Ranging method and device, terminal equipment, laser processing equipment and storage medium

Abstract

The invention discloses a distance measuring method and device, terminal equipment, laser processing equipment and a storage medium, the distance measuring method is applied to a light peak distance measuring sensor, and the reference point of the light peak distance measuring sensor is determined; when the light peak distance measuring sensor moves between the to-be-measured object and the reference point, obtaining a corresponding target light intensity waveform; and determining a target light intensity peak based on the target light intensity waveform, and obtaining distance information between the to-be-measured object and the reference point based on the target light intensity peak. The corresponding target light intensity waveform is obtained by controlling the light peak distance measuring sensor to move between the to-be-measured object and the reference point, the target light intensity wave crest is determined by analyzing the target light intensity waveform, and then the distance information between the to-be-measured object and the reference point is determined, so that the technical problems of low distance measuring precision and high cost are solved, the distance measuring precision can be improved, and the user experience is improved. The ranging error is reduced, and the cost is reduced.

Description

[0001] Priority declaration

[0002] This application is based on the prior domestic application. In the current patent application, it legally claims the priority of the domestic patent application filed on December 29, 2023, with application number "202311869972.X" and application name "Ranging method, device, terminal equipment and storage medium", and incorporates some of its contents into this application by reference. Technical Field

[0003] The present application relates to the field of laser processing technology, and in particular to a distance measurement method, device, terminal equipment, laser processing equipment and storage medium. Background Art

[0004] In industrial production, such as laser engraving and cutting machines, accurate distance measurement can help determine the position and focus of the laser beam to ensure the accuracy of cutting or engraving. Existing distance measurement methods generally include ultrasonic distance measurement, triangulation distance measurement, line laser distance measurement, focus needle distance measurement and other methods.

[0005] However, on the one hand, the ultrasonic ranging method is difficult to obtain the distance information of the highest point in a small range, or the camera triangulation ranging method requires the ranging light spot to be hit obliquely on the ranging point, resulting in low ranging accuracy; on the other hand, the ranging steps of the line laser method are complicated, or the focusing needle ranging method requires the focusing needle to contact the ranging point, which makes the ranging cost high. Summary of the invention

[0006] The main purpose of this application is to provide a distance measurement method, device, terminal equipment, laser processing equipment and storage medium, aiming to solve the technical problems of low distance measurement accuracy and high cost.

[0007] To achieve the above object, the present application provides a ranging method, which is applied to a light peak ranging sensor and includes the following steps:

[0008] Determining a reference point of the light peak ranging sensor;

[0009] In the process of the light peak ranging sensor moving between the object to be measured and the reference point, a corresponding target light intensity waveform is obtained;

[0010] A target light intensity peak is determined based on the target light intensity waveform, and distance information between the object to be measured and the reference point is obtained based on the target light intensity peak.

[0011] Optionally, the light peak distance measuring sensor includes a laser unit and a photosensitive sensing unit.

[0012] The step of obtaining the corresponding target light intensity waveform during the movement of the light peak ranging sensor between the object to be measured and the reference point comprises:

[0013] When the laser unit emits a light beam and the light beam is perpendicular to the object to be measured, the light peak distance measuring sensor is controlled to move between the object to be measured and the reference point, so that the photosensitive sensing unit detects the target light intensity waveform.

[0014] Optionally, the step of controlling the light peak ranging sensor to move between the object to be measured and the reference point so that the photosensitive sensing unit detects the target light intensity waveform includes:

[0015] In the process of controlling the light peak distance measuring sensor to move between the object to be measured and the reference point, in response to identifying that the object to be measured enters the measuring range of the light peak distance measuring sensor, continuously reading the light intensity value detected by the photosensitive sensing unit;

[0016] The target light intensity waveform is determined according to the light intensity value.

[0017] Optionally, the photosensitive sensing unit includes a photosensitive sensor and a dark cavity, and the dark cavity is arranged at one end of the detection direction of the photosensitive sensor to isolate other light beams except the detection direction.

[0018] Optionally, the extension line of the dark cavity and the light beam emitted by the laser unit converge at an intersection point.

[0019] When the light beam emitted by the laser unit falls on the intersection point, the photosensor will detect the target light intensity peak.

[0020] Optionally, the step of determining a target light intensity peak based on the target light intensity waveform comprises:

[0021] Analyzing the target light intensity waveform to obtain a number of light intensity values;

[0022] A light intensity value that meets a preset peak condition among the plurality of light intensity values ​​is selected as the target light intensity peak.

[0023] Optionally, before the step of obtaining a corresponding target light intensity waveform by changing the height of the light peak ranging sensor when the light peak ranging sensor emits a light beam and the light beam is perpendicular to the object to be measured, the method further includes:

[0024] The angle between the light beam and the object to be measured is obtained, and if it is detected that the light beam is not perpendicular to the object to be measured, a direction calibration is performed according to the angle.

[0025] Optionally, the distance between the intersection point and the reference point is a first preset distance, and the step of obtaining the distance information between the object to be measured and the reference point based on the target light intensity peak includes:

[0026] Determine the moving distance of the light peak ranging sensor when the target light intensity peak occurs;

[0027] The moving distance of the light peak distance measuring sensor is added to the first preset distance to obtain the distance information between the object to be measured and the reference point.

[0028] The present application also provides a distance measuring device, which is applied to a light peak distance measuring sensor and includes:

[0029] A determination module, used to determine a reference point of a light peak ranging sensor;

[0030] A control module, used for obtaining a corresponding target light intensity waveform when the light peak ranging sensor moves between the object to be measured and the reference point;

[0031] The distance calculation module is used to determine the target light intensity peak based on the target light intensity waveform, and obtain the distance information between the object to be measured and the reference point based on the target light intensity peak.

[0032] An embodiment of the present application further proposes a terminal device, which includes a memory, a processor, and a ranging program stored in the memory and executable on the processor, wherein the ranging program implements the steps of the ranging method described above when executed by the processor.

[0033] The present application also provides a laser processing device, including:

[0034] Slide rails;

[0035] A light peak distance sensor, the light peak distance sensor comprising a laser unit and a photosensitive sensor unit, the light peak distance sensor being slidably disposed on the slide rail;

[0036] A communication component, the communication component is used to receive the distance information between the object to be measured and the reference point obtained according to the steps of the distance measurement method as described above;

[0037] A controller controls the light peak ranging sensor to move on the slide rail to perform ranging processing.

[0038] The embodiment of the present application further provides a computer-readable storage medium, on which a distance measurement program is stored. When the distance measurement program is executed by a processor, the steps of the distance measurement method described above are implemented.

[0039] The distance measurement method, device, terminal equipment, laser processing equipment and storage medium proposed in the embodiments of the present application, the distance measurement method is applied to the light peak distance measurement sensor, by determining the reference point of the light peak distance measurement sensor; in the process of the light peak distance measurement sensor moving between the object to be measured and the reference point, the corresponding target light intensity waveform is obtained; based on the target light intensity waveform, the target light intensity peak is determined, and the distance information between the object to be measured and the reference point is obtained based on the target light intensity peak. Based on the scheme of the present application, the light beam of the light peak distance measurement sensor and the object to be measured are kept in a stable positional relationship to achieve distance measurement, that is, when the light peak distance measurement sensor emits a light beam and the light beam is perpendicular to the object to be measured, the corresponding target light intensity waveform is obtained by controlling the light peak distance measurement sensor to move between the object to be measured and the reference point, the target light intensity peak is determined by analyzing the target light intensity waveform, and then the distance information between the object to be measured and the reference point is determined, which solves the technical problems of low accuracy and high cost of distance measurement, can improve the distance measurement accuracy, reduce the distance measurement error, and reduce the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of the functional modules of the terminal device to which the ranging device of this application belongs;

[0041] Figure 2 This is a flow chart of a first exemplary embodiment of a distance measurement method of the present application;

[0042] Figure 3 This is a flow chart of a second exemplary embodiment of the distance measurement method of the present application;

[0043] Figure 4 A framework diagram of a peak distance measurement system for the distance measurement method of this application;

[0044] Figure 5 This is a flow chart of a third exemplary embodiment of the distance measurement method of the present application;

[0045] Figure 6 This is a flow chart of a fourth exemplary embodiment of the distance measurement method of the present application;

[0046] Figure 7 A schematic diagram of the system architecture of the technical solution of this application.

[0047] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] The main solution of the embodiment of the present application is: by determining the reference point of the light peak ranging sensor; obtaining the corresponding target light intensity waveform during the movement of the light peak ranging sensor between the object to be measured and the reference point; determining the target light intensity peak based on the target light intensity waveform, and obtaining the distance information between the object to be measured and the reference point based on the target light intensity peak. Based on the scheme of the present application, the light beam of the light peak ranging sensor and the object to be measured are kept in a stable positional relationship to achieve ranging, that is, when the light peak ranging sensor emits a light beam and the light beam is perpendicular to the object to be measured, the corresponding target light intensity waveform is obtained by controlling the light peak ranging sensor to move between the object to be measured and the reference point, and the target light intensity peak is determined by analyzing the target light intensity waveform, thereby determining the distance information between the object to be measured and the reference point, thereby solving the technical problems of low ranging accuracy and high cost, improving ranging accuracy, reducing ranging errors, and reducing costs.

[0050] The embodiments of the present application take into account that, on the one hand, the ultrasonic ranging method is difficult to obtain the distance information of the highest point in a small range, or the camera triangulation ranging method requires the ranging spot to be projected obliquely on the ranging point, resulting in low ranging accuracy; on the other hand, the ranging steps of the line laser method are complicated, or the focusing needle ranging method requires the focusing needle to contact the ranging point, resulting in high ranging costs.

[0051] Therefore, the embodiment of the present application, starting from solving the practical problems of low ranging accuracy and high cost, combines the ability of the light-emitting unit to form a stable vertical light beam at the target position of the object to be measured and the sensitivity of the photosensitive sensor unit to the wavelength band of the light-emitting unit, and designs a ranging method for identifying light intensity peaks to solve the technical problems of low ranging accuracy and high cost, improve ranging accuracy, and reduce costs.

[0052] Specifically, refer to Figure 1 , Figure 1 This is a functional module diagram of the terminal device to which the distance measuring device of the present application belongs. The distance measuring device can be a device that is independent of the terminal device and can perform distance measurement, and it can be carried on the terminal device in the form of hardware or software. The terminal device can be a smart mobile terminal with data processing functions such as a mobile phone or a tablet computer, or a fixed terminal device or server with data processing functions.

[0053] In this embodiment, the terminal device to which the distance measuring apparatus belongs includes at least an output module 110 , a processor 120 , a memory 130 and a communication module 140 .

[0054] The memory 130 stores an operating system and a distance measurement program. The distance measurement device can determine the reference point of the light peak distance measurement sensor; when the light beam emitted by the light peak distance measurement sensor is perpendicular to the object to be measured, the corresponding target light intensity waveform obtained by changing the height of the light peak distance measurement sensor; the target light intensity peak determined based on the target light intensity waveform, and the distance information between the object to be measured and the reference point obtained based on the target light intensity peak, etc. are stored in the memory 130; the output module 110 can be a display screen, etc. The communication module 140 can include a WI FI module, a mobile communication module, a Bluetooth module, etc., and communicates with an external device or server through the communication module 140.

[0055] When the ranging program in the memory 130 is executed by the processor, the following steps are implemented:

[0056] The distance measurement method is applied to a light peak distance measurement sensor, and the distance measurement method comprises the following steps:

[0057] Determining a reference point of the light peak ranging sensor;

[0058] In the process of the light peak ranging sensor moving between the object to be measured and the reference point, a corresponding target light intensity waveform is obtained;

[0059] A target light intensity peak is determined based on the target light intensity waveform, and distance information between the object to be measured and the reference point is obtained based on the target light intensity peak.

[0060] Furthermore, when the ranging program in the memory 130 is executed by the processor, the following steps are also implemented:

[0061] When the laser unit emits a light beam and the light beam is perpendicular to the object to be measured, the light peak distance measuring sensor is controlled to move between the object to be measured and the reference point, so that the photosensitive sensing unit detects the target light intensity waveform.

[0062] Furthermore, when the ranging program in the memory 130 is executed by the processor, the following steps are also implemented:

[0063] In the process of controlling the light peak distance measuring sensor to move between the object to be measured and the reference point, in response to identifying that the object to be measured enters the measuring range of the light peak distance measuring sensor, continuously reading the light intensity value detected by the photosensitive sensing unit;

[0064] The target light intensity waveform is determined according to the light intensity value.

[0065] Furthermore, when the ranging program in the memory 130 is executed by the processor, the following steps are also implemented:

[0066] Analyzing the target light intensity waveform to obtain a number of light intensity values;

[0067] A light intensity value that meets a preset peak condition among the plurality of light intensity values ​​is selected as the target light intensity peak.

[0068] Furthermore, when the ranging program in the memory 130 is executed by the processor, the following steps are also implemented:

[0069] The angle between the light beam and the object to be measured is obtained, and if it is detected that the light beam is not perpendicular to the object to be measured, a direction calibration is performed according to the angle.

[0070] Furthermore, when the ranging program in the memory 130 is executed by the processor, the following steps are also implemented:

[0071] Determine the moving distance of the light peak ranging sensor when the target light intensity peak occurs;

[0072] The moving distance of the light peak distance measuring sensor is added to the first preset distance to obtain the distance information between the object to be measured and the reference point.

[0073] This embodiment adopts the above scheme, specifically by determining the reference point of the light peak ranging sensor; obtaining the corresponding target light intensity waveform during the movement of the light peak ranging sensor between the object to be measured and the reference point; determining the target light intensity peak based on the target light intensity waveform, and obtaining the distance information between the object to be measured and the reference point based on the target light intensity peak. Based on the scheme of this application, the light beam of the light peak ranging sensor and the object to be measured are kept in a stable positional relationship to achieve ranging, that is, when the light peak ranging sensor emits a light beam and the light beam is perpendicular to the object to be measured, the corresponding target light intensity waveform is obtained by controlling the light peak ranging sensor to move between the object to be measured and the reference point, and the target light intensity peak is determined by analyzing the target light intensity waveform, thereby determining the distance information between the object to be measured and the reference point, thereby solving the technical problems of low ranging accuracy and high cost, improving ranging accuracy, reducing ranging errors, and reducing costs.

[0074] Based on the above terminal device architecture but not limited to the above architecture, an embodiment of the method of the present application is proposed.

[0075] Reference Figure 2 , Figure 2 This is a flow chart of the first exemplary embodiment of the distance measurement method of the present application. The distance measurement method comprises:

[0076] Step S210, determining a reference point of the light peak ranging sensor;

[0077] Specifically, the reference point can be a fixed point of the system or a position defined as a zero point, which is used to determine the distance of other points relative to it; the light beam refers to the laser light path emitted by the light peak ranging sensor, which is used to measure the distance between the object and the light peak ranging sensor.

[0078] Step S220, obtaining a corresponding target light intensity waveform during the process of the light peak ranging sensor moving between the object to be measured and the reference point;

[0079] Specifically, the object to be measured refers to the target object or target area that needs to be measured. It can be a specific object or an area, and the relevant measurement data is obtained by measuring the distance between the light beam and the object. The target peak refers to the light intensity waveform detected by the light peak ranging sensor when the light beam is vertically irradiated on the object to be measured by controlling the height of the light peak ranging sensor. The target peak is the peak formed after the light is reflected by the object to be measured, and has corresponding distance information. The target peak can be the maximum light intensity value between the light beam and the object, which is used to measure and calculate the distance.

[0080] Step S230, determining a target light intensity peak based on the target light intensity waveform, and obtaining distance information between the object to be measured and the reference point based on the target light intensity peak.

[0081] Specifically, in the light peak ranging sensor, the distance information between the object to be measured and the reference point can be calculated through the target wave peak and the corresponding height. The distance information can be the information of the position, size and relative position of the object to be measured.

[0082] For example, the light peak ranging sensor is lifted to the highest position, and the reference point is determined by the limit sensor on the Z axis to ensure that the lifting member has an accurate zero point; a stepper motor or other driving method with precise position control capability can be used to gradually control the overall structure of the light peak ranging sensor to move downward; the embedded code continuously reads the light intensity value of the light beam emitted by the light peak ranging sensor and observes the entire light intensity waveform; if the object to be measured is within the range of the light peak ranging sensor, as the lifting member continues to descend, the light peak ranging sensor will detect an obvious light intensity peak when the light spot falls on the intersection point, and the distance of the lifting member relative to the Z axis zero point can be obtained according to the occurrence of the light intensity peak. The distance information between the object to be measured and the Z axis zero point of the lifting member can be obtained, thereby determining the specific position of the ranging point (i.e., the ranging point where the light spot falls on the object to be measured).

[0083] It should be noted that the light beam can be emitted by the laser unit of the light peak ranging sensor, and the corresponding light intensity waveform can be detected by the photosensitive sensing unit of the light peak ranging sensor. The embodiment of the present application takes into account that if the laser unit and the photosensitive sensing unit are too independent, there will be installation tolerances between the injected processing light spot and the ranging sensor, execution errors between the expected distance of movement and lifting and the actual distance, etc. Therefore, the embodiment of the present application adopts a laser unit as the ranging light spot, which avoids the waste of hardware resources and makes it possible to improve the focusing accuracy at a low cost.

[0084] Further, step S230, determining a target light intensity peak based on the target light intensity waveform, includes:

[0085] Analyzing the target light intensity waveform to obtain a number of light intensity values;

[0086] A light intensity value that meets a preset peak condition among the plurality of light intensity values ​​is selected as the target light intensity peak.

[0087] Specifically, according to the preset peak condition, these light intensity values ​​are detected one by one to determine whether they meet the peak condition. The peak condition can be a pre-set threshold or other specific rule for determining whether the light intensity value represents a target peak.

[0088] This embodiment adopts the above scheme, specifically by determining the reference point of the light peak ranging sensor; obtaining the corresponding target light intensity waveform during the movement of the light peak ranging sensor between the object to be measured and the reference point; determining the target light intensity peak based on the target light intensity waveform, and obtaining the distance information between the object to be measured and the reference point based on the target light intensity peak. Based on the scheme of this application, the light beam of the light peak ranging sensor and the object to be measured are kept in a stable positional relationship to achieve ranging, that is, when the light peak ranging sensor emits a light beam and the light beam is perpendicular to the object to be measured, the corresponding target light intensity waveform is obtained by controlling the light peak ranging sensor to move between the object to be measured and the reference point, and the target light intensity peak is determined by analyzing the target light intensity waveform, thereby determining the distance information between the object to be measured and the reference point, thereby solving the technical problems of low ranging accuracy and high cost, improving ranging accuracy, reducing ranging errors, and reducing costs.

[0089] Reference Figure 3 , Figure 3 This is a flow chart of the second exemplary embodiment of the distance measurement method of the present application. Figure 2 In the embodiment shown, the light peak ranging sensor includes a laser unit and a photosensitive sensor unit. Step S220, when the light peak ranging sensor moves between the object to be measured and the reference point, obtains a corresponding target light intensity waveform, including:

[0090] Step S310, when the laser unit emits a light beam and the light beam is perpendicular to the object to be measured, the light peak ranging sensor is controlled to move between the object to be measured and the reference point, so that the photosensitive sensing unit detects the target light intensity waveform.

[0091] It should be noted that the embodiments of the present application consider low reflectivity and mirror reflection scenes, and therefore mainly rely on finding the peak of light intensity to determine the critical value. Even if the reflectivity of the material is poor, the peak algorithm can still accurately identify and determine the position of the relative highest light intensity, so the search for the critical point has sufficient accuracy. Even in the mirror reflection scene, since the mirror in the real world is generally not a perfect ideal mirror, this solution can still use the diffuse reflection of the mirror at a limited angle to achieve a certain degree of effect. This means that even if the mirror does not have perfect reflection characteristics, enough information can still be obtained from the diffuse reflection for focusing. Therefore, compared with the traditional camera solution, this solution uses the peak algorithm and the use of diffuse reflection, and uses the effect of red light spots on different materials, that is, it has a certain adaptability in darker (high absorption rate), brighter (high reflectivity) and more curved (focusing plane and focusing light spot are not perpendicular) scenes, overcoming the influence of material reflectivity and the challenges in mirror reflection scenes.

[0092] Specifically, the light peak ranging sensor can be composed of a laser unit and a photosensor unit; the laser unit can be a laser light source, fixed on a lifting component, and used to emit a light beam with concentrated energy and perpendicular to the object to be measured downward, thereby forming a stable light spot at the target position of the object to be measured; the photosensor unit can be a photosensor, which is at a certain oblique angle to the laser light source, and is used to read the changes in light intensity in the detection direction and convert it into an electrical signal for measurement and analysis.

[0093] When the light is vertical, the positions of the laser unit and the photosensitive sensor unit are controlled so that they move downward to an appropriate height (for example, the intersection of the detection directions of the laser unit and the photosensitive sensor unit). The changes in the light intensity signal that can be detected by the photosensitive sensor unit are measured to obtain the target light intensity waveform. The target light intensity waveform may include the peak of the highest light intensity, which is also the target peak.

[0094] Further, step S310, controlling the light peak distance measuring sensor to move between the object to be measured and the reference point so that the photosensitive sensing unit detects the target light intensity waveform, includes:

[0095] Step S311, in the process of controlling the light peak distance measuring sensor to move between the object to be measured and the reference point, in response to identifying that the object to be measured enters the measuring range of the light peak distance measuring sensor, continuously reading the light intensity value detected by the photosensitive sensing unit;

[0096] It should be noted that the embodiments of the present application take the descent of the photosensitive sensor unit and the laser unit as an example. In other embodiments, the photosensitive sensor unit and the laser unit can also move horizontally left and right. The reference point and the moving direction of the photosensitive sensor unit and the laser unit can be flexibly selected according to the position of the object to be measured, and this is not specifically limited in the embodiments of the present application.

[0097] Specifically, the laser unit is used to vertically shoot toward the ranging point, and the corresponding light intensity data is continuously detected by the photosensitive rod unit, so that the change of light intensity can be monitored in real time during the descent process, so as to dynamically adjust the parameters and position of the ranging system, so that the object to be measured enters the measuring range of the light peak ranging sensor.

[0098] For example, before using the light peak ranging sensor for ranging, the range of the light peak ranging sensor can be determined first. For example, by identifying several peaks in the waveform, the effective range of the ranging system can be determined, that is, the peak value of the light intensity waveform represents the position of the ranging point. This allows the specific range of the range to meet the needs of different ranging scenarios, thereby improving the flexibility and adaptability of the system.

[0099] Exemplarily, if part of the light intensity waveform is relatively steep, the range can be set to the first threshold, which can be a smaller threshold relative to historical data; if part of the light intensity waveform is relatively flat, the range can be set to the second threshold, which can be a larger threshold relative to historical data.

[0100] Step S312, determining the target light intensity waveform according to the light intensity value;

[0101] For example, the structure with the laser light source and the photosensitive sensor fixed is lifted to the highest position, and the reference point is determined by the limit sensor on the Z axis to ensure that the lifting member has an accurate zero point; a stepper motor or other driving method with precise position control capability is used to gradually control the overall structure to move downward; the embedded code continuously reads the light intensity value detected by the photosensitive sensor and observes the entire light intensity waveform; if the object to be measured is within the range of the light peak ranging sensor, as the lifting member continues to descend, the photosensitive sensor will observe an obvious light intensity peak when the light spot falls on the intersection; the embedded code should review the light intensity waveform at this stage to find the distance of the lifting member relative to the Z-axis zero point when the light intensity peak occurs. Through this distance, the distance information between the object to be measured and the Z-axis zero point of the lifting member can be obtained, thereby determining the specific position of the ranging point (i.e., the ranging point where the light spot falls on the object to be measured).

[0102] It should be noted that in the worst case, a patch strategy can be adopted. That is, a sticker that can provide a good diffuse reflection focus spot can be attached to the object to be measured. By attaching stickers at specific locations, the focus accuracy can be improved and the focus problem in some special scenes can be solved. This can cope with extreme situations and ensure reliable measurement results under various environmental conditions.

[0103] Furthermore, the photosensitive sensing unit includes a photosensitive sensor and a dark cavity, wherein the dark cavity is arranged at one end of the detection direction of the photosensitive sensor and is used to isolate other light beams except the detection direction from being detected by the photosensitive sensor.

[0104] This embodiment uses a peak distance measurement system to measure the distance of the object to be measured. Figure 4 , Figure 4 This is a framework diagram of the peak distance measurement system of the distance measurement method of the present application, and the framework of the peak distance measurement system includes: a laser light source 1, which is used to emit a focusing light spot; a photosensor 2, which is sensitive to a specific wavelength and is used to detect the wavelength band of the laser light source; a dark cavity 3, which is used to isolate light from other directions; an object to be measured 4; a point to be measured 5; an intersection point 6, which is the intersection point of the laser light source optical path and the extension line of the dark cavity; and a lifting base 7, which is used to control the lifting and lowering of the laser light source and the photosensor 2.

[0105] Specifically, the photosensitive sensing unit includes a photosensitive sensor and a dark cavity: the photosensitive sensing unit consists of two main parts, namely a photosensitive sensor and a dark cavity. The photosensitive sensor is a device for receiving light signals and converting them into electrical signals, and has high sensitivity and response characteristics. The photosensitive sensor is at a certain oblique angle to the laser light source and is fixed in an oblique dark cavity in the structure, that is, the dark cavity is located at one end of the detection direction of the photosensitive sensor, and is used to isolate other light except the detection direction. The dark cavity can effectively block the interference of non-target light through its design and layout, ensuring that the light from the object to be tested can be detected by the photosensitive sensor.

[0106] Exemplarily, the extension line of the dark cavity and the light beam emitted by the laser unit converge at an intersection point. When the light beam emitted by the laser unit falls on the intersection point, the photosensor will detect the target light intensity peak.

[0107] The extension line of the dark cavity fixed photosensor and the red dot laser light path converge at a point in three-dimensional space. Due to the design of the structure, the position of this point and the laser light source always remain unchanged. When the light spot emitted by the laser light source falls on the intersection point where the dark cavity points, the photosensor at the end of the dark cavity will observe an extremely strong light intensity peak. By introducing the dark cavity, when the laser spot accurately falls on the object to be measured, the photosensor can capture the peak signal, thereby providing distance information about the target position. The light from other directions is effectively isolated, so that the photosensor only receives the target light from the ranging point, which improves the accuracy and stability of the measurement and enhances the anti-interference ability of the ranging system.

[0108] It should be noted that the embodiment of the present application takes into account the problem of consistency error of the laser focus. By calibrating at the factory stage, it can be ensured that during the use of a single PICS hardware, the direction of the dark cavity pointing and the intersection of the laser light source light path used for focusing always maintain a stable position relationship with the laser focus used for engraving and cutting. In other words, the equipment can be accurately calibrated at the factory stage to ensure that the light spot is focused at the position corresponding to the laser head to obtain a stable focusing effect.

[0109] For example, at the factory, the optical elements and mechanical structure of the device are carefully adjusted to ensure the collimation and accuracy of the optical path. In addition, high-precision measuring equipment and calibration tools can be used to calibrate each key component. The calibration results will be recorded and maintained in the MCU firmware of the specific laser head for reference at any time during the use of the device. Through this factory calibration process, users can trust the device to provide accurate focus positions every time they use the device, whether for initial focus or subsequent focus adjustments. This stability and reliability are essential to ensuring processing quality and improving production efficiency.

[0110] This embodiment adopts the above scheme, specifically by controlling the light peak ranging sensor to move between the object to be measured and the reference point, in response to identifying that the object to be measured enters the measuring range of the light peak ranging sensor, continuously reading the light intensity value detected by the photosensitive sensing unit; determining the target light intensity waveform according to the light intensity value, the system can be flexibly adjusted and adapted to different scenarios according to actual needs; continuously collecting light intensity data during the descent process, and through multiple measurements and waveform analysis, the stability and reliability of the ranging system can be improved, and the influence of errors and interference can be reduced; by controlling the descent process of the lifting component, combining the light intensity waveform detected by the photosensitive sensor and the processing of the embedded code, accurate ranging data can be obtained, the ranging accuracy and controllability can be improved, and the ranging requirements of different measuring ranges can be adapted.

[0111] Reference Figure 5 , Figure 5 This is a flow chart of the third exemplary embodiment of the distance measurement method of the present application. Figure 2-4 In the embodiment shown, step S312, determining a measurement range according to the partial light intensity waveform, includes:

[0112] Step S510, analyzing the target light intensity waveform to obtain a number of light intensity values;

[0113] Step S520: Selecting a light intensity value that meets a preset peak condition from among the plurality of light intensity values ​​as the target light intensity peak.

[0114] Specifically, a maximum value or a light intensity value greater than a preset threshold value can be selected from the target light intensity waveform as the target light intensity peak.

[0115] Optionally, the distance between the intersection point and the reference point is a first preset distance, and the step of obtaining the distance information between the object to be measured and the reference point based on the target light intensity peak includes:

[0116] Determine the moving distance of the light peak ranging sensor when the target light intensity peak occurs;

[0117] The moving distance of the light peak distance measuring sensor is added to the first preset distance to obtain the distance information between the object to be measured and the reference point.

[0118] In the embodiment of the present application, the distance from the reference point to the intersection point is taken as the first preset distance, and the reference point is located on the straight line where the light beam is located. In the embodiment of the present application, the reference point is taken as an example at the end of the laser unit. The light beam is emitted by the emitting end of the laser unit and vertically hits the object to be measured. The photosensitive sensor will observe the target light intensity peak when the light spot falls on the intersection point. The moving distance of the light peak ranging sensor can be determined according to the time when the target light intensity peak appears and the speed of the light peak ranging sensor. Then, the moving distance of the light peak ranging sensor is added to the first preset distance to obtain the distance between the object to be measured and the reference point.

[0119] Through the above scheme, this embodiment obtains several light intensity values ​​by analyzing the target light intensity waveform; and selects the light intensity value that meets the preset peak condition among the several light intensity values ​​as the target light intensity peak, which can further optimize the performance of the laser ranging system, obtain accurate ranging data, and improve ranging accuracy and controllability.

[0120] Reference Figure 6 , Figure 6 This is a flow chart of the fourth exemplary embodiment of the distance measurement method of the present application. Figure 2-5In the embodiment shown, step S220, when the light peak ranging sensor emits a light beam and the light beam is perpendicular to the object to be measured, before obtaining the corresponding target light intensity waveform by changing the height of the light peak ranging sensor, further includes:

[0121] Step S610, obtaining the angle between the light beam and the object to be measured, and detecting whether the light beam is perpendicular to the object to be measured;

[0122] Specifically, in the light peak ranging sensor, the angle between the light beam and the object to be measured is obtained, and whether the light beam is perpendicular to the object to be measured is detected. By using a suitable sensor or measurement method, the incident angle of the light beam relative to the object to be measured can be obtained. At the same time, by detecting whether the light beam is perpendicular to the object to be measured, it can be determined whether the light beam is correctly aligned with the target position. Such steps can provide key information about the position and direction of the light beam.

[0123] Step S620: If it is detected that the light beam is not perpendicular to the object to be measured, a direction calibration is performed according to the angle.

[0124] Specifically, if it is detected that the light beam is not perpendicular to the object to be measured, the direction calibration is performed according to the angle. When the angle of the light beam deviates from the vertical direction, it may cause a deviation in the distance measurement result. Through the operation of direction calibration, the direction of the light beam can be adjusted so that it is vertically aligned with the object to be measured, thereby improving the accuracy and precision of the distance measurement. Direction calibration can be achieved by adjusting the light source or adjusting the position or angle of the distance measurement system to ensure that the light beam is vertically aligned with the object to be measured.

[0125] Through the above scheme, this embodiment can detect whether the light beam is perpendicular to the object to be measured, so as to timely discover the deviation of the light beam direction and perform direction calibration, thereby providing flexible adjustment of the light beam position and direction and ensuring the reliability and stability of the ranging system.

[0126] In addition, an embodiment of the present application further provides a distance measuring device, which is applied to a light peak distance measuring sensor, including:

[0127] A determination module, used to determine a reference point of a light peak ranging sensor;

[0128] A control module, used for obtaining a corresponding target light intensity waveform by changing the height of the light peak ranging sensor when the light peak ranging sensor emits a light beam and the light beam is perpendicular to the object to be measured;

[0129] The distance calculation module is used to determine the target light intensity peak based on the target light intensity waveform, and obtain the distance information between the object to be measured and the reference point based on the target light intensity peak.

[0130] For the principle and implementation process of distance measurement in this embodiment, please refer to the above embodiments and will not be described in detail here.

[0131] In addition, an embodiment of the present application also proposes a terminal device, which includes a memory, a processor, and a ranging program stored in the memory and executable on the processor, and when the ranging program is executed by the processor, the steps of the ranging method described above are implemented.

[0132] Since all the technical solutions of all the aforementioned embodiments are adopted when the ranging program is executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0133] In addition, the present application also provides a laser processing device, including:

[0134] Slide rails;

[0135] A light peak distance sensor, the light peak distance sensor comprising a laser unit and a photosensitive sensor unit, the light peak distance sensor being slidably disposed on the slide rail;

[0136] A communication component, the communication component is used to receive the distance information between the object to be measured and the reference point obtained according to the steps of the distance measurement method as described above;

[0137] A controller controls the light peak ranging sensor to move on the slide rail to perform ranging processing.

[0138] Since all the technical solutions of all the aforementioned embodiments are adopted when executing the laser processing equipment, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0139] In addition, an embodiment of the present application further proposes a computer-readable storage medium, on which a ranging program is stored. When the ranging program is executed by a processor, the steps of the ranging method described above are implemented.

[0140] Since all the technical solutions of all the aforementioned embodiments are adopted when the ranging program is executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0141] Reference Figure 7 , Figure 7 A schematic diagram schematically shows a system architecture that applies the technical solution of the present application.

[0142] like Figure 7As shown, the system architecture 1000 may include a terminal device 1100, a network 1200, and a server 1300. The terminal device 1100 may include a smart phone, a tablet computer, a laptop computer, an intelligent voice interaction device, a laser processing device, and the like. The server 1300 may be an independent physical server, or a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The network 1200 may be a communication medium of various connection types that can provide a communication link between the terminal device 1100 and the server 1300, such as a wired communication link or a wireless communication link. According to implementation needs, the system architecture in the embodiment of the present application may have any number of terminal devices, networks, and servers.

[0143] The technical solution provided in the embodiment of the present application can be applied to the terminal device 1100, can also be applied to the server 1300, or can be implemented by the terminal device 1100 and the server 1300 together, and the present application does not make special restrictions on this. For example, the terminal device 1100 is a ranging device (hereinafter referred to as the device), and the server 1300 is a server corresponding to the device. The technical solution of the present application can be implemented by the device, can also be implemented by the device corresponding to the server, or can be implemented by the device and its corresponding server together.

[0144] Compared with the prior art, the distance measurement method, device, terminal equipment, laser processing equipment and storage medium proposed in the embodiments of the present application, the distance measurement method is applied to the light peak distance measurement sensor, by determining the reference point of the light peak distance measurement sensor; in the process of the light peak distance measurement sensor moving between the object to be measured and the reference point, the corresponding target light intensity waveform is obtained; based on the target light intensity waveform, the target light intensity peak is determined, and the distance information between the object to be measured and the reference point is obtained based on the target light intensity peak. Based on the scheme of the present application, the light beam of the light peak distance measurement sensor and the object to be measured are kept in a stable positional relationship to achieve distance measurement, that is, when the light peak distance measurement sensor emits a light beam and the light beam is perpendicular to the object to be measured, the corresponding target light intensity waveform is obtained by controlling the light peak distance measurement sensor to move between the object to be measured and the reference point, and the target light intensity peak is determined by analyzing the target light intensity waveform, and then the distance information between the object to be measured and the reference point is determined, which solves the technical problems of low accuracy and high cost of distance measurement, can improve the distance measurement accuracy, reduce the distance measurement error, and reduce the cost.

[0145] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0146] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0147] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, a controlled terminal, or a network device, etc.) to execute the method of each embodiment of the present application.

[0148] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A distance measurement method, characterized in that: The distance measurement method is applied to a light peak distance measurement sensor, and the distance measurement method comprises the following steps: Determining a reference point of the light peak ranging sensor; In the process of the light peak ranging sensor moving between the object to be measured and the reference point, a corresponding target light intensity waveform is obtained; A target light intensity peak is determined based on the target light intensity waveform, and distance information between the object to be measured and the reference point is obtained based on the target light intensity peak.

2. The distance measurement method according to claim 1, characterized in that: The light peak distance measuring sensor comprises a laser unit and a photosensitive sensing unit. The step of obtaining the corresponding target light intensity waveform during the movement of the light peak ranging sensor between the object to be measured and the reference point comprises: When the laser unit emits a light beam and the light beam is perpendicular to the object to be measured, the light peak distance measuring sensor is controlled to move between the object to be measured and the reference point, so that the photosensitive sensing unit detects the target light intensity waveform.

3. The distance measurement method according to claim 2, characterized in that: The step of controlling the light peak distance measuring sensor to move between the object to be measured and the reference point so that the photosensitive sensing unit detects the target light intensity waveform comprises: In the process of controlling the light peak distance measuring sensor to move between the object to be measured and the reference point, in response to identifying that the object to be measured enters the measuring range of the light peak distance measuring sensor, continuously reading the light intensity value detected by the photosensitive sensing unit; The target light intensity waveform is determined according to the light intensity value.

4. The distance measurement method according to claim 2, characterized in that: The photosensitive sensing unit includes a photosensitive sensor and a dark cavity. The dark cavity is arranged at one end of the detection direction of the photosensitive sensor and is used to isolate other light beams except the detection direction.

5. The distance measurement method according to claim 4, characterized in that: The extension line of the dark cavity and the light beam emitted by the laser unit converge at the intersection point. When the light beam emitted by the laser unit falls on the intersection point, the photosensor will detect the target light intensity peak.

6. The distance measurement method according to claim 1, characterized in that: The step of determining the target light intensity peak based on the target light intensity waveform comprises: Analyzing the target light intensity waveform to obtain a number of light intensity values; A light intensity value that meets a preset peak condition among the plurality of light intensity values ​​is selected as the target light intensity peak.

7. The distance measurement method according to claim 1, characterized in that: Before the step of obtaining a corresponding target light intensity waveform by changing the height of the light peak ranging sensor when the light peak ranging sensor emits a light beam and the light beam is perpendicular to the object to be measured, the method further includes: The angle between the light beam and the object to be measured is obtained, and if it is detected that the light beam is not perpendicular to the object to be measured, a direction calibration is performed according to the angle.

8. The distance measurement method according to claim 5, characterized in that: The distance between the intersection point and the reference point is a first preset distance, and the step of obtaining the distance information between the object to be measured and the reference point based on the target light intensity peak includes: Determine the moving distance of the light peak ranging sensor when the target light intensity peak occurs; The moving distance of the light peak distance measuring sensor is added to the first preset distance to obtain the distance information between the object to be measured and the reference point.

9. A distance measuring device, characterized in that: The distance measuring device is applied to a light peak distance measuring sensor, comprising: A determination module, used to determine a reference point of a light peak ranging sensor; A control module, used for obtaining a corresponding target light intensity waveform when the light peak ranging sensor moves between the object to be measured and the reference point; The distance calculation module is used to determine the target light intensity peak based on the target light intensity waveform, and obtain the distance information between the object to be measured and the reference point based on the target light intensity peak.

10. A terminal device, characterized in that: The terminal device comprises a memory, a processor and a ranging program stored in the memory and executable on the processor, wherein the ranging program implements the steps of the ranging method according to any one of claims 1 to 8 when executed by the processor.

11. A laser processing device, characterized in that: include: Slide rails; A light peak distance sensor, the light peak distance sensor comprising a laser unit and a photosensitive sensor unit, the light peak distance sensor being slidably disposed on the slide rail; A communication component, the communication component is used to receive the distance information between the object to be measured and the reference point obtained by the steps of the distance measurement method according to any one of claims 1 to 8; A controller controls the light peak ranging sensor to move on the slide rail to perform ranging processing.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a distance measurement program, and when the distance measurement program is executed by a processor, the steps of the distance measurement method according to any one of claims 1 to 8 are implemented.

Images