A laser control sensor device management system

Abstract

The present invention discloses a management system for a laser control sensor device, belonging to the technical field of assembly quality detection of sensor devices. By means of the set spacing detection module and coaxiality detection module, the present invention can accurately detect and obtain the spacing between the emitting lens and the laser diode, the spacing between the receiving lens and the photosensitive film, and the corresponding coaxiality characterization data, realizing non-contact detection of the relative positions of the emitting lens and the laser diode, and the relative positions of the receiving lens and the photosensitive film; based on the above-obtained data, corresponding assembly quality data can be generated, and the assembly quality data is processed to obtain a connection vector structure diagram. Due to the adoption of a custom mapping rule, the security of the data is effectively ensured during the transmission to the internal database, thereby avoiding the leakage of the assembly quality data.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor device assembly quality detection, and particularly to a management system for a laser control sensor device. Background Art

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

[0003] During the assembly process of the laser ranging sensor, after the internal components of the laser ranging sensor are assembled, in order to ensure the measurement accuracy during the use of the laser ranging sensor, it is necessary to detect the relative positions of its laser (laser diode) and beam shaping optical element (emission lens), and the relative positions of the photosensitive element (photosensitive film) and the optical focusing element (receiving lens), so as to evaluate the assembly quality of the current batch of laser ranging sensors, and at the same time transmit the obtained assembly quality data to the internal database for convenient subsequent traceability or assembly process adjustment. When assembling the emission lens and the receiving lens, their positions are fixed through the positioning brackets reserved on the lower housing. Therefore, it is mainly by detecting the positions of the laser diode and the photosensitive film to obtain the relative positions of the corresponding emission lens and receiving lens.

[0004] How to more accurately perform non-contact detection on the relative positions of the emission lens and the laser diode, and the relative positions of the receiving lens and the photosensitive film, and ensure the security of the subsequent assembly quality data during transmission is an urgent problem to be solved. For this reason, a management system for a laser control sensor device is proposed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: how to more conveniently perform non-contact detection on the relative positions of the emission lens and the laser diode, and the relative positions of the receiving lens and the photosensitive film, and ensure the security of the subsequent assembly quality data during transmission, and a management system for a laser control sensor device is provided.

[0006] The present invention solves the above technical problems through the following technical solutions. 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 spacing detection module is used to detect the positions of the emitting lens and the laser diode, and obtain the spacing 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, and obtain the first coaxiality characterization data;

[0009] The second spacing detection module is used to detect the positions of the receiving lens and the photosensitive film, and obtain the spacing data between the receiving lens and the photosensitive film;

[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 film, and obtain the 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 range sensors according to the detected spacing between the emitting lens and the laser diode, the first coaxiality characterization data, the spacing between the receiving lens and the photosensitive film, and the second coaxiality characterization data, and process the assembly quality data of the current batch of laser range sensors to obtain a continuous vector structure diagram for transmission to the internal database.

[0012] Furthermore, the first spacing detection module includes a first image acquisition unit, a first image preprocessing unit, an emitting lens and laser diode recognition unit, and a first spacing calculation unit; the first image acquisition unit is used to take a photo of the inside of the laser range sensor without the assembled upper housing directly above it through a first industrial camera, and obtain a top-down image of the first internal components, which includes the complete emitting lens and laser diode; the first image preprocessing unit is used to perform noise reduction processing on the top-down image of the first internal components to obtain the top-down image of the first internal components after noise reduction processing; the emitting lens and laser diode recognition unit is used to use a trained multi-object detection model to recognize the emitting lens and the laser diode in the top-down image of the first internal components, and obtain the position information of the emitting lens and the laser diode in the image; the first spacing calculation unit is used to calculate the spacing 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 range sensor in a single batch.

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

[0014] Step S11: Obtain the position information of the emission lens and the laser diode in the top-down image of the first internal component, including the coordinates of the upper left corner point of the emission lens detection frame and the upper left corner point in the image, and the coordinates of the upper left corner point of the laser diode detection frame and the upper left corner point in the image;

[0015] Step S12: Calculate the coordinates of the center point of the emission lens detection frame in the image based on the coordinates of the upper left corner point of the emission lens detection frame and the upper left corner point in the top-down image of the first internal component. This center point is denoted as C TL , and calculate the coordinates of the center point of the laser diode detection frame in the image based on the coordinates of the upper left corner point of the laser diode detection frame and the upper left corner point in the image. This center point is denoted as C LD ;

[0016] Step S13: Calculate the distance between the center point C TL of the emission lens detection frame and the center point C LD of the laser diode detection frame in the image, and take it as the distance between the emission 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: Obtain the position information of the emission lens and the laser diode in the top-down image of the first internal component, including the coordinates of the upper left corner point of the emission lens detection frame and the upper left corner point in the image, and the coordinates of the upper left corner point of the laser diode detection frame and the upper left corner point in the image;

[0019] Step S22: Calculate the midpoint coordinates of the two long sides of the emission lens detection frame based on the coordinates of the upper left corner point of the emission lens detection frame and the upper left corner point in the top-down image of the first internal component. The midpoints are respectively denoted as S 11 , S 12 , and calculate the midpoint coordinates of the two short sides of the laser diode detection frame based on the coordinates of the upper left corner point of the laser diode detection frame and the upper left corner point in the image. The midpoints are respectively denoted as S 13 , S 14 ;

[0020] Step S23: Denote the line connecting the midpoints S 11 , S 12 as L1, and denote the line connecting the midpoints S 13 , S 14 as L2. Calculate the included angle between the line segment L1 and L2, and regard it as the coaxiality characterization data between the emission lens and the laser diode, denoted as CX1 i .

[0021] Further, the second spacing detection module includes a second image acquisition unit, a second image preprocessing unit, a receiving lens and photosensitive film recognition unit, and a second spacing calculation unit; the second image acquisition unit is configured to take a picture of the inside of the laser distance sensor without the upper housing assembled directly above it through a second industrial camera to obtain a top-down image of the second internal components, where the image includes a complete receiving lens and photosensitive film; the second image preprocessing unit is configured to perform noise reduction processing on the top-down image of the second internal components to obtain a top-down image of the second internal components after noise reduction processing; the receiving lens and photosensitive film recognition unit is configured to use a trained multi-object detection model to recognize the receiving lens and photosensitive film in the top-down image of the second internal components to obtain the position information of the receiving lens and photosensitive film in the image; the second spacing calculation unit is configured to calculate the spacing DR between the receiving lens and the photosensitive film according to the position information of the receiving lens and photosensitive film in the image i 。

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

[0023] Step S31: Obtain the position information of the receiving lens and photosensitive film in the top-down image of the second internal components, including the coordinates of the upper left corner point of the receiving lens detection frame and the upper left corner point in the image, and the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image;

[0024] Step S32: Calculate the coordinates of the center point of the receiving lens detection frame in the image according to the coordinates of the upper left corner point of the receiving lens detection frame and the upper left corner point in the top-down image of the second internal components, and this center point is denoted as C RL ; calculate the coordinates of the center point of the photosensitive film detection frame in the image 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, and this center point is denoted as C PF ;

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

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

[0027] Step S41: Obtain the position information of the receiving lens and photosensitive film in the top-down image of the second internal components, including the coordinates of the upper left corner point of the receiving lens detection frame and the upper left corner point in the image, and the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image;

[0028] Step S42: Calculate the midpoint coordinates of the two long sides of the receiving lens detection frame based on the coordinates of the upper left corner point of the receiving lens detection frame and its coordinates in the top-down image of the second internal component. Denote the midpoints as S 21 and S 22 . Calculate the midpoint coordinates of the two long sides of the photosensitive film detection frame based on the coordinates of the upper left corner point of the photosensitive film detection frame and its coordinates in the image. Denote the midpoints as S 23 and S 24 ;

[0029] Step S43: Denote the line connecting the midpoints S 21 and S 22 as L3, and denote the line connecting the midpoints S 23 and S 24 as L4. Calculate the angle between the line segments L3 and L4, which is regarded as the coaxiality characterization data between the receiving lens and the photosensitive film, denoted as CX2 i .

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

[0031] Step S51: Compare the distance DT i between the transmitting lens and the laser diode with the set distance DT0. When the distance DT i is equal to the distance DT0, it indicates that the distance between the transmitting lens and the laser diode of the current laser range sensor is qualified. When the distance DT i is not equal to the distance DT0, it indicates that the distance between the transmitting lens and the laser diode of the current laser range sensor is unqualified. Calculate the passing rate R TL of the distance between the transmitting lens and the laser diode of the current batch of laser range sensors:

[0032] R TL = m1 / M;

[0033] where m1 is the number of laser range sensors with qualified distance between the transmitting lens and the laser diode in the current batch of laser range sensors, and M is the total number of laser range sensors in the current batch;

[0034] Step S52: Compare the first coaxiality characterization data CX1 i with 0°. When the first coaxiality characterization data CX1 i is equal to 0°, it indicates that the coaxiality between the optical axis of the transmitting lens and the longitudinal axis of the laser diode of the current laser range sensor is qualified. When the first coaxiality characterization data CX1 iWhen it is not equal to 0°, it indicates that the coaxiality between the optical axis of the emission lens of the current laser distance sensor and the longitudinal axis of the laser diode is unqualified, and the qualification rate R of the coaxiality between the optical axis of the emission lens of the laser distance sensor in the current batch and the longitudinal axis of the laser diode is calculated. CX1 :

[0035] R CX1 = m2 / M;

[0036] Among them, m2 is the number of laser distance sensors with qualified coaxiality between the optical axis of the emission lens and the longitudinal axis of the laser diode in the current batch of laser distance sensors.

[0037] Step S53: Compare the distance DR between the receiving lens and the photosensitive film i with the set distance DR0. When the distance DR i is equal to the distance DR0, it indicates that the distance between the receiving lens and the photosensitive film of the current laser distance sensor is qualified. When the distance DR i is not equal to the distance DR0, it indicates that the distance between the receiving lens and the photosensitive film of the current laser distance sensor is unqualified, and the qualification rate R of the distance between the receiving lens and the photosensitive film of the laser distance sensor in the current batch is calculated. RL :

[0038] R RL = m3 / M;

[0039] Among them, m3 is the number of laser distance sensors with qualified distance between the receiving lens and the photosensitive film in the current batch of laser distance sensors.

[0040] Step S54: Compare the second coaxiality characterization data CX2 i with 0°. When the second coaxiality characterization data CX2 i is equal to 0°, it indicates that the coaxiality between the optical axis of the receiving lens of the current laser distance sensor and the transverse axis of the photosensitive film is qualified. When the second coaxiality characterization data CX2 i is not equal to 0°, it indicates that the coaxiality between the optical axis of the receiving lens of the current laser distance sensor and the transverse axis of the photosensitive film is unqualified, and the qualification rate R of the coaxiality between the optical axis of the receiving lens of the laser distance sensor in the current batch and the transverse axis of the photosensitive film is calculated. CX2 :

[0041] R CX2 = m4 / M;

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

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

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

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

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

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

[0048] Finally, obtain the continuous vector structure diagram representing the assembly quality data of the current batch of laser ranging sensors and transmit it to the internal database.

[0049] The present invention has the following advantages compared with the prior art: the laser control sensor device management system can accurately detect and obtain the distance between the emission lens and the laser diode, the distance between the receiving lens and the photosensitive film, and the corresponding coaxiality characterization data through the set distance detection module and coaxiality detection module, realizing non-contact detection of the relative positions of the emission lens and the laser diode, and the relative positions of the receiving lens and the photosensitive film; based on the above-obtained data, corresponding assembly quality data can be generated, and the assembly quality data is processed to obtain a connection vector structure diagram. Since a custom mapping rule is adopted, the security of the data is effectively guaranteed during the transmission to the internal database, thereby avoiding the leakage of the assembly quality data. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0051] Figure 2 is a schematic internal structure diagram of the laser distance sensor without the assembled upper housing in an embodiment of the present invention;

[0052] Figure 3 is a schematic diagram of a top-down image 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 housing; 2, laser diode; 3, emission lens; 4, photosensitive film; 5, receiving lens; 6, signal processing board. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] The embodiments of the present invention will be described in detail below. The following embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation manners and specific operation processes are given. However, the protection scope of the present invention is not limited to the following embodiments.

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

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

[0059] More specifically, the first distance detection module includes a first image acquisition unit, a first image preprocessing unit, a transmitting lens, a laser diode recognition unit, and a first distance calculation unit. The first image acquisition unit is configured to capture an image of the interior of a laser distance sensor without the upper housing assembled directly above it using a first industrial camera, obtaining a top-down image of the first internal components, which includes a complete transmitting lens and a laser diode. The first image preprocessing unit is configured to perform noise reduction processing on the top-down image of the first internal components to obtain a top-down image of the first internal components after noise reduction processing. The transmitting lens and laser diode recognition unit is configured to identify the transmitting lens and the laser diode in the top-down image of the first internal components using a trained multi-object detection model, obtaining the position information of the transmitting lens and the laser diode in the image. The first distance calculation unit is configured to calculate the distance DT between the transmitting lens and the laser diode based on the position information of the transmitting lens and the laser diode in the image i , where i represents the i-th laser distance sensor in a single batch

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

[0061] More specifically, the optical axis of the first industrial camera is arranged perpendicular to the inner surface of the lower housing of the laser distance sensor, the x-axis of the top-down image of the first internal components is perpendicular to the optical axis of the transmitting lens, and the y-axis is parallel to the optical axis of the transmitting lens, as shown in Figure 3 .

[0062] More specifically, 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-object 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: Obtain the position information of the emission lens and the laser diode in the top-down image of the first internal component, including the coordinates of the upper left corner point of the emission lens detection frame and its coordinates in the image, and the coordinates of the upper left corner point of the laser diode detection frame and its coordinates in the image;

[0066] Step S12: Calculate the coordinates of the center point of the emission lens detection frame in the image based on the coordinates of the upper left corner point of the emission lens detection frame and its coordinates in the top-down image of the first internal component. This center point is denoted as C TL , and calculate the coordinates of the center point of the laser diode detection frame in the image based on the coordinates of the upper left corner point of the laser diode detection frame and its coordinates in the image. This center point is denoted as C LD ;

[0067] Step S13: Calculate the distance between the center point C TL of the emission lens detection frame and the center point C LD of the laser diode detection frame in the image as the spacing between the emission lens and the laser diode, denoted as DT i , as shown in 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, and obtain the first coaxiality characterization data. In the present invention, the transverse axis is the axis along the length direction of the laser diode.

[0069] 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 emission lens and the laser diode in the top-down 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 emission lens and the laser diode in the top-down image of the first internal component i .

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

[0071] Step S21: Obtain the position information of the emission lens and the laser diode in the top-down image of the first internal component, including the coordinates of the upper left corner point of the emission lens detection frame and its coordinates in the image, and the coordinates of the upper left corner point of the laser diode detection frame and its coordinates in the image;

[0072] Step S22: Calculate the midpoint coordinates of the two long sides of the emission lens detection frame based on the coordinates of the upper left corner point of the emission lens detection frame and its coordinates in the top-down image of the first internal component. The midpoints are denoted as S 11 、S12 Based on 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 denoted as S 13 and S 14 ;

[0073] Step S23: Denote the line connecting the midpoints S 11 and S 12 as L1, and denote the line connecting the midpoints S 13 and S 14 as L2. Calculate the included angle between the line segment L1 and L2, which is regarded as the coaxiality characterization data between the emission lens and the laser diode, and is denoted as CX1 i , see Figure 3 . In the present invention, the included angle between the lines corresponding to the midpoints in the image is used as the coaxiality characterization data between the emission lens and the laser diode, making the subsequent generated assembly quality data more accurate.

[0074] In this embodiment, the second spacing detection module is used to detect the positions of the receiving lens and the photosensitive film, and obtain the spacing between the receiving lens and the photosensitive film.

[0075] More specifically, the second spacing detection module includes a second image acquisition unit, a second image preprocessing unit, a receiving lens and photosensitive film recognition unit, and a second spacing calculation unit; the second image acquisition unit is used to take a picture of the inside of the laser distance sensor without the assembled upper housing directly above it through a second industrial camera to obtain a top-down image of the second internal components, and the image includes a complete receiving lens and photosensitive film; the second image preprocessing unit is used to perform noise reduction processing on the top-down image of the second internal components to obtain the top-down image of the second internal components after noise reduction processing; the receiving lens and photosensitive film recognition unit is used to recognize the receiving lens and the photosensitive film in the top-down image of the second internal components by using a trained multi-object detection model to obtain the position information of the receiving lens and the photosensitive film in the image; the second spacing calculation unit is used to calculate the spacing 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 .

[0076] More specifically, the optical axis of the second industrial camera is perpendicular to the inner surface of the lower housing of the laser distance sensor, the x-axis of the top-down image of the second internal components is perpendicular to the optical axis of the receiving lens, and the y-axis is parallel to the optical axis of the receiving lens, see Figure 4 .

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

[0078] Step S31: Obtain the position information of the receiving lens and the photosensitive film in the top-down image of the second internal component, including the coordinates of the upper left corner point of the receiving lens detection frame and the upper left corner point in the image, and the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image;

[0079] Step S32: Calculate the coordinates of the center point of the receiving lens detection frame in the image according to the coordinates of the upper left corner point of the receiving lens detection frame and the upper left corner point in the top-down image of the second internal component. This center point is denoted as C RL , and calculate the coordinates of the center point of the photosensitive film detection frame in the image 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. This center point is denoted as C PF ;

[0080] Step S33: Calculate the distance between the center point C RL of the receiving lens detection frame and the center point C PF of the photosensitive film detection frame in the image, which is used as the distance between the emitting lens and the laser diode, denoted as DR i , as shown in 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 film, and obtain the second coaxiality characterization data. In the present invention, the transverse axis is the axis along the width direction of the photosensitive film.

[0082] 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 film in the top-down image of the second internal component; 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 film in the top-down image of the second internal component i .

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

[0084] Step S41: Obtain the position information of the receiving lens and the photosensitive film in the top-down image of the second internal component, including the coordinates of the upper left corner point of the receiving lens detection frame and the upper left corner point in the image, and the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image;

[0085] Step S42: Calculate the midpoint coordinates of the two long sides of the receiving lens detection frame according to the coordinates of the upper left corner point of the receiving lens detection frame and the upper left corner point in the top-down image of the second internal component. 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 denoted as S 23 、S 24 ;

[0086] Step S43: Denote the line connecting the midpoints S 21 、S 22 as L3, and denote the line connecting the midpoints S 23 、S 24 as L4. Calculate the included angle between line segment L3 and L4, regarded as the coaxiality characterization data between the receiving lens and the photosensitive film, denoted as CX2 i , see Figure 4 . In the present invention, the included angle between the lines corresponding to the midpoints in the image is used as the coaxiality characterization data between the receiving lens and the photosensitive film, making the subsequent generated assembly quality data 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 range sensors according to the detected 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, and process the assembly quality data of the current batch of laser range sensors to obtain a successive vector structure diagram for transmission to the internal database.

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

[0089] Step S51: Compare the distance DT i between the transmitting lens and the laser diode with the set distance DT0. When the distance DT i is equal to the distance DT0, it indicates that the distance between the transmitting lens and the laser diode of the current laser range sensor is qualified. When the distance DT i is not equal to the distance DT0, it indicates that the distance between the transmitting lens and the laser diode of the current laser range sensor is unqualified. Calculate the pass rate R TL of the distance between the transmitting lens and the laser diode of the current batch of laser range sensors:

[0090] R TL = m1 / M;

[0091] where m1 is the number of laser range sensors with qualified distance between the transmitting lens and the laser diode in the current batch of laser range sensors, and M is the total number of laser range sensors in the current batch;

[0092] Step S52: Compare the first coaxiality characterization data CX1 iCompare with 0°, the first coaxiality characterization data CX1 i When it is equal to 0°, it indicates 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, and the first coaxiality characterization data CX1 i When it is not equal to 0°, it indicates 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, and calculate the coaxiality qualification rate R of the optical axis of the emitting lens and the longitudinal axis of the laser diode of the current batch of laser ranging sensors CX1 :

[0093] R CX1 = m2 / M;

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

[0095] Step S53: The distance DR between the receiving lens and the photosensitive film i Compare with the set distance DR0, the distance DR i When it is equal to the distance DR0, it indicates that the distance between the receiving lens and the photosensitive film of the current laser ranging sensor is qualified, and the distance DR i When it is not equal to the distance DR0, it indicates that the distance between the receiving lens and the photosensitive film of the current laser ranging sensor is unqualified, and calculate the qualification rate R of the distance between the receiving lens and the photosensitive film of the current batch of laser ranging sensors RL :

[0096] R RL = m3 / M;

[0097] Wherein, m3 is the number of laser ranging sensors with qualified distance between the receiving lens and the photosensitive film in the current batch of laser ranging sensors;

[0098] Step S54: The second coaxiality characterization data CX2 i Compare with 0°, the second coaxiality characterization data CX2 i When it is equal to 0°, it indicates 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, and the second coaxiality characterization data CX2 i When it is not equal to 0°, it indicates 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, and calculate the coaxiality qualification rate R of the optical axis of the receiving lens and the transverse axis of the photosensitive film of the current batch of laser ranging sensors CX2 :

[0099] R CX2 = m4 / M;

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

[0101] It should be noted that in this embodiment, the spacing qualification rate R of the current batch of laser distance sensors TL , the coaxiality qualification rate R CX1 , the spacing qualification rate R RL and the coaxiality qualification rate R CX2 together constitute the assembly quality data.

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

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

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

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

[0106] Step S64: Generate vector b2 on the two-dimensional vector structure diagram template according to the coaxiality qualification rate R of the current batch of laser distance sensors CX2, the total number of current batch of laser ranging sensors generates vector b2 on the two-dimensional M vector structure diagram template. The starting point of vector b2 is the ending point of vector b1, and the angle with the positive X-axis direction in the two-dimensional vector structure diagram template is numerically equal to the coaxiality qualification rate R. CX2 Numerically, they are equal. The length of vector b2 in the two-dimensional vector structure diagram is numerically equal to the total number M of current batch of laser ranging sensors.

[0107] Step S65: Finally, obtain the continuous vector structure diagram representing the assembly quality data of the current batch of laser ranging sensors and transmit it to the internal database. See 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 data security is effectively guaranteed during the transmission to the internal database, thereby avoiding the leakage of assembly quality data.

[0108] After transmitting to the internal database, read the length values and the angle values with the positive X-axis direction of each vector in sequence from the origin of the coordinate axis of the continuous vector structure diagram, and the spacing qualification rate R of the current batch of laser ranging sensors can be obtained. TL and the coaxiality qualification rate R CX1 and the spacing qualification rate R RL and the coaxiality qualification rate R CX2 .

[0109] In summary, the laser control sensor device management system of the above embodiments can accurately detect and obtain the spacing between the emission lens and the laser diode, the spacing between the receiving lens and the photosensitive film, and the corresponding coaxiality characterization data through the set spacing detection module and coaxiality detection module, realizing non-contact detection of the relative positions of the emission lens and the laser diode and the relative positions of the receiving lens and the photosensitive film; based on the above-obtained data, corresponding assembly quality data can be generated, and the assembly quality data is processed to obtain a continuous vector structure diagram. Due to the use of a custom mapping rule, the data security 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 can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A laser control sensor device 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 spacing detection module is used to detect the positions of the emitting lens and the laser diode, and obtain the spacing 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, and obtain the first coaxiality characterization data; The second spacing detection module is used to detect the positions of the receiving lens and the photosensitive film, and obtain the spacing data between the receiving lens and the photosensitive film; 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 film, and obtain the 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 detected spacing between the emitting lens and the laser diode, the first coaxiality characterization data, the spacing between the receiving lens and the photosensitive film, and the second coaxiality characterization data, and process the assembly quality data of the current batch of laser ranging sensors to obtain a continuous vector structure diagram for transmission to the internal database; The first spacing detection module includes a first image acquisition unit, a first image preprocessing unit, a transmitting lens, a laser diode identification unit, and a first spacing calculation unit; the first image acquisition unit is configured to capture the interior of a laser distance sensor without an assembled upper housing directly above it through a first industrial camera to obtain a top-down image of the first internal components, and the image includes a complete transmitting lens and a laser diode; the first image preprocessing unit is configured to perform noise reduction processing on the top-down image of the first internal components to obtain a top-down image of the first internal components after noise reduction processing; the transmitting lens and laser diode identification unit is configured to identify the transmitting lens and the laser diode in the top-down image of the first internal components by using a trained multi-object detection model to obtain the position information of the transmitting lens and the laser diode in the image; the first spacing calculation unit is configured to calculate the spacing 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 , the first coaxiality detection module calculates the coaxiality characterization data CX1 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 distance sensor in a single batch The second spacing detection module includes a second image acquisition unit, a second image preprocessing unit, a receiving lens and photosensitive film recognition unit, and a second spacing calculation unit; the second image acquisition unit is used to take a picture of the inside of the laser ranging sensor without the assembled upper housing directly above it through a second industrial camera to obtain a top-down image of the second internal components, and the image includes the complete receiving lens and photosensitive film; the second image preprocessing unit is used to perform noise reduction processing on the top-down image of the second internal components to obtain the top-down image of the second internal components after noise reduction processing; the receiving lens and photosensitive film recognition unit is used to use a trained multi-object detection model to recognize the receiving lens and photosensitive film in the top-down image of the second internal components to obtain the position information of the receiving lens and photosensitive film in the image; The second spacing calculation unit is configured to calculate the spacing 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 The second coaxiality detection module calculates the coaxiality characterization data CX2 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 where i represents the i-th laser range finder in a single batch.

2. The management system of a laser control sensor device according to claim 1, characterized in that: The specific processing process of the first spacing calculation unit is as follows: Step S11: Obtain the position information of the emitting lens and the laser diode in the top-down image of the first internal components, including the coordinates of the upper left corner point of the emitting lens detection frame and the upper left corner point in the image, and the coordinates of the upper left corner point of the laser diode detection frame and the upper left corner point in the image; Step S12: Calculate the coordinates of the center point of the emission lens detection frame in the image based on the upper left corner point of the emission lens detection frame and its coordinates in the top-down image of the first internal component. This center point is denoted as C TL , calculate the coordinates of the center point of the laser diode detection frame in the image based on the upper left corner point of the laser diode detection frame and its coordinates in the image. This center point is denoted as C LD ; Step S13: Calculate the center point C of the detection frame of the emission lens TL and the center point C of the detection frame of the laser diode LD in the image, which is used as the spacing between the emission lens and the laser diode, denoted as DT i .

3. A laser control sensor device management system according to claim 2, characterized in that: The specific processing process of the first coaxiality detection module is as follows: Step S21: Obtain the position information of the emitting lens and the laser diode in the top-down image of the first internal components, including the coordinates of the upper left corner point of the emitting lens detection frame and the upper left corner point in the image, and the coordinates of the upper left corner point of the laser diode detection frame and the upper left corner point in the image; Step S22: Calculate the midpoint coordinates of the two long sides of the emission lens detection frame based on the coordinates of the upper left corner point of the emission lens detection frame and the upper left corner point in the top-down image of the first internal component, and the midpoints are denoted as S 11 and S 12 . Calculate the midpoint coordinates of the two short sides of the laser diode detection frame based on the coordinates of the upper left corner point of the laser diode detection frame and the upper left corner point in the image, and the midpoints are denoted as S 13 and S 14 ; Step S23: Denote the line connecting the midpoints S 11 and S 12 as L1, denote the line connecting the midpoints S 13 and S 14 as L2, calculate the included angle between the line segments L1 and L2, regard it as the coaxiality characterization data between the emission lens and the laser diode, and denote it as CX1 i .

4. A laser control sensor device management system according to claim 1, characterized in that: The specific processing process of the second spacing calculation unit is as follows: Step S31: Obtain the position information of the receiving lens and the photosensitive film in the top-down image of the second internal components, including the coordinates of the upper left corner point of the receiving lens detection frame and the upper left corner point in the image, and the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image; Step S32: Calculate the coordinates of the center point of the receiving lens detection frame in the image based on the coordinates of the upper left corner point of the receiving lens detection frame and the upper left corner point in the top-down image of the second internal component. This center point is denoted as C RL , calculate the coordinates of the center point of the photosensitive film detection frame in the image based on the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image. This center point is denoted as C PF ; Step S33: Calculate the center point C of the receiving lens detection frame RL and the center point C of the photosensitive film detection frame PF in the image, and use it as the spacing between the emitting lens and the laser diode, denoted as DR i .

5. The management system of a laser control sensor device according to claim 4, wherein: The specific processing procedure of the second coaxiality detection module is as follows: Step S41: Obtain the position information of the receiving lens and the photosensitive film in the top-down image of the second internal component, including the coordinates of the upper left corner point of the receiving lens detection frame and the upper left corner point in the image, and the coordinates of the upper left corner point of the photosensitive film detection frame and the upper left corner point in the image; Step S42: According to the coordinates of the upper left corner point of the receiving lens detection frame and the upper left corner point in the top-down image of the second internal component, calculate the midpoint coordinates of the two long sides of the receiving lens detection frame, and the midpoints are respectively denoted as S 21 and 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 midpoint coordinates of the two long sides of the photosensitive film detection frame, and the midpoints are respectively denoted as S 23 and S 24 ; Step S43: Denote the line connecting the midpoints S 21 and S 22 as L3, denote the line connecting the midpoints S 23 and S 24 as L4, calculate the included angle between the line segments L3 and L4, regard it as the coaxiality characterization data between the receiving lens and the photosensitive film, and denote it as CX2 i .

6. The management system of a laser control sensor device according to claim 5, characterized in that: In the assembly quality data generation and processing module, the generation process of the assembly quality data of the current batch of laser range sensors is as follows: Step S51: Compare the distance DT between the emission lens and the laser diode i with the set distance DT0. When the distance DT i is equal to the distance DT0, it indicates that the distance between the emission lens and the laser diode of the current laser distance sensor is qualified. When the distance DT i is not equal to the distance DT0, it indicates that the distance between the emission lens and the laser diode of the current laser distance sensor is unqualified, and calculate the qualified rate R of the distance between the emission lens and the laser diode of the current batch of laser distance sensors TL : R TL = m1 / M; Among them, m1 is the number of laser range sensors with qualified spacing between the emitting lens and the laser diode in the current batch of laser range sensors, and M is the total number of laser range sensors in the current batch; Step S52: Compare the first coaxiality characterization data CX1 i with 0°. When the first coaxiality characterization data CX1 i is equal to 0°, it indicates that the coaxiality between the optical axis of the emission lens of the current laser distance sensor and the longitudinal axis of the laser diode is qualified. When the first coaxiality characterization data CX1 i is not equal to 0°, it indicates that the coaxiality between the optical axis of the emission lens of the current laser distance sensor and the longitudinal axis of the laser diode is unqualified, and calculate the qualification rate R of the coaxiality between the optical axis of the emission lens of the current batch of laser distance sensors and the longitudinal axis of the laser diode CX1 : R CX1 = m2 / M; Among them, m2 is the number of laser range sensors with qualified coaxiality between the optical axis of the emitting lens and the longitudinal axis of the laser diode in the current batch of laser range sensors; Step S53: Compare the distance DR between the receiving lens and the photosensitive film i with the set distance DR0. When the distance DR i is equal to the distance DR0, it indicates that the distance between the receiving lens and the photosensitive film of the current laser ranging sensor is qualified. When the distance DR i is not equal to the distance DR0, it indicates that the distance between the receiving lens and the photosensitive film of the current laser ranging sensor is unqualified, and calculate the qualification rate R of the distance between the receiving lens and the photosensitive film of the current batch of laser ranging sensors RL : R RL = m3 / M; Among them, m3 is the number of laser range sensors with qualified spacing between the receiving lens and the photosensitive film in the current batch of laser range sensors; Step S54: Compare the second coaxiality characterization data CX2 i with 0°. When the second coaxiality characterization data CX2 i is equal to 0°, it indicates that the coaxiality between the optical axis of the receiving lens of the current laser range finder sensor and the transverse axis of the photosensitive film is qualified. When the second coaxiality characterization data CX2 i is not equal to 0°, it indicates that the coaxiality between the optical axis of the receiving lens of the current laser range finder sensor and the transverse axis of the photosensitive film is unqualified, and calculate the coaxiality qualification rate R CX2 of the optical axis of the receiving lens of the current batch of laser range finder sensors and the transverse axis of the photosensitive film R CX2 = m4 / M; Among them, m4 is the number of laser range sensors with qualified coaxiality between the optical axis of the receiving lens and the horizontal axis of the photosensitive film in the current batch of laser range sensors.

7. The management system of a laser control sensor device according to claim 6, characterized in that: In the assembly quality data generation and processing module, the process of obtaining the continuous vector structure diagram is as follows: Step S61: Generate vector a1 on the two-dimensional vector structure diagram template according to the spacing qualification rate R of the current batch of laser ranging sensors TL and the total number M of the current batch of laser ranging sensors. The starting point of vector a1 is the origin of the coordinate axis of the two-dimensional vector structure diagram template, and the angle with the positive direction of the X-axis in the two-dimensional vector structure diagram template is numerically equal to the spacing qualification rate R TL and the length of vector a1 in the two-dimensional vector structure diagram is numerically equal to the total number M of the current batch of laser ranging sensors; Step S62: Generate vector a2 on the two-dimensional vector structure diagram template according to the coaxiality qualification rate R of the current batch of laser range sensors CX1 , the total number M of the current batch of laser range sensors, and generate 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 included angle with the positive direction of the X-axis in the two-dimensional vector structure diagram template is numerically equal to the coaxiality qualification rate R CX1 ; the length of vector a2 in the two-dimensional vector structure diagram is numerically equal to the total number M of the current batch of laser range sensors; Step S63: Generate a vector b1 on the two-dimensional vector structure diagram template according to the spacing qualification rate R of the current batch of laser ranging sensors RL , the total number M of the current batch of laser ranging sensors, and generate a vector b1 on the two-dimensional vector structure diagram template. The starting point of the vector b1 is the end point of the vector a2, and the angle with the positive direction of the X-axis in the two-dimensional vector structure diagram template is numerically equal to the spacing qualification rate R RL and the length of the vector b1 in the two-dimensional vector structure diagram is numerically equal to the total number M of the current batch of laser ranging sensors; Step S64: Generate vector b2 on the two-dimensional M-vector structure diagram template according to the coaxiality qualification rate R of the current batch of laser range sensors CX2 , the total number of the current batch of laser range sensors, and generate 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 with the positive X-axis direction in the two-dimensional vector structure diagram template is numerically equal to the coaxiality qualification rate R CX2 and the length of vector b2 in the two-dimensional vector structure diagram is numerically equal to the total number M of the current batch of laser range sensors; Step S65: Finally, obtain the continuous vector structure diagram representing the assembly quality data of the current batch of laser range sensors, and transmit it to the internal database.

8. The management system of a laser control sensor device according to claim 6, characterized in that: The spacing qualification rate R of the current batch of laser ranging sensors TL , the coaxiality qualification rate R CX1 , the spacing qualification rate R RL and the coaxiality qualification rate R CX2 together constitute the assembly quality data.

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