Laser leveling method, device and equipment and storage medium

Abstract

The invention discloses a laser leveling method, device and equipment and a storage medium, the laser leveling method is applied to a foreign matter detection and leveling system, the foreign matter detection and leveling system comprises a foreign matter detection transmitting end, a motor adjusting mechanism, a convex lens and image acquisition equipment, and the method comprises the following steps: determining laser projection image information of the image acquisition equipment; determining deflection information of laser according to the laser projection image information; and according to the deflection information of the laser, the laser emission angle of the foreign matter detection emission end is leveled through the motor adjusting mechanism. According to the technical scheme, the laser projection image information acquired by the image acquisition equipment is subjected to data analysis, then the deflection information of the foreign matter detection transmitting end is determined, and the motor adjusting mechanism performs laser leveling on the laser transmitting angle of the foreign matter detection transmitting end according to the deflection information of the foreign matter detection transmitting end, so that the foreign matter detection transmitting end is more accurate. And accurate and efficient laser leveling is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser leveling, and in particular to a laser leveling method, device, equipment and storage medium. BACKGROUND

[0002] Coating technology is widely used in many fields such as electronics, optics, new energy, etc., which requires uniform application of coating materials on the substrate surface to prepare a thin and uniform coating. In panel coating, with the development of technology, the requirements for coating precision, uniformity, etc. are continuously improved.

[0003] The laser leveling method currently applied in the conveying mechanism of the panel coating equipment relies on manual operation, which is low in efficiency and poor in precision, and is difficult to meet the high-precision coating demand. SUMMARY

[0004] The present application provides a laser leveling method, device, equipment and storage medium to realize precise and efficient laser leveling.

[0005] In a first aspect, the present application provides a laser leveling method, which comprises:

[0006] determining laser projection image information of an image acquisition device; the laser projection image information is the image information generated by the laser emitted by the foreign matter detection emission end and projected to the image acquisition device through a convex lens magnification, and the laser projection image information is used to represent the parameter information of the laser projection image; the laser projection image information includes a laser profile, a laser upper edge light intensity and a laser lower edge light intensity;

[0007] determining laser deflection information according to the laser projection image information; the deflection information is used to represent the deviation parameters of the laser from the standard path in the propagation process;

[0008] adjusting the laser emission angle of the foreign matter detection emission end through the motor adjusting mechanism according to the deflection information of the laser.

[0009] In a second aspect, the present application further provides a laser leveling device, which comprises:

[0010] a laser image information determination module for determining laser projection image information of an image acquisition device; the laser projection image information is the image information generated by the laser emitted by the foreign matter detection emission end and projected to the image acquisition device through a convex lens magnification, and the laser projection image information is used to represent the parameter information of the laser projection image; the laser projection image information includes a laser profile, a laser upper edge light intensity and a laser lower edge light intensity;

[0011] The laser deflection information determination module is configured to determine laser deflection information according to the laser projection image information, wherein the deflection information is used to represent a deviation parameter of the laser from a standard path during propagation.

[0012] The laser leveling module is configured to level the laser emission angle of the foreign matter detection emission end by the motor adjustment mechanism according to the deflection information of the laser.

[0013] In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the laser leveling method according to any of the embodiments of the present application when executing the program.

[0014] In a fourth aspect, a storage medium storing computer executable instructions is provided, and the computer executable instructions are used to execute the laser leveling method according to any of the embodiments of the present application when executed by a computer processor.

[0015] The technical solution of the embodiments of the present application determines the deflection information of the foreign matter detection emission end by collecting the laser projection image information by the image acquisition device and performing data analysis, and the motor adjustment mechanism adjusts the laser emission angle of the foreign matter detection emission end according to the deflection information of the foreign matter detection emission end, thereby realizing accurate and efficient laser leveling.

[0016] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is a flowchart of a laser leveling method provided by the first embodiment of the present application;

[0019] Figure 2 is a structural schematic diagram of a foreign matter detection leveling system provided by the first embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a laser projection image on an image acquisition device provided by the first embodiment of the present application;

[0021] Figure 4 is a structural schematic diagram of a one-way foreign matter detection mode provided by embodiment one of the present application;

[0022] Figure 5 is a structural schematic diagram of a two-way foreign matter detection mode provided by embodiment one of the present application;

[0023] Figure 6 is a structural schematic diagram of a laser leveling device provided by embodiment two of the present application;

[0024] Figure 7 is a structural schematic diagram of an electronic device for implementing the laser leveling method of the embodiment of the present application. DETAILED DESCRIPTION

[0025] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment one

[0028] Figure 1 A flowchart of a laser leveling method is provided for embodiment one of the present application. The present embodiment can be applicable to laser leveling. The method can be performed by a laser leveling device, which can be realized in the form of hardware and / or software. The laser leveling device can be configured in any electronic device with network communication and calculation. As shown in the figure, the method comprises: Figure 1

[0029] S110, determining laser projection image information of the image acquisition device.

[0030] ​In this embodiment, the laser projection image information is the laser emitted by the foreign object detection emitting end, which is magnified by the convex lens and projected to the image acquisition device to generate image information. The laser projection image information includes laser profile, laser upper edge light intensity, and laser lower edge light intensity, etc.

[0031] It should be noted that the laser leveling method of this embodiment can be applied to a foreign object detection leveling system, which includes a foreign object detection emitting end, a motor adjusting mechanism, a convex lens, and an image acquisition device.

[0032] Participation Figure 2 The foreign object detection leveling system is shown in the structural schematic diagram, wherein the foreign object detection emitting end can emit foreign object detection laser. The foreign object detection emitting end is connected with the motor adjusting mechanism, and is located above the motor adjusting mechanism. The motor adjusting mechanism is distributed between the support base and the system platform, and can adjust the height of the system platform or the angle of the foreign object detection emitting end according to the instruction. The laser emitted by the foreign object detection emitting end is magnified by the convex lens and projected onto the image acquisition device.

[0033] In this embodiment, according to the foreign object detection requirements, foreign object detection scene, laser characteristics, etc., a suitable laser emitter, a convex lens with a suitable focal length and aperture, and an image acquisition device with high resolution, high sensitivity, and fast acquisition capability are selected to ensure that the laser can be effectively magnified and projected.

[0034] According to the laser emitted by the foreign object detection emitting end, the laser projection image on the image acquisition device is determined.

[0035] As an optional but not limited implementation manner, the laser projection image information of the image acquisition device is determined, including but not limited to the following steps:

[0036] The foreign object detection emitting end emits laser;

[0037] The laser is processed by the convex lens to project the laser onto the image acquisition device to obtain the laser projection image;

[0038] The laser projection image is processed to obtain the laser projection image information.

[0039] In this embodiment, the convex lens can focus or diffuse the laser to ensure that the laser is projected onto the image acquisition device in a suitable manner to obtain the laser projection image.

[0040] In actual application, it is necessary to ensure that the center points of the optical axes of the laser emitter, the convex lens, and the image acquisition device are on the same straight line to obtain clear and accurate laser projection image. The convex lens is used to diffuse the laser to magnify and project the laser beam onto the image acquisition device, which is convenient for collecting the laser projection image.

[0041] Further, according to the characteristics of the laser (such as wavelength, intensity, etc.) and detection requirements, the parameters of the image acquisition device are set, such as exposure time, gain, resolution, etc. For example, for high-intensity laser, the exposure time can be appropriately shortened to avoid overexposure of the laser projection image; for low-intensity laser, the gain can be increased to improve the brightness of the laser projection image.

[0042] In addition, in order to improve the accuracy and reliability of the laser projection image, multiple image acquisitions can be performed, and the acquired laser projection images can be averaged to reduce the influence of noise and interference.

[0043] Further, the data processing of the acquired laser projection image includes pre-processing of the laser projection image, including filtering, grayscale processing, and binary processing, etc., to reduce the influence of noise and obtain accurate laser projection image information.

[0044] As an optional but non-limiting implementation, the data processing of the laser projection image to obtain laser projection image information includes but is not limited to the following steps:

[0045] Filtering processing is performed on the laser projection image;

[0046] Edge detection and contour extraction are performed on the laser projection image after filtering processing to obtain laser projection image information.

[0047] In this embodiment, the laser projection image features include the contour, shape, and barycenter position of the laser projection image, and the laser projection image information includes the laser shape, laser side slope, laser upper edge light intensity, and laser lower edge light intensity, etc.

[0048] In this embodiment, filtering algorithms (such as Gaussian filtering, median filtering, etc.) can be used to filter the acquired laser projection image to remove noise and interference in the laser projection image and improve the clarity of the laser projection image. For example, Gaussian filtering can smooth the image and reduce the influence of Gaussian noise; median filtering can effectively remove salt and pepper noise. Further, the color image can be converted to a grayscale image to reduce the data volume and processing complexity. Grayscale processing can be achieved by weighted average method, maximum value method, etc. Further, the grayscale image can be converted to a binary image to highlight the features of the laser projection area. Fixed threshold method, adaptive threshold method, etc. can be used for binary processing.

[0049] Further, edge detection and contour extraction are performed on the laser projection image after the above filtering, grayscale processing, or binary processing to determine the laser projection image features, which include the contour, shape, and barycenter position of the laser projection image, etc.

[0050] Specifically, an edge detection algorithm (such as Canny edge detection, Sobel edge detection, etc.) can be used to detect the edges of the laser projection image and extract the contour of the laser projection image. Edge detection can help determine the shape and position of the laser projection image. In addition, the center of mass of the laser projection region can be calculated based on the laser projection image to determine the barycentric position of the laser projection image. The center of mass can be calculated by weighted average of the pixel coordinates of the laser projection region.

[0051] It should be noted that in this embodiment, the laser leveling method works in cooperation with the foreign matter detection process, and therefore the shape characteristics of the laser projection region, such as circularity, aspect ratio, etc., can be analyzed to determine the degree of laser deviation and whether there is foreign matter interference. For example, if the circularity of the laser projection region is significantly reduced, it may indicate that the laser is deviated or interfered by foreign matter.

[0052] Further, data analysis is performed based on the laser projection image features to determine the laser projection image information, such as laser contour, laser side edge slope, laser upper edge light intensity, and laser lower edge light intensity, etc. For example, a suitable coordinate system can be established in the laser projection image, and based on the contour information of the laser projection image, the coordinates of any two points on the laser side edge are determined, and based on the coordinates of the two points on the laser side edge, the slope of the laser side edge is determined.

[0053] S120, determining the deviation information of the laser based on the laser projection image information.

[0054] In this embodiment, the deviation information is used to represent the deviation parameters of the laser from the standard path during propagation, and the deviation information of the laser includes laser deviation displacement and laser pitch angle. The laser deviation displacement is the amount of deviation of the laser beam from the standard path during propagation, and the laser pitch angle is the angle between the laser beam and the corresponding horizontal direction of the standard path.

[0055] In this embodiment, the laser deviation displacement can be determined based on the laser projection image information using an image analysis method or a geometric relationship method.

[0056] Specifically, assuming that the laser in the laser projection image is initially projected vertically on the plane, and the spot center is located at the coordinate origin (0, 0). When the laser deviates, the spot center moves to the (x, y) position, then the deviation displacement d x of the laser in the horizontal direction (assuming x-axis direction) is x, and the deviation displacement d y of the laser in the vertical direction (assuming y-axis direction) is y. In actual calculation, the pixel value needs to be converted to the actual displacement amount according to the proportional relationship between the pixel of the laser projection image and the actual physical size.

[0057] Another method, if the distance L from the laser emitting end to the projection plane is known, and the laser deflection angle θ (obtained by other measurement methods, such as using an angle sensor), the deflection displacement can be calculated by geometric relationship. In the horizontal direction, the deflection displacement d x = L x tan θ x , where θ x is the deflection angle of the laser in the horizontal direction; in the vertical direction, the deflection displacement d y = L x tan θy, θ y is the deflection angle of the laser in the vertical direction.

[0058] In this embodiment, the pitch angle of the laser can be determined based on the image analysis method according to the laser projection image information, or based on an angle measuring instrument.

[0059] Specifically, assuming that the laser projection image is collected on a plane with a known distance, an image coordinate system is established. The laser spot is identified by an image processing algorithm to determine the spot centroid coordinates (x0, y0). If the spot has a shift Δy = y0-y c in the vertical direction relative to the image center (0, y c ), and the distance from the laser emitting end to the image collection plane is known as L, the pitch angle of the laser can be determined according to the trigonometric function calculation formula. Or by electronic inclinometer, laser angle measuring instrument, etc. Professional instruments are installed on the foreign matter detection emitting end, and the inclination angle of the foreign matter detection emitting end relative to the horizontal direction is directly measured, and the pitch angle of the laser is obtained.

[0060] In this embodiment, the deflection information of the laser is determined by the laser projection image information, which quantifies the deviation of the laser from the standard path during propagation, provides parameters for subsequent laser leveling, and improves the accuracy of laser leveling.

[0061] As an optional but non-limiting implementation, determining the deflection information of the laser according to the laser projection image information includes but is not limited to the following steps:

[0062] determining a standard gravity center position of a standard laser projection image on an imaging plane of an image collection device;

[0063] determining an actual gravity center position of the laser projection image on the imaging plane of the image collection device according to a laser contour in the laser projection image information;

[0064] determining a laser deflection displacement according to the actual gravity center position and the standard gravity center position;

[0065] According to the laser upper edge light intensity and the laser lower edge light intensity in the laser projection image information, a laser pitch angle is determined, and the laser pitch displacement and the laser pitch angle are taken as the pitch information.

[0066] In the embodiment, the standard laser projection image refers to a complete laser projection image without interference, and the standard gravity center position is a preset position of a center point of the standard laser projection image. The standard gravity center position can be a position of a vertical projection of a foreign matter detection emission end center point on an image acquisition device, and the actual gravity center position is a center point of the laser projection image on the image acquisition device.

[0067] Further, according to a laser contour in the laser projection image information, an actual gravity center position of the laser projection image on an imaging plane of the image acquisition device is determined, and according to the actual gravity center position and the standard gravity center position, the laser pitch displacement is determined.

[0068] Specifically, the actual gravity center position of the laser projection image on the image acquisition device is directly calculated and determined. Assuming that pixel coordinates of a laser spot region in the laser projection image are (x i ,y i ), and gray values after gray processing are I(x i ,y i ), i = 1, 2, …, n, n is a total number of pixel points in the laser spot, then coordinates (x c ,y c ) of the actual gravity center position of the laser projection image on the image acquisition device are:

[0069]

[0070]

[0071] wherein (x c ,y c ) are the coordinates of the actual gravity center position of the laser projection image on the image acquisition device.

[0072] In actual application, the coordinates of the actual gravity center position of the laser projection image on the image acquisition device can also be determined based on an approximation method of a laser projection image geometric shape. First, a circumscribed rectangular boundary box of the laser spot is determined, four vertex coordinates (x min ,y min ), (x max ,y max ) of the circumscribed rectangular boundary box are calculated, and then coordinates (x c ,y c ) of the actual gravity center position of the laser projection image on the image acquisition device are:

[0073]

[0074] wherein (x c ,y c ) is the coordinate of the actual center of gravity of the laser projection image on the image acquisition device.

[0075] It should be noted that the determination method of the coordinate of the actual center of gravity of the laser projection image on the image acquisition device in the embodiment is not specifically limited, and can be flexibly determined according to the shape, contour and other information of the laser projection image in the actual scene.

[0076] Further, according to the actual center of gravity and the standard center of gravity, the laser deflection displacement can be determined.

[0077] Specifically, the horizontal deflection displacement and the vertical deflection displacement of the laser in the horizontal direction and the vertical direction can be calculated according to the actual center of gravity and the standard center of gravity, and further, the laser deflection displacement can be determined according to the horizontal deflection displacement and the vertical deflection displacement.

[0078] Further, in the embodiment, the laser pitch angle can be determined according to the upper edge light intensity and the lower edge light intensity. It should be noted that when the laser is projected onto a plane at a certain pitch angle, due to the propagation characteristics and scattering of light and other factors, different light intensity distributions will be formed at different positions in the region where the laser projection image is located. Generally speaking, the upper edge light intensity and the lower edge light intensity of the laser projection image will change with the change of the pitch angle and show a certain rule. Assuming that the light intensity distribution of the laser projection image is symmetrical in the vertical direction and other factors are ignored, the laser pitch angle can be calculated by analyzing the difference between the upper edge light intensity and the lower edge light intensity of the laser projection image.

[0079] Referring to Figure 3 The figure is a schematic diagram of a laser projection image on an image acquisition device, and the contour of the laser projection image in the figure is a rectangle. The laser projection image includes an upper edge and a lower edge, and the difference between the upper and lower edge light intensities is not directly shown in the schematic diagram.

[0080] Specifically, according to the light intensity distribution data of the upper edge and the lower edge of the laser projection image, the vertical direction of the light spot is divided into a plurality of equally spaced pixel rows, and then the average light intensity of each row of pixels is calculated to obtain the light intensity curves of the upper edge and the lower edge. Further, representative feature points are determined on the light intensity curves, such as maximum value points, minimum value points or inflection points, and the difference between the maximum values of the upper and lower edge light intensities and the distance between the two maximum value points in the vertical direction are calculated. According to the light propagation theory and geometric relationship, a mathematical model between the light intensity difference, the distance and the laser pitch angle is established. Through the data model, the laser pitch angle is determined according to the light intensity difference between the upper edge light intensity and the lower edge light intensity. It should be noted that the laser pitch angle can also be calculated by the length of the edge line of the laser projection image in the embodiment.

[0081] In addition, if the shape and position of the laser projection plane are known, the pitch angle of the laser can be calculated by analyzing the position of the laser spot in the image and the geometric information of the plane. For example, if the laser is projected on a square plane placed horizontally, and the side length of the square and the coordinate position of the spot in the image are known, the angle between the laser and the plane can be obtained by geometric calculation, and then the pitch angle is obtained.

[0082] Alternatively, reference images of laser projection at different pitch angles are collected in advance to establish a correspondence between image features and pitch angles. In actual measurement, the real-time collected laser projection image is compared with the reference image, and the current pitch angle is determined by matching the image features. This method requires an accurate reference image library, and the accuracy of image acquisition and processing is relatively high.

[0083] In this embodiment, by determining the laser yaw displacement and the laser pitch angle, the yaw information of the laser is further determined, the deviation of the laser from the standard path in the propagation process is quantified according to multiple parameters, the deviation degree of the laser emission end is effectively represented, data basis is provided for subsequent laser leveling, and the accuracy of subsequent laser leveling can be improved.

[0084] As an optional but not limited implementation manner, the laser yaw displacement is determined according to the actual barycenter position of the laser projection image and the standard barycenter position, and the laser yaw displacement includes:

[0085] The laser yaw displacement is determined according to the Euclidean distance between the actual barycenter position of the laser projection image and the standard barycenter position.

[0086] Specifically, the laser yaw displacement is determined according to the Euclidean distance between the actual barycenter position of the laser projection image and the standard barycenter position, which can be represented by the following formula:

[0087]

[0088] Wherein, d is the laser yaw displacement, (x c ,y c ) is the coordinate of the actual barycenter position of the laser projection image in the image acquisition device, and (x0, y0) is the coordinate of the standard barycenter position of the laser projection image in the image acquisition device.

[0089] In this embodiment, the laser yaw displacement is the straight-line distance from the standard barycenter position to the actual barycenter position of the laser projection image (laser spot), which reflects the overall degree of laser yaw.

[0090] It should be noted that the horizontal yaw displacement Δx = x c-x0, represents the offset of the laser projection image in the horizontal direction relative to the standard barycentric position. If Δx>0, it means that the laser projection image is rightwardly deviated in the horizontal direction; if Δx<0, it means that the laser projection image is leftwardly deviated in the horizontal direction.

[0091] wherein, the vertical deviation displacement Δy=y c -y0, represents the offset of the laser projection image in the vertical direction relative to the preset position. If Δy>0, it means that the laser projection image is upwardly deviated in the vertical direction; if Δy<0, it means that the laser projection image is downwardly deviated in the horizontal direction.

[0092] As an optional but non-limiting implementation, according to the laser upper edge light intensity and the laser lower edge light intensity in the laser projection image information, the laser pitch angle is determined, including but not limited to the following steps:

[0093] According to the difference between the laser upper edge light intensity and the laser lower edge light intensity in the laser projection image information, the laser light intensity difference is determined.

[0094] According to the laser light intensity difference, the laser pitch angle is determined through the trigonometric function relationship.

[0095] Specifically, according to the upper edge light intensity and the lower edge light intensity, the laser pitch angle is determined, which is represented by the following formula:

[0096]

[0097] wherein, I1 is the upper edge light intensity, I2 is the lower edge light intensity, θ is the laser pitch angle, and k is the proportional coefficient.

[0098] In this embodiment, the light intensity difference is proportional to the tangent of the pitch angle, and according to the trigonometric function relationship, the laser pitch angle can be determined. Wherein, k is the proportional coefficient, which is determined by the laser characteristics and the image acquisition device parameters.

[0099] S130, according to the deviation information of the laser, the laser emission angle of the foreign matter detection emission end is adjusted through the motor adjusting mechanism.

[0100] In this embodiment, after determining the deviation displacement of the laser in the horizontal and vertical directions, or the related information such as the laser pitch angle, the deviation information of the laser can be determined, which can accurately reflect the deviation parameters of the laser from the standard path in the propagation process.

[0101] Further, according to the characteristics of the motor adjusting mechanism (such as the relationship between the rotation angle of the motor and the position change of the foreign matter detection emission end), a mathematical model between the deviation information (the deviation displacement of the laser in the horizontal and vertical directions, and the laser pitch angle, etc.) and the control quantity (the rotation direction, the rotation angle, the rotation number, and the adjustment height, etc.) of the motor adjusting mechanism can be established.

[0102] Further, according to the established mathematical model, the angle or the number of steps of the motor adjusting mechanism, etc. control quantity, is determined, and the laser leveling of the foreign matter detection emission end is performed.

[0103] As an optional but not limited implementation, according to the deflection information of the laser, the laser emission angle of the foreign matter detection emission end is leveled by the motor adjusting mechanism, which includes:

[0104] According to the deflection information of the laser, the leveling data of the motor adjusting mechanism is determined;

[0105] According to the leveling data, the laser emission angle of the foreign matter detection emission end is leveled by the motor adjusting mechanism.

[0106] In this embodiment, the leveling data includes the rotation direction, the number of rotations and the adjustment height of the motor adjusting mechanism.

[0107] In this embodiment, the leveling data related to the motor adjusting mechanism is determined according to the deflection displacement of the laser, the laser pitch angle and other information, so as to realize the laser leveling of the foreign matter detection emission end.

[0108] The specific structure and parameters of the motor adjusting mechanism are determined, including the transmission ratio of the motor, the screw pitch (such as involving screw transmission to adjust the height), etc. The relationship between the posture of the foreign matter detection emission end and the deflection displacement and the pitch angle of the laser is established.

[0109] In actual application, the horizontal rotation angle θ x , the vertical rotation angle θ y and the height change Δh of the foreign matter detection emission end can be determined according to the historical leveling data of the motor adjusting mechanism and the deflection information of the corresponding foreign matter detection emission end in the leveling state of the foreign matter detection emission end, and the function relationship between the deflection displacement of the laser in the horizontal direction, the deflection displacement of the laser in the vertical direction and the pitch angle of the laser, i.e. the relationship between the deflection information and the leveling data.

[0110] Further, according to the feedback control algorithm, the corresponding leveling data under the current deflection information is determined according to the relationship between the deflection information and the leveling data, and the rotation direction, the number of rotations and the adjustment height of the motor adjusting mechanism are controlled according to the corresponding leveling data under the current deflection information, so as to adjust the direction or position of the foreign matter detection emission end in real time, so as to maintain the stability of the laser beam and realize the precise and efficient laser leveling.

[0111] It should be noted that the laser leveling method of the present application can be applied to the conveying mechanism of the panel coating equipment. By accurately controlling the distance between the coating head and the panel on the conveying mechanism, the height and levelness of the coating head are monitored and adjusted in real time, ensuring that the spacing between the two is uniform and consistent throughout the coating process, controlling the uniformity of the coating thickness, avoiding deviations in the coating thickness caused by changes in the spacing, and allowing the coating thickness error on the panel to be controlled within a very small range, thereby improving the coating quality. In addition, the laser beam emitted by the laser emission end can be used to detect whether there is a large coating thickness difference on the photovoltaic panel surface. When the laser encounters foreign matter, reflection, refraction or scattering phenomena occur, and the presence of a non-standard coating thickness position can be determined by detecting changes in these optical signals.

[0112] It should be noted that in the foreign object detection scenario, the current laser leveling device relies only on a single sensor for detection, which is prone to missing foreign objects. In terms of foreign object detection, the prior art lacks the ability to detect small foreign objects, and the detection and leveling functions are independent of each other and cannot work together.

[0113] Therefore, the present application not only realizes foreign object detection and laser leveling, but also provides a solution to improve the accuracy of foreign object detection, which is beneficial to reduce false alarms, improve production efficiency and product quality, and reduce equipment failure rate.

[0114] Generally, the existing solution uses one foreign object detection sensor for foreign object detection. When one foreign object detection sensor is used for foreign object detection, the probability of false alarms and missed detections is high. Once an alarm is triggered, personnel need to stop the line for processing, which increases the personnel loading time and equipment downtime, and affects production capacity. In addition, manual adjustment of foreign object detection requires the cooperation of three people and takes two to three hours. However, adding a pair of foreign object detection sensors to the original basis will increase the debugging time and affect the production capacity.

[0115] The foreign object detection solution of the present application increases the number of foreign object detection sensors from one to two, which is beneficial to reduce false alarms. The tool bit can be set to return to its original position (the tool bit is an important component that needs to be protected) according to the alarm. When foreign objects are detected, the glass can work normally without the need for personnel to stop the line for processing, thereby increasing the equipment uptime. The foreign object detection sensor corresponds to the foreign object detection emission end and the foreign object detection receiving end in the laser leveling method.

[0116] The foreign object detection mode of the present application includes two modes, which are as follows:

[0117] Reference is made to Figure 4It is a structural schematic diagram of a one-way foreign matter detection mode, the one-way foreign matter detection mode is that foreign matter detection sensor A and foreign matter detection sensor B are located on the same side of the photovoltaic panel foreign matter detection device and emit laser in the same direction.

[0118] Referring to Figure 5 It is a structural schematic diagram of a two-way foreign matter detection mode, the two-way foreign matter detection mode is that foreign matter detection sensor A and foreign matter detection sensor B are located on the opposite sides of the photovoltaic panel foreign matter detection device and emit laser in opposite directions. When foreign matter detection sensor A and foreign matter detection sensor B detect foreign matter, it is determined that there is foreign matter, and the programmable logic controller software is optimized, the device cutter head is returned to the original position, the product continues to be produced, the device does not stop, and the production capacity is not affected.

[0119] It can be understood that the foreign matter detection sensitivity of the one-way foreign matter detection mode is higher than that of the two-way foreign matter detection mode, and therefore the false alarm rate is increased; the accuracy of the two-way foreign matter detection mode is higher than that of the one-way foreign matter detection mode, and therefore the false alarm rate is less. In actual application, the user can select the mode according to the needs.

[0120] It should be noted that the embodiment can also comprehensively analyze the foreign matter detection data and the deflection information of the laser according to whether there is foreign matter in the foreign matter detection process, and perform laser leveling on the laser emission angle of the foreign matter detection emission end to realize the functions of laser leveling and foreign matter detection.

[0121] The technical scheme of the embodiment of the present application is that the laser emitted by the foreign matter detection emission end is magnified and projected to the image acquisition device through the convex lens, the laser projection image information is displayed, the image acquisition device acquires the laser projection image information for data analysis, the deflection information of the foreign matter detection emission end is determined, and the deflection information of the foreign matter detection emission end is sent to the motor adjusting structure. The motor adjusting mechanism adjusts the laser emission angle of the foreign matter detection emission end according to the deflection information of the foreign matter detection emission end, and realizes precise and efficient laser leveling.

[0122] Embodiment two

[0123] Figure 6 It is a structural schematic diagram of a laser leveling device provided by the second embodiment of the present application. The embodiment can be applied to laser leveling, and the laser leveling device can be realized in the form of hardware and / or software. The laser leveling device can be configured in any electronic device with network communication and calculation. Figure 6 As shown in the figure, the device includes:

[0124] The laser image information determination module 310 is configured to determine laser projection image information of the image acquisition device; the laser projection image information is image information generated by projecting laser emitted by the foreign matter detection emission end to the image acquisition device through a convex lens, and the laser projection image information is used to represent parameter information of a laser projection image; the laser projection image information includes a laser profile, a laser upper edge light intensity, and a laser lower edge light intensity;

[0125] The laser deflection information determination module 320 is configured to determine deflection information of the laser according to the laser projection image information; the deflection information is used to represent a deviation parameter of the laser from a standard path in a propagation process;

[0126] The laser leveling module 330 is configured to level a laser emission angle of the foreign matter detection emission end by the motor adjustment mechanism according to the deflection information of the laser.

[0127] Optionally, the determination of the deflection information of the laser according to the laser projection image information comprises:

[0128] determining a standard gravity center position of a standard laser projection image on an imaging plane of the image acquisition device;

[0129] determining an actual gravity center position of the laser projection image on the imaging plane of the image acquisition device according to the laser profile in the laser projection image information;

[0130] determining a laser deflection displacement according to the actual gravity center position and the standard gravity center position;

[0131] determining a laser pitch angle according to the laser upper edge light intensity and the laser lower edge light intensity in the laser projection image information, and taking the laser deflection displacement and the laser pitch angle as the deflection information.

[0132] Optionally, the determination of the laser deflection displacement according to the actual gravity center position and the standard gravity center position of the laser projection image comprises:

[0133] determining the laser deflection displacement according to a Euclidean distance of the actual gravity center position and the standard gravity center position of the laser projection image.

[0134] Optionally, the determination of the laser pitch angle according to the laser upper edge light intensity and the laser lower edge light intensity in the laser projection image information comprises:

[0135] determining a laser light intensity difference according to a difference between the laser upper edge light intensity and the laser lower edge light intensity in the laser projection image information;

[0136] determining the laser pitch angle according to the laser light intensity difference through a trigonometric function relationship.

[0137] Optionally, according to the deflection information of the laser, the laser emission angle of the foreign matter detection emission end is leveled by the motor adjusting mechanism, and the leveling includes:

[0138] According to the deflection information of the laser, leveling data of the motor adjusting mechanism is determined, and the leveling data includes the rotating direction, the rotating number and the adjusting height of the motor adjusting mechanism.

[0139] According to the leveling data, the laser emission angle of the foreign matter detection emission end is leveled by the motor adjusting mechanism.

[0140] Optionally, the laser projection image information of the image acquisition device is determined, and the determining includes:

[0141] The foreign matter detection emission end emits laser;

[0142] The laser is processed by the convex lens so as to be projected to the image acquisition device, and the laser projection image is acquired;

[0143] The laser projection image is processed to acquire the laser projection image information.

[0144] Optionally, the laser projection image is processed to acquire the laser projection image information, and the processing includes:

[0145] The laser projection image is processed by filtering;

[0146] The laser projection image processed by filtering is subjected to edge detection and contour extraction to obtain the laser projection image information.

[0147] The technical scheme of the embodiment of the present application is that the laser emitted by the foreign matter detection emission end is projected to the image acquisition device by the convex lens, and the laser projection image information is displayed, the image acquisition device acquires the laser projection image information for data analysis, and then the deflection information of the foreign matter detection emission end is determined and sent to the motor adjusting structure, the motor adjusting mechanism levels the laser emission angle of the foreign matter detection emission end according to the deflection information of the foreign matter detection emission end, and precise and efficient laser leveling is realized.

[0148] The laser leveling device provided by the embodiment of the present application can execute the laser leveling method provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0149] Embodiment three

[0150] Figure 7A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0151] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0152] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0153] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the laser leveling method.

[0154] In some embodiments, the laser leveling method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the laser leveling method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the laser leveling method by way of other means, e.g., with the aid of firmware.

[0155] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program in accordance with embodiments of the present application. For example, embodiments of the present application include a computer program product comprising a computer program tangibly embodied on a non-transitory computer readable medium, the computer program containing program code for executing the methods illustrated in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication unit 19, or installed from storage unit 18, or installed from ROM 12. When the computer program is executed by processor 11, the aforementioned functions defined in the methods of embodiments of the present application are performed.

[0156] The various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0157] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0158] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0159] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0160] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), blockchain network, and the Internet.

[0161] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0162] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0163] The above detailed description does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A laser leveling method, characterized in that: The laser leveling method is applied to a foreign object detection and leveling system, which includes a foreign object detection transmitter, a motor adjustment mechanism, a convex lens, and an image acquisition device, including: Determining laser projection image information of an image acquisition device; the laser projection image information is image information generated by laser light emitted by the foreign object detection transmitting end, magnified by a convex lens and projected onto the image acquisition device, and the laser projection image information is used to represent parameter information of the laser projection image; the laser projection image information includes a laser profile, an upper edge intensity of the laser, and a lower edge intensity of the laser; Determining the laser deflection information based on the laser projection image information; the deflection information is used to represent the deviation parameter of the laser from the standard path during the propagation process; According to the deflection information of the laser, the laser emission angle of the foreign object detection emission end is leveled by the motor adjustment mechanism.

2. The method according to claim 1, characterized in that According to the laser projection image information, the laser deflection information is determined, including: Determine the standard center of gravity position of the standard laser projection image on the imaging plane of the image acquisition device; Determine the actual center of gravity position of the laser projection image on the imaging plane of the image acquisition device according to the laser profile in the laser projection image information; Determining the laser yaw displacement according to the actual center of gravity position and the standard center of gravity position; The laser pitch angle is determined according to the laser upper edge intensity and the laser lower edge intensity in the laser projection image information, and the laser yaw displacement and the laser pitch angle are used as the yaw information.

3. The method according to claim 2, characterized in that According to the actual center of gravity position and the standard center of gravity position of the laser projection image, the laser yaw displacement is determined, including: The laser yaw displacement is determined based on the Euclidean distance between the actual center of gravity position of the laser projection image and the standard center of gravity position.

4. The method according to claim 2, characterized in that Determining the laser pitch angle according to the laser upper edge intensity and the laser lower edge intensity in the laser projection image information includes: Determining a laser intensity difference according to a difference between the laser upper edge intensity and the laser lower edge intensity in the laser projection image information; The laser pitch angle is determined according to the laser intensity difference through a trigonometric function relationship.

5. The method according to claim 1, wherein According to the deflection information of the laser, the laser emission angle of the foreign object detection transmitting end is leveled by the motor adjustment mechanism, including: Determining leveling data of a motor adjustment mechanism according to the deflection information of the laser, wherein the leveling data includes a rotation direction, a number of rotations, and an adjustment height of the motor adjustment mechanism; According to the leveling data, the motor adjustment mechanism performs laser leveling on the laser emission angle of the foreign object detection transmitting end.

6. The method according to claim 1, characterized in that Determine the laser projection image information of the image acquisition device, including: Control the foreign object detection transmitter to emit laser; Processing the laser light through a convex lens so that the laser light is projected onto an image acquisition device to obtain a laser projection image; Data processing is performed on the laser projection image to obtain laser projection image information.

7. The method according to claim 6, characterized in that Perform data processing on the laser projection image to obtain laser projection image information, including: Performing filtering on the laser projection image; Edge detection and contour extraction are performed on the laser projection image after filtering to obtain laser projection image information.

8. A laser leveling device, characterized in that: include: a laser image information determination module, configured to determine laser projection image information of an image acquisition device; the laser projection image information is image information generated by laser light emitted by the foreign object detection transmitting end, magnified by a convex lens and projected onto the image acquisition device; the laser projection image information is used to represent parameter information of the laser projection image; the laser projection image information includes laser contour, laser upper edge intensity, and laser lower edge intensity; a laser deflection information determination module, configured to determine the deflection information of the laser according to the laser projection image information; the deflection information is used to represent a parameter of the deviation of the laser from a standard path during propagation; The laser leveling module is used to level the laser emission angle of the foreign object detection transmitting end through the motor adjustment mechanism according to the deflection information of the laser.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the laser leveling method according to any one of claims 1 to 7 is implemented.

10. A storage medium storing computer executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to perform the laser leveling method according to any one of claims 1 to 7.

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