Calibration system and method for point laser module to point to center

Abstract

The invention relates to a calibration system and method for pointing a point laser module to the center, the calibration system for pointing the point laser module to the center is used for calibrating the pointing center of the point laser module, and the calibration system comprises a support, and an image acquisition device, a screen assembly and a module carrier which are sequentially arranged along a first direction; the module carrying table is used for carrying a to-be-calibrated point laser module, so that emergent light of the point laser module is parallel to a first direction; the screen assembly is connected with the support and comprises a screen carrying table and a light-tight first screen provided with a round hole, the screen carrying table is provided with a screen placing position located in an imaging area of the image acquisition device, and the screen placing position is used for placing the first screen; the image acquisition device is used for acquiring a first image obtained through circular hole imaging when the point laser module is lightened, and the pointing center is the center pixel coordinate of the circular hole when the geometric contour center of the point laser module in the first image coincides with the center of the circular hole.

Description

Technical Field

[0001] The present application relates to the field of optical technology, and in particular to a system and method for calibrating the pointing center of a point laser module. Background Art

[0002] A point laser module is a device capable of emitting laser light and has a wide range of applications in optical measurement, lasers, precision instruments, and other fields. Point laser modules are typically used for precise positioning and measurement, and their pointing center directly impacts the accuracy and reliability of the entire system. In related technologies, the spot of light emitted by a point laser module can be determined, and the center of mass of the spot can be used as the pointing center of the point laser module. However, since the center of mass of the spot may not be the pointing center of the point laser module, the accuracy of the pointing center of the point laser module is reduced. Summary of the Invention

[0003] Based on this, it is necessary to provide a point laser module pointing center calibration system and method thereof that can accurately determine the pointing center of the point laser module in order to solve the above technical problems.

[0004] In a first aspect, the present application provides a point laser module pointing center calibration system for calibrating the pointing center of the point laser module, comprising a bracket, and an image acquisition device, a screen assembly, and a module carrier arranged in sequence along a first direction;

[0005] The module carrier is used to carry the point laser module to be calibrated so that the output light of the point laser module is parallel to the first direction;

[0006] The screen assembly is connected to the bracket, and includes a screen carrier and a first light-proof screen with a circular hole. The screen carrier is configured with a screen placement position located within the imaging area of ​​the image acquisition device, and the screen placement position is used to place the first screen.

[0007] The image acquisition device is used to acquire a first image obtained by imaging the circular hole when the point laser module is lit, and the pointing center is the central pixel coordinate of the circular hole when the geometric outline center of the point laser module in the first image coincides with the center of the circular hole.

[0008] In one embodiment, the image acquisition device is further configured to acquire an image of the circular hole to obtain a second image when the center of the geometric outline of the point laser module coincides with the center of the circular hole, and the second image is used to calculate the central pixel coordinates of the circular hole;

[0009] The first image is obtained when the image acquisition device is focused on the point laser module, and the second image is obtained when the image acquisition device is focused on the circular hole.

[0010] In one embodiment, it further includes:

[0011] The first motion component is connected to the module carrier and is used to drive the module carrier to move in a plane perpendicular to the first direction, so that the point laser module moves to a position corresponding to the circular hole.

[0012] In one embodiment, it further includes:

[0013] The second motion component is connected to the image acquisition device and the bracket, and is used to drive the image acquisition device to move along the first direction.

[0014] In one embodiment, it further includes:

[0015] a second light-transmitting screen, disposed at the screen placement position, and configured to present the light spot of the point laser module after the pointing center of the point laser module is determined;

[0016] The image acquisition device is further configured to acquire a light spot image of the second screen and map the pixel coordinates pointing to the center onto the light spot image.

[0017] In one embodiment, it further includes:

[0018] The third motion component is connected to the screen carrier and the bracket respectively, and is used to drive the screen carrier to move along the first direction when the second screen is located in the screen placement position and the point laser module is in working state, so that the light spot of the point laser module occupies 60% to 70% of the light spot image.

[0019] In one embodiment, the distance between the image acquisition device and the screen assembly is 10 cm to 20 cm, and the distance between the screen assembly and the module carrier is 8 cm to 20 cm.

[0020] In one embodiment, the diameter of the circular hole is 0.1 mm to 1 mm.

[0021] In one embodiment, the light source of the point laser module adopts a VCSEL chip.

[0022] In a second aspect, the present application provides a method for calibrating a point laser module pointing to a center, which is used to control a calibration system for the point laser module pointing to a center as described above. The method includes:

[0023] Assemble the point laser module to be calibrated, and place the first screen at the screen placement position;

[0024] The image acquisition device acquires a first image obtained by imaging the circular hole when the point laser module is lit, and the pointing center is the central pixel coordinate of the circular hole when the geometric outline center of the point laser module in the first image coincides with the center of the circular hole.

[0025] In one embodiment, the first image is acquired when the image acquisition device is focused on the point laser module; the method further includes:

[0026] When the center of the geometric outline of the point laser module coincides with the center of the circular hole, adjusting the focus position of the image acquisition device so that the focus of the image acquisition device is focused on the circular hole;

[0027] Acquire an image of the circular hole by the image acquisition device to obtain a second image;

[0028] The center pixel coordinates of the circular hole are calculated according to the second image.

[0029] In one embodiment, after determining the center of the circular hole in the second image as the pointing center of the point laser module, the method further includes:

[0030] When a second light-transmitting screen is placed at the screen placement position, the point laser module is controlled to be in a working state; the second screen is configured to present the light spot of the point laser module after the pointing center of the point laser module is determined;

[0031] collecting a light spot image of the second screen by the image acquisition device;

[0032] The centroid coordinates of the light spot in the light spot image are acquired, and the pixel coordinates pointing to the center are mapped onto the light spot image to acquire position offset information between the centroid coordinates and the pixel coordinates pointing to the center.

[0033] In one embodiment, when the calibration system includes a second motion component, before the image acquisition device acquires the image of the point laser module through the circular hole, the system further includes:

[0034] The second motion component is controlled to move along the first direction so that the image acquisition device focuses on the point laser module through the circular hole.

[0035] In one embodiment, when the calibration system includes a third motion component, before placing the first screen in the screen placement position, the method further includes:

[0036] Place the second screen at the screen placement position;

[0037] Controlling the point laser module to be in working state;

[0038] The third moving component is controlled to move along the first direction so that the light spot of the point laser module occupies 60% to 70% of the light spot image.

[0039] In one embodiment, when the calibration system includes a first motion component, the method further includes:

[0040] When the point laser module is not located at the center of the circular hole, the first moving component is controlled to move so as to move the point laser module to a position corresponding to the circular hole.

[0041] In the present application, a calibration system includes an image acquisition device, a screen assembly, and a laser module. The screen assembly is disposed between the image acquisition device and the laser module. The screen assembly is provided with a screen placement position. When a first opaque screen having a circular hole is placed in the screen placement position, a controller can control the point laser module to move to a position corresponding to the circular hole, and the image acquisition device captures an image of the point laser module to obtain a first image. When the pointing center of the point laser module is aligned with the center of the circular hole, the pointing center of the point laser module can be ensured to be the center of the circular hole, thereby improving the accuracy of the pointing center of the point laser module. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 This is a schematic diagram of a structure of a calibration system for a point laser module pointing to a center according to an embodiment;

[0044] Figure 2 Schematic diagram of the optical path of a calibration system according to one embodiment;

[0045] Figure 3 is a schematic diagram of a first image captured by an image capture device according to an embodiment;

[0046] Figure 4 for Figure 3 A partial schematic diagram of a first image of an embodiment;

[0047] Figure 5 is a schematic diagram of a second image according to an embodiment;

[0048] Figure 6 This is a second structural diagram of a system for calibrating the pointing center of a point laser module according to an embodiment;

[0049] Figure 7 A schematic diagram of a spot image and a pointing center of a point laser module according to an embodiment;

[0050] Figure 8 This is a flow chart of a method for calibrating the pointing center of a point laser module according to an embodiment;

[0051] Figure 9 This is a second flow chart of a method for calibrating the pointing center of a point laser module according to an embodiment;

[0052] Figure 10 This is the third flow chart of a method for calibrating the pointing center of a point laser module according to an embodiment.

[0053] Component number description:

[0054] Bracket: 10; image acquisition device: 20; screen assembly: 30; screen carrier: 31; first screen: 32; circular hole: 32a; second screen: 33; module carrier: 40; point laser module: 50; first motion assembly: 61; second motion assembly: 62; third motion assembly: 63. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0056] It should be noted that the terms "first," "second," and the like in the specification and claims of the present disclosure and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0057] The present application provides a point laser module pointing center calibration system and method capable of accurately determining the pointing center of a point laser module.

[0058] In order to better understand the embodiments of the present application, the relevant technologies are described below.

[0059] In related technologies, a point laser module can be controlled to be in working state so that the light emitted by the point laser module is irradiated on the screen. The centroid of the light spot irradiated on the screen can be determined, and the centroid can be determined as the pointing center of the point laser module.

[0060] In the case where the light spot is non-uniformly symmetrical, the centroid of the light spot may be different from the pointing center of the point laser module, thereby reducing the accuracy of the pointing center of the point laser module.

[0061] In order to solve the above problems, the present application provides a calibration system for a point laser module pointing to the center. Figure 1 This is a schematic diagram of a point laser module pointing to the center of a calibration system according to an embodiment of the present invention. Figure 1 The calibration system for pointing the laser module to the center includes a bracket 10, and an image acquisition device 20, a screen assembly 30, and a module stage 40 sequentially arranged along a first direction. That is, the screen assembly 30 is arranged between the image acquisition device 20 and the module stage 40.

[0062] The module carrier 40 is used to carry the point laser module 50 to be calibrated, so that the emitted light of the point laser module 50 is parallel to the first direction.

[0063] The screen assembly 30 is connected to the bracket 10 and includes a screen support 31 and a light-proof first screen 32 with a circular hole 32a. Specifically, the first screen 32 is light-proof only at the location of the circular hole 32a; all other locations are light-proof. The screen support 31 is configured with a screen placement position within the imaging area of ​​the image acquisition device 20 for placement of the first screen 32.

[0064] In some embodiments, the circular hole 32a is located at the center of the first screen 32. Accordingly, the image capture device 20 can be fixed at a position corresponding to the center of the screen placement position, ensuring that the circular hole 32a is located at the center of the image captured by the image capture device 20. In some embodiments, the circular hole 32a can also be located at other positions on the first screen 32, and the location of the circular hole 32a on the first screen 32 is not limited.

[0065] Figure 2 FIG. 1 is a schematic diagram of the optical path of a calibration system according to an embodiment of the present invention. Figure 2 As shown, the light emitted by the point laser module 50 can pass through the circular hole 32a to illuminate the image acquisition device 20. The image acquisition device 20 is used to capture the first image obtained by imaging through the circular hole 32a when the point laser module 50 is lit, and the pointing center is the central pixel coordinate of the circular hole 32a when the center of the geometric outline of the point laser module 50 in the first image coincides with the center of the circular hole 32a.

[0066] In some embodiments, after the calibration system determines that the module stage 40 has moved to a position corresponding to the circular hole 32a, the image acquisition device 20 may acquire an image of the module stage 40 to obtain a first image. Figure 3 FIG. 1 is a schematic diagram of a first image captured by an image capture device 20 according to an embodiment of the present invention. Figure 3As shown, when the area where the module carrier 40 is located is illuminated, in the image of the area where the first screen 32 is located captured by the image capture device 20, the area except the area where the circular hole 32a is located is opaque. Figure 4 for Figure 3 A partial schematic diagram of the first image of the embodiment. Figure 4 As shown, the first image includes a circular hole 32 a , and the module carrier 40 is located in the circular hole 32 a (not shown).

[0067] In the case where there is no light in the area where the module carrier 40 is located, the brightness of the area where the module carrier 40 is located is relatively low, and the clarity of the module carrier 40 in the image captured by the image acquisition device 20 is low, and the position of the module carrier 40 in the image may not be accurately determined. Therefore, in order to improve the accuracy of calibration, it is necessary to ensure that there is light in the area where the module carrier 40 is located. The lighting in the area where the module carrier 40 is located can be provided by the light source in the calibration system, that is, the first image is acquired when the point laser module 50 is lit. Exemplarily, the light source of the point laser module 50 uses a VCSEL chip. In the case where the lighting in the area where the module carrier 40 is located is provided by the VCSEL chip, the calibration system can also control the VCSEL chip to be in a working state.

[0068] In some embodiments, the position of the module platform 40 may be fluid. Based on user operations, the position of the module platform 40 may be changed. The position of the screen assembly 30 may be fluid. Based on user operations, the distance between the screen assembly 30, the image acquisition device 20, and the module platform 40 may be adjusted. The position of the image acquisition device 20 may be fluid. Based on user operations, the position of the image acquisition device 20 may be changed within the area corresponding to the screen placement position. After the position of at least one of the module platform 40, the module platform 40, and the image acquisition device 20 is adjusted, the image acquisition device 20, the circular hole 32a, and the module platform 40 are approximately aligned.

[0069] In some embodiments, the user may perform a first acquisition operation on the calibration system to acquire an image. Accordingly, the controller may control the image acquisition device 20 to acquire an image of the module stage 40 to obtain a first image in response to the first acquisition operation.

[0070] In some embodiments, the calibration system may further include a display device. After obtaining the first image, the first image may be displayed on the display device. If the module carrier 40 is located at the center of the circular hole 32a in the displayed first image, it indicates that the pointing center of the point laser module 50 is the center of the circular hole 32a.

[0071] In the embodiment of the application, the calibration system of the pointing center of the point laser module sets the position of the screen assembly 30 or the module carrier 40 so that the geometric contour center of the point laser module 50 in the first image coincides with the center of the circular hole 32a, so that the pointing center of the point laser module 50 can coincide with the center of the circular hole 32a, thereby obtaining the pointing center based on the central pixel coordinates of the circular hole 32a, thereby improving the accuracy of the pointing center of the point laser module 50.

[0072] In one embodiment, the image capture device 20 is further configured to capture an image of the circular hole 32a when the center of the geometric outline of the point laser module 50 coincides with the center of the circular hole 32a, thereby obtaining a second image. The second image is used to calculate the central pixel coordinates of the circular hole 32a. The first image is acquired when the image capture device 20 is focused on the point laser module 50, while the second image is acquired when the image capture device 20 is focused on the circular hole 32a. In other words, the image capture device 20 captures the first and second images using different focal lengths. The first and second images are images captured by the image capture device 20 using different focal lengths.

[0073] The user can perform a second acquisition operation on the calibration system to acquire an image. Accordingly, the controller can control the image acquisition device 20 to acquire an image of the circular hole 32a to obtain a second image in response to the second acquisition operation. For example, Figure 5 FIG. 1 is a schematic diagram of a second image according to an embodiment. Figure 5 As shown, the second image includes the circular hole 32 a but does not include the module stage 40 .

[0074] In some embodiments, the controller can identify the circular hole 32a and the module carrier 40 in the first image, and determine whether the module carrier 40 in the first image is located at the center of the circular hole 32a. When it is determined that the module carrier 40 in the first image is located at the center of the circular hole 32a, it indicates that the pointing center of the point laser module 50 is the center of the circular hole 32a, that is, the position of the module carrier 40 has been determined through the circular hole 32a, and the image of the circular hole 32a can be captured by the image acquisition device 20 to obtain the second image.

[0075] Continue to refer Figure 1 In one embodiment, the calibration system for the point laser module pointing to the center further includes a first motion component 61. The first motion component 61 is connected to the module carrier 40 and is used to drive the module carrier 40 to move in a plane perpendicular to the first direction, so as to move the point laser module 50 to a position corresponding to the circular hole 32a.

[0076] In some embodiments, after the first screen 32 is placed in the screen placement position, the user can first determine whether the module carrier 40 is in a position corresponding to the circular hole 32a. If the module carrier 40 is not in a position corresponding to the circular hole 32a, the user can input a first movement operation for moving the module carrier 40 to the calibration system. Accordingly, the controller can control the module carrier 40 to move to a position corresponding to the circular hole 32a in response to the first movement operation. For example, when the module carrier 40 is located below the screen assembly 30, the controller can control the module carrier 40 to move to a position below the circular hole 32a. It should be understood that the first movement operation can include one movement operation or multiple movement operations, that is, the user can move the module carrier 40 to a position corresponding to the circular hole 32a through one operation or through multiple operations.

[0077] In one embodiment, the calibration system for aligning the point laser module with the center further includes a second motion assembly 62. The second motion assembly 62 is connected to the image acquisition device 20 and the bracket 10 and is configured to drive the image acquisition device 20 in a first direction. By driving the image acquisition device 20 in the first direction, the image acquisition device 20 can be focused on the point laser module 50 through the circular aperture 32a. If the area where the module stage 40 is located is illuminated and a user cannot see the module stage 40 through the circular aperture 32a through the image acquisition device 20, the user can use the second motion assembly 62 to move the image acquisition device 20 so that the image acquisition device 20 can clearly see the module stage 40 through the circular aperture 32a. It is understood that the image acquisition device 20 can also be focused on the point laser module 50 through the circular aperture 32a by adjusting the focal length of the image acquisition device 20, which is not a limitation herein.

[0078] In one embodiment, the second motion component 62 is further configured to drive the image acquisition device 20 to move in a plane perpendicular to the first direction, so that the image acquisition device 20 is aligned with the position of the circular hole 32 a.

[0079] In some embodiments, when the position of the circular hole 32a is not fixed, the user can first determine whether the image capture device 20 is in the position corresponding to the circular hole 32a. If the image capture device 20 is not in the position corresponding to the circular hole 32a, the user can also input a second movement operation to the calibration system to move the image capture device 20. Accordingly, the controller can detect the second movement operation and then, in response to the second movement operation, control the image capture device 20 to move to the position corresponding to the circular hole 32a. For example, when the image capture device 20 is located above the screen assembly 30, the controller can control the image capture device 20 to move to a position above the circular hole 32a.

[0080] In some embodiments, when the position of the circular hole 32a is not fixed, the controller can obtain the position of the image acquisition device 20 and determine whether the image acquisition device 20 is in the position corresponding to the circular hole 32a based on the position of the image acquisition device 20. If it is determined that the image acquisition device 20 is not in the position corresponding to the circular hole 32a, the controller can control the image acquisition device 20 to move to the position corresponding to the circular hole 32a. For example, the controller can obtain the position of the module carrier 40 through a positioning device.

[0081] In the case where the opening position of the circular hole 32 a is not fixed, if the image acquisition device 20 can acquire an image of the circular hole 32 a , the position of the image acquisition device 20 does not need to be adjusted.

[0082] Figure 6 This is a second structural diagram of a calibration system for a point laser module pointing to a center according to an embodiment of the present invention. Figure 6 In one embodiment, the system for calibrating the point laser module's pointing center further includes a translucent second screen 33. The second screen 33 is positioned at the screen placement location and is configured to present the light spot of the point laser module 50 after the pointing center of the point laser module 50 is determined. The image acquisition device 20 is further configured to capture a light spot image of the second screen 33 and map the pixel coordinates of the pointing center onto the light spot image. Figure 7 FIG. 5 is a schematic diagram of a spot image and a point laser module 50 pointing to the center of an embodiment. Figure 7 As shown, the centroid of the light spot does not coincide with the pointing center of the point laser module 50 .

[0083] It should be understood that before acquiring the light spot image by the image acquisition device 20 , the image acquisition device 20 may be controlled to focus on the light spot.

[0084] Combined with reference Figure 1 and Figure 6 In one embodiment, the calibration system for the point laser module pointing to the center further includes a third motion component 63. The third motion component 63 is connected to the screen stage 31 and the bracket 10, respectively. The third motion component 63 is configured to drive the screen stage 31 to move along the first direction when the second screen 33 is in the screen placement position and the point laser module 50 is in operation, so that the spot of the point laser module 50 occupies 60% to 70% of the spot image, thereby enabling the center of mass of the spot to be determined more accurately.

[0085] In one embodiment, the distance between the image acquisition device 20 and the screen assembly 30 is 10 cm to 20 cm, for example, 10 cm, 15 cm, 20 cm, etc. The distance between the screen assembly 30 and the module carrier 40 is 8 cm to 20 cm, for example, 8 cm, 10 cm, 15 cm, 20 cm, etc. With the above distance settings, the image acquisition device 20 can achieve better imaging effects.

[0086] In one embodiment, the diameter of the circular hole 32a is 0.1 mm to 1 mm, for example, 0.1 mm, 0.5 mm, 1 mm, etc., to ensure the clarity of the pinhole imaging.

[0087] The embodiment of the present application further provides a method for calibrating the pointing center of a point laser module, which is used to control the calibration system for the pointing center of a point laser module as described above. Figure 8 This is a flow chart of a method for calibrating the center of a point laser module according to an embodiment of the present invention. Figure 8 , the method includes the following steps.

[0088] 101. Assemble the point laser module 50 to be calibrated and place the first screen 32 at the screen placement position.

[0089] In the case where the pointing center of the point laser module 50 needs to be calibrated, the user can place or install the first screen 32 at the screen placement position.

[0090] If the module stage 40 is not in a position corresponding to the circular hole 32a, that is, if the initial position of the module stage 40 is not in a position corresponding to the circular hole 32a, the user can translate or rotate the module stage 40 to position the module stage 40 in a position corresponding to the circular hole 32a. Controlling the module stage 40 to move to a position corresponding to the circular hole 32a, or controlling the module stage 40 and the image acquisition device 20 to move to a position corresponding to the circular hole 32a, is to ensure that the image acquisition device 20, the circular hole 32a, and the module stage 40 are approximately aligned, thereby better calibrating the pointing center of the point laser module 50.

[0091] 102. The image acquisition device 20 acquires a first image obtained by imaging through the circular hole 32a when the point laser module 50 is turned on.

[0092] The pointing center of the point laser module 50 is the central pixel coordinate of the circular hole 32 a when the geometric outline center of the point laser module 50 in the first image coincides with the center of the circular hole 32 a .

[0093] When the area where the module stage 40 is located is illuminated, the controller may, if the module stage 40 is located in the area where the circular hole 32a is located in the image captured by the image acquisition device 20, continue to determine the clarity of the area where the circular hole 32a is located, and determine in real time whether the clarity of the area where the circular hole 32a meets the requirements. If it is determined that the clarity of the area where the circular hole 32a meets the requirements, it indicates that the image acquisition device 20 can clearly see the module stage 40 through the circular hole 32a, and the first image may be captured. If it is determined that the module stage 40 is not located in the area where the circular hole 32a is located, or the clarity of the area where the circular hole 32a is less than or equal to a threshold value, it indicates that the image acquisition device 20 cannot clearly see the module stage 40 through the circular hole 32a, and the image acquisition device 20 may be controlled to continue focusing on the module stage 40 through the circular hole 32a until the image acquisition device 20 can clearly see the module stage 40 through the circular hole 32a.

[0094] In the embodiments of the application, by positioning the screen assembly 30 or the module stage 40 so that the geometric outline center of the point laser module 50 in the first image coincides with the center of the circular hole 32a, the pointing center of the point laser module 50 can be made to coincide with the center of the circular hole 32a, thereby enabling the pointing center to be determined based on the central pixel coordinates of the circular hole 32a. The calibration method of this embodiment ensures that the pointing center of the point laser module 50 is the center of the circular hole 32a, thereby improving the accuracy of the pointing center of the point laser module 50.

[0095] In one embodiment, the first image is acquired when the image acquisition device 20 is focused on the point laser module 50 . Figure 9 This is a second flow chart of a method for calibrating the center of a point laser module according to an embodiment of the present invention. Figure 9 The method further includes the following steps. That is, after step 102, the method further includes steps 103 to 105. Steps 101 to 102 can refer to the above embodiment and will not be repeated here.

[0096] 101. Assemble the point laser module 50 to be calibrated and place the first screen 32 at the screen placement position.

[0097] 102. The image acquisition device 20 acquires a first image obtained by imaging through the circular hole 32a when the point laser module 50 is turned on.

[0098] 103. When the center of the geometric outline of the point laser module 50 coincides with the center of the circular hole 32a, adjust the focus position of the image acquisition device 20 so that the focus of the image acquisition device 20 is focused on the circular hole 32a.

[0099] In some embodiments, after obtaining the first image, the controller can identify the circular hole 32a and the module stage 40 in the first image to determine whether the geometric center of the point laser module 50 coincides with the center of the circular hole 32a. If the geometric center of the point laser module 50 coincides with the center of the circular hole 32a, it indicates that the pointing center of the point laser module 50 is the center of the circular hole 32a, that is, the position of the module stage 40 has been determined by the circular hole 32a, and the image acquisition device 20 can be controlled to focus on the circular hole 32a. The controller can control the image acquisition device 20 to focus and obtain the clarity of the area where the circular hole 32a is located in real time to determine whether the clarity of the area where the circular hole 32a is located meets the required level, thereby determining whether the image acquisition device 20 is focused on the circular hole 32a.

[0100] 104. The image acquisition device 20 captures an image of the circular hole 32a to obtain a second image.

[0101] In some embodiments, the user may perform a second focusing operation on the image acquisition device 20. Accordingly, the controller may control the image acquisition device 20 to focus on the circular hole 32a in response to the second focusing operation.

[0102] 105. Calculate the center pixel coordinates of the circular hole 32a according to the second image.

[0103] In one embodiment, Figure 10 This is a flow chart of the method for calibrating the center of a point laser module according to an embodiment of the present invention. Figure 10 The method further includes the following steps. That is, after step 105, the method further includes steps 106 to 108. Steps 101 to 105 can refer to the above embodiment and will not be repeated here.

[0104] 101. Assemble the point laser module 50 to be calibrated and place the first screen 32 at the screen placement position.

[0105] 102. The image acquisition device 20 acquires a first image obtained by imaging through the circular hole 32a when the point laser module 50 is turned on.

[0106] 103. When the center of the geometric outline of the point laser module 50 coincides with the center of the circular hole 32a, adjust the focus position of the image acquisition device 20 so that the focus of the image acquisition device 20 is focused on the circular hole 32a.

[0107] 104. The image acquisition device 20 captures an image of the circular hole 32a to obtain a second image.

[0108] 105. Calculate the center pixel coordinates of the circular hole 32a according to the second image.

[0109] 106. When the translucent second screen 33 is placed at the screen placement position, the control point laser module 50 is in working state.

[0110] The second screen 33 is configured to present the light spot of the point laser module 50 after the pointing center of the point laser module 50 is determined.

[0111] 107 . Capture the light spot image of the second screen 33 through the image acquisition device 20 .

[0112] It should be understood that before acquiring the spot image through the image acquisition device 20, the image acquisition device 20 may be controlled to focus on the spot. For a detailed description of controlling the image acquisition device 20 to focus on the spot, reference may be made to the description of controlling the image acquisition device 20 to focus on the circular hole 32a.

[0113] 108. Obtain the centroid coordinates of the light spot in the light spot image, and map the pixel coordinates pointing to the center onto the light spot image to obtain position offset information between the centroid coordinates and the pixel coordinates pointing to the center.

[0114] After obtaining the light spot image, the controller may first determine the centroid of the light spot in the light spot image, that is, the center position.

[0115] In some embodiments, the controller may identify a centroid of the spot in the spot image.

[0116] In some embodiments, the controller can determine whether the center of mass of the light spot coincides with the pointing center of the point laser module 50 based on the relative position between the center of mass of the light spot and the pointing center of the point laser module 50. When the center of mass of the light spot coincides with the pointing center of the point laser module 50, positioning or measurement can be performed directly based on the center of mass of the light spot when using the module carrier 40 for positioning or measurement.

[0117] When the center of mass of the light spot does not coincide with the pointing center of the point laser module 50, when using the module carrier 40 for positioning or measurement, positioning or measurement can be performed first based on the center of mass of the light spot, and then the positioning or measurement results can be calibrated based on the pointing center of the point laser module 50, which can improve the accuracy and reliability of the system.

[0118] In one embodiment, when the calibration system includes a second motion component 62, before the image acquisition device 20 acquires an image of the point laser module 50 through the circular hole 32a, the calibration method for pointing the point laser module to the center further includes: controlling the second motion component 62 to move along a first direction so that the image acquisition device 20 focuses on the point laser module 50 through the circular hole 32a.

[0119] In one embodiment, when the calibration system includes a third motion component 63, before placing the first screen 32 in the screen placement position, the method also includes: placing the second screen 33 in the screen placement position; controlling the point laser module 50 to be in a working state; and controlling the third motion component 63 to move along the first direction so that the light spot of the point laser module 50 occupies 60% to 70% of the light spot image.

[0120] In one embodiment, when the calibration system includes a first motion component 61, the method further includes: when the point laser module 50 is not located at the center of the circular hole 32a, controlling the movement of the first motion component 61 to move the point laser module 50 to a position corresponding to the circular hole 32a. When it is determined that the module carrier 40 is not located at the center of the circular hole 32a in the first image, the controller can control the module carrier 40 to move so that the pointing center of the point laser module 50 coincides with the center of the circular hole 32a, until the module carrier 40 is located at the center of the circular hole 32a in the captured first image, indicating that the module carrier 40 coincides with the center of the circular hole 32a. This movement can be a single movement or multiple movements.

[0121] In the embodiments of the application, the pointing center of the point laser module 50 can be guaranteed to be the center of the circular hole 32a, thereby improving the accuracy of the pointing center of the point laser module 50. In addition, the controller can determine the relative position between the pointing center of the point laser module 50 and the center of mass of the light spot, so that the relative position can be used to calibrate the positioning or measurement results, thereby improving the accuracy and reliability of the system.

[0122] In some embodiments, after the first screen 32 is placed in the screen placement position, the controller can obtain the position of the module carrier 40, and can determine whether the module carrier 40 is in the position corresponding to the circular hole 32a based on the position of the module carrier 40. If it is determined that the module carrier 40 is not in the position corresponding to the circular hole 32a, the module carrier 40 can be controlled to move to the position corresponding to the circular hole 32a. For example, the controller can obtain the position of the module carrier 40 through a positioning device.

[0123] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0124] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A point laser module pointing center calibration system, used for calibrating the pointing center of the point laser module, characterized in that: It includes a bracket, and an image acquisition device, a screen assembly and a module carrier arranged in sequence along a first direction; The module carrier is used to carry the point laser module to be calibrated, so that the output light of the point laser module is parallel to the first direction; The screen assembly is connected to the bracket, and includes a screen carrier and a first screen with a round hole and opaque, wherein the screen carrier is configured with a screen placement position located in the imaging area of ​​the image acquisition device, and the screen placement position is used to place the first screen; The image acquisition device is used to acquire a first image obtained by imaging the circular hole when the point laser module is lit, and the pointing center is the central pixel coordinate of the circular hole when the center of the geometric outline of the point laser module in the first image coincides with the center of the circular hole.

2. The system according to claim 1, characterized in that The image acquisition device is also used to acquire an image of the circular hole to obtain a second image when the center of the geometric outline of the point laser module coincides with the center of the circular hole, and the second image is used to calculate the central pixel coordinates of the circular hole; The first image is obtained when the image acquisition device is focused on the point laser module, and the second image is obtained when the image acquisition device is focused on the circular hole.

3. The system according to claim 1, characterized in that Also includes: The first motion component is connected to the module carrier and is used to drive the module carrier to move in a plane perpendicular to the first direction, so that the point laser module moves to a position corresponding to the circular hole.

4. The system according to claim 1, characterized in that Also includes: The second motion component is connected to the image acquisition device and the bracket, and is used to drive the image acquisition device to move along the first direction.

5. The system according to claim 1, characterized in that Also includes: A light-transmitting second screen is disposed at the screen placement position and is configured to present the light spot of the point laser module after the pointing center of the point laser module is determined; The image acquisition device is further configured to acquire a light spot image of the second screen and map the pixel coordinates pointing to the center onto the light spot image.

6. The system according to claim 5, characterized in that Also includes: The third motion component is connected to the screen carrier and the bracket respectively, and is used to drive the screen carrier to move along the first direction when the second screen is located at the screen placement position and the point laser module is in working state, so that the light spot of the point laser module occupies 60%~70% of the light spot image.

7. The system according to claim 5, characterized in that The distance between the image acquisition device and the screen assembly is 10 cm to 20 cm, and the distance between the screen assembly and the module carrier is 8 cm to 20 cm.

8. The system according to any one of claims 1 to 7, characterized in that: The diameter of the circular hole is 0.1 mm to 1 mm.

9. The system according to any one of claims 1 to 7, characterized in that: The light source of the point laser module adopts a VCSEL chip.

10. A method for calibrating the pointing center of a point laser module, characterized in that: The method for controlling the calibration system of the point laser module pointing to the center as claimed in any one of claims 1 to 9 comprises: Assemble the point laser module to be calibrated, and place the first screen at the screen placement position; The image acquisition device acquires a first image obtained by imaging the circular hole when the point laser module is turned on, and the pointing center is the central pixel coordinate of the circular hole when the center of the geometric outline of the point laser module in the first image coincides with the center of the circular hole.

11. The method according to claim 10, characterized in that The first image is acquired when the image acquisition device focuses on the point laser module; the method further includes: When the center of the geometrical outline of the point laser module coincides with the center of the circular hole, adjusting the focus position of the image acquisition device so that the focus of the image acquisition device is focused on the circular hole; The image of the circular hole is acquired by the image acquisition device to obtain a second image; The central pixel coordinates of the circular hole are calculated according to the second image.

12. The method according to claim 11, characterized in that After determining the center of the circular hole in the second image as the pointing center of the point laser module, the method further includes: In the case where a second light-transmitting screen is placed at the screen placement position, the point laser module is controlled to be in a working state; the second screen is configured to present a light spot of the point laser module after the pointing center of the point laser module is determined; Acquire the spot image of the second screen by the image acquisition device; The centroid coordinates of the light spot in the light spot image are acquired, and the pixel coordinates pointing to the center are mapped onto the light spot image to acquire position offset information between the centroid coordinates and the pixel coordinates pointing to the center.

13. The method according to claim 10, characterized in that In the case where the calibration system includes a second motion component, before the image acquisition device acquires the image of the point laser module through the circular hole, it also includes: The second moving component is controlled to move along the first direction so that the image acquisition device is focused to the point laser module through the circular hole.

14. The method according to claim 12, characterized in that In the case where the calibration system includes a third motion component, before placing the first screen at the screen placement position, the method further includes: Placing a second screen at the screen placement position; Controlling the point laser module to be in working state; The third moving component is controlled to move along the first direction so that the light spot of the point laser module occupies 60% to 70% of the light spot image.

15. The method according to claim 10, characterized in that In the case where the calibration system includes a first motion assembly, the method further includes: When the point laser module is not located at the center of the circular hole, the first moving component is controlled to move so that the point laser module moves to a position corresponding to the circular hole.

Images