Laser control sensor equipment management system

Abstract

The invention discloses a laser control sensor equipment management system, and belongs to the technical field of sensor equipment assembly quality detection. According to the invention, through the arrangement of the spacing detection module and the coaxiality detection module, the spacing between the transmitting lens and the laser diode, the spacing between the receiving lens and the photosensitive sheet and corresponding coaxiality characterization data can be accurately detected and obtained; the non-contact detection on the relative position of the transmitting lens and the laser diode and the relative position of the receiving lens and the light sensing sheet is realized; according to the method, the corresponding assembly quality data can be generated based on the obtained data, the assembly quality data is processed to obtain the continuous vector structure diagram, and due to the adoption of the self-defined mapping rule, the security of the data is effectively ensured in the process of transmitting the data to the internal database, and then the leakage of the assembly quality data is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of sensor equipment assembly quality detection, and in particular to a laser control sensor equipment management system. Background Art

[0002] There are many types of laser control sensor equipment, such as laser range finders, laser displacement sensors, laser gas sensors, and laser vibration sensors. Among them, laser range finders are based on the time-of-flight (TOF) method, which calculates the distance by measuring the time difference between the emission and reflection of the laser pulse, or by measuring the change in phase during the round trip of the laser. In driverless cars, it is used to measure the distance of the surrounding environment and the position of obstacles in real time; in environmental monitoring, it can measure the diffusion range of atmospheric pollutants, the depth of water bodies, and topography; in industrial manufacturing, it can measure the size, position, and shape of parts.

[0003] During the assembly process of the laser distance sensor, after the internal components of the laser distance sensor are assembled, in order to ensure the measurement accuracy when the laser distance sensor is used, it is necessary to detect the relative position of its laser (laser diode) and the beam shaping optical element (transmitting lens), and the relative position of the photosensitive element (photosensitive film) and the optical focusing element (receiving lens), and then evaluate the assembly quality of the current batch of laser distance sensors. At the same time, the obtained assembly quality data is transmitted to the internal database to facilitate subsequent tracing or assembly process adjustments. When the transmitting lens and the receiving lens are assembled, their positions are fixed by the positioning frame reserved on the lower shell. Therefore, the relative positions of the corresponding transmitting lens and the receiving lens are obtained mainly by detecting the positions of the laser diode and the photosensitive film.

[0004] How to more accurately detect the relative position of the transmitting lens and the laser diode, the relative position of the receiving lens and the photosensitive film without contact, and ensure the security of the subsequent assembly quality data during transmission, is an urgent problem to be solved. To this end, a laser control sensor equipment management system is proposed. Summary of the invention

[0005] The technical problem to be solved by the present invention is: how to more conveniently perform contactless detection on the relative position of the transmitting lens and the laser diode, and the relative position of the receiving lens and the photosensitive film, and ensure the security of the subsequent assembly quality data during the transmission process, and provide a laser control sensor equipment management system.

[0006] The present invention solves the above technical problems through the following technical solutions, and the present invention includes a first spacing detection module, a first coaxiality detection module, a second spacing detection module, a second coaxiality detection module and an assembly quality data generation and processing module;

[0007] The first distance detection module is used to detect the position of the emitting lens and the laser diode, and obtain the distance data between the emitting lens and the laser diode;

[0008] The first coaxiality detection module is used to detect the coaxiality between the optical axis of the emitting lens and the longitudinal axis of the laser diode to obtain first coaxiality characterization data;

[0009] The second distance detection module is used to detect the position of the receiving lens and the photosensitive sheet to obtain the distance data between the receiving lens and the photosensitive sheet;

[0010] The second coaxiality detection module is used to detect the coaxiality between the optical axis of the receiving lens and the transverse axis of the photosensitive sheet to obtain second coaxiality characterization data;

[0011] The assembly quality data generation and processing module is used to generate the assembly quality data of the current batch of laser ranging sensors according to the distance between the transmitting lens and the laser diode, the first coaxiality characterization data, the distance between the receiving lens and the photosensitive sheet, and the second coaxiality characterization data obtained through detection, and process the assembly quality data of the current batch of laser ranging sensors to obtain a connection vector structure diagram for transmission to an internal database.

[0012] Furthermore, the first distance detection module includes a first image acquisition unit, a first image preprocessing unit, an emitting lens and laser diode identification unit and a first distance calculation unit; the first image acquisition unit is used to use a first industrial camera to shoot the interior of the laser ranging sensor without the upper shell assembled, so as to obtain a first internal component overhead image, wherein the image includes a complete emitting lens and a laser diode; the first image preprocessing unit is used to perform noise reduction processing on the overhead image of the first internal component, so as to obtain the first internal component overhead image after noise reduction processing; the emitting lens and laser diode identification unit is used to use a trained multi-target detection model to identify the emitting lens and the laser diode in the overhead image of the first internal component, so as to obtain the position information of the emitting lens and the laser diode in the image; the first distance calculation unit is used to calculate the distance DT between the emitting lens and the laser diode according to the position information of the emitting lens and the laser diode in the image. i , where i represents the i-th laser ranging sensor in a single batch.

[0013] Furthermore, the specific processing process of the first distance calculation unit is as follows:

[0014] Step S11: obtaining position information of the transmitting lens and the laser diode in the overhead image of the first internal element, including the coordinates of the upper left corner point and the upper left corner point of the transmitting lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the laser diode detection frame in the image;

[0015] Step S12: According to the coordinates of the upper left corner of the emission lens detection frame and the upper left corner in the overhead image of the first internal element, the coordinates of the center point of the emission lens detection frame in the image are calculated, and the center point is recorded as C TL According to the coordinates of the upper left corner of the laser diode detection frame and the upper left corner in the image, the coordinates of the center point of the laser diode detection frame in the image are calculated, and the center point is recorded as C LD ;

[0016] Step S13: Calculate the center point C of the emission lens detection frame TL The center point C of the laser diode detection frame LD The distance in the image is the distance between the transmitting lens and the laser diode, denoted as DT i .

[0017] Furthermore, the specific processing process of the first coaxiality detection module is as follows:

[0018] Step S21: obtaining position information of the transmitting lens and the laser diode in the overhead image of the first internal element, including the coordinates of the upper left corner point and the upper left corner point of the transmitting lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the laser diode detection frame in the image;

[0019] Step S22: Calculate the coordinates of the midpoints of the two long sides of the emission lens detection frame according to the coordinates of the upper left corner of the emission lens detection frame and the upper left corner in the overhead image of the first internal element, and the midpoints are respectively denoted as S 11 , S 12 According to the coordinates of the upper left corner point of the laser diode detection frame and the upper left corner point in the image, the coordinates of the midpoints of the two short sides of the laser diode detection frame are calculated, and the midpoints are respectively denoted as S 13 , S 14 ;

[0020] Step S23: Set the midpoint S 11 , S 12 The connecting line between them is denoted as L1, and the midpoint S 13 , S 14 The connecting line between them is recorded as L2, and the angle between line segments L1 and L2 is calculated, which is regarded as the coaxiality characterization data between the emitting lens and the laser diode, recorded as CX1 i .

[0021] Furthermore, the second distance detection module includes a second image acquisition unit, a second image preprocessing unit, a receiving lens and photosensitive film recognition unit and a second distance calculation unit; the second image acquisition unit is used to use a second industrial camera to shoot the interior of the laser ranging sensor without the upper shell assembled, so as to obtain a second internal component overhead image, which includes a complete receiving lens and photosensitive film; the second image preprocessing unit is used to perform noise reduction processing on the second internal component overhead image to obtain the second internal component overhead image after noise reduction processing; the receiving lens and photosensitive film recognition unit is used to use a trained multi-target detection model to identify the receiving lens and photosensitive film in the second internal component overhead image to obtain the position information of the receiving lens and the photosensitive film in the image; the second distance calculation unit is used to calculate the distance DR between the receiving lens and the photosensitive film according to the position information of the receiving lens and the photosensitive film in the image. i .

[0022] Furthermore, the specific processing process of the second distance calculation unit is as follows:

[0023] Step S31: obtaining position information of the receiving lens and the photosensitive film in the overhead image of the second internal element, including the coordinates of the upper left corner point and the upper left corner point of the receiving lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the photosensitive film detection frame in the image;

[0024] Step S32: Calculate the coordinates of the center point of the receiving lens detection frame in the image based on the upper left corner point of the receiving lens detection frame and the coordinates of the upper left corner point in the overhead image of the second internal element. The center point is recorded as C RL , according to the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image, calculate the coordinates of the center point of the photosensitive film detection frame in the image, and the center point is recorded as C PF ;

[0025] Step S33: Calculate the center point C of the receiving lens detection frame RL The center point C of the photosensitive film detection frame PF The distance in the image is the distance between the transmitting lens and the laser diode, denoted as DR i .

[0026] Furthermore, the specific processing process of the second coaxiality detection module is as follows:

[0027] Step S41: obtaining position information of the receiving lens and the photosensitive film in the overhead image of the second internal element, including the coordinates of the upper left corner point and the upper left corner point of the receiving lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the photosensitive film detection frame in the image;

[0028] Step S42: Calculate the coordinates of the midpoints of the two long sides of the receiving lens detection frame according to the coordinates of the upper left corner of the receiving lens detection frame and the upper left corner in the overhead image of the second internal element, and the midpoints are respectively denoted as S 21 , S 22 , according to the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image, calculate the coordinates of the midpoints of the two long sides of the photosensitive film detection frame, and the midpoints are respectively recorded as S 23 , S 24 ;

[0029] Step S43: Set the midpoint S 21 , S 22 The connecting line between them is marked as L3, and the midpoint S 23 , S 24 The line between them is recorded as L4, and the angle between line segments L3 and L4 is calculated, which is regarded as the coaxiality characterization data between the receiving lens and the photosensitive film, recorded as CX2 i .

[0030] Furthermore, in the assembly quality data generation processing module, the generation process of the assembly quality data of the current batch of laser ranging sensors is as follows:

[0031] Step S51: Set the distance DT between the emitting lens and the laser diode i Compared with the set spacing DT0, the spacing DT i When it is equal to the distance DT0, it means that the distance between the emitting lens and the laser diode of the current laser ranging sensor is qualified. i When it is not equal to the distance DT0, it means that the distance between the emitting lens and the laser diode of the current laser ranging sensor is unqualified. Calculate the qualified rate R of the distance between the emitting lens and the laser diode of the current batch of laser ranging sensors TL :

[0032] R TL =m1 / M;

[0033] Among them, m1 is the number of laser ranging sensors in the current batch of laser ranging sensors with qualified spacing between the emitting lens and the laser diode, and M is the total number of laser ranging sensors in the current batch;

[0034] Step S52: The first coaxiality characterization data CX1 i Compared with 0°, the first coaxiality characterization data CX1 i When it is equal to 0°, it means that the coaxiality between the optical axis of the emitting lens of the current laser ranging sensor and the longitudinal axis of the laser diode is qualified. The first coaxiality characterization data CX1 iWhen it is not equal to 0°, it means that the coaxiality between the optical axis of the emitting lens of the current laser ranging sensor and the longitudinal axis of the laser diode is unqualified. Calculate the coaxiality pass rate R between the optical axis of the emitting lens of the current batch of laser ranging sensors and the longitudinal axis of the laser diode CX1 :

[0035] R CX1 =m2 / M;

[0036] Wherein, m2 is the number of laser ranging sensors in the current batch of laser ranging sensors whose coaxiality between the optical axis of the emitting lens and the longitudinal axis of the laser diode is qualified;

[0037] Step S53: Set the distance DR between the receiving lens and the photosensitive sheet i Compared with the set spacing DR0, the spacing DR i When it is equal to the distance DR0, it means that the distance between the receiving lens and the photosensitive film of the current laser ranging sensor is qualified. i When it is not equal to the spacing DR0, it means that the spacing between the receiving lens and the photosensitive sheet of the current laser ranging sensor is unqualified. Calculate the qualified rate R of the spacing between the receiving lens and the photosensitive sheet of the current batch of laser ranging sensors RL :

[0038] R RL =m3 / M;

[0039] Among them, m3 is the number of laser ranging sensors in the current batch of laser ranging sensors with qualified spacing between the receiving lens and the photosensitive sheet;

[0040] Step S54: The second coaxiality characterization data CX2 i Compared with 0°, the second coaxiality characterization data CX2 i When it is equal to 0°, it means that the coaxiality between the optical axis of the receiving lens of the current laser ranging sensor and the transverse axis of the photosensitive film is qualified. The second coaxiality characterization data CX2 i When it is not equal to 0°, it means that the coaxiality between the optical axis of the receiving lens of the current laser ranging sensor and the transverse axis of the photosensitive film is unqualified. Calculate the coaxiality pass rate R between the optical axis of the receiving lens of the current batch of laser ranging sensors and the transverse axis of the photosensitive film. CX2 :

[0041] R CX2 =m4 / M;

[0042] Among them, m4 is the number of laser ranging sensors in the current batch of laser ranging sensors whose coaxiality between the optical axis of the receiving lens and the transverse axis of the photosensitive sheet is qualified.

[0043] Furthermore, in the assembly quality data generation processing module, the process of obtaining the connection vector structure diagram is as follows:

[0044] Step S61: According to the spacing qualification rate R of the current batch of laser ranging sensors TL , the total number M of laser ranging sensors in the current batch generates vector a1 on the two-dimensional vector structure diagram template. The starting point of vector a1 is the origin of the coordinate axis of the two-dimensional vector structure diagram template, and the angle and spacing qualification rate R with the positive direction of the X axis in the two-dimensional vector structure diagram template TL The length of the vector a1 in the two-dimensional vector structure diagram is equal to the total number M of laser ranging sensors in the current batch;

[0045] Step S62: According to the coaxiality qualification rate R of the current batch of laser distance measuring sensors CX1 , the total number M of laser ranging sensors in the current batch generates vector a2 on the two-dimensional vector structure diagram template. The starting point of vector a2 is the end point of vector a1, and the angle between it and the positive direction of the X-axis in the two-dimensional vector structure diagram template and the coaxiality pass rate R CX1 The length of the vector a2 in the two-dimensional vector structure diagram is equal to the total number M of the laser ranging sensors in the current batch;

[0046] Step S63: According to the spacing qualification rate R of the current batch of laser ranging sensors RL , the total number M of laser ranging sensors in the current batch generates vector b1 on the two-dimensional vector structure diagram template. The starting point of vector b1 is the end point of vector a2, and the angle and spacing pass rate R with the positive direction of the X axis in the two-dimensional vector structure diagram template RL The length of the vector b1 in the two-dimensional vector structure diagram is equal to the total number M of laser ranging sensors in the current batch;

[0047] Step S64: According to the coaxiality qualification rate R of the current batch of laser distance measuring sensors CX2 , the total number of laser ranging sensors in the current batch generates vector b2 on the two-dimensional M vector structure diagram template. The starting point of vector b2 is the end point of vector b1, and the angle between it and the positive direction of the X-axis in the two-dimensional vector structure diagram template and the coaxiality qualification rate R CX2 The length of the vector b2 in the two-dimensional vector structure diagram is equal to the total number M of laser ranging sensors in the current batch;

[0048] Step S65: Finally, a connection vector structure diagram for representing the assembly quality data of the current batch of laser ranging sensors is obtained and transmitted to the internal database.

[0049] Compared with the prior art, the present invention has the following advantages: the laser control sensor equipment management system, through the set spacing detection module and coaxiality detection module, can accurately detect and obtain the spacing between the transmitting lens and the laser diode, the spacing between the receiving lens and the photosensitive film, and the corresponding coaxiality characterization data, thereby realizing non-contact detection of the relative position of the transmitting lens and the laser diode, and the relative position of the receiving lens and the photosensitive film; based on the above-mentioned acquired data, corresponding assembly quality data can be generated, and the assembly quality data can be processed to obtain a connection vector structure diagram. Due to the use of customized mapping rules, the security of the data is effectively guaranteed during the transmission to the internal database, thereby avoiding the leakage of assembly quality data. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a schematic diagram of the structure of a laser control sensor device management system according to an embodiment of the present invention;

[0051] Figure 2 Schematic diagram of the internal structure of the laser ranging sensor without the upper housing assembled in the embodiment of the present invention;

[0052] Figure 3 is a schematic diagram of a bird's-eye view of a first internal component in an embodiment of the present invention;

[0053] Figure 4 is a schematic diagram of a top-down image of a second internal component in an embodiment of the present invention;

[0054] Figure 5 is an example of a connection vector structure diagram in an embodiment of the present invention;

[0055] In the figure: 1. Lower shell; 2. Laser diode; 3. Transmitting lens; 4. Photosensitive film; 5. Receiving lens; 6. Signal processing board. DETAILED DESCRIPTION

[0056] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0057] like Figure 1 As shown, this embodiment provides a technical solution: a laser control sensor equipment management system, including a first spacing detection module, a first coaxiality detection module, a second spacing detection module, a second coaxiality detection module and an assembly quality data generation processing module;

[0058] In this embodiment, the first distance detection module is used to detect the position of the emitting lens and the laser diode to obtain the distance between the emitting lens and the laser diode.

[0059] More specifically, the first distance detection module includes a first image acquisition unit, a first image preprocessing unit, an emitting lens and laser diode identification unit and a first distance calculation unit; the first image acquisition unit is used to use a first industrial camera to shoot the interior of the laser ranging sensor without the upper shell assembled directly above it, to obtain a first internal component overhead image, the image including a complete emitting lens and laser diode; the first image preprocessing unit is used to perform noise reduction processing on the overhead image of the first internal component to obtain the first internal component overhead image after noise reduction processing; the emitting lens and laser diode identification unit is used to use a trained multi-target detection model to identify the emitting lens and laser diode in the overhead image of the first internal component, and obtain the position information of the emitting lens and the laser diode in the image; the first distance calculation unit is used to calculate the distance DT between the emitting lens and the laser diode according to the position information of the emitting lens and the laser diode in the image. i , where i represents the i-th laser ranging sensor in a single batch.

[0060] It should be noted that if Figure 2 As shown, in this embodiment, the laser ranging sensor without an assembled upper shell includes a lower shell 1, a laser diode 2, a transmitting lens 3, a photosensitive film 4, a receiving lens 5 and a signal processing board 6, wherein the laser diode 2 is used to transmit a laser beam, the transmitting lens 3 is used to focus the laser beam, the photosensitive film 4 is used to receive the reflected laser beam, the receiving lens 5 is used to focus the reflected laser beam so that it reaches the photosensitive film 4, and the signal processing board 6 is used to perform tasks such as signal amplification, noise filtering, signal conversion, time measurement, data processing and distance calculation.

[0061] As more specific, the optical axis of the first industrial camera is arranged perpendicular to the inner surface of the lower shell of the laser ranging sensor, the x-axis of the overhead image of the first internal element is perpendicular to the optical axis of the emitting lens, and the y-axis is parallel to the optical axis of the emitting lens. Figure 3 .

[0062] To be more specific, in this embodiment, since the positions of the transmitting lens and the receiving lens are limited by the positioning frame, their positions are regarded as accurate positions.

[0063] More specifically, the multi-target detection model in this embodiment is trained based on the yolov3s detection network.

[0064] More specifically, the specific processing process of the first distance calculation unit is as follows:

[0065] Step S11: obtaining position information of the transmitting lens and the laser diode in the overhead image of the first internal element, including the coordinates of the upper left corner point and the upper left corner point of the transmitting lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the laser diode detection frame in the image;

[0066] Step S12: According to the coordinates of the upper left corner of the emission lens detection frame and the upper left corner in the overhead image of the first internal element, the coordinates of the center point of the emission lens detection frame in the image are calculated, and the center point is recorded as C TL According to the coordinates of the upper left corner of the laser diode detection frame and the upper left corner in the image, the coordinates of the center point of the laser diode detection frame in the image are calculated, and the center point is recorded as C LD ;

[0067] Step S13: Calculate the center point C of the emission lens detection frame TL The center point C of the laser diode detection frame LD The distance in the image is the distance between the transmitting lens and the laser diode, denoted as DT i ,See Figure 3 .

[0068] In this embodiment, the first coaxiality detection module is used to detect the coaxiality between the optical axis of the emission lens and the longitudinal axis of the laser diode to obtain first coaxiality characterization data. In the present invention, the transverse axis is an axis along the length direction of the laser diode.

[0069] As more specifically, the first coaxiality detection module includes a first position information acquisition unit and a first coaxiality calculation unit; the first position information acquisition unit is used to obtain the position information of the transmitting lens and the laser diode in the overhead image of the first internal component; the first coaxiality calculation unit is used to calculate the first coaxiality characterization data CX1 according to the position information of the transmitting lens and the laser diode in the overhead image of the first internal component i .

[0070] As more specific, the specific processing process of the first coaxiality calculation unit is as follows:

[0071] Step S21: obtaining position information of the transmitting lens and the laser diode in the overhead image of the first internal element, including the coordinates of the upper left corner point and the upper left corner point of the transmitting lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the laser diode detection frame in the image;

[0072] Step S22: Calculate the coordinates of the midpoints of the two long sides of the emission lens detection frame according to the coordinates of the upper left corner of the emission lens detection frame and the upper left corner in the overhead image of the first internal element, and the midpoints are respectively denoted as S 11 , S12 According to the coordinates of the upper left corner point of the laser diode detection frame and the upper left corner point in the image, the coordinates of the midpoints of the two short sides of the laser diode detection frame are calculated, and the midpoints are respectively denoted as S 13 , S 14 ;

[0073] Step S23: Set the midpoint S 11 , S 12 The connecting line between them is denoted as L1, and the midpoint S 13 , S 14 The connecting line between them is recorded as L2, and the angle between line segments L1 and L2 is calculated, which is regarded as the coaxiality characterization data between the emitting lens and the laser diode, recorded as CX1 i ,See Figure 3 In the present invention, the angle between the lines connecting the corresponding midpoints in the image is used as the coaxiality characterization data between the emitting lens and the laser diode, so that the subsequently generated assembly quality data is more accurate.

[0074] In this embodiment, the second distance detection module is used to detect the position of the receiving lens and the photosensitive sheet to obtain the distance between the receiving lens and the photosensitive sheet.

[0075] More specifically, the second distance detection module includes a second image acquisition unit, a second image preprocessing unit, a receiving lens and photosensitive sheet recognition unit and a second distance calculation unit; the second image acquisition unit is used to use a second industrial camera to shoot the interior of the laser ranging sensor without the upper shell assembled, so as to obtain a second internal component overhead image, which includes a complete receiving lens and photosensitive sheet; the second image preprocessing unit is used to perform noise reduction processing on the overhead image of the second internal component to obtain the overhead image of the second internal component after noise reduction processing; the receiving lens and photosensitive sheet recognition unit is used to use a trained multi-target detection model to identify the receiving lens and photosensitive sheet in the overhead image of the second internal component, and obtain the position information of the receiving lens and the photosensitive sheet in the image; the second distance calculation unit is used to calculate the distance DR between the receiving lens and the photosensitive sheet according to the position information of the receiving lens and the photosensitive sheet in the image. i .

[0076] As more specific, the optical axis of the second industrial camera is arranged perpendicular to the inner surface of the lower shell of the laser ranging sensor, the x-axis of the overhead image of the second internal element is perpendicular to the optical axis of the receiving lens, and the y-axis is parallel to the optical axis of the receiving lens. Figure 4 .

[0077] More specifically, the specific processing process of the second distance calculation unit is as follows:

[0078] Step S31: obtaining position information of the receiving lens and the photosensitive film in the overhead image of the second internal element, including the coordinates of the upper left corner point and the upper left corner point of the receiving lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the photosensitive film detection frame in the image;

[0079] Step S32: Calculate the coordinates of the center point of the receiving lens detection frame in the image based on the upper left corner point of the receiving lens detection frame and the coordinates of the upper left corner point in the overhead image of the second internal element. The center point is recorded as C RL , according to the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image, calculate the coordinates of the center point of the photosensitive film detection frame in the image, and the center point is recorded as C PF ;

[0080] Step S33: Calculate the center point C of the receiving lens detection frame RL The center point C of the photosensitive film detection frame PF The distance in the image is the distance between the transmitting lens and the laser diode, denoted as DR i ,See Figure 4 .

[0081] In this embodiment, the second coaxiality detection module is used to detect the coaxiality between the optical axis of the receiving lens and the transverse axis of the photosensitive sheet to obtain second coaxiality characterization data. In the present invention, the transverse axis is an axis along the width direction of the photosensitive sheet.

[0082] As more specifically, the second coaxiality detection module includes a second position information acquisition unit and a second coaxiality calculation unit; the second position information acquisition unit is used to obtain the position information of the receiving lens and the photosensitive sheet in the overhead image of the second internal element; the second coaxiality calculation unit is used to calculate the second coaxiality characterization data CX2 according to the position information of the receiving lens and the photosensitive sheet in the overhead image of the second internal element i .

[0083] As more specific, the specific processing process of the first coaxiality calculation unit is as follows:

[0084] Step S41: obtaining position information of the receiving lens and the photosensitive film in the overhead image of the second internal element, including the coordinates of the upper left corner point and the upper left corner point of the receiving lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the photosensitive film detection frame in the image;

[0085] Step S42: Calculate the coordinates of the midpoints of the two long sides of the receiving lens detection frame according to the coordinates of the upper left corner of the receiving lens detection frame and the upper left corner in the overhead image of the second internal element, and the midpoints are respectively denoted as S 21 , S 22, according to the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image, calculate the coordinates of the midpoints of the two long sides of the photosensitive film detection frame, and the midpoints are respectively recorded as S 23 , S 24 ;

[0086] Step S43: Set the midpoint S 21 , S 22 The connecting line between them is marked as L3, and the midpoint S 23 , S 24 The line between them is recorded as L4, and the angle between line segments L3 and L4 is calculated, which is regarded as the coaxiality characterization data between the receiving lens and the photosensitive film, recorded as CX2 i ,See Figure 4 In the present invention, the angle between the lines of corresponding midpoints in the image is used as the coaxiality characterization data between the receiving lens and the photosensitive sheet, so that the subsequently generated assembly quality data is more accurate.

[0087] In this embodiment, the assembly quality data generation and processing module is used to generate the assembly quality data of the current batch of laser ranging sensors based on the distance between the transmitting lens and the laser diode, the first coaxiality characterization data, the distance between the receiving lens and the photosensitive film, and the second coaxiality characterization data obtained through detection, and process the assembly quality data of the current batch of laser ranging sensors to obtain a connection vector structure diagram for transmission to an internal database.

[0088] More specifically, in the assembly quality data generation processing module, the generation process of the assembly quality data of the current batch of laser ranging sensors is as follows:

[0089] Step S51: Set the distance DT between the emitting lens and the laser diode i Compared with the set spacing DT0, the spacing DT i When it is equal to the distance DT0, it means that the distance between the emitting lens and the laser diode of the current laser ranging sensor is qualified. i When it is not equal to the distance DT0, it means that the distance between the emitting lens and the laser diode of the current laser ranging sensor is unqualified. Calculate the qualified rate R of the distance between the emitting lens and the laser diode of the current batch of laser ranging sensors TL :

[0090] R TL =m1 / M;

[0091] Among them, m1 is the number of laser ranging sensors in the current batch of laser ranging sensors with qualified spacing between the emitting lens and the laser diode, and M is the total number of laser ranging sensors in the current batch;

[0092] Step S52: The first coaxiality characterization data CX1 iCompared with 0°, the first coaxiality characterization data CX1 i When it is equal to 0°, it means that the coaxiality between the optical axis of the emitting lens of the current laser ranging sensor and the longitudinal axis of the laser diode is qualified. The first coaxiality characterization data CX1 i When it is not equal to 0°, it means that the coaxiality between the optical axis of the emitting lens of the current laser ranging sensor and the longitudinal axis of the laser diode is unqualified. Calculate the coaxiality pass rate R between the optical axis of the emitting lens of the current batch of laser ranging sensors and the longitudinal axis of the laser diode CX1 :

[0093] R CX1 =m2 / M;

[0094] Wherein, m2 is the number of laser ranging sensors in the current batch of laser ranging sensors whose coaxiality between the optical axis of the emitting lens and the longitudinal axis of the laser diode is qualified;

[0095] Step S53: Set the distance DR between the receiving lens and the photosensitive sheet i Compared with the set spacing DR0, the spacing DR i When it is equal to the distance DR0, it means that the distance between the receiving lens and the photosensitive film of the current laser ranging sensor is qualified. i When it is not equal to the spacing DR0, it means that the spacing between the receiving lens and the photosensitive sheet of the current laser ranging sensor is unqualified. Calculate the qualified rate R of the spacing between the receiving lens and the photosensitive sheet of the current batch of laser ranging sensors RL :

[0096] R RL =m3 / M;

[0097] Among them, m3 is the number of laser ranging sensors in the current batch of laser ranging sensors with qualified spacing between the receiving lens and the photosensitive sheet;

[0098] Step S54: The second coaxiality characterization data CX2 i Compared with 0°, the second coaxiality characterization data CX2 i When it is equal to 0°, it means that the coaxiality between the optical axis of the receiving lens of the current laser ranging sensor and the transverse axis of the photosensitive film is qualified. The second coaxiality characterization data CX2 i When it is not equal to 0°, it means that the coaxiality between the optical axis of the receiving lens of the current laser ranging sensor and the transverse axis of the photosensitive film is unqualified. Calculate the coaxiality pass rate R between the optical axis of the receiving lens of the current batch of laser ranging sensors and the transverse axis of the photosensitive film. CX2 :

[0099] R CX2 =m4 / M;

[0100] Among them, m4 is the number of laser ranging sensors in the current batch of laser ranging sensors whose coaxiality between the optical axis of the receiving lens and the transverse axis of the photosensitive sheet is qualified.

[0101] It should be noted that, in this embodiment, the spacing qualification rate R of the current batch of laser ranging sensors is TL , Coaxiality pass rate R CX1 , Spacing Qualification Rate R RL Coaxiality pass rate R CX2 Together they constitute assembly quality data.

[0102] More specifically, in the assembly quality data generation processing module, the process of obtaining the connection vector structure diagram is as follows:

[0103] Step S61: According to the spacing qualification rate R of the current batch of laser ranging sensors TL , the total number M of laser ranging sensors in the current batch generates vector a1 on the two-dimensional vector structure diagram template. The starting point of vector a1 is the origin of the coordinate axis of the two-dimensional vector structure diagram template, and the angle and spacing qualification rate R with the positive direction of the X axis in the two-dimensional vector structure diagram template TL The length of the vector a1 in the two-dimensional vector structure diagram is equal to the total number M of laser ranging sensors in the current batch;

[0104] Step S62: According to the coaxiality qualification rate R of the current batch of laser distance measuring sensors CX1 , the total number M of laser ranging sensors in the current batch generates vector a2 on the two-dimensional vector structure diagram template. The starting point of vector a2 is the end point of vector a1, and the angle between it and the positive direction of the X-axis in the two-dimensional vector structure diagram template and the coaxiality pass rate R CX1 The length of the vector a2 in the two-dimensional vector structure diagram is equal to the total number M of the laser ranging sensors in the current batch;

[0105] Step S63: According to the spacing qualification rate R of the current batch of laser ranging sensors RL , the total number M of laser ranging sensors in the current batch generates vector b1 on the two-dimensional vector structure diagram template. The starting point of vector b1 is the end point of vector a2, and the angle and spacing pass rate R with the positive direction of the X axis in the two-dimensional vector structure diagram template RL The length of the vector b1 in the two-dimensional vector structure diagram is equal to the total number M of laser ranging sensors in the current batch;

[0106] Step S64: According to the coaxiality qualification rate R of the current batch of laser distance measuring sensors CX2, the total number of laser ranging sensors in the current batch generates vector b2 on the two-dimensional M vector structure diagram template. The starting point of vector b2 is the end point of vector b1, and the angle between it and the positive direction of the X-axis in the two-dimensional vector structure diagram template and the coaxiality qualification rate R CX2 The length of the vector b2 in the two-dimensional vector structure diagram is equal to the total number M of laser ranging sensors in the current batch;

[0107] Step S65: Finally, a connection vector structure diagram for representing the assembly quality data of the current batch of laser ranging sensors is obtained and transmitted to the internal database. Figure 5 The present invention ingeniously processes the assembly quality data of the current batch of laser ranging sensors into a continuous vector structure diagram. Due to the use of a custom mapping rule, the security of the data is effectively guaranteed during transmission to the internal database, thereby avoiding leakage of the assembly quality data.

[0108] After being transmitted to the internal database, the length value of each vector and the angle value with the positive direction of the X-axis are read in sequence from the origin of the coordinate axis of the continuation vector structure diagram to obtain the spacing qualification rate R of the current batch of laser ranging sensors. TL , Coaxiality pass rate R CX1 , Spacing Qualification Rate R RL Coaxiality pass rate R CX2 .

[0109] To summarize, the laser control sensor equipment management system of the above-mentioned embodiment, through the set spacing detection module and coaxiality detection module, can accurately detect and obtain the spacing between the transmitting lens and the laser diode, the spacing between the receiving lens and the photosensitive film, and the corresponding coaxiality characterization data, thereby realizing non-contact detection of the relative position of the transmitting lens and the laser diode, and the relative position of the receiving lens and the photosensitive film; based on the above-mentioned acquired data, the corresponding assembly quality data can be generated, and the assembly quality data can be processed to obtain a connection vector structure diagram. Due to the use of customized mapping rules, the security of the data is effectively guaranteed during the transmission to the internal database, thereby avoiding the leakage of assembly quality data.

[0110] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A laser control sensor equipment management system, characterized in that: It includes a first spacing detection module, a first coaxiality detection module, a second spacing detection module, a second coaxiality detection module and an assembly quality data generation and processing module; The first distance detection module is used to detect the position of the emitting lens and the laser diode, and obtain the distance data between the emitting lens and the laser diode; The first coaxiality detection module is used to detect the coaxiality between the optical axis of the emitting lens and the longitudinal axis of the laser diode to obtain first coaxiality characterization data; The second distance detection module is used to detect the position of the receiving lens and the photosensitive sheet to obtain the distance data between the receiving lens and the photosensitive sheet; The second coaxiality detection module is used to detect the coaxiality between the optical axis of the receiving lens and the transverse axis of the photosensitive sheet to obtain second coaxiality characterization data; The assembly quality data generation and processing module is used to generate the assembly quality data of the current batch of laser ranging sensors according to the distance between the transmitting lens and the laser diode, the first coaxiality characterization data, the distance between the receiving lens and the photosensitive sheet, and the second coaxiality characterization data obtained through detection, and process the assembly quality data of the current batch of laser ranging sensors to obtain a connection vector structure diagram for transmission to an internal database.

2. A laser control sensor equipment management system according to claim 1, characterized in that: The first distance detection module includes a first image acquisition unit, a first image preprocessing unit, a transmitting lens and laser diode identification unit and a first distance calculation unit; the first image acquisition unit is used to use a first industrial camera to shoot the interior of the laser ranging sensor without the upper shell assembled directly above it, and obtain a first internal component overhead image, which includes a complete transmitting lens and laser diode; the first image preprocessing unit is used to perform noise reduction processing on the first internal component overhead image to obtain the first internal component overhead image after noise reduction processing; the transmitting lens and laser diode identification unit is used to use a trained multi-target detection model to identify the transmitting lens and laser diode in the first internal component overhead image, and obtain the position information of the transmitting lens and the laser diode in the image; the first distance calculation unit is used to calculate the distance DT between the transmitting lens and the laser diode according to the position information of the transmitting lens and the laser diode in the image. i , where i represents the i-th laser ranging sensor in a single batch.

3. A laser control sensor equipment management system according to claim 2, characterized in that: The specific processing process of the first spacing calculation unit is as follows: Step S11: obtaining position information of the transmitting lens and the laser diode in the overhead image of the first internal element, including the coordinates of the upper left corner point and the upper left corner point of the transmitting lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the laser diode detection frame in the image; Step S12: According to the coordinates of the upper left corner of the emission lens detection frame and the upper left corner in the overhead image of the first internal element, the coordinates of the center point of the emission lens detection frame in the image are calculated, and the center point is recorded as C TL According to the coordinates of the upper left corner of the laser diode detection frame and the upper left corner in the image, the coordinates of the center point of the laser diode detection frame in the image are calculated, and the center point is recorded as C LD ; Step S13: Calculate the center point C of the emission lens detection frame TL The center point C of the laser diode detection frame LD The distance in the image is the distance between the transmitting lens and the laser diode, denoted as DT i .

4. A laser control sensor equipment management system according to claim 3, characterized in that: The specific processing process of the first coaxiality detection module is as follows: Step S21: obtaining position information of the transmitting lens and the laser diode in the overhead image of the first internal element, including the coordinates of the upper left corner point and the upper left corner point of the transmitting lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the laser diode detection frame in the image; Step S22: Calculate the coordinates of the midpoints of the two long sides of the emission lens detection frame according to the coordinates of the upper left corner of the emission lens detection frame and the upper left corner in the overhead image of the first internal element, and the midpoints are respectively denoted as S 11 , S 12 According to the coordinates of the upper left corner point of the laser diode detection frame and the upper left corner point in the image, the coordinates of the midpoints of the two short sides of the laser diode detection frame are calculated, and the midpoints are respectively denoted as S 13 , S 14 ; Step S23: Set the midpoint S 11 , S 12 The connecting line between them is denoted as L1, and the midpoint S 13 , S 14 The connecting line between them is recorded as L2, and the angle between line segments L1 and L2 is calculated, which is regarded as the coaxiality characterization data between the emitting lens and the laser diode, recorded as CX1 i .

5. A laser control sensor equipment management system according to claim 4, characterized in that: The second distance detection module includes a second image acquisition unit, a second image preprocessing unit, a receiving lens and photosensitive sheet recognition unit and a second distance calculation unit; the second image acquisition unit is used to use a second industrial camera to shoot the interior of the laser ranging sensor without the upper shell assembled directly above it, to obtain a second internal component overhead image, the image includes a complete receiving lens and photosensitive sheet; the second image preprocessing unit is used to perform noise reduction processing on the second internal component overhead image to obtain the second internal component overhead image after noise reduction processing; the receiving lens and photosensitive sheet recognition unit is used to use a trained multi-target detection model to identify the receiving lens and photosensitive sheet in the second internal component overhead image, and obtain the position information of the receiving lens and photosensitive sheet in the image; The second distance calculation unit is used to calculate the distance DR between the receiving lens and the photosensitive sheet according to the position information of the receiving lens and the photosensitive sheet in the image. i .

6. A laser control sensor equipment management system according to claim 5, characterized in that: The specific processing process of the second spacing calculation unit is as follows: Step S31: obtaining position information of the receiving lens and the photosensitive film in the overhead image of the second internal element, including the coordinates of the upper left corner point and the upper left corner point of the receiving lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the photosensitive film detection frame in the image; Step S32: Calculate the coordinates of the center point of the receiving lens detection frame in the image based on the upper left corner point of the receiving lens detection frame and the coordinates of the upper left corner point in the overhead image of the second internal element. The center point is recorded as C RL , according to the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image, calculate the coordinates of the center point of the photosensitive film detection frame in the image, and the center point is recorded as C PF ; Step S33: Calculate the center point C of the receiving lens detection frame RL The center point C of the photosensitive film detection frame PF The distance in the image is the distance between the transmitting lens and the laser diode, denoted as DR i .

7. A laser control sensor equipment management system according to claim 6, characterized in that: The specific processing process of the second coaxiality detection module is as follows: Step S41: obtaining position information of the receiving lens and the photosensitive film in the overhead image of the second internal element, including the coordinates of the upper left corner point and the upper left corner point of the receiving lens detection frame in the image, and the coordinates of the upper left corner point and the upper left corner point of the photosensitive film detection frame in the image; Step S42: Calculate the coordinates of the midpoints of the two long sides of the receiving lens detection frame according to the coordinates of the upper left corner of the receiving lens detection frame and the upper left corner in the overhead image of the second internal element, and the midpoints are respectively denoted as S 21 , S 22 , according to the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image, calculate the coordinates of the midpoints of the two long sides of the photosensitive film detection frame, and the midpoints are respectively recorded as S 23 , S 24 ; Step S43: Set the midpoint S 21 , S 22 The line between them is marked as L3, and the midpoint S 23 , S 24 The line between them is recorded as L4, and the angle between line segments L3 and L4 is calculated, which is regarded as the coaxiality characterization data between the receiving lens and the photosensitive film, recorded as CX2 i .

8. A laser control sensor equipment management system according to claim 7, characterized in that: In the assembly quality data generation processing module, the generation process of the assembly quality data of the current batch of laser ranging sensors is as follows: Step S51: Set the distance DT between the emitting lens and the laser diode i Compared with the set spacing DT0, the spacing DT i When it is equal to the distance DT0, it means that the distance between the emitting lens and the laser diode of the current laser ranging sensor is qualified. i When it is not equal to the distance DT0, it means that the distance between the emitting lens and the laser diode of the current laser ranging sensor is unqualified. Calculate the qualified rate R of the distance between the emitting lens and the laser diode of the current batch of laser ranging sensors TL : R TL =m1 / M; Among them, m1 is the number of laser ranging sensors in the current batch of laser ranging sensors with qualified spacing between the emitting lens and the laser diode, and M is the total number of laser ranging sensors in the current batch; Step S52: The first coaxiality characterization data CX1 i Compared with 0°, the first coaxiality characterization data CX1 i When it is equal to 0°, it means that the coaxiality between the optical axis of the emitting lens of the current laser ranging sensor and the longitudinal axis of the laser diode is qualified. The first coaxiality characterization data CX1 i When it is not equal to 0°, it means that the coaxiality between the optical axis of the emitting lens of the current laser ranging sensor and the longitudinal axis of the laser diode is unqualified. Calculate the coaxiality pass rate R between the optical axis of the emitting lens of the current batch of laser ranging sensors and the longitudinal axis of the laser diode CX1 : R CX1 =m2 / M; Wherein, m2 is the number of laser ranging sensors in the current batch of laser ranging sensors whose coaxiality between the optical axis of the emitting lens and the longitudinal axis of the laser diode is qualified; Step S53: Set the distance DR between the receiving lens and the photosensitive sheet i Compared with the set spacing DR0, the spacing DR i When it is equal to the distance DR0, it means that the distance between the receiving lens and the photosensitive film of the current laser ranging sensor is qualified. i When it is not equal to the spacing DR0, it means that the spacing between the receiving lens and the photosensitive sheet of the current laser ranging sensor is unqualified. Calculate the qualified rate R of the spacing between the receiving lens and the photosensitive sheet of the current batch of laser ranging sensors RL : R RL =m3 / M; Among them, m3 is the number of laser ranging sensors in the current batch of laser ranging sensors with qualified spacing between the receiving lens and the photosensitive sheet; Step S54: The second coaxiality characterization data CX2 i Compared with 0°, the second coaxiality characterization data CX2 i When it is equal to 0°, it means that the coaxiality between the optical axis of the receiving lens of the current laser ranging sensor and the transverse axis of the photosensitive film is qualified. The second coaxiality characterization data CX2 i When it is not equal to 0°, it means that the coaxiality between the optical axis of the receiving lens of the current laser ranging sensor and the transverse axis of the photosensitive film is unqualified. Calculate the coaxiality pass rate R between the optical axis of the receiving lens of the current batch of laser ranging sensors and the transverse axis of the photosensitive film. CX2 : R CX2 =m4 / M; Among them, m4 is the number of laser ranging sensors in the current batch of laser ranging sensors whose coaxiality between the optical axis of the receiving lens and the transverse axis of the photosensitive sheet is qualified.

9. A laser control sensor equipment management system according to claim 8, characterized in that: In the assembly quality data generation processing module, the process of obtaining the connection vector structure diagram is as follows: Step S61: According to the spacing qualification rate R of the current batch of laser ranging sensors TL , the total number M of laser ranging sensors in the current batch generates vector a1 on the two-dimensional vector structure diagram template. The starting point of vector a1 is the origin of the coordinate axis of the two-dimensional vector structure diagram template, and the angle and spacing qualification rate R with the positive direction of the X axis in the two-dimensional vector structure diagram template TL The length of the vector a1 in the two-dimensional vector structure diagram is equal to the total number M of laser ranging sensors in the current batch; Step S62: According to the coaxiality qualification rate R of the current batch of laser distance measuring sensors CX1 , the total number M of laser ranging sensors in the current batch generates vector a2 on the two-dimensional vector structure diagram template. The starting point of vector a2 is the end point of vector a1, and the angle between it and the positive direction of the X-axis in the two-dimensional vector structure diagram template and the coaxiality pass rate R CX1 The length of the vector a2 in the two-dimensional vector structure diagram is equal to the total number M of laser ranging sensors in the current batch; Step S63: According to the spacing qualification rate R of the current batch of laser ranging sensors RL , the total number M of laser ranging sensors in the current batch generates vector b1 on the two-dimensional vector structure diagram template. The starting point of vector b1 is the end point of vector a2, and the angle and spacing pass rate R with the positive direction of the X axis in the two-dimensional vector structure diagram template RL The length of the vector b1 in the two-dimensional vector structure diagram is equal to the total number M of laser ranging sensors in the current batch; Step S64: According to the coaxiality qualification rate R of the current batch of laser distance measuring sensors CX2 , the total number of laser ranging sensors in the current batch generates vector b2 on the two-dimensional M vector structure diagram template. The starting point of vector b2 is the end point of vector b1, and the angle between it and the positive direction of the X-axis in the two-dimensional vector structure diagram template and the coaxiality qualification rate R CX2 The length of the vector b2 in the two-dimensional vector structure diagram is equal to the total number M of laser ranging sensors in the current batch; Step S65: Finally, a connection vector structure diagram for representing the assembly quality data of the current batch of laser ranging sensors is obtained and transmitted to the internal database.

10. The laser control sensor equipment management system according to claim 8, characterized in that: The qualified rate R of the spacing of the current batch of laser distance measurement sensors TL , Coaxiality pass rate R CX1 , Spacing Qualification Rate R RL Coaxiality pass rate R CX2 Together they constitute assembly quality data.

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