision of electronic products with detection function are also getting higher and higher, especially for detection modules such as TOF modules or laser radars, which pursue high projection quality and high detection precision, which undoubtedly has strict requirements for the assembly of detection modules. These detection modules usually include a projection assembly and a receiving assembly, and the projection assembly includes a light source component and an optical component. The working principle is usually as follows: first, the light source component of the projection assembly emits light beams; then the light beams are modulated by the optical component to form specific light spots on the surface of the measured object, and then reflected to the receiving assembly; and finally received by the receiving assembly to collect speckle images, and then obtain corresponding detection information according to the speckle images.

[0003] However, due to the large assembly tolerance of existing packaging devices such as CSP or COB when moving the light source component and the optical component of the projection assembly, the projection assembly of the detection module deviates from the clearest position, that is, the projection quality of the projection assembly is poor, which causes the speckle images obtained by the detection module to be blurred, which will seriously affect the use effect of the detection module, thereby affecting the detection precision of the detection module. SUMMARY

[0004] An advantage of the present application is to provide an active calibration method for a detection module, a system thereof and an electronic device, which can reduce the assembly tolerance of the projection assembly of the detection module and improve the projection quality of the projection assembly.

[0005] Another advantage of the present application is to provide an active calibration method for a detection module, a system thereof and an electronic device, wherein in an embodiment of the present application, the active calibration device for the detection module can combine an industrial camera with the detection module to collect the light spot images projected by the projection assembly, so as to improve the accuracy of active calibration and improve the detection precision of the detection module.

[0006] Another advantage of the present application is to provide an active calibration method for a detection module, a system thereof and an electronic device, wherein in an embodiment of the present application, the active calibration device for the detection module can analyze the light spot images collected by the receiving assembly to control a high-precision six-axis platform to realize the rotation correction of the detection module during the assembly process.

[0007] Another advantage of the present application is to provide an active calibration method for a detection module, a system and an electronic device thereof, wherein in an embodiment of the present application, the active calibration device for the detection module can analyze the spot image collected by the industrial camera to control the high-precision six-axis platform to correct the offset and tilt of the detection module during assembly.

[0008] Another advantage of the present application is to provide an active calibration method for a detection module, a system and an electronic device thereof, wherein in an embodiment of the present application, the active calibration device for the detection module can adopt a compensation positioning method to reduce the influence of glue curing on the posture correction effect of the projection assembly.

[0009] Another advantage of the present application is to provide an active calibration method for a detection module, a system and an electronic device thereof, wherein in an embodiment of the present application, the active calibration device for the detection module can compensate for the shrinkage of the glue curing to ensure the high-quality posture correction effect of the projection assembly.

[0010] Another advantage of the present application is to provide an active calibration method for a detection module, a system and an electronic device thereof, wherein in an embodiment of the present application, the active calibration device for the detection module can adopt a four-point UV automatic exposure method to cure the glue to avoid the inconsistent light around the projection assembly from seriously affecting the tilt correction effect.

[0011] Another advantage of the present application is to provide an active calibration method for a detection module, a system and an electronic device thereof, wherein in order to achieve the above advantages, the present application does not need to use complex structures and large amounts of calculations, and the requirements for software and hardware are low. Therefore, the present application successfully and effectively provides a solution, not only provides an active calibration method for a detection module, a system and an electronic device thereof, but also increases the practicability and reliability of the active calibration method for a detection module, a system and an electronic device thereof.

[0012] In order to achieve at least one advantage or other advantages or purposes, the present application provides an active calibration method for a detection module, comprising the steps of:

[0013] performing center position analysis on a first spot image projected by a projection assembly of the detection module collected by an industrial camera to correct the offset of a light source component and an optical component of the projection assembly;

[0014] performing orientation analysis on a second spot image projected by the projection assembly after offset correction collected by a receiving assembly of the detection module to correct the rotation of the light source component and the optical component;

[0015] performing uniformity analysis on a third light spot image projected by the projection assembly and collected by the industrial camera to correct the optical component and the light source component for tilt; and

[0016] performing sharpness analysis on a fourth light spot image projected by the projection assembly and collected by the industrial camera after the tilt correction to correct the optical component and the light source component for sharpness, such that the optical component and the light source component are positioned at a sharpest position.

[0017] According to an embodiment of the present application, the step of performing center position analysis on a first light spot image projected by the projection assembly of the detection module and collected by the industrial camera to correct the optical component and the light source component of the projection assembly for offset includes the steps of:

[0018] clamping the optical component to a pre-assembly position such that the optical component is located between the light source component and the target plate assembly to form a light spot array on a surface of the target plate assembly after a light beam emitted by the light source component passes through the optical component;

[0019] capturing the light spot array formed on the surface of the target plate assembly by the industrial camera to obtain the first light spot image; and

[0020] translating the light source component in the X-Y plane based on a center position of imaging of the industrial camera to make an array center in the first light spot image coincide with the center position of imaging of the industrial camera.

[0021] According to an embodiment of the present application, the step of performing orientation analysis on a second light spot image projected by the projection assembly of the detection module and collected by the receiving assembly after the offset correction to correct the optical component and the light source component for rotation includes the steps of:

[0022] capturing the light spot array formed on the surface of the target plate assembly by the receiving assembly after the offset correction of the projection assembly to obtain the second light spot image; and

[0023] rotating the light source component in the X-Y plane based on a quadrilateral positioning frame of the receiving assembly to make a quadrilateral light spot in the second light spot image coincide with the quadrilateral positioning frame of the receiving assembly.

[0024] According to an embodiment of the present application, the step of performing uniformity analysis on a third light spot image projected by the projection assembly and collected by the industrial camera to correct the optical component and the light source component for tilt includes the steps of:

[0025] capturing the light spot array formed on the surface of the target plate assembly by the industrial camera after the rotation correction of the projection assembly to obtain the third light spot image; and

[0026] Based on the spot size of different regions in the third spot image, the light source component is rotated outside the XY plane so that the spot size of different regions in the third spot image remains basically consistent.

[0027] According to one embodiment of this application, the step of performing sharpness analysis on the fourth light spot image projected by the projection component after tilt correction, acquired by the industrial camera, to perform sharpness correction on the light source component and the optical component, so that the light source component and the optical component are positioned in the clearest position, includes the following steps:

[0028] After tilt correction of the projection component, the industrial camera continuously captures images of the light spot array formed on the surface of the target assembly while translating the light source component along the Z-axis direction to obtain a series of images of the fourth light spot.

[0029] Data fitting processing is performed on the changes in spot size in a series of images of the fourth spot to form the corresponding focusing curve; and

[0030] The light source component is translated along the Z-axis to the sharpest position determined by the focusing curve to complete the sharpness correction of the projection component.

[0031] According to an embodiment of this application, the active calibration method for the detection module, after the step of performing sharpness analysis on the fourth spot image projected by the projection component after tilt correction, acquired by the industrial camera, to perform sharpness correction on the light source component and the optical component, so that the light source component and the optical component are positioned in the clearest position, further includes the following step:

[0032] The detection module is assembled by applying adhesive between the light source component and the optical component, and fixing the light source component and the optical component together after the adhesive cures.

[0033] According to one embodiment of this application, the step of assembling the detection module by applying adhesive between the light source component and the optical component to fix the light source component and the optical component after the adhesive cures includes the following steps:

[0034] The amount of curing shrinkage of the adhesive is calculated based on its curing shrinkage ratio and the amount applied.

[0035] Move the light source component along the Z-axis to a position that is a distance from the point of curing shrinkage relative to the point of sharpest illumination; and

[0036] Under uniform ultraviolet light irradiation, the adhesive that is uniformly applied between the light source component and the optical component is cured to fix the light source component and the optical component together.

[0037] According to another aspect of this application, this application further provides an active calibration system for a detection module, comprising components communicatively connected to each other:

[0038] An offset correction module is used to analyze the center position of the first spot image projected by the projection component of the detection module acquired by the industrial camera, so as to correct the offset of the light source component and optical component of the projection component.

[0039] A rotation correction module is used to perform orientation analysis on the second spot image projected by the projection component after offset correction, which is acquired by the receiving component of the detection module, so as to perform rotation correction on the light source component and the optical component.

[0040] A tilt correction module is used to perform uniformity analysis on the third spot image projected by the projection component, acquired by the industrial camera, in order to correct the tilt of the light source component and the optical component; and

[0041] A sharpness correction module is used to perform sharpness analysis on the fourth light spot image projected by the projection component after tilt correction, which is acquired by the industrial camera, so as to perform sharpness correction on the light source component and the optical component, so that the light source component and the optical component are positioned in the clearest position.

[0042] According to one embodiment of this application, the offset correction module includes a clamping control module, a first shooting control module, and an inner translation control module that are communicatively connected to each other. The clamping control module controls a clamping component to clamp the optical component to a pre-assembled position, such that the optical component is located between the light source component and the target assembly, so that the light beam emitted through the light source component forms a light spot array on the surface of the target assembly after passing through the optical component. The first shooting control module controls an industrial camera to capture the light spot array formed on the surface of the target assembly to obtain the first light spot image. The inner translation control module controls a motion component to translate the light source component in the XY plane based on the imaging center position of the industrial camera, so that the array center in the first light spot image coincides with the imaging center of the industrial camera.

[0043] According to an embodiment of the present application, the rotation correction module comprises a second shooting control module and an inner rotation control module which are communicatively connected, wherein the second shooting control module is configured to control the receiving assembly to shoot the light spot array formed on the surface of the target plate assembly by the receiving assembly to obtain the second light spot image after the offset correction of the projection assembly; and the inner rotation control module is configured to control the motion assembly to rotate the light source component in the X-Y plane by the motion assembly based on the four-corner positioning frame of the receiving assembly, so that the four-corner light spots in the second light spot image coincide with the four-corner positioning frame of the receiving assembly.

[0044] According to an embodiment of the present application, the tilt correction module comprises a third shooting control module and an outer rotation control module which are communicatively connected, wherein the third shooting control module is configured to control the industrial camera to shoot the light spot array formed on the surface of the target plate assembly by the industrial camera to obtain the third light spot image after the rotation correction of the projection assembly; and the outer rotation control module is configured to control the motion assembly to rotate the light source component out of the X-Y plane by the motion assembly based on the light spot sizes of different regions in the third light spot image, so that the light spot sizes of different regions in the third light spot image remain substantially consistent.

[0045] According to an embodiment of the present application, the sharpness correction module comprises a fourth shooting control module, a data fitting module and an outer translation control module which are communicatively connected, wherein the fourth shooting control module is configured to control the industrial camera to continuously shoot the light spot array formed on the surface of the target plate assembly by the industrial camera in the process of translating the light source component along the Z-axis direction to obtain a series of the fourth light spot images after the tilt correction of the projection assembly; the data fitting module is configured to perform data fitting processing on the changes of the light spot sizes in the series of the fourth light spot images to form a corresponding focusing curve; and the outer translation control module is configured to control the motion assembly to translate the light source component along the Z-axis direction by the motion assembly to the sharpest position determined by the focusing curve to complete the sharpness correction of the projection assembly.

[0046] According to an embodiment of the present application, the active calibration system for the detection module further comprises a glue fixing control module, wherein the glue fixing control module is configured to control a glue fixing assembly to apply glue between the light source component and the optical component by the glue fixing assembly, and fixedly connect the light source component and the optical component after the glue is cured, thereby assembling the detection module.

[0047] According to an embodiment of the present application, the solidification control module comprises a shrinkage calculation module, a positioning movement module and a solidification module which are communicatively connected to each other, wherein the shrinkage calculation module is configured to calculate the solidification shrinkage of the glue based on the solidification shrinkage ratio of the glue and the amount of the glue applied; the positioning movement module is configured to move the light source component along the Z-axis direction to a position which is away from the sharpest position by the solidification shrinkage; and the solidification module is configured to solidify the glue which is uniformly applied between the light source component and the optical component under the uniform irradiation of the ultraviolet light, so as to fixedly connect the light source component and the optical component.

[0048] According to another aspect of the present application, the present application further provides an electronic device, comprising:

[0049] at least one processor configured to execute instructions; and

[0050] a memory communicatively connected to the at least one processor, wherein the memory has at least one instruction, and the at least one instruction is executed by the at least one processor to enable the at least one processor to perform all or part of the steps in the active calibration method for the detection module, wherein the active calibration method for the detection module comprises the steps of:

[0051] performing center position analysis on a first light spot image projected by a projection assembly of the detection module to correct the offset of a light source component and an optical component of the projection assembly;

[0052] performing orientation analysis on a second light spot image projected by the projection assembly after the offset correction to correct the rotation of the light source component and the optical component;

[0053] performing uniformity analysis on a third light spot image projected by the projection assembly to correct the tilt of the light source component and the optical component; and

[0054] performing sharpness analysis on a fourth light spot image projected by the projection assembly after the tilt correction to correct the sharpness of the light source component and the optical component, so that the light source component and the optical component are positioned at the sharpest position.

[0055] According to another aspect of the present application, the present application further provides an electronic device, comprising:

[0056] an active calibration platform, wherein the active calibration platform comprises:

[0057] an industrial camera;

[0058] a target plate assembly, wherein the target plate assembly is correspondingly arranged to be located at a light emitting side of a light source component of a projection assembly of a detection module;

[0059] a clamp assembly, wherein the clamp assembly is used to clamp an optical component of the projection assembly to a position between the light source component and the target plate assembly; and

[0060] a six-axis tooling assembly, wherein the six-axis tooling assembly is used to fixedly mount the light source component and a receiving assembly of the detection module, and drive the light source component to move; and

[0061] an active calibration system for the detection module, wherein the active calibration system for the detection module is communicatively connected with the active calibration platform, and the active calibration system for the detection module comprises the following which are communicatively connected with each other:

[0062] an offset correction module, used for performing center position analysis on a first light spot image projected by the projection assembly of the detection module via an industrial camera, so as to perform offset correction on a light source component and an optical component of the projection assembly;

[0063] a rotation correction module, used for performing orientation analysis on a second light spot image projected by the projection assembly after being offset corrected via a receiving assembly of the detection module, so as to perform rotation correction on the light source component and the optical component;

[0064] a tilt correction module, used for performing uniformity analysis on a third light spot image projected by the projection assembly via the industrial camera, so as to perform tilt correction on the light source component and the optical component; and

[0065] a sharpness correction module, used for performing sharpness analysis on a fourth light spot image projected by the projection assembly after being tilt corrected via the industrial camera, so as to perform sharpness correction on the light source component and the optical component, so that the light source component and the optical component are positioned at a sharpest position.

[0066] According to an embodiment of the present application, the clamp assembly comprises a clamp jaw and a six-direction translation member, wherein the clamp jaw is used to clamp the optical component, and the six-direction translation member is drivingly connected with the clamp jaw, and is used to drive the clamp jaw to translate so as to drive the optical component to a pre-assembly position.

[0067] According to an embodiment of the present application, the six-axis tooling assembly comprises a module tooling for fixedly mounting the light source component and the receiving assembly, and a six-axis motion platform, wherein the module tooling is mounted on the six-axis motion platform, and the six-axis motion platform is configured to drive the module tooling to move under the control of the active calibration system of the detection module to bring the light source component to the sharpest position.

[0068] According to an embodiment of the present application, the active calibration platform further comprises a glue fixing assembly, wherein the glue fixing assembly comprises a glue applicator and a set of UV illuminators, wherein the glue applicator is configured to uniformly apply glue between the light source component and the optical component, wherein the UV illuminators are correspondingly mounted on the six-axis motion platform, and the UV illuminators are arranged around the module tooling so that the UV illuminators can uniformly irradiate the glue to be cured synchronously.

[0069] Further objects and advantages of the present application can be more fully understood and appreciated by reference to the following description and drawings.

[0070] The objects, features and advantages of the present application will be more fully apparent from the following detailed description, the appended claims and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0071] Figure 1 is a flowchart of an active calibration method for a detection module according to an embodiment of the present application.

[0072] Figure 2 is a flowchart of the offset correction step in the active calibration method for a detection module according to the above embodiment of the present application.

[0073] Figure 3A and Figure 3B are respectively schematic diagrams of first spot images before and after correction in the offset correction step according to the above embodiment of the present application.

[0074] Figure 4 is a flowchart of the rotation correction step in the active calibration method for a detection module according to the above embodiment of the present application.

[0075] Figure 5A and Figure 5B are respectively schematic diagrams of second spot images before and after correction in the rotation correction step according to the above embodiment of the present application.

[0076] Figure 6 is a flowchart of the tilt correction step in the active calibration method for a detection module according to the above embodiment of the present application.

[0077] Figure 7A and Figure 7B Fig. 3 shows the third spot image before correction in the tilt correction step according to the above embodiment of the present application.

[0078] Figure 8 Fig. 4 shows the flow chart of the sharpness correction step in the active calibration method for the detection module according to the above embodiment of the present application.

[0079] Figures 9A to 9C Fig. 5 shows the fourth spot image in the tilt correction step according to the above embodiment of the present application, in turn at the initial position, the sharpest position and the over-sharp position.

[0080] Figure 9D Fig. 6 shows the focusing curve in the tilt correction step according to the above embodiment of the present application.

[0081] Figure 10 Fig. 7 shows the flow chart of the solidification connection step in the active calibration method for the detection module according to the above embodiment of the present application.

[0082] Figure 11 Fig. 8 is a block diagram of the active calibration system for the detection module according to an embodiment of the present application.

[0083] Figure 12 Fig. 9 is a block diagram of an electronic device according to a first embodiment of the present application.

[0084] Figure 13 Fig. 10 is a perspective view of an electronic device according to a second embodiment of the present application.

[0085] Figure 14 Fig. 11 is a partial view of the electronic device according to the above second embodiment of the present application.

[0086] Figure 15 Fig. 12 is a top view of the electronic device according to the above second embodiment of the present application. DETAILED DESCRIPTION

[0087] The following description is presented to enable any person skilled in the art to practice the present application as claimed. The preferred embodiments disclosed herein are only examples of the present application and alternative embodiments can be devised by persons skilled in the art without departing from the spirit and scope of the present application. The present application is defined by the appended claims.

[0088] In the present disclosure, the term "a" should be understood to mean "one or more" unless explicitly stated otherwise in the disclosure. In other words, the term "a" does not exclude the possibility that more than one of the elements can be present. The term "a" or "an" should therefore be understood to mean "one or more" and not "only one" unless explicitly stated otherwise in the disclosure.

[0089] In the description of the present disclosure, it needs to be understood that "first", "second", and the like are only used for the purpose of description and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, unless explicitly specified and limited, "connected", "connected" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through a medium. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0090] In the description of the present disclosure, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present disclosure, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present disclosure and the features of different embodiments or examples without contradiction.

[0091] At present, the existing packaging devices such as CSP or COB and the like will have a large assembly tolerance when moving assembly of the light source part and the optical part of the projection assembly, and then the projection assembly of the detection module will deviate from the clearest position, that is, the projection quality of the projection assembly is poor, which causes the speckle image obtained by the detection module to be relatively blurred, which will seriously affect the use effect of the back end of the detection module, thereby affecting the detection precision of the detection module. Therefore, in order to solve the above problems, the present application provides an active calibration method for a detection module, a system and an electronic device thereof.

[0092] Exemplary method

[0093] Reference drawings Figures 1 to 10As shown, an active calibration method for a detection module according to an embodiment of the present application is illustrated, which can reduce the assembly tolerance of a projection assembly of the detection module and improve the projection quality of the projection assembly. Specifically, as shown in Figure 1 As shown, the active calibration method for the detection module can include the following steps:

[0094] S100: performing center position analysis on a first light spot image projected by a projection assembly of the detection module via an industrial camera to perform offset correction on a light source component and an optical component of the projection assembly;

[0095] S200: performing orientation analysis on a second light spot image projected by the projection assembly after the offset correction via a receiving assembly of the detection module to perform rotation correction on the light source component and the optical component of the projection assembly;

[0096] S300: performing uniformity analysis on a third light spot image projected by the projection assembly via the industrial camera to perform tilt correction on the light source component and the optical component of the projection assembly; and

[0097] S400: performing sharpness analysis on a fourth light spot image projected by the projection assembly after the tilt correction via the industrial camera to perform sharpness correction on the light source component and the optical component of the projection assembly, so that the light source component and the optical component of the projection assembly are positioned at the sharpest position.

[0098] It is worth noting that, when performing the center position analysis, the uniformity analysis and the sharpness analysis, the active calibration method for the detection module of the present application does not utilize the light spot image collected by the receiving assembly of the detection module, but utilizes the light spot image collected by the industrial camera, and the main reasons are as follows: first, the pixel of the industrial camera is usually higher than that of the receiving assembly of the detection module, and when performing the sharpness correction on the light spot image, the sensitivity of the light source component and / or the optical component of the projection assembly to the light spot imaging quality is low when moving in the Z-axis direction, and at this time, using the light spot image received by the receiving assembly with lower pixels will increase the assembly deviation of the optical component and the light source component in the Z-axis direction; second, the imaging noise floor of the industrial camera is lower than that of the receiving assembly, and when performing the quality analysis such as the center position and the uniformity on the light spot image, the industrial camera with the lower noise floor has less influence on the light spot image quality analysis result, thereby reducing the assembly deviation caused by the light spot image quality analysis result; finally, the imaging exposure adjustable range of the industrial camera is greater than that of the receiving assembly of the detection module, so as to more easily adjust the overall quality of the light spot image.

[0099] It can be understood that the order of the step S200 and the step S300 is not limited to that the step S200 is before the step S300, and the step S300 can also be before the step S200, which does not affect the active calibration result of the active calibration method for the detection module.

[0100] More specifically, as shown in Figure 2 The step S100 of the active calibration method for the detection module can include the following steps:

[0101] S110: clamping the optical component to a pre-assembly position, so that the optical component is located between the light source component and the target plate assembly, so that the light beam emitted by the light source component forms a spot array on the surface of the target plate assembly after passing through the optical component;

[0102] S120: capturing the spot array formed on the surface of the target plate assembly by the industrial camera to obtain the first spot image; and

[0103] S130: based on the imaging center position of the industrial camera, translating the light source component in the X-Y plane to make the array center in the first spot image coincide with the imaging center of the industrial camera.

[0104] Preferably, the X-Y plane is parallel to the imaging plane of the industrial camera, so as to determine the direction and distance of the required translation of the light source component. For example, taking the horizontal plane as the X-Y plane, translating the light source component in the X-Y plane means horizontally translating the light source component.

[0105] Exemplarily, Figure 3A The first spot image captured by the industrial camera before the offset correction of the step S100 is shown, and Figure 3B The first spot image captured by the industrial camera after the offset correction of the step S100 is shown. By Figure 3A and Figure 3B As shown before the offset correction, there is a positional deviation between the array center 101 in the first spot image and the imaging center 102 of the industrial camera; and after the offset correction, the array center 101 in the first spot image and the imaging center 102 of the industrial camera coincide with each other, so as to subsequently perform the rotation correction. It can be understood that the industrial camera is arranged opposite to the receiving assembly of the detection module, so as to ensure that when the imaging center of the industrial camera coincides with the array center in the first spot image, the imaging center of the receiving assembly also coincides with the array center in the spot image captured by the receiving assembly.

[0106] It is worth noting that in the step S130 of the active calibration method for the detection module of other examples of the present application, the optical component can also be translated or the light source component and the optical component can also be translated respectively based on the imaging center position of the industrial camera as long as the array center in the first light spot image can be superimposed on the imaging center of the industrial camera, and the present application will not be described here.

[0107] According to the above embodiments of the present application, as shown in Figure 4 the step S200 of the active calibration method for the detection module can include steps of:

[0108] S210: After the offset correction of the projection assembly, the light spot array formed on the surface of the target plate assembly is photographed by the receiving assembly to obtain the second light spot image; and

[0109] S220: Based on the four-corner positioning frame of the receiving assembly, the light source component is rotated in the X-Y plane to superimpose the four-corner light spots in the second light spot image on the four-corner positioning frame of the receiving assembly.

[0110] Preferably, taking the horizontal plane as the X-Y plane, rotating the light source component in the X-Y plane means rotating the light source component around a vertical line passing through the center position of the second light spot image so as to determine the direction and angle of the required rotation of the light source component.

[0111] Exemplarily, Figure 5A the second light spot image acquired via the receiving assembly before the rotation correction of the step S200 is shown, then Figure 5B the second light spot image acquired via the receiving assembly after the rotation correction of the step S200 is shown. By Figure 5A and Figure 5B as shown, before the rotation correction, there is a positional deviation between the four-corner light spots 103 in the second light spot image and the four-corner positioning frame 104 of the receiving assembly; and after the rotation correction, the four-corner light spots 103 in the second light spot image and the four-corner positioning frame 104 of the receiving assembly are superimposed on each other so as to ensure that the imaging area of the receiving assembly corresponds to the light spot area modulated via the optical component.

[0112] Further, according to the above embodiments of the present application, as shown in Figure 6 the step S300 of the active calibration method for the detection module can include steps of:

[0113] S310: After the rotation correction of the projection assembly, the light spot array formed on the surface of the target plate assembly is photographed by the industrial camera to obtain the third light spot image; and

[0114] S320: Rotating the light source component out of the X-Y plane based on the spot sizes of different regions in the third spot image, so as to keep the spot sizes of different regions in the third spot image substantially consistent.

[0115] It is worth noting that when the horizontal plane is taken as the X-Y plane, rotating the light source component out of the X-Y plane means rotating the light source component about a horizontal line passing through the center position of the third spot image, so as to determine the direction and angle of rotation required by the light source component.

[0116] Exemplarily, Figure 7A The third spot image acquired via the industrial camera before the tilt correction of step S300 is shown, and Figure 7B The third spot image acquired via the industrial camera after the tilt correction of step S200 is shown. By Figure 7A and Figure 7B It is shown that before the tilt correction, the spot size of the left region in the third spot image is larger than the spot size of the right region in the third spot image; at this time, the light source component needs to be rotated to the left about a horizontal line perpendicular to the X-Z plane and passing through the center position of the third spot image for tilt correction, so that after the tilt correction, the spot size of the left region in the third spot image is substantially equal to the spot size of the right region in the third spot image. It can be understood that the substantially consistent spot size mentioned in the present application means that the tilt angle after tilt correction can be controlled within ±0.1°.

[0117] According to the above embodiments of the present application, as Figure 8 shown, the step S400 of the active calibration method for the detection module can include steps of:

[0118] S410: After the tilt correction of the projection assembly, translating the light source component along the Z-axis direction to continuously shoot the spot array formed on the surface of the target plate assembly by the industrial camera to obtain a series of fourth spot images;

[0119] S420: Data fitting processing is performed on the changes of spot sizes in a series of fourth spot images to form a corresponding focusing curve; and

[0120] S430: Translating the light source component along the Z-axis direction to the sharpest position determined by the focusing curve to complete the sharpness correction of the projection assembly.

[0121] It can be understood that the Z-axis direction is implemented as a direction perpendicular to the X-Y plane.

[0122] Exemplarily, Figure 9A The fourth light spot image acquired via the industrial camera before the sharpness correction of step S400 (i.e. when the light source component is at the initial position) is shown; Figure 9B The fourth light spot image acquired via the industrial camera when the light source component is at the clearest position is shown; Figure 9C The fourth light spot image acquired via the industrial camera when the light source component is at the over-cleared position is shown. As shown, Figures 9A to 9C Before the sharpness correction, the light spot size in the fourth light spot image is large; and during the process of translating the light source component in the direction perpendicular to the X-Y plane, the light spot size in the fourth light spot image will first become small and then become large. That is, if the focusing curve is plotted with the Z-axis stroke as the horizontal coordinate and the reciprocal of the light spot size as the vertical coordinate (as shown in Figure 9D The Z-axis stroke corresponding to the highest point of the focusing curve (i.e. the smallest light spot size) is implemented as the clearest position, that is, only need to move the light source component along the Z-axis direction, so that the moving distance of the light source component is equal to the Z-axis stroke corresponding to the highest point of the focusing curve, the light source component is at the clearest position.

[0123] It is worth noting that although the above description of the present application is that the tilt correction is performed after the rotation correction, so that the subsequent sharpness correction is performed after the tilt correction, those skilled in the art can understand that the order between the tilt correction and the rotation correction is not limited to this; for example, in other examples of the present application, the tilt correction can also be performed before the rotation correction, so that the subsequent sharpness correction can be performed after the rotation correction.

[0124] It is worth mentioning that after the sharpness correction of the projection assembly, the light source component and the optical component of the projection assembly also need to be accurately fixed to complete the active calibration of the projection assembly, so as to assemble the detection module.

[0125] According to the above embodiments of the present application, as shown in Figure 1 The active calibration method for the detection module can further include the following steps after step S400:

[0126] S500: Assembling the detection module by fixedly connecting the light source component and the optical component after applying glue between the light source component and the optical component and curing the glue.

[0127] It is worth noting that, on the one hand, the glue will shrink when it is cured, which will change the distance between the light source component and the optical component; on the other hand, the glue will also cause the thickness of the glue after curing to be inconsistent due to uneven application or different curing speeds, which will exacerbate the tilt between the light source component and the optical component, seriously damaging the tilt correction result of the step S300.

[0128] To this end, as shown in Figure 10 the step S500 of the active calibration method for the detection module can include steps of:

[0129] S510: calculating the curing shrinkage of the glue according to the curing shrinkage ratio and the amount of the glue applied;

[0130] S520: moving the light source component along the Z-axis direction to a position away from the sharpest position by the curing shrinkage; and

[0131] S530: curing the glue uniformly applied between the light source component and the optical component under uniform irradiation of ultraviolet light to fixedly connect the light source component and the optical component.

[0132] It can be understood that the glue is UV glue, which can be cured under the irradiation of ultraviolet light; of course, in other examples of the present application, the glue can also be implemented as a heat-curing glue for curing under heating conditions.

[0133] In this way, since the light source component is moved along the Z-axis direction to a position away from the sharpest position by the shrinkage displacement before the glue is cured to compensate for the curing shrinkage of the glue before and after curing, the light source component is exactly at the most tilted position after the glue is cured. At the same time, since the glue is cured under uniform irradiation of ultraviolet light, the curing of the glue at each place is synchronized to avoid the thickness of the glue after curing being inconsistent due to different curing speeds of the glue, which helps to maintain the tilt correction result between the light source component and the optical component.

[0134] Exemplary system

[0135] According to another aspect of the present application, an embodiment of the present application further provides an active calibration system for a detection module. Specifically, as shown in Figure 11As shown, the active calibration system 1 for the detection module can include, which are communicatively connected with each other: an offset correction module 10, configured to perform center position analysis on a first light spot image projected by a projection assembly of the detection module via an industrial camera, so as to perform offset correction on a light source component and an optical component of the projection assembly; a rotation correction module 20, configured to perform orientation analysis on a second light spot image projected by the projection assembly after being offset corrected via a receiving assembly of the detection module, so as to perform rotation correction on the light source component and the optical component; a tilt correction module 30, configured to perform uniformity analysis on a third light spot image projected by the projection assembly via the industrial camera, so as to perform tilt correction on the light source component and the optical component; and a sharpness correction module 40, configured to perform sharpness analysis on a fourth light spot image projected by the projection assembly after being tilt corrected via the industrial camera, so as to perform sharpness correction on the light source component and the optical component, so that the light source component and the optical component are positioned at the sharpest position.

[0136] It is worth noting that, in an example of the present application, as Figure 11 shown, the offset correction module 10 can include, which are communicatively connected with each other: a clamping control module 11, a first shooting control module 12, and an inner translation control module 13, wherein the clamping control module 11 is configured to control a clamping assembly to clamp the optical component to a pre-assembly position by the clamping assembly, so that the optical component is located between the light source component and a target plate assembly, so that the light beam emitted by the light source component forms a light spot array on the surface of the target plate assembly after passing through the optical component; wherein the first shooting control module 12 is configured to control the industrial camera to shoot the light spot array formed on the surface of the target plate assembly by the industrial camera to obtain the first light spot image; wherein the inner translation control module 13 is configured to control a motion assembly to translate the light source component in the X-Y plane by the motion assembly based on the imaging center position of the industrial camera, so that the array center in the first light spot image coincides with the imaging center of the industrial camera.

[0137] In an example of the present application, as Figure 11As shown, the rotation correction module 20 can include a second shooting control module 21 and an inner rotation control module 22 communicatively connected with each other, wherein the second shooting control module 21 is configured to control the receiving assembly to capture the second light spot image by the receiving assembly after the offset correction of the projection assembly, the second light spot image being formed by the light spot array on the surface of the target plate assembly; and wherein the inner rotation control module 22 is configured to control the motion assembly to rotate the light source component in the X-Y plane by the motion assembly based on the quadrilateral positioning frame of the receiving assembly, so that the quadrilateral light spots in the second light spot image coincide with the quadrilateral positioning frame of the receiving assembly.

[0138] In an example of the present application, as shown in Figure 11 The tilt correction module 30 can include a third shooting control module 31 and an outer rotation control module 32 communicatively connected with each other, wherein the third shooting control module 31 is configured to control the industrial camera to capture the third light spot image by the industrial camera after the rotation correction of the projection assembly, the third light spot image being formed by the light spot array on the surface of the target plate assembly; and wherein the outer rotation control module 32 is configured to control the motion assembly to rotate the light source component out of the X-Y plane by the motion assembly based on the light spot sizes of different regions in the third light spot image, so that the light spot sizes of different regions in the third light spot image remain substantially consistent.

[0139] In an example of the present application, as shown in Figure 11 The sharpness correction module 40 can include a fourth shooting control module 41, a data fitting module 42 and an outer translation control module 43 communicatively connected with each other, wherein the fourth shooting control module 41 is configured to control the industrial camera to continuously capture a series of the fourth light spot images by the industrial camera during the translation of the light source component along the Z-axis direction after the tilt correction of the projection assembly, the series of the fourth light spot images being formed by the light spot array on the surface of the target plate assembly; wherein the data fitting module 42 is configured to perform data fitting processing on the changes of the light spot sizes in the series of the fourth light spot images to form a corresponding focusing curve; and wherein the outer translation control module 43 is configured to control the motion assembly to translate the light source component along the Z-axis direction to the sharpest position determined by the focusing curve by the motion assembly, so as to complete the sharpness correction of the projection assembly.

[0140] According to the above embodiments of the present application, as shown in Figure 11As shown, the active calibration system 1 for the detection module can further comprise a fixing control module 50, wherein the fixing control module 50 is configured to control a glue fixing assembly to apply glue between the light source component and the optical component through the glue fixing assembly, and to fixedly connect the light source component and the optical component after the glue is cured, thereby assembling the detection module.

[0141] In an example of the present application, as shown in Figure 11 The fixing control module 50 comprises a shrinkage calculation module 51, a positioning movement module 52 and a curing module 53 which are communicatively connected to each other, wherein the shrinkage calculation module 51 is configured to calculate the shrinkage of the glue according to the shrinkage ratio of the glue and the amount of the glue applied; the positioning movement module 52 is configured to move the light source component along the Z-axis direction to a position which is away from the sharpest position by the shrinkage of the glue; and the curing module 53 is configured to cure the glue which is uniformly applied between the light source component and the optical component under the uniform irradiation of ultraviolet light, so as to fixedly connect the light source component and the optical component.

[0142] Electronic device

[0143] Hereinafter, an electronic device according to a first embodiment of the present application will be described with reference to Figure 12 As shown in Figure 12 The electronic device 90 includes one or more processors 91 and memory 92.

[0144] The processor 91 can be a central processing unit (CPU) or other form of processing unit that has data processing capabilities and / or instruction executing capabilities, and can control other components in the electronic device 90 to perform desired functions. In other words, the processor 91 includes one or more physical devices configured to execute instructions. For example, the processor 91 can be configured to execute instructions that are part of one or more applications, services, programs, routines, libraries, objects, components, data structures, or other logical constructs. Such instructions can be implemented to perform tasks, implement data types, transform the state of one or more components, achieve technical effects, or otherwise arrive at desired results.

[0145] The processor 91 can include one or more processors configured to execute software instructions. Additionally or alternatively, the processor 91 can include one or more hardware or firmware logic machines configured to execute hardware or firmware instructions. Processors of the processor 91 can be single-core or multi-core, and the instructions executed thereon can be configured for sequential, parallel, and / or distributed processing. Individual components of the processor 91 optionally can be distributed among two or more separate devices, which can be remotely located and / or configured for coordinated processing. Aspects of the processor 91 can be virtualized and executed by remotely accessible, networked computing devices configured in a cloud-computing configuration.

[0146] The memory 92 can include one or more computer program products, which can include various forms of computer-readable storage media, such as volatile and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), and / or cache memory, etc. The non-volatile memory, for example, can include read-only memory (ROM), hard disk, flash memory, etc. On the computer-readable storage media, one or more computer program instructions can be stored, which the processor 91 can execute to implement portions or all of the steps of the above-described exemplary methods of the present application described above, and / or other desired function.

[0147] In other words, the memory 92 includes one or more physical devices configured to store machine-readable instructions, which can be executed by the processor 91 to implement the methods and processes described herein. In implementing these methods and processes, the state of the memory 92 can be transformed (e.g., storing different data). The memory 92 can include removable and / or built-in devices. The memory 92 can include optical memory (e.g., CD, DVD, HD-DVD, Blu-ray Disc, etc.), semiconductor memory (e.g., RAM, EPROM, EEPROM, etc.), and / or magnetic memory (e.g., hard-disk drive, floppy-disk drive, tape drive, MRAM, etc.), among others. The memory 92 can include volatile, nonvolatile, dynamic, static, read / write, read-only, random access, sequential access, location- addressable, file- addressable, and / or content- addressable devices.

[0148] It will be appreciated that the storage 92 includes one or more physical devices. However, aspects of the instructions described herein alternatively can be propagated by a communication medium (e.g., an electromagnetic signal, an optical signal, etc.) that is not held by a physical device for a finite duration. Aspects of the processor 91 and the storage 92 can be integrated together into one or more hardware-logic components. These hardware-logic components can include for example, Field-Programmable Gate Arrays (FPGAs), Program- and Application-Specific Integrated Circuits (PASIC / ASICs), Program- and Application-Specific Standard Products (PSSP / ASSPs), System-on-a-Chip (SOC), and Complex Programmable Logic Devices (CPLDs), for example.

[0149] In one example, as shown in FIG. 1, the electronic device 90 can further include an input device 93 and an output device 94, which are interconnected to each other through a bus system and / or other form of connection mechanism (not shown). For example, the input device 93 can be a camera module or the like for capturing image data or video data, etc. As another example, the input device 93 can include or interface with one or more user-input devices such as a keyboard, mouse, touch screen, or game controller. In some embodiments, the input device 93 can include or interface with selected natural user input (NUI) componentry. Such componentry can be integrated or peripheral, and the transduction and / or processing of input actions can be handled on- or off-board. Example NUI componentry can include a microphone for speech and / or voice recognition; infrared, color, stereoscopic, and / or depth cameras for machine vision and / or gesture recognition; a head tracker, eye tracker, accelerometer, and / or gyroscope for motion detection and / or intent recognition; electric-field sensing componentry for assessing brain activity and / or body movements; and / or any other suitable sensor. Figure 12

[0150] The output device 94 can output various information including classification results, etc. to the outside. The output device 94 can include, for example, a display, a speaker, a printer, and a communication network and a remote output device connected thereto, etc.

[0151] Of course, the electronic device 90 can further include a communication device, which can be configured to communicatively couple the electronic device 90 with one or more other computer devices. The communication device can include wired and / or wireless communication devices compatible with one or more different communication protocols. By way of non-limiting example, the communication subsystem can be configured to communicate via a wireless telephone network, or a wired or wireless local- or wide-area network. In some embodiments, the communication device can enable the electronic device 90 to send and / or receive messages to and / or from other devices via a network such as the Internet. ​

[0152] It will be understood that the configurations and / or approaches described herein are exemplary in nature, and that these specific embodiments or examples are not to be considered in a limiting sense, because numerous variations are possible. The specific routines or methods described herein can represent one or more of any number of processing strategies. As such, various acts illustrated and / or described can be performed in the sequence illustrated and / or described, in other sequences, in parallel, or omitted. Likewise, the order of the above-described processes can be altered.

[0153] Of course, to simplify, Figure 12 Only some of the components of the electronic device 90 related to the present application are shown in FIG. 1, and components such as buses, input / output interfaces, and the like are omitted. In addition, the electronic device 90 can include any other appropriate components according to specific application cases.

[0154] According to another aspect of the present application, as Figures 13 to 15 As shown in FIG. 2, the second embodiment of the present application further provides an electronic device, wherein the electronic device can include an active calibration platform 60 and the active calibration system 1 for the detection module described above. The active calibration platform 60 can include an industrial camera 61, a target plate assembly 62, a clamp assembly 63, and a six-axis tool assembly 64, wherein the six-axis tool assembly 63 is used to fixedly mount a light source component 711 of a projection assembly 71 and a receiving assembly 72 of the detection module 70, and drive the light source component 711 to move, wherein the target plate assembly 62 is correspondingly arranged to be located on the light emitting side of the light source component 711, wherein the clamp assembly 63 is used to clamp an optical component 712 of the projection assembly 71 to a position between the light source component 711 of the projection assembly 71 and the target plate assembly 62, so that the industrial camera 61 and the receiving assembly 72 can both collect the spot image formed on the surface of the target plate assembly 62 after the light beam emitted by the light source component 711 passes through the optical component 712.

[0155] Meanwhile, the active calibration system for the detection module 1 is communicatively connected with the active calibration platform 60, and the active calibration system for the detection module 1 can include a deviation correction module, a rotation correction module, a tilt correction module, and a sharpness correction module which are communicatively connected with each other. The deviation correction module is used to analyze the center position of the first light spot image projected by the projection assembly 71 of the detection module 70 collected by the industrial camera 61, so as to correct the deviation of the light source component 711 and the optical component 712 of the projection assembly 71. The rotation correction module is used to analyze the orientation of the second light spot image projected by the projection assembly 71 after being corrected for deviation, which is collected by the receiving assembly 72 of the detection module 70, so as to correct the rotation of the light source component 711 and the optical component 712. The tilt correction module is used to analyze the uniformity of the third light spot image projected by the projection assembly 71 collected by the industrial camera 61, so as to correct the tilt of the light source component 711 and the optical component 712. The sharpness correction module is used to analyze the sharpness of the fourth light spot image projected by the projection assembly 71 after being corrected for tilt, which is collected by the industrial camera 61, so as to correct the sharpness of the light source component 711 and the optical component 712, so that the light source component 711 and the optical component 712 are positioned at the clearest position.

[0156] It is worth noting that the industrial camera 61 can be but is not limited to a monochrome industrial camera with infrared filter function. The target plate assembly 62 can be but is not limited to a diffuse white board.

[0157] Preferably, the industrial camera 61 is installed at the same horizontal level as the light source component 711 of the projection assembly 71, so as to avoid the risk of the industrial camera 61 being blocked by other structures of the active calibration platform 60 when receiving and collecting light spot images.

[0158] According to the above embodiments of the present application, as shown in Figures 13 to 15 The clamp assembly 63 of the active calibration platform 60 can include a clamp jaw 631 and a six-direction translation member 632. The clamp jaw 631 is used to clamp the optical component 712, and the six-direction translation member 632 is drivingly connected to the clamp jaw 631 and is used to drive the clamp jaw 631 to translate to drive the optical component 712 to a pre-assembly position, so that the optical component 712 is located between the light source component 711 and the surface of the target plate assembly 62.

[0159] More specifically, the six-direction translation mechanism 632 can be, but is not limited to, composed of an X-axis horizontal movement element 6321, a Y-axis horizontal movement element 6322, and a Z-axis vertical movement element 6323, to drive the gripper 631 to translate to the pre-assembly position by the X-axis horizontal movement element 6321, the Y-axis horizontal movement element 6322, and the Z-axis vertical movement element 6323, respectively. It can be understood that the six-direction translation mechanism 632 can translate the gripper 631 in six directions along the positive and negative directions of the X-axis, the positive and negative directions of the Y-axis, and the positive and negative directions of the Z-axis, respectively.

[0160] According to the above embodiments of the present application, as shown in Figures 13 to 15 The six-axis tool assembly 64 of the active calibration platform 60 can include a module tool 641 for fixedly mounting the light source component 711 and the receiving component 72, and a six-axis movement platform 642, wherein the module tool 641 is mounted on the six-axis movement platform 642, and the six-axis movement platform 642 is used to drive the module tool 641 to move under the control of the active calibration system 1 for the detection module to drive the light source component 711 to the sharpest position. It can be understood that the six-axis movement platform 642 can translate the module tool 641 in six directions along the positive and negative directions of the X-axis, the positive and negative directions of the Y-axis, and the positive and negative directions of the Z-axis, respectively, while also being able to rotate the module tool 641 around the X-axis, the Y-axis, and the Z-axis, respectively.

[0161] It is worth mentioning that, as shown in Figures 13 to 15 The active calibration platform 60 can further include a glue fixing assembly 65, wherein the glue fixing assembly 65 is used to apply glue between the light source component 711 and the optical component 712, and after the glue is cured, the light source component 711 and the optical component 712 are fixedly connected, thereby assembling the detection module 70.

[0162] More specifically, the glue fixing assembly 65 can include a glue applicator (not shown in the figure) and a set of UV illuminators 650, wherein the glue applicator is used to uniformly apply the glue between the light source component 711 and the optical component 712, wherein the UV illuminators 650 are correspondingly mounted on the six-axis movement platform 642, and the UV illuminators 650 are arranged around the module tool 641, so that the UV illuminators 650 can uniformly irradiate the glue, so that the glue can be cured synchronously.

[0163] It should also be noted that in the devices, apparatuses and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application.

[0164] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0165] Those skilled in the art will appreciate that the application described above and illustrated in the accompanying drawings is presented by way of example only and is not limiting of the application. The present application has been made in accordance with the relevant legal provisions, and the principles and concepts defined herein can be applied to other implementations without departing from the scope of the application.

Claims

1. An active calibration method for a detection module, the detection module including a projection component and a receiving component, the projection component including a light source component and an optical component, wherein, The optical component is configured to modulate the light emitted by the light source component; characterized by comprising the steps of: The center position of the first spot image projected by the projection component of the detection module, which is acquired by an industrial camera, is analyzed in order to correct the offset of the light source component and optical component of the projection component. Orientation analysis is performed on the second spot image projected by the projection component after offset correction, which is acquired by the receiving component of the detection module, in order to perform rotation correction on the light source component and the optical component. Uniformity analysis is performed on the third spot image projected by the projection component, acquired via the industrial camera, to correct the tilt of the light source component and the optical component; and A sharpness analysis is performed on the fourth light spot image projected by the projection component after tilt correction, which is acquired by the industrial camera, in order to sharpen the light source component and the optical component so that the light source component and the optical component are positioned in the clearest position.

2. The active calibration method for a detection module as described in claim 1, wherein, The step of analyzing the center position of the first light spot image projected by the projection component of the detection module, acquired by an industrial camera, to correct the offset of the light source component and optical component of the projection component, includes the following steps: The optical component is clamped to a pre-assembled position such that the optical component is positioned between the light source component and the target assembly, so that the light beam emitted through the light source component forms a light spot array on the surface of the target assembly after passing through the optical component; The industrial camera captures an array of light spots formed on the surface of the standard plate assembly to obtain an image of the first light spot; and Based on the imaging center position of the industrial camera, the light source component is translated in the XY plane so that the array center in the first light spot image coincides with the imaging center of the industrial camera.

3. The active calibration method for a detection module as described in claim 2, wherein, The step of performing orientation analysis on the second light spot image projected by the projection component after offset correction, acquired by the receiving component of the detection module, to perform rotation correction on the light source component and the optical component, includes the following steps: After offset correction of the projection component, the receiving component captures an array of light spots formed on the surface of the target component to obtain the second light spot image; and Based on the four-corner positioning frame of the receiving component, the light source component is rotated in the XY plane so that the four-corner light spots in the second light spot image coincide with the four-corner positioning frame of the receiving component.

4. The active calibration method for a detection module as described in claim 3, wherein, The step of performing uniformity analysis on the third light spot image projected by the projection component acquired by the industrial camera, in order to correct the tilt of the light source component and the optical component, includes the following steps: After rotating and correcting the projection assembly, the industrial camera captures an array of light spots formed on the surface of the target assembly to obtain an image of the third light spot; and Based on the spot size of different regions in the third spot image, the light source component is rotated outside the XY plane so that the spot size of different regions in the third spot image remains basically consistent.

5. The active calibration method for a detection module as described in claim 4, wherein, The step of performing sharpness analysis on the fourth light spot image projected by the projection component after tilt correction, acquired by the industrial camera, to perform sharpness correction on the light source component and the optical component so that the light source component and the optical component are positioned in the clearest position, includes the following steps: After tilt correction of the projection component, the industrial camera continuously captures images of the light spot array formed on the surface of the target assembly while translating the light source component along the Z-axis direction to obtain a series of images of the fourth light spot. Data fitting processing is performed on the changes in spot size in a series of images of the fourth spot to form the corresponding focusing curve; as well as The light source component is translated along the Z-axis to the sharpest position determined by the focusing curve to complete the sharpness correction of the projection component.

6. The active calibration method for a detection module as described in any one of claims 1 to 5, further comprising the step of performing sharpness analysis on the fourth spot image projected by the projection component after tilt correction, acquired via the industrial camera, to perform sharpness correction on the light source component and the optical component, so that the light source component and the optical component are positioned in the clearest position: The detection module is assembled by applying adhesive between the light source component and the optical component, and fixing the light source component and the optical component together after the adhesive cures.

7. The active calibration method for a detection module as described in claim 6, wherein, The step of assembling the detection module by applying adhesive between the light source component and the optical component to fix the light source component and the optical component after the adhesive cures includes the following steps: The amount of curing shrinkage of the adhesive is calculated based on its curing shrinkage ratio and the amount applied. Move the light source component along the Z-axis to a position that is a distance from the clearest position by the amount of curing shrinkage; as well as Under uniform ultraviolet light irradiation, the adhesive that is uniformly applied between the light source component and the optical component is cured to fix the light source component and the optical component together.

8. An active calibration system for a detection module, the detection module including a projection component and a receiving component, the projection component including a light source component and an optical component, wherein, The optical component is configured to modulate the light emitted by the light source component; characterized in that it includes components that are communicatively connected to each other. An offset correction module is used to analyze the center position of the first spot image projected by the projection component of the detection module acquired by the industrial camera, so as to correct the offset of the light source component and optical component of the projection component. A rotation correction module is used to perform orientation analysis on the second spot image projected by the projection component after offset correction, which is acquired by the receiving component of the detection module, so as to perform rotation correction on the light source component and the optical component. A tilt correction module is used to perform uniformity analysis on the third spot image projected by the projection component, acquired by the industrial camera, in order to correct the tilt of the light source component and the optical component; and A sharpness correction module is used to perform sharpness analysis on the fourth light spot image projected by the projection component after tilt correction, which is acquired by the industrial camera, so as to perform sharpness correction on the light source component and the optical component, so that the light source component and the optical component are positioned in the clearest position.

9. The active calibration system for a detection module as described in claim 8, wherein, The offset correction module includes a clamping control module, a first shooting control module, and an inner translation control module that are communicatively connected to each other. The clamping control module controls a clamping component to clamp the optical component to a pre-assembled position, such that the optical component is located between the light source component and the target assembly, so that the light beam emitted by the light source component forms a light spot array on the surface of the target assembly after passing through the optical component. The first shooting control module controls an industrial camera to capture the light spot array formed on the surface of the target assembly to obtain the first light spot image. The inner translation control module controls a motion component to translate the light source component in the XY plane based on the imaging center position of the industrial camera, so that the array center in the first light spot image coincides with the imaging center of the industrial camera.

10. The active calibration system for a detection module as described in claim 9, wherein, The rotation correction module includes a second imaging control module and an inner rotation control module that are communicatively connected to each other. The second imaging control module is used to control the receiving component to capture an array of light spots formed on the surface of the target plate component after offset correction of the projection component, thereby obtaining the second light spot image. The inner rotation control module is used to control the motion component to rotate the light source component in the XY plane based on the four corner positioning frames of the receiving component, so that the four corner light spots in the second light spot image coincide with the four corner positioning frames of the receiving component.

11. The active calibration system for a detection module as described in claim 10, wherein, The tilt correction module includes a third imaging control module and an external rotation control module that are communicatively connected to each other. The third imaging control module is used to control the industrial camera to capture an array of light spots formed on the surface of the target plate assembly after the projection assembly is rotated and corrected, thereby obtaining the third light spot image. The external rotation control module is used to control the motion component to rotate the light source component outside the XY plane based on the light spot size of different regions in the third light spot image, so that the light spot size of different regions in the third light spot image remains basically consistent.

12. The active calibration system for a detection module as described in claim 11, wherein, The sharpness correction module includes a fourth shooting control module, a data fitting module, and an external translation control module that are communicatively connected to each other. The fourth shooting control module controls the industrial camera to continuously capture an array of light spots formed on the surface of the target assembly while translating the light source component along the Z-axis after tilt correction of the projection assembly, thereby obtaining a series of fourth light spot images. The data fitting module performs data fitting processing on the changes in the light spot size in the series of fourth light spot images to form a corresponding focus curve. The external translation control module controls the motion component to translate the light source component along the Z-axis to the sharpest position determined by the focus curve, thereby completing the sharpness correction of the projection assembly.

13. The active calibration system for a detection module as described in any one of claims 8 to 12, further comprising a fixing control module, wherein the fixing control module is used to control an adhesive fixing assembly to apply adhesive between the light source component and the optical component through the adhesive fixing assembly, and to fix the light source component and the optical component after the adhesive has cured, thereby assembling the detection module.

14. The active calibration system for a detection module as described in claim 13, wherein, The bonding control module includes a shrinkage calculation module, a positioning and moving module, and a curing module that are communicatively connected to each other. The shrinkage calculation module is used to calculate the curing shrinkage of the adhesive based on the curing shrinkage ratio and the amount of adhesive applied. The positioning and moving module is used to move the light source component along the Z-axis to a position that is a distance from the clearest position by the amount of curing shrinkage; the curing module is used to cure the adhesive that is uniformly applied between the light source component and the optical component under uniform ultraviolet light irradiation, so as to fix the light source component and the optical component together.

15. An electronic device, characterized in that, include: At least one processor is used to execute instructions; and A memory communicatively connected to the at least one processor, wherein the memory has at least one instruction, wherein the instruction is executed by the at least one processor to cause the at least one processor to perform all or part of the steps in an active calibration method for a detection module, wherein the detection module includes a projection component and a receiving component, the projection component including a light source component and an optical component, wherein the optical component is configured to modulate light emitted by the light source component; the active calibration method for the detection module includes the steps of: The center position of the first spot image projected by the projection component of the detection module, which is acquired by an industrial camera, is analyzed in order to correct the offset of the light source component and optical component of the projection component. Orientation analysis is performed on the second spot image projected by the projection component after offset correction, which is acquired by the receiving component of the detection module, in order to perform rotation correction on the light source component and the optical component. Uniformity analysis is performed on the third spot image projected by the projection component, acquired via the industrial camera, to correct the tilt of the light source component and the optical component; and A sharpness analysis is performed on the fourth light spot image projected by the projection component after tilt correction, which is acquired by the industrial camera, in order to sharpen the light source component and the optical component so that the light source component and the optical component are positioned in the clearest position.

16. An electronic device, characterized in that, include: An active calibration platform, wherein the active calibration platform includes: An industrial camera; A target assembly, wherein the target assembly is correspondingly disposed on the light-emitting side of a light source component of a projection assembly of a detection module; A clamping assembly, wherein the clamping assembly is used to clamp an optical component of the projection assembly to a position between the light source component and the target assembly; and A six-axis tooling assembly, wherein the six-axis tooling assembly is used to fix the light source component and the receiving component of the detection module, and to drive the light source component to move; and An active calibration system for a detection module, wherein the active calibration system for the detection module is communicatively connected to the active calibration platform, and the active calibration system for the detection module includes the detection module comprising a projection component and a receiving component, the projection component comprising a light source component and an optical component, wherein the optical component is configured to modulate the light emitted by the light source component; An offset correction module is used to analyze the center position of the first spot image projected by the projection component of the detection module acquired by the industrial camera, so as to correct the offset of the light source component and optical component of the projection component. A rotation correction module is used to perform orientation analysis on the second spot image projected by the projection component after offset correction, which is acquired by the receiving component of the detection module, so as to perform rotation correction on the light source component and the optical component. A tilt correction module is used to perform uniformity analysis on the third spot image projected by the projection component, acquired by the industrial camera, in order to correct the tilt of the light source component and the optical component; and A sharpness correction module is used to perform sharpness analysis on the fourth light spot image projected by the projection component after tilt correction, which is acquired by the industrial camera, so as to perform sharpness correction on the light source component and the optical component, so that the light source component and the optical component are positioned in the clearest position.

17. The electronic device of claim 16, wherein, The clamping assembly includes a jaw and a six-way translation member, wherein the jaw is used to grip the optical component, and the six-way translation member is drivably connected to the jaw for driving the jaw to translate to move the optical component to a pre-assembly position.

18. The electronic device of claim 17, wherein, The six-axis tooling assembly includes a module tooling for fixedly mounting the light source component and the receiving component, and a six-axis motion platform, wherein the module tooling is mounted on the six-axis motion platform, and the six-axis motion platform is used to drive the module tooling to move under the control of the active calibration system for the detection module to move the light source component to the clearest position.

19. The electronic device of claim 18, wherein, The active calibration platform further includes an adhesive bonding assembly, wherein the adhesive bonding assembly includes an adhesive applicator and a set of UV illuminators, wherein the adhesive applicator is used to uniformly apply adhesive between the light source component and the optical component, wherein the UV illuminators are correspondingly mounted on the six-axis motion platform, and the UV illuminators are arranged around the module tooling so that the UV illuminators can uniformly irradiate the adhesive for synchronous curing.

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