Sensor protection sheet processing method and device

Abstract

The invention provides a sensor protection sheet processing method and device, and belongs to the technical field of sensors, and the method comprises the steps that a visual sensor collects image data of a protection sheet for the first time; the visual sensor moves away from the cleaning and film changing machine and is put into use, and the cleaning and film changing machine closes the panel; acquiring image data of the protective sheet for the second time by the visual sensor, and comparing the image data of the protective sheet acquired for the second time with the image data of the protective sheet acquired for the first time; the sensor sends out a clean signal, a wiping signal or a replacement signal; the cleaning and replacing machine is used for cleaning or replacing the protective sheets; the visual sensor collects image data of the protection sheet for the third time and compares the image data of the protection sheet collected for the third time with the image data of the protection sheet collected for the first time; the visual sensor continues to work after being judged to be qualified, otherwise, the operation is repeated. According to the sensor protection sheet processing method provided by the invention, the timeliness and comprehensiveness of detection are improved, and the inspection efficiency is also improved.

Description

Technical Field

[0001] This application belongs to the field of sensor technology, and more specifically, relates to a method and device for processing sensor protective sheets. Background Technology

[0002] In numerous fields such as industrial manufacturing and intelligent monitoring, visual sensors serve as core sensing components, and their performance directly determines the operational accuracy and reliability of the entire system. Visual sensors emit structured light and collect the reflected image information, which is then processed by algorithms to locate, identify, and detect target objects, making them an indispensable key component of modern automation technology.

[0003] However, the working environment of vision sensors is often complex and harsh, with contaminants such as fumes, metal spatter, dust, and oil stains commonly present. These contaminants easily adhere to the surface of the sensor's protective film, which, as a protective barrier, directly bears the responsibility for the transmission of structured light and the acquisition of external images. When contaminants adhere to the protective film, they significantly reduce the quality of the structured light, leading to problems such as blurriness, blemishes, and decreased contrast in the images captured by the camera.

[0004] Currently, the common practice is to manually inspect the sensor protective plates at regular intervals. If contaminants are found, or the protective plates are worn or scratched, they are cleaned manually immediately. If the protective plates are severely damaged, they are replaced. However, manual inspection cannot guarantee the timeliness and comprehensiveness of the inspection, and is prone to missed detections. Furthermore, manual inspection is time-consuming, resulting in low efficiency. Summary of the Invention

[0005] The purpose of this application is to provide a method and apparatus for processing sensor protective sheets, so as to solve the technical problems of easy omissions and low inspection efficiency when manually inspecting sensor protective sheets in the prior art.

[0006] To achieve the above objectives, the technical solution adopted in this application is: to provide a sensor protective sheet processing method, comprising: S1: The vision sensor moves closer to the cleaning and changing machine, and the cleaning and changing machine opens the panel for mapping the vision sensor, so that the vision sensor can acquire image data of the protective sheet for the first time; S2: The vision sensor is moved away from the cleaning and changing machine and put into use; the cleaning and changing machine panel is closed. S3: Repeat S1, and the visual sensor will collect the image data of the protective sheet a second time. Compare the image data of the protective sheet collected a second time with the image data of the protective sheet collected a first time. S4: The sensor sends a clean signal, a wipe signal, or a replacement signal; when a clean signal is sent, repeat S2; when a wipe signal is sent, start the cleaning and changing machine to remove the protective sheet, store it in the cleaning and changing machine, wipe the protective sheet, and then reinstall the protective sheet on the vision sensor; when a replacement signal is sent, start the cleaning and changing machine to remove the protective sheet, collect it in the cleaning and changing machine, and reinstall the new protective sheet on the vision sensor. S5: The vision sensor acquires image data of the protective sheet for the third time and compares the image data acquired for the third time with the image data acquired for the first time. S6: If the judgment is qualified, the vision sensor continues to work; otherwise, repeat S4-S6.

[0007] In one possible implementation, in S1, the vision sensor detects the signal from the cleaning and changing machine, sends the sensor model data to the cleaning and changing machine, and activates the detection function; after receiving the information from the vision sensor, the cleaning and changing machine opens the panel; the cleaning and changing machine calls the internally stored action program corresponding to the model and waits for the next signal from the vision sensor.

[0008] In one possible implementation, when the vision sensor first acquires image data of the protective sheet, the vision sensor emits structured light to illuminate the panel, and the vision sensor gradually moves from top to bottom, while the camera of the vision sensor acquires and saves the image data.

[0009] In one possible implementation, in S4, a gripper is used to remove the protective sheet from the vision sensor, and during the process of storing the protective sheet into the cleaning and changing machine, a wiping head extends to press against the protective sheet; the wiping action of the protective sheet is completed during the process of storing and reinstalling the protective sheet.

[0010] The beneficial effects of the sensor protective sheet processing method provided in this application are as follows: Compared with the prior art, the sensor protective sheet processing method of this application is based on the image acquisition capability of the vision sensor itself. First, the vision sensor moves towards the cleaning and changing machine. At this time, the cleaning and changing machine opens the panel used to map the vision sensor, providing the sensor with a stable and interference-free acquisition environment. In this state, the vision sensor acquires the image data of the protective sheet for the first time. This image data will serve as a benchmark for subsequent judgment of the degree of contamination and damage of the protective sheet, ensuring the accuracy of subsequent comparison results and solving the problem of lack of unified judgment standards in manual inspection.

[0011] After the baseline image acquisition is completed, the next step is to move the vision sensor away from the cleaning and changing machine and restore it to normal working status. The cleaning and changing machine will then close its panel to avoid affecting the normal sensing function of the sensor, thus achieving a seamless connection between the maintenance process and the workflow.

[0012] After the vision sensor has been running for a period of time, the first step of moving and opening the panel is repeated. The vision sensor then collects image data of the protective sheet a second time. By comparing this newly acquired image with the baseline image obtained in the first step using algorithms such as pixel comparison, sharpness analysis, and feature point matching, the sensor accurately identifies whether there are contaminants, wear, or scratches on the surface of the protective sheet. This image comparison-based detection method is more objective and accurate than manual visual inspection, effectively solving the problems of missed detections and misjudgments that are prone to occur during manual inspection. Based on the image comparison results, the vision sensor will automatically emit three different signals for differentiated processing: if there is no significant difference between the two images, it indicates that the protective sheet is clean, and the sensor emits a clean signal. At this time, the second step is directly repeated, and the vision sensor continues to be used without additional maintenance. When the image shows slight contaminant adhesion but the protective sheet is undamaged, the sensor sends a wiping signal. The cleaning and changing machine then activates its automated mechanical structure to remove the protective sheet from the vision sensor and store it inside the machine. The built-in cleaning module precisely and efficiently wipes the protective sheet, removing surface oil, splatter, and other contaminants. The protective sheet is then reinstalled back onto the vision sensor. This entire process requires no manual intervention, avoiding damage to the protective sheet caused by uneven wiping pressure. When the image shows severe wear, scratches, or contaminants that cannot be removed by wiping, the vision sensor sends a replacement signal. The cleaning and changing machine then executes the replacement process, removing the old protective sheet and storing it in a dedicated storage compartment. Simultaneously, it retrieves a brand-new protective sheet from the built-in new sheet storage module, completing the automated installation and solving the problems of finding spare parts and insufficient installation accuracy encountered during manual replacement.

[0013] To ensure that the wiped or replaced protective sheet meets the usage requirements, the next step involves the vision sensor acquiring image data of the protective sheet for the third time and comparing it again with the baseline image from the first step for secondary verification. Finally, a final judgment is made based on the comparison results. If the image difference is within the allowable range, it means that the protective sheet has been restored to a good condition, and the vision sensor can continue to work. If it still does not meet the standard, the above operation is repeated until the protective sheet is in a qualified condition, forming a closed-loop maintenance mechanism of detection, processing, and verification.

[0014] This approach automates and enhances the precision of protective sheet status detection. By acquiring and comparing images using a vision sensor, it replaces manual visual inspection, eliminating errors from subjective human judgment and enabling real-time response to changes in the protective sheet's condition, thus improving the timeliness and comprehensiveness of the detection. Furthermore, maintenance tasks such as wiping and replacement are automated by a cleaning and changing machine, eliminating the need for on-site personnel and significantly reducing labor costs. It also avoids interference with the sensor's normal operation during manual maintenance, minimizing equipment downtime and improving the overall system efficiency. Simultaneously, a closed-loop process of benchmark comparison, differential processing, and secondary verification ensures that the protective sheet is always in good working order, effectively guaranteeing the quality of the structured light emitted by the vision sensor, preventing image acquisition interference, and thus maintaining the sensor's detection accuracy and reliability.

[0015] Another object of this application is to provide a sensor protective sheet processing device, which operates using any of the above-described sensor protective sheet processing methods, including: The housing has an internal mounting cavity; the outer side of the housing has an operating opening for the protective sheet to enter and exit, and a panel located below the operating opening; A gripping assembly is located within the mounting cavity and is arranged corresponding to the operating opening; the gripping assembly has grippers for entering and exiting through the operating opening; A wiping assembly is located inside the mounting cavity; the wiping assembly is provided with a wiping end located below the operating opening, and the wiping end acts on the protective sheet from bottom to top; A storage tray is located within the mounting cavity and mounted on one side of the operating opening; the storage tray is used to place new protective plates and has the freedom to move between the operating opening and the gripper.

[0016] In one possible implementation, a mounting groove is provided on one side of the housing, the panel is installed in the mounting groove, and the panel is rotatably connected to the housing; a drive assembly connected to the panel and driving the panel to rotate is also provided in the mounting cavity; the operating opening is opened on the bottom surface of the mounting groove.

[0017] In one possible implementation, the housing is further provided with a storage hopper that is slidably connected, and the storage hopper is disposed between the operating opening and the gripping component, and is located below the gripper.

[0018] In one possible implementation, the mounting cavity is further provided with two sets of telescopic guide wheels arranged close to the operating opening, with the two sets of telescopic guide wheels located on both sides of the operating opening; the two sets of telescopic guide wheels act on both sides of the protective sheet.

[0019] In one possible implementation, the housing is further provided with a clean film compartment for storing protective films, and the clean film compartment is located above the storage tray for placing new protective films on the storage tray.

[0020] In one possible implementation, the mounting cavity is further provided with a power supply, a signal receiver, and a control module; the gripping component, the wiping component, and the storage tray are all communicatively connected to the power supply and the control module, and the signal receiver and the control module are communicatively connected to the vision sensor.

[0021] The sensor protective sheet processing device provided by this invention adopts the aforementioned sensor protective sheet processing method. This processing device uses a housing as the basic carrier, with an internal mounting cavity providing stable installation space for each functional component. An operating opening on the outer side provides a channel for picking up and placing the protective sheet, while the lower panel provides an interference-free environment for the visual sensor to acquire reference images. Each structure has a clear division of labor and forms a closed-loop collaboration. The gripping component corresponds to the position of the operating opening in the mounting cavity; its retractable grippers can accurately pass through the operating opening to achieve the gripping and unloading of the protective sheet. The wiping component's wiping end is located below the operating opening, using an upward-moving action to ensure tight contact with the protective sheet surface. A storage tray is installed on one side of the operating opening, not only for storing new protective sheets but also movable between the operating opening and the grippers, providing convenient spare parts supply for the replacement process.

[0022] During operation, the vision sensor first moves to the panel to acquire a reference image. After operation, it acquires another image and compares it with the reference. If wiping is required, the gripper of the grasping component passes through the operating opening to remove the protective sheet. As the gripper moves the protective sheet into the mounting cavity, the wiping end of the wiping component presses against the protective sheet from bottom to top, completing the full wiping process using the trajectory of the moving protective sheet. After wiping, the gripper returns it to the mounting cavity. If replacement is required, the storage tray moves between the gripper and the operating opening. The gripper first removes the old protective sheet and stores it, then grasps the new protective sheet from the storage tray to complete the installation. Throughout the process, the mounting cavity of the housing ensures that the actions of each component do not interfere with each other, and the panel ensures the accuracy of the image acquisition reference. After wiping or replacement, the vision sensor acquires an image again for verification. If it passes the verification, operation resumes.

[0023] This structure integrates multiple components into a single housing, resulting in a compact design with minimal space requirements, making it suitable for complex industrial environments. The grippers of the grasping component precisely align with the operating opening, and the bottom-up wiping action of the wiping head solves the problems of uneven wiping force and incomplete cleaning caused by manual wiping. The movable design of the storage tray shortens the time required to retrieve spare parts for protective sheet replacement. Combined with the automated operation of the grasping component, it significantly reduces maintenance time and avoids downtime for manual maintenance. The linkage between the equipment and the image comparison technology of the vision sensor enables full automation of the detection, processing, and verification process without manual intervention, solving the problems of missed detections and delays in manual inspection. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram illustrating the usage state of the sensor protective sheet processing method provided in the embodiments of this application; Figure 2 A schematic diagram of the sensor protective sheet processing device provided in the embodiments of this application. Figure 1 ; Figure 3 A schematic diagram of the sensor protective sheet processing device provided in the embodiments of this application. Figure 2 ; Figure 4 Internal schematic diagram of the sensor protective sheet processing device provided in the embodiments of this application Figure 1 ; Figure 5 Internal schematic diagram of the sensor protective sheet processing device provided in the embodiments of this application Figure 2 ; Figure 6 A schematic diagram illustrating the connection between the storage disk and the clean wafer compartment provided in this application embodiment. Figure 1 ; Figure 7 A schematic diagram illustrating the connection between the storage disk and the clean wafer compartment provided in this application embodiment. Figure 2 .

[0026] The following are the labeling elements in the figure: 10. Vision sensor; 11. Protective plate; 20. Housing; 21. Operating opening; 22. Panel; 23. Mounting slot; 24. Storage hopper; 25. Telescopic guide wheel; 30. Gripping assembly; 31. Gripper; 40. Wiping assembly; 41. Wiping end; 50. Storage tray; 60. Clean film compartment; 61. Pressing rod; 62. Claw; 63. Protrusion; 64. Spring; 70. Power supply; 71. Signal receiver; 72. Control module. Detailed Implementation

[0027] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0028] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0029] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the equipment or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0031] Please see Figures 1 to 7The present application describes a sensor protective sheet processing method. A sensor protective sheet processing method includes: S1: A vision sensor 10 moves closer to a cleaning and changing machine, the cleaning and changing machine opens a panel 22 for mapping the vision sensor 10, and the vision sensor 10 acquires image data of the protective sheet 11 for the first time; S2: The vision sensor 10 moves away from the cleaning and changing machine and is put into use, the cleaning and changing machine closes the panel 22; S3: S1 is repeated, and the vision sensor 10 acquires image data of the protective sheet 11 for the second time, comparing the second acquired image data of the protective sheet 11 with the first acquired image data; S4: The sensor emits a clean signal, a wiping signal, or a replacement signal; when a clean signal is emitted, S3 is repeated. 2; When a wiping signal is issued, the cleaning and changing machine is started to remove the protective sheet 11, store it in the cleaning and changing machine, and wipe the protective sheet 11. After wiping, the protective sheet 11 is reinstalled on the vision sensor 10. When a replacement signal is issued, the cleaning and changing machine is started to remove the protective sheet 11, collect it in the cleaning and changing machine, and reinstall the new protective sheet 11 on the vision sensor 10. S5: The vision sensor 10 acquires the image data of the protective sheet 11 for the third time and compares the image data of the protective sheet 11 acquired for the third time with the image data of the protective sheet 11 acquired for the first time. S6: If the image data is qualified, the vision sensor 10 continues to work; otherwise, repeat S4-S6.

[0032] Compared with the prior art, the sensor protective sheet processing method provided in this application is based on the image acquisition capability of the vision sensor 10 itself. First, the vision sensor 10 moves towards the cleaning and changing machine. At this time, the cleaning and changing machine opens the panel 22 used to map the vision sensor 10, providing a stable and interference-free acquisition environment for the sensor. In this state, the vision sensor 10 acquires the image data of the protective sheet 11 for the first time. This image data will be used as a benchmark for subsequent judgment of the degree of contamination and damage of the protective sheet 11, ensuring the accuracy of subsequent comparison results and solving the problem of lack of unified judgment standards in manual inspection.

[0033] After the baseline image acquisition is completed, the next step is to move the vision sensor 10 away from the cleaning and changing machine and restore it to normal working status. The cleaning and changing machine simultaneously closes the panel 22 to avoid affecting the normal sensing function of the sensor and achieve a seamless connection between the maintenance process and the workflow.

[0034] After the vision sensor 10 has been running for a period of time, the movement and panel 22 opening actions of the first step are repeated. The vision sensor 10 then collects image data of the protective sheet 11 for the second time. By comparing the image collected this time with the reference image obtained in the first step using algorithms such as pixel comparison, sharpness analysis, and feature point matching, the system can accurately identify whether there are contaminants, wear, or scratches on the surface of the protective sheet 11. This image comparison-based detection method is more objective and accurate than manual visual inspection, effectively solving the problems of missed detections and misjudgments that are easy to occur during manual inspection. Based on the image comparison results, the vision sensor 10 will automatically emit three different signals to achieve differentiated processing: when there is no significant difference between the two images, it indicates that the protective sheet 11 is clean, and the sensor emits a clean signal. At this time, the second step is directly repeated, and the vision sensor 10 can continue to be used without additional maintenance. When the image shows slight contaminant adhesion but the protective sheet 11 is undamaged, the sensor sends a wiping signal. The cleaning and changing machine then activates its automated mechanical structure to remove the protective sheet 11 from the vision sensor 10 and store it inside the machine. The built-in cleaning module performs precise and efficient wiping of the protective sheet 11, removing surface oil, splatter, and other contaminants. The protective sheet 11 is then reinstalled back into the vision sensor 10. This entire process requires no manual intervention, avoiding damage to the protective sheet 11 caused by uneven wiping pressure. When the image shows severe wear, scratches, or contaminants on the protective sheet 11 that cannot be removed by wiping, the vision sensor 10 sends a replacement signal. The cleaning and changing machine then executes the replacement process, removing the old protective sheet 11 and recycling it to a dedicated storage compartment. Simultaneously, a brand new protective sheet 11 is retrieved from the built-in new sheet storage module, completing the automated installation and solving the problems of finding spare parts and insufficient installation accuracy during manual replacement.

[0035] To ensure that the protective sheet 11 meets the usage requirements after wiping or replacement, the next step is for the vision sensor 10 to collect image data of the protective sheet 11 for the third time and compare it with the reference image from the first step for secondary verification. Finally, a final judgment is made based on the comparison results. If the image difference is within the allowable range, it means that the protective sheet 11 has been restored to a good condition, and the vision sensor 10 can continue to work. If it still does not meet the standard, the above operation is repeated until the protective sheet 11 is in a qualified state, thus forming a closed-loop maintenance mechanism of detection, processing, and verification.

[0036] This approach automates and enhances the precision of protective sheet 11 status detection. By using the vision sensor 10 to acquire and compare images, it replaces manual visual inspection, avoiding errors from subjective human judgment and enabling real-time response to changes in the protective sheet 11's status, thus improving the timeliness and comprehensiveness of detection. Furthermore, maintenance actions such as wiping and replacement are automated by the cleaning and replacement machine, eliminating the need for on-site personnel and significantly reducing labor costs. It also avoids interference with the normal operation of the sensor during manual maintenance, reducing equipment downtime and improving the overall system efficiency. Simultaneously, through a closed-loop process of benchmark comparison, differential processing, and secondary verification, it ensures that the protective sheet 11 is always in good working condition, effectively guaranteeing the quality of the structured light emitted by the vision sensor 10, preventing interference with image acquisition, and thus maintaining the sensor's detection accuracy and reliability.

[0037] A first height and a second height are set, with the first height being greater than the second height. At the first height, structured light strikes the target surface of panel 22, and reflected light enters the lens through a point on the protective sheet 11, forming an image at the edge of the vision sensor 10. As the vision sensor 10 descends, the reflected light passes through the protective sheet 11 from one point to another, and the image on the vision sensor 10 also shifts. When the vision sensor 10 descends to the second height, reflected light enters the lens through another point on the protective sheet 11, forming an image at the other edge of the vision sensor 10, completing the scan of the area from one point to another on the protective sheet 11.

[0038] When there are stains in the two self-inspection areas of the protective sheet 11, the brightness of the reflected light image on the vision sensor 10 will change, resulting in a shadow. By judging the brightness and area of ​​the shadowed part, the impact on the performance of the vision sensor 10 is determined, and a signal to clean, wipe, or replace it is issued to proceed to the next step. If the protective sheet 11 is contaminated at one end of the structured light source, the emitted structured light will produce halos, astigmatism, and decreased brightness, which will also cause changes in the shape and brightness of the image spot on the vision sensor 10. By comparing this with the image data recorded in the first step, a corresponding judgment can also be made.

[0039] Please see Figure 1As a specific implementation of the sensor protective sheet processing method provided in this application, in S1, the vision sensor 10 detects the signal from the cleaning and changing machine, sends sensor model data to the cleaning and changing machine, and activates the detection function; after receiving the information from the vision sensor 10, the cleaning and changing machine opens panel 22; the cleaning and changing machine calls the internally stored action program corresponding to the model and waits for the next signal from the vision sensor 10; the start-up phase of the sensor protective sheet 11 processing flow is achieved through the precise signal interaction between the vision sensor 10 and the cleaning and changing machine to achieve standardized start-up. Specifically, firstly, the vision sensor 10 detects the signals of the surrounding cleaning and changing machines in real time to establish a connection. After confirming the connection, it immediately sends its own model data to the cleaning and changing machine and simultaneously activates the image detection function to prepare for subsequent image acquisition of the protective sheet 11; after receiving the model and start-up information of the vision sensor 10, the cleaning and changing machine first executes the panel 22 opening action to provide the vision sensor 10 with an unobstructed acquisition environment, and at the same time calls the internally stored action program that is completely matched with the sensor model to complete the adaptation of equipment parameters and action logic, and then enters the standby state to wait for the next instruction from the sensor. Intelligent adaptation between devices is achieved through model data interaction, avoiding mismatch between different sensor models and the cleaning and changing machine, and solving the problem of confusion caused by manual operation; the standardized signal interaction process ensures that the startup process is orderly and efficient, which not only lays the foundation for the accuracy of subsequent image acquisition, but also improves the compatibility and automation level of the entire processing system.

[0040] Please see Figures 1 to 3 As a specific implementation of the sensor protective sheet processing method provided in this application, when the vision sensor 10 first acquires image data of the protective sheet 11, the vision sensor 10 emits structured light to illuminate the panel 22, and the vision sensor 10 gradually moves from top to bottom. The camera of the vision sensor 10 acquires image data and saves it. In the key step of acquiring the reference image of the protective sheet 11, after the vision sensor 10 completes the adaptation with the cleaning and sheet changing machine, it emits structured light to its panel 22, using the advantages of structured light imaging to provide clear light and shadow support for image acquisition. At the same time, the vision sensor 10 moves along a trajectory from top to bottom. During this process, its built-in camera continuously captures image data of the complete surface of the protective sheet 11 and stores it in real time to the system database.

[0041] Structured light illumination solves the problem of blurred image details under ordinary lighting, ensuring clear features of the reference image; the top-down motion acquisition mode can fully cover the protective sheet 11 without blind spots, avoiding edge areas that are easily missed by manual shooting; the fully preserved high-definition images provide accurate reference for subsequent comparison, improving the reliability of the status judgment of the protective sheet 11 from the source.

[0042] Panel 22 is a white target panel with white backlight.

[0043] Please see Figures 1 to 5 As a specific implementation of the sensor protective sheet processing method provided in this application, in S4, the gripper 31 is used to remove the protective sheet 11 from the vision sensor 10, and during the process of storing the protective sheet 11 into the cleaning and changing machine, the wiping head extends to press against the protective sheet 11; during the process of storing and reinstalling the protective sheet 11, the wiping action of the protective sheet 11 is completed; for the execution flow of the wiping signal in S4, the efficient cleaning of the protective sheet 11 is achieved through the cooperation of mechanical structures. When the vision sensor 10 sends a wiping signal, the gripper 31 mechanism of the cleaning and changing machine is immediately activated, accurately gripping the protective sheet 11 on the vision sensor 10 and removing it smoothly; during the process of the gripper 31 driving the protective sheet 11 into the equipment, the built-in wiping head automatically extends and presses against its surface with a force adapted to the curvature of the protective sheet 11; subsequently, during the process of storing the protective sheet 11 in the designated position and the subsequent reciprocating movement of reinstalling it back into the sensor, the wiping head and the protective sheet 11 remain in contact, and complete the comprehensive wiping through relative movement.

[0044] The coordinated design of the gripper 31 and the wiping head allows for simultaneous removal and wiping of the protective sheet, eliminating the need for additional steps and improving maintenance efficiency. The wiping head follows the movement trajectory of the protective sheet 11, avoiding cleaning dead spots, and the clamping force is controllable. It can remove oil fumes and splashes while preventing damage to the protective sheet 11, making it more stable and safer than manual wiping.

[0045] Please see Figures 1 to 5 This invention also provides a sensor protective sheet processing device, which operates using any of the above-described sensor protective sheet processing methods, including a housing 20, a gripping component 30, a wiping component 40, and a storage tray 50; the housing 20 has an internal mounting cavity; the outer surface of the housing 20 has an operation opening 21 for the protective sheet 11 to enter and exit and a panel 22 located below the operation opening 21; the gripping component 30 is located in the mounting cavity and is arranged correspondingly to the operation opening 21; the gripping component 30 has a gripper 31 for passing through the operation opening 21; the wiping component 40 is located in the mounting cavity, and the wiping component 40 has a wiping end 41 located below the operation opening 21, and the wiping end 41 acts on the protective sheet 11 from bottom to top; the storage tray 50 is located in the mounting cavity and is installed on one side of the operation opening 21; the storage tray 50 is used to place new protective sheets 11 and has the freedom to move between the operation opening 21 and the gripper 31.

[0046] The sensor protective sheet processing device provided in this embodiment of the invention operates using the aforementioned sensor protective sheet processing method. The device uses a housing 20 as its base carrier. The internal mounting cavity provides a stable mounting space for each functional component, the external operating opening 21 provides a channel for placing and removing the protective sheet 11, and the lower panel 22 provides an interference-free environment for the vision sensor 10 to acquire reference images. Each structure has a clear division of labor and forms a closed-loop cooperation. The gripping component 30 corresponds to the position of the operating opening 21 in the mounting cavity; its retractable gripper 31 can accurately pass through the operating opening 21 to grasp and remove the protective sheet 11. The wiping end 41 of the wiping component 40 is located below the operating opening 21, using an upward action to ensure close contact with the surface of the protective sheet 11. The storage tray 50 is installed on one side of the operating opening 21, not only for storing new protective sheets 11 but also for moving between the operating opening 21 and the gripper 31, providing convenient spare parts supply for the replacement process.

[0047] During operation, the vision sensor 10 first moves to the panel 22 to acquire a reference image. After operation, it acquires another image and compares it with the reference. If wiping is required, the gripper 31 of the grasping component 30 passes through the operating opening 21 to remove the protective sheet 11. As the gripper 31 moves the protective sheet 11 into the mounting cavity, the wiping end 41 of the wiping component 40 presses the protective sheet 11 from bottom to top, completing the full wiping by following the trajectory of the protective sheet 11. After wiping, the gripper 31 returns it to the mounting cavity. If replacement is required, the storage tray 50 moves between the gripper 31 and the operating opening 21. The gripper 31 first removes the old protective sheet 11 and stores it, then grasps the new protective sheet 11 from the storage tray 50 to complete the installation. Throughout the process, the mounting cavity of the housing 20 ensures that the actions of each component do not interfere with each other, and the panel 22 ensures the accuracy of the image acquisition reference. After wiping or replacement, the vision sensor 10 acquires an image again for verification. If it passes the verification, it resumes operation.

[0048] This structure integrates multiple components into the housing 20, resulting in a compact design with minimal space requirements, making it suitable for complex industrial environments. The grippers 31 of the gripping component 30 precisely correspond to the operating opening 21, and combined with the upward-moving action of the wiping head 41, it solves the problems of uneven wiping force and incomplete cleaning during manual wiping. The movable design of the storage tray 50 shortens the time required to retrieve spare parts for replacing the protective sheet 11. Combined with the automated operation of the gripping component 30, it significantly reduces maintenance time and avoids downtime for manual maintenance. The image comparison technology between the equipment and the vision sensor 10 enables full automation of the detection, processing, and verification process without manual intervention, solving the problems of missed detections and delays in manual inspection.

[0049] A lifting device is provided below the wiping end 41 to drive the wiping end 41 to move upward so as to effectively and reliably act on the protective sheet 11.

[0050] Please see Figures 1 to 3 As a specific embodiment of the sensor protective sheet processing device provided in this application, a mounting groove 23 is provided on one side of the housing 20, and the panel 22 is installed in the mounting groove 23 and rotatably connected to the housing 20; a drive component connected to the panel 22 and driving the panel 22 to rotate is also provided in the mounting cavity; an operation opening 21 is opened on the bottom surface of the mounting groove 23; by optimizing the connection and layout of the panel 22 and the housing 20, the operational flexibility of the device is improved, and the structural design is highly compatible with the functional requirements. The mounting groove 23 on one side of the housing 20 provides dedicated installation space for the panel 22, the panel 22 is rotatably connected to the housing 20 and equipped with a drive component, and the operation opening 21 is opened on the bottom surface of the mounting groove 23, forming a compact layout of the groove, the panel 22, and the operation opening 21.

[0051] During operation, when the vision sensor 10 approaches the device, the drive assembly receives a signal and drives the panel 22 to open around the rotation axis, exposing the operation opening 21 on the bottom surface of the slot, while providing a flat image acquisition reference surface for the vision sensor 10. After the sensor completes image acquisition or the device completes the processing of the protective sheet 11, the drive assembly drives the panel 22 to rotate in the opposite direction and close, covering the operation opening 21. In this way, the rotation connection and the drive assembly work together to achieve automated opening and closing of the panel 22, replacing manual operation and improving efficiency. The closed design of the mounting slot 23 and the panel 22 can prevent dust and dirt, protecting the components inside the mounting cavity. The operation opening 21 is located at the bottom of the slot and does not interfere with the movement of the panel 22.

[0052] Please see Figures 1 to 5 As a specific embodiment of the sensor protective sheet processing device provided in this application, the housing 20 is further provided with a storage hopper 24 that is slidably connected to the housing 20. The storage hopper 24 is located between the operation opening 21 and the gripping component 30, and is located below the gripper 31. The addition of the sliding storage hopper 24 optimizes the flow efficiency of the protective sheet 11. The storage hopper 24 on the housing 20 is slidably connected to the housing 20, precisely arranged between the operation opening 21 and the gripping component 30, and is located directly below the gripper 31, forming an efficient material channel. During operation, when the device receives a wiping or replacement signal, the storage hopper 24 slides along the housing 20 to stand by directly below the gripper 31; after the gripper 31 removes the old protective sheet 11, it is directly placed into the storage hopper 24 for storage. When the storage hopper 24 is full of old protective sheets 11, the storage hopper 24 can be directly pulled out of the housing 20 for convenient subsequent operations.

[0053] Please see Figure 4 and Figure 5As a specific embodiment of the sensor protective sheet processing device provided in this application, the mounting cavity is further provided with two sets of telescopic guide wheels 25 arranged near the operation opening 21. The two sets of telescopic guide wheels 25 are respectively located on both sides of the operation opening 21. The two sets of telescopic guide wheels 25 act on both sides of the protective sheet 11, and a precise guiding mechanism for the protective sheet 11 is constructed through the two sets of telescopic guide wheels 25. Two sets of telescopic guide wheels 25 are provided near the operation opening 21 in the mounting cavity, symmetrically distributed on both sides of the operation opening 21. Their telescopic direction is perpendicular to the movement path of the protective sheet 11, and they can act precisely on the edges of both sides of the protective sheet 11.

[0054] During operation, when the gripper 31 drives the protective plate 11 through the operating opening 21 into and out of the mounting cavity, the two sets of telescopic guide wheels 25 are immediately controlled to extend synchronously until they are tightly fitted with both sides of the protective plate 11 without causing squeezing damage. Throughout the movement of the protective plate 11 with the gripper 31, the telescopic guide wheels 25 continuously limit the offset of the protective plate 11 through rolling contact, ensuring that it moves along the preset trajectory. After the protective plate 11 is removed, wiped, or replaced, the telescopic guide wheels 25 retract synchronously to return to their original position, avoiding obstruction of subsequent operations. The problem of easy offset during removal and placement is solved by the synchronous guidance on both sides, ensuring installation accuracy; the telescopic design allows for on-demand operation without interfering with the action of the gripper 31; and the rolling contact reduces wear on the protective plate 11. The housing 20 is equipped with two linear actuators that drive the movement of the two sets of telescopic guide wheels 25 respectively. Preferably, the linear actuators are cylinders or electric push rods, etc.

[0055] Please see Figures 1 to 7 As a specific embodiment of the sensor protective sheet processing equipment provided in this application, the housing 20 is further provided with a clean sheet compartment 60 for storing protective sheets 11, and the clean sheet compartment 60 is located above the storage tray 50 for placing new protective sheets 11 onto the storage tray 50; the clean sheet compartment 60 on the housing 20 is specifically for storing new protective sheets 11, and is precisely positioned directly above the storage tray 50, forming a vertical sheet supply channel between the clean sheet compartment 60 and the storage tray 50. During operation, the clean sheet compartment 60 initially stores a sufficient amount of new sheets. When the equipment detects that the storage tray 50 is short of new sheets, the bottom discharge mechanism of the clean sheet compartment 60 is activated to smoothly transport new sheets to the lower storage tray 50 to replenish it; when the sensor sends a replacement signal, the storage tray 50 moves to transport the new protective sheet 11 to the corresponding position of the gripper 31, and the gripper 31 directly grabs the new sheet from the storage tray 50 to complete the installation.

[0056] This upper-level storage design saves installation cavity space, and vertical film supply shortens the film patching path; large-capacity storage reduces the frequency of manual film patching, and continuous film supply is achieved in conjunction with storage tray 50; the sealed clean film compartment 60 avoids oil and dust contamination of new films, ensuring the cleanliness of new films.

[0057] The lower end of the clean film compartment 60 is the discharge port, with a rotatable gripper 62 connected to one side. One end of the gripper 62 extends towards the discharge port to prevent new films from moving downwards. The storage tray 50 is located directly below the clean film compartment 60. During horizontal movement, the protrusion 63 on the storage tray 50 acts on the gripper 62, causing the gripper 62 to rotate and avoid the discharge port. The clean film compartment 60 has a pressing rod 61 and a spring 64 acting on the pressing rod 61. The spring 64 drives the pressing rod 61 downwards to control the new films to pass through the discharge port and fall onto the storage tray 50. A linear actuator is located on one side of the storage tray 50, driving the storage tray 50 in linear reciprocating motion. The linear actuator can be a cylinder or an electric push rod, etc.

[0058] Specifically, when the storage tray 50 is loaded with new films and moves toward the gripper 31, the spring 64 on the clean film compartment 60 acts on the gripper 62 to return to its original position, thereby preventing the new films in the clean film compartment 60 from being transferred into the equipment.

[0059] When a new film on storage tray 50 is clamped by gripper 31, storage tray 50 retracts backward; the protrusion 63 on the left side of storage tray 50 pushes open the chuck 62 at the bottom of clean film compartment 60, so that chuck 62 is offset from the bottom of clean film compartment 60, ensuring that the new film enters storage tray 50 under the pressure of spring 64 at the top of clean film compartment 60, waiting for the next action.

[0060] Please see Figure 4 and Figure 5 As a specific embodiment of the sensor protective sheet processing device provided in this application, the mounting cavity also includes a power supply 70, a signal receiver 71, and a control module 72. The gripping component 30, wiping component 40, and storage tray 50 are all communicatively connected to the power supply 70 and the control module 72. The signal receiver 71 and the control module 72 are communicatively connected to the vision sensor 10. By integrating the power supply 70, the signal receiver 71, and the control module 72, the coordinated operation of each component is achieved. The power supply 70 in the mounting cavity provides stable power to the gripping component 30, the wiping component 40, and the linear actuator connected to the storage tray 50. The control module 72 serves as the core hub, establishing communication with the aforementioned execution components and the power supply 70. The signal receiver 71 forms a bidirectional communication link with the control module 72 and the vision sensor 10, constituting a complete signal transmission network. During operation, the vision sensor 10 transmits the image comparison results to the signal receiver 71, which immediately feeds back the signal to the control module 72. The control module 72 analyzes the signal according to a preset program, issues instructions to the corresponding execution components, and simultaneously adjusts the power supply status through the power supply 70. When a wiping signal is issued, the control module 72 instructs the grasping component 30 to pick up the piece and the wiping component 40 to start, and the power supply 70 simultaneously supplies power to both. After the operation is completed, the execution component sends the status information back to the control module 72, which then feeds it back to the vision sensor 10.

[0061] This centralized control method avoids component operation conflicts, while two-way communication ensures timely and accurate signal transmission and fast response. Furthermore, the combination of stable power supply and intelligent control enhances equipment operational reliability.

[0062] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for processing a sensor protective sheet, characterized in that, include: S1: The vision sensor moves closer to the cleaning and changing machine, and the cleaning and changing machine opens the panel for mapping the vision sensor, so that the vision sensor can acquire image data of the protective sheet for the first time; S2: The vision sensor is moved away from the cleaning and changing machine and put into use; the cleaning and changing machine panel is closed. S3: Repeat S1, and the visual sensor will collect the image data of the protective sheet a second time. Compare the image data of the protective sheet collected a second time with the image data of the protective sheet collected a first time. S4: The sensor sends a clean signal, a wipe signal, or a replacement signal; when a clean signal is sent, repeat S2; when a wipe signal is sent, start the cleaning and changing machine to remove the protective sheet, store it in the cleaning and changing machine, wipe the protective sheet, and then reinstall the protective sheet on the vision sensor; when a replacement signal is sent, start the cleaning and changing machine to remove the protective sheet, collect it in the cleaning and changing machine, and reinstall the new protective sheet on the vision sensor. S5: The vision sensor acquires image data of the protective sheet for the third time and compares the image data acquired for the third time with the image data acquired for the first time. S6: If the judgment is qualified, the vision sensor continues to work; otherwise, repeat S4-S6.

2. The sensor protective sheet processing method as described in claim 1, characterized in that, In S1, the vision sensor detects the signal from the cleaning and changing machine, sends the sensor model data to the cleaning and changing machine, and activates the detection function; after receiving the information from the vision sensor, the cleaning and changing machine opens the panel; the cleaning and changing machine calls the internally stored action program corresponding to the model and waits for the next signal from the vision sensor.

3. The sensor protective sheet processing method as described in claim 1, characterized in that, When the vision sensor first acquires image data of the protective sheet, it emits structured light to illuminate the panel, and gradually moves from top to bottom. The camera of the vision sensor acquires and saves the image data.

4. The sensor protective sheet processing method as described in claim 1, characterized in that, In S4, the gripper is used to remove the protective sheet from the vision sensor, and during the process of storing the protective sheet into the cleaning and changing machine, the wiping head extends to press against the protective sheet; the wiping action of the protective sheet is completed during the process of storing and reinstalling the protective sheet.

5. A sensor protective sheet processing device, characterized in that, The operation is performed using the sensor protective sheet processing method as described in any one of claims 1-4, comprising: The housing has an internal mounting cavity; the outer side of the housing has an operating opening for the protective sheet to enter and exit, and a panel located below the operating opening; A gripping assembly is located within the mounting cavity and is arranged corresponding to the operating opening; the gripping assembly has grippers for entering and exiting through the operating opening; A wiping assembly is located inside the mounting cavity; the wiping assembly is provided with a wiping end located below the operating opening, and the wiping end acts on the protective sheet from bottom to top; A storage tray is located within the mounting cavity and mounted on one side of the operating opening; the storage tray is used to place new protective plates and has the freedom to move between the operating opening and the gripper.

6. The sensor protective sheet processing equipment as described in claim 5, characterized in that, A mounting groove is provided on one side of the housing, the panel is installed in the mounting groove, and the panel is rotatably connected to the housing; a drive component connected to the panel and driving the panel to rotate is also provided in the mounting cavity; the operation opening is opened on the bottom surface of the mounting groove.

7. The sensor protective sheet processing equipment as described in claim 5, characterized in that, The housing is also provided with a storage hopper that is slidably connected, and the storage hopper is located between the operating opening and the gripping component, and below the gripper.

8. The sensor protective sheet processing equipment as described in claim 5, characterized in that, The mounting cavity is also equipped with two sets of telescopic guide wheels arranged close to the operating opening, with the two sets of telescopic guide wheels located on both sides of the operating opening; the two sets of telescopic guide wheels act on both sides of the protective sheet.

9. The sensor protective sheet processing equipment as described in claim 5, characterized in that, The housing is also provided with a clean film compartment for storing protective films, and the clean film compartment is located above the storage tray for placing new protective films on the storage tray.

10. The sensor protective sheet processing equipment as described in claim 7, characterized in that, The mounting cavity is also equipped with a power supply, a signal receiver, and a control module; the gripping component, the wiping component, and the storage tray are all communicatively connected to the power supply and the control module, and the signal receiver and the control module are communicatively connected to the vision sensor.

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