CN110736424B - Calibration method of structured light projection module group equipment and projection module group measurement method - Google Patents
Calibration method of structured light projection module group equipment and projection module group measurement method Download PDFInfo
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- CN110736424B CN110736424B CN201810796607.3A CN201810796607A CN110736424B CN 110736424 B CN110736424 B CN 110736424B CN 201810796607 A CN201810796607 A CN 201810796607A CN 110736424 B CN110736424 B CN 110736424B
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Abstract
The invention provides a calibration method, which comprises the following steps: arranging a first laser above a standard plane and aligning the first laser with a positioning structure, wherein the standard plane is provided with the positioning structure for positioning the projection module to be measured; arranging a first receiving curtain parallel to the standard plane below the first laser, wherein the first receiving curtain is suitable for receiving and displaying a laser cursor, the laser cursor is emitted by the first laser and is reflected to the first receiving curtain by a reflector plate, and the reflector plate is arranged on the upper surface of the standard plane; arranging a second receiving curtain carrier between the standard plane and the first receiving curtain; and adjusting the position of the second receiving curtain carrier to be parallel to the standard plane according to the position relation between the laser cursor displayed by the first receiving curtain and the outline of the first laser. The invention also provides a corresponding method for assembling and detecting the structured light projection module. The invention can realize simple and efficient calibration of the structural light projection module assembly equipment.
Description
Technical Field
The invention relates to the technical field of optics, in particular to a calibration method of structured light projection module assembly equipment and an assembly measurement method of a projection module.
Background
In a structured light projection module, the projection module is used for projecting light rays of a specific pattern, and mainly comprises a projection chip assembly (VCSEL), a collimating element and an optical diffraction element (DOE), wherein the collimating element and the optical diffraction element are collectively called a lens assembly. When the projection module works, the projection chip assembly emits light rays, the light rays are collimated by the collimation element to form uniform and parallel light beams, and the uniform and parallel light beams are modulated and copied by the optical diffraction element to form a specific optical pattern which is projected in a projection field. The relative offset and the inclination of the installation positions of all the components can influence the projected patterns, so that the center of the light projected by the projection chip component is required to be perpendicular to the collimation element and the optical diffraction element in the assembling process of all the components of the structured light projection module, the projected specific patterns are clear, and the specific patterns can be received and acquired by a receiver.
Because the assembly precision requirement of the structured light projection module is extremely high, in the assembly process, a curtain for receiving a specific pattern and a camera for shooting an image projected on the curtain in the assembly equipment of the structured light projection module need to be calibrated, and the curtain and the camera are subjected to position calibration.
Disclosure of Invention
The present invention aims to provide a solution that overcomes at least one of the drawbacks of the prior art.
According to one aspect of the present invention, there is provided a calibration method for a device comprising a structured light projection module set, comprising:
arranging a first laser above the standard plane and aligning the first laser with the positioning structure, wherein the standard plane is provided with a positioning structure for positioning the projection module to be tested;
arranging a first receiving curtain parallel to the standard plane below the first laser, wherein the first receiving curtain is suitable for receiving and displaying a laser cursor, the laser cursor is emitted by the first laser and is reflected to the first receiving curtain by the reflector plate, and the reflector plate is arranged on the upper surface of the standard plane;
disposing a second receiving curtain carrier between the standard plane and the first receiving curtain; and
and adjusting the position of the second receiving curtain carrier to be parallel to the standard plane according to the position relation between the laser cursor displayed by the first receiving curtain and the outline of the first laser.
Wherein in the step of arranging a first laser above the standard plane and aligning it with the positioning structure, the first laser is aligned with the positioning structure in accordance with a positional relationship of the laser cursor emitted by the first laser toward the standard plane and the positioning structure.
Wherein in the step of arranging a first receiving curtain parallel to the standard plane below the first laser, the first receiving curtain is in close contact with the first laser.
The first receiving curtain is provided with a rigid bearing surface, and the end face of the emitting end of the first laser bears against the rigid bearing surface.
Wherein the step of arranging a first receiving curtain parallel to the standard plane below the first laser comprises:
arranging the first receiving curtain below the first laser, and enabling the end face of the emergent end of the first laser to be abutted against a rigid bearing surface of the first receiving curtain;
the first laser emits a laser cursor, and the laser cursor is reflected to the first receiving curtain by the reflector plate, so that a first cross cursor is displayed on the first receiving curtain; and
and adjusting the position of the first receiving curtain to be parallel to the standard plane according to the position relation between the first cross cursor and the outline of the first laser.
Wherein, according to the position relationship between the first cross cursor and the outline of the first laser, the step of adjusting the position of the first receiving curtain to be parallel to the standard plane comprises:
and adjusting the inclination angles of the first receiving curtain and the first laser to enable the center of the first cross cursor to coincide with the center of the outline of the first laser displayed on the first receiving curtain.
Wherein the locating structure is an aperture.
Wherein the first laser is a cross laser.
Wherein the reflective sheet is an IR reflective sheet.
Wherein the standard plane is a marble standard plane.
Wherein the second receiving curtain carrier is transparent tempered glass.
Wherein the second receiving curtain carrier is transparent;
the step of adjusting the position of the second receiving curtain carrier to be parallel to the standard plane according to the position relation between the laser cursor displayed by the first receiving curtain and the outline of the first laser comprises the following steps:
the first laser emits a laser cursor, and the laser cursor is reflected by the second receiving curtain carrier and then received by the first receiving curtain, so that a second laser cursor is displayed on the first receiving curtain; and
and adjusting the position of the second receiving curtain carrier to be parallel to the standard plane according to the position relation between the second laser cursor and the outline of the first laser.
Wherein the second laser cursor is a second cross cursor;
the step of adjusting the position of the second curtain carrier to be parallel to the standard plane according to the position relationship between the second laser cursor and the profile of the first laser comprises:
and adjusting the inclination angle of the second receiving curtain carrier to enable the center of the second cross cursor to coincide with the center of the outline of the first laser displayed on the first receiving curtain.
Wherein, still include:
disposing a second laser on an upper surface of the second receiver curtain carrier and aligning it with the positioning structure;
arranging a camera above the second receiving curtain carrier; and
and adjusting the position of the camera to be vertical to the standard plane according to the position relation among the light spot projected by the second laser, the outline of the second laser and the lens center of the camera shot by the camera, and enabling the lens center of the camera to coincide with the center of the outline of the second laser.
Wherein, after the step of arranging the second laser on the upper surface of the second receiving curtain carrier and aligning the second laser with the positioning structure, the method further comprises the following steps:
removing the first laser and the first receiving curtain.
In the step of arranging a second laser on the upper surface of the second receiving curtain carrier and aligning the second laser with the positioning structure, the first laser emits laser towards the second laser to adjust the alignment of the second laser and the first laser, and then the second laser is aligned with the positioning structure.
The step of adjusting the position of the camera to be perpendicular to the standard plane and to make the center of the lens of the camera coincide with the center of the profile of the second laser according to the position relationship among the light spot projected by the second laser, the profile of the second laser and the center of the lens of the camera, which is shot by the camera, specifically includes:
adjusting the position of the camera to be perpendicular to the standard plane according to the position relation between the light spot projected by the second laser and the outline of the second laser shot by the camera;
and adjusting the position of the camera according to the position relation between the light spot projected by the second laser and the lens center of the camera, which is shot by the camera, so that the lens center of the camera is superposed with the light spot of the second laser.
The step of adjusting the position of the camera to be perpendicular to the standard plane and to make the center of the lens of the camera coincide with the center of the profile of the second laser according to the position relationship among the light spot projected by the second laser, the profile of the second laser and the center of the lens of the camera, which is shot by the camera, specifically includes:
adjusting the position of the camera according to the position relation between the light spot projected by the second laser and the lens center of the camera, which is shot by the camera, so that the lens center of the camera is superposed with the light spot of the second laser;
and adjusting the position of the camera to enable the center of the outline of the second laser to coincide with the center of the lens of the camera according to the position relation between the light spot projected by the second laser and the outline of the second laser shot by the camera.
The step of adjusting the position of the camera to be perpendicular to the standard plane and to make the center of the lens of the camera coincide with the center of the profile of the second laser according to the position relationship among the light spot projected by the second laser, the profile of the second laser and the center of the lens of the camera, which is shot by the camera, specifically includes:
according to the position relation between the lens center of the camera and the outline center of the second laser, which is shot by the camera, adjusting the position of the camera to enable the lens center of the camera to coincide with the outline center of the second laser;
and adjusting the position of the camera according to the position relation between the light spot projected by the second laser and the lens center of the camera shot by the camera so as to enable the light spot projected by the second laser and the lens center of the camera to coincide.
According to another aspect of the present invention, there is provided a method for calibrating a structural light projection module assembled by a testing apparatus using the calibration method, comprising:
disposing a projecting chip assembly at the locating structure of the standard plane, disposing a lens assembly between a second receiving sheet and the projecting chip assembly;
starting the projection chip assembly, receiving a structured light projection pattern by using the second receiving curtain, and shooting the structured light projection pattern received by the second receiving curtain by using the camera;
actively calibrating the relative position of the projection chip component and the lens component according to the quality of the structured light projection pattern shot by the camera; and
the projection chip assembly and the lens assembly are fixed so that they remain in relative positions determined by the active calibration.
Wherein, in the fixing step, the projecting chip assembly and the lens assembly are connected by an adhesive or soldering process.
According to another aspect of the present invention, there is provided a method for calibrating a device for detecting a structured light projection module using the calibration method, comprising:
arranging the structured light projection module at the positioning structure of the standard plane;
starting a projection chip assembly, receiving a structured light projection pattern by using a second receiving curtain, and shooting the structured light projection pattern received by the second receiving curtain by using the camera; and
and judging whether the pattern projected by the structured light projection module meets the standard or not according to the quality of the structured light projection pattern shot by the camera.
Compared with the prior art, the invention has at least one of the following technical effects:
1. the invention utilizes the principle of laser reflection to adjust the first receiving curtain and the second receiving curtain carrier, and the method is simple and efficient.
2. The invention adjusts the position relation of the lens center of the camera, the center of the outline of the second laser and the light spot of the second laser by utilizing the opening and closing states of the lasers, realizes the adjustment of the camera and has simple operation.
3. The invention uses the assembly equipment calibrated by the calibration method to assemble the structured light projection module, thereby improving the efficiency.
4. The invention uses the assembly equipment calibrated by the calibration method to detect the structured light projection module, and has simple and efficient operation.
Drawings
Exemplary embodiments are illustrated in referenced figures of the drawings. The embodiments and figures disclosed herein are to be regarded as illustrative rather than restrictive.
FIG. 1 is a schematic view of an initial state of leveling a first receiving curtain;
FIG. 2 is a schematic diagram of the adjusted first receiving curtain;
FIG. 3 is a schematic view of an initial state of leveling of a second receiving curtain carrier;
FIG. 4 is a schematic view of a second receiving curtain carrier after leveling;
FIG. 5A is a schematic diagram of a second laser in place;
FIG. 5B is a diagram illustrating an initial state of vertical adjustment of the camera;
FIG. 6 is a diagram illustrating a state where the camera is vertically adjusted;
FIG. 7 is a diagram illustrating a state where the camera is horizontally adjusted;
FIG. 8 is a schematic view of the adjusted camera lens center coinciding with the emission center of the second laser;
FIG. 9 is a schematic view showing a state where the lens center of the camera coincides with the center of the outer contour of the second laser after adjustment;
FIG. 10 is a schematic view of the structured light projection module calibration platform after calibration of the camera and the second curtain carrier is completed;
FIG. 11 is a flow chart illustrating a calibration method for a set of devices for structured light projection modules, in accordance with one embodiment of the present invention.
Detailed Description
For a better understanding of the present application, various aspects of the present application will be described in more detail with reference to the accompanying drawings. It should be understood that the detailed description is merely illustrative of exemplary embodiments of the present application and does not limit the scope of the present application in any way. Like reference numerals refer to like elements throughout the specification. The expression "and/or" includes any and all combinations of one or more of the associated listed items.
It should be noted that the expressions first, second, etc. in this specification are used only to distinguish one feature from another feature, and do not indicate any limitation on the features. Thus, a first body discussed below may also be referred to as a second body without departing from the teachings of the present application.
In the drawings, the thickness, size, and shape of an object have been slightly exaggerated for convenience of explanation. The figures are purely diagrammatic and not drawn to scale.
It will be further understood that the terms "comprises," "comprising," "includes," "including," "has," "including," and/or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Moreover, when a statement such as "at least one of" appears after a list of listed features, the entirety of the listed features is modified rather than modifying individual elements in the list. Furthermore, when describing embodiments of the present application, the use of "may" mean "one or more embodiments of the present application. Also, the term "exemplary" is intended to refer to an example or illustration.
As used herein, the terms "substantially," "about," and the like are used as terms of table approximation and not as terms of table degree, and are intended to account for inherent deviations in measured or calculated values that will be recognized by those of ordinary skill in the art.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 11 is a flowchart illustrating a calibration method of a testing apparatus for a structured light projection module according to an embodiment of the present invention, where the testing may be assembling the projection module or the structured light module, testing (detecting) the projection module or the structured light module, or assembling and testing the projection module or the structured light module.
Referring to fig. 11, the calibration method includes the following steps S10 to S80:
s10: a first laser 10, a first receiving curtain 20, an IR reflecting sheet 30, a second receiving curtain carrier 401 and a standard plane 50 are prepared, wherein the standard plane has a positioning structure, which may be an opening 501.
S20: the first laser 10 is installed above the standard plane 50, and the first receiving curtain 20 is installed below the first laser 10 and is in close contact with the first laser 10, wherein the first laser 10 may be a cross laser, the first receiving curtain 20 has a rigid bearing surface, and the end surface of the emitting end of the first laser 10 bears against the rigid bearing surface of the first receiving curtain. The IR reflecting sheet 30 is installed on the standard plane 50, wherein the first laser 10 is aligned with the opening 501 in the vertical direction by the laser emitted from the first laser 10, the first laser 10 can project a laser cursor through the first receiving curtain 20, and the IR reflecting sheet 30 can reflect the laser emitted from the first laser 10 to form a first cross-shaped cursor 201 on the first receiving curtain. In this step, the first laser 10 is mounted above the standard plane 50, the first receiving curtain 20 is mounted below the first laser 10, and the IR reflecting sheet 30 is mounted on the standard plane 50, and the mounting sequence of the three is not fixed, so that the mounting sequence of the three can be adjusted.
Fig. 1 is a schematic view of an initial state of leveling a first receiving curtain. As shown in fig. 1, the prepared first laser 10, first receiving sheet 20, IR reflecting sheet 30 and standard plane 50 are installed in the orientation shown in fig. 1, wherein the standard plane 50 has an opening 501 and the standard plane 50 may be a marble standard plane. Installing a first laser 10 above a standard plane 50, aligning the first laser 10 with the opening 501 by laser projected by the first laser 10, and keeping a line between the center of the first laser 10 and the center of the opening 501 vertical, wherein vertical here means that the line between the center of the first laser 10 and the center of the opening 501 is vertical to the standard plane 50, installing a first receiving curtain 20 below the first laser 10 and closely contacting with the first laser 10, and the first laser 10 can project a cross-shaped cursor through the first receiving curtain 20; the IR reflecting sheet 30 is mounted on the standard plane 50, and the IR reflecting sheet 30 can reflect the laser light emitted by the first laser 10 to form a first cross-shaped cursor 201 on the first receiving curtain. The first display area 20' of the first cross cursor 201 in fig. 1 is a bottom view of the first receiving curtain 20, wherein the first solid circle 101 is an outer contour of the first laser 10. Referring also to fig. 1, in the initial state of the first receiving sheet leveling, since the first receiving sheet 20 has a horizontal angle, the center position of the first cross cursor 201 formed by reflection is deviated from the center position of the first solid line circle 101.
S30: the position of the first receiving curtain 20 is adjusted so that the center of the first cross cursor 201 coincides with the center of the first solid circle 101.
Fig. 2 is a schematic diagram of the adjusted first receiving curtain. As shown in fig. 2, by adjusting the horizontal position of the first receiving curtain 20, the center position of the first cross cursor 201 is overlapped with the center position of the first solid line circle 101, so that the first receiving curtain 20 is in the horizontal position. The horizontal leveling of the first receiving curtain can be accomplished through the steps of fig. 1 and 2, ready for the leveling of the second receiving curtain carrier.
S40: the second receiver curtain carrier 401 is placed between the first laser 10 and the IR reflecting sheet 30, wherein the first laser 10 can reflect off the second receiver curtain carrier 401 to form the second letter cursor 202.
Fig. 3 is a schematic view of an initial state of leveling of the second curtain carrier. As shown in fig. 3, a second curtain carrier 401 is added to fig. 2, wherein the second curtain carrier 401 is at an initial position, and the second curtain carrier 401 may be a transparent tempered glass. The second display area 20 "of the second alphanumeric cursor 202 in fig. 3 is a bottom view of the first receiving sheet 20, wherein the first solid circle 101 is the outer contour of the first laser 10. As shown in fig. 3, in the initial state of leveling the second receiving curtain carrier 401, because the second receiving curtain carrier 401 has a horizontal included angle, the center position of the reflection-formed second letter cursor 202 deviates from the center position of the first solid line circle 101.
S50: the position of the second curtain carrier 401 is adjusted so that the center of the second letter cursor 202 coincides with the center of the first solid circle 101.
Fig. 4 is a schematic view of the second curtain carrier 401 after leveling. As shown in fig. 4, by adjusting the horizontal position of the second curtain carrier 401, the center position of the second cross cursor 202 coincides with the center position of the first solid circle 101, so that the second curtain carrier 401 is at the horizontal position. The horizontal leveling of the second curtain carrier 401 can be accomplished through the adjustment steps of fig. 3 and 4.
The horizontal leveling of the second receiver curtain carrier 401 can be accomplished by the above-described adjustments of fig. 1-4, thereby providing for subsequent camera adjustments.
S60: a second laser 60 and a camera 70 are prepared, and the second laser 60 is mounted to the second receiving curtain carrier 401, wherein the second laser 60 can emit laser light toward the camera 70.
Fig. 5A is a schematic diagram of the second laser 60 after placement. As shown in fig. 5A, the laser light emitted by the first laser 10 adjusts the position of the second laser 60 so that the line connecting the center of the second laser 60 and the center of the opening 501 remains vertical.
S70: the first laser 10 and the first receiving curtain 20 are removed and the camera 70 is mounted above the second receiving curtain carrier 401, wherein the camera 70 can capture the pattern in the direction of the second receiving curtain carrier 401.
Fig. 5B is a schematic diagram of an initial state of vertical adjustment of the camera. As shown in fig. 5B, the first laser 10, the first receiving sheet 20 and the IR reflecting sheet 30 are removed on the basis of fig. 5A, and the camera 70 is added, wherein the camera 70 is at an initial position.
S80: the position of the camera 70 is adjusted such that the vertical axis of the camera 70 coincides with the vertical axis of the second laser 60, thereby achieving vertical adjustment of the camera 70. The specific adjusting steps of S80 are as follows:
s801: adjustment of the camera 70 in the vertical direction;
still referring to fig. 5B, in fig. 5B, the third display area 40 'and the third display area 40 ″ are top view pictures of the second curtain carrier 401 taken by the camera 70, respectively, wherein the third display area 40' is a picture taken in the on state of the second laser 60, and the third display area 40 ″ is a picture taken in the off state of the second laser 60. The spot 601 in the third display area 40' is the spot that the second laser 60 forms on the picture taken by the camera 70 when it is turned on. The second solid circle 602 in the third display area 40 "is the outline of the second laser 60 that it forms on the picture taken by the camera 70 when the second laser 60 is off. Referring to fig. 5B, a spot 601 formed on a picture taken by the camera 70 when the second laser 60 is turned on does not coincide with the center of the outer contour 602 of the second laser 60 formed on a picture taken by the camera 70 when the second laser 60 is turned off. Since the second receiving curtain carrier 401 has already finished leveling horizontally through the adjustment in the steps of fig. 1-4, the misalignment of the light spot 601 with the center of the outer contour 602 indicates that the camera 70 has an angle with the vertical direction. Fig. 6 is a schematic diagram illustrating a state where the camera 70 is vertically adjusted, and the standard plane 50 is omitted from fig. 6. Referring to fig. 6, by adjustment of the camera 70 in the vertical direction, the spot 601 formed on the picture taken by the camera 70 when the second laser 60 is on coincides with the center of the outer contour 602 of the second laser 60 formed on the picture taken by the camera 70 when the second laser 60 is off, indicating that the camera 70 is completely vertical or that the vertical axis of the camera 70 is within a threshold from the vertical.
S802: adjustment of the camera 70 in the horizontal direction;
referring also to fig. 6, the intersection of the vertical axis extending imaginary lines of the camera 70 in the third display area 40' and the third display area 40 ″ is the center of the camera in the display area, and it can be seen from fig. 6 that the spot 601 formed on the picture taken by the camera 70 when the second laser 60 is turned on coincides with the center of the outer contour 602 of the second laser 60 formed on the picture taken by the camera 70 when the second laser 60 is turned off, but the spot 601 does not yet coincide with the center of the camera 70, and further adjustment is required.
Fig. 7 is a schematic diagram illustrating a state in which the camera completes horizontal adjustment. Referring to fig. 7, the intersection point of the extended dotted lines of the centers of the cameras 70 in the third display area 40' and the third display area 40 ″ is the lens center of the camera, and the lens center of the camera coincides with the center of a spot 601 formed on a picture photographed by the camera 70 when the second laser 60 is turned on and the outer contour 602 of the second laser 60 formed on a picture photographed by the camera 70 when the second laser 60 is turned off by adjusting the camera 70 in the horizontal direction, thereby completing the adjustment of the camera 70.
Further, in one embodiment, step S80 may also employ the following steps:
s801': the camera 70 is mounted above the second laser 60, the second laser 60 is turned on, and the camera 70 is horizontally moved so that the lens center 701 coincides with the emission center 603 of the second laser 60.
Fig. 8 is a schematic diagram of a state in which the lens center 701 of the camera 70 coincides with the emission center 603 of the second laser 60 after being adjusted in step S801'. Referring to fig. 8, the intersection of the dotted lines in the third display area 40' and the third display area 40 ″ is the lens center of the camera, which coincides with the spot 601 formed on the picture photographed by the camera 70 when the second laser 60 is turned on, but does not coincide with the center of the outer contour 602 of the second laser 60 formed on the picture photographed by the camera 70 when the second laser 60 is turned off.
S802': the camera 70 is adjusted in the vertical direction with the lens center 701 of the camera 70 as a reference point so that the lens center of the camera coincides with the center of the outer contour 602 of the second laser 60. The state of the schematic diagram shown in fig. 7 can be obtained by adjustment of this step.
Further, in one embodiment, step S80 may also employ the following steps:
s801': the camera 70 is mounted above the second laser 60, the second laser 60 is turned off, and the camera 70 is adjusted in the vertical direction so that the lens center of the camera 70 coincides with the center of the outer contour 602 of the second laser 60. Fig. 9 is a schematic view of a state in which the lens center of the camera 70 coincides with the center of the outer contour 602 of the second laser 60 after the adjustment in step S801 ″.
S802': the camera 70 is adjusted in the vertical direction with the emission center 603 as a reference point so that the lens center of the camera coincides with the spot 601 of the second laser 60. The state shown in fig. 7 can be obtained by adjustment of this step.
Through the adjustment of the above steps, the calibration of the camera 70 and the second receiving curtain carrier 401 can be realized.
Fig. 10 is a schematic view of the structured light projection module calibration platform after calibration of the camera 70 and the second curtain carrier 401 is completed. As shown in fig. 10, the projection module 80 is placed above the opening 501 of the standard plane 50, and the second receiving curtain 40 is mounted on the second receiving curtain carrier 401, wherein the mounting of the second receiving curtain 40 on the second receiving curtain carrier 401 is merely exemplary, the second receiving curtain 40 can also be mounted below the second receiving curtain carrier 401 or other suitable positions, or the second receiving curtain 40 can be attached above or below the second receiving curtain 40 or other suitable positions.
Calibration of the projection module 80 by a set of devices using the structured light projection module shown in FIG. 10 may employ the following steps:
s1000: the projected chip assembly 801 is disposed at the positioning structure (opening 501) of the standard plane 50, and the lens assembly 802 is disposed between the second receiving sheet 40 and the projected chip assembly 801, wherein, in fig. 10, the lens assembly 802 has 5 optical elements and in other embodiments, the lens assembly 802 may have other numbers of optical elements, such as 1, 2, 3, 4 or more;
s2000: starting the projecting chip assembly 801, receiving the structured light projection pattern by the second receiving curtain 40, and shooting the structured light projection pattern received by the second receiving curtain 40 by the camera 70;
s3000: actively calibrating the relative positions of the projection chip assembly 801 and the lens assembly 802 according to the quality of the structured light projection pattern shot by the camera 70;
s4000: the projecting chip assembly 801 and the lens assembly 802 are secured (e.g., adhesively secured by glue) so that they remain in relative positions as determined by the active alignment.
Further, in one embodiment, in the fixing step S4000, the projected chip assembly 801 and the lens assembly 802 may be connected by an adhesive or soldering process, wherein the soldering process includes laser soldering or ultrasonic soldering.
Further, in one embodiment, a method for detecting the projection module 80 by a combined device using the structured light projection module shown in fig. 10 includes:
arranging the projection structure light projection module 80 at the opening 501 of the standard plane 50;
turning on the projecting chip assembly 801, receiving the structured light projection pattern with the second receiving sheet 40, and receiving the structured light projection pattern with the second receiving sheet 40 with the camera 70; and
according to the quality of the structured light projection pattern shot by the camera 70, whether the pattern of the structured light projection module 80 meets the standard or not is judged.
The above description is only a preferred embodiment of the present application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (20)
1. A calibration method for a group-testing device for group-testing a structured light projection module is characterized by comprising the following steps:
arranging a first laser above a standard plane and aligning the first laser with a positioning structure, wherein the standard plane is provided with the positioning structure for positioning the projection module to be tested;
arranging a first receiving curtain parallel to the standard plane below the first laser, wherein the first receiving curtain is suitable for receiving and displaying a laser cursor, the laser cursor is emitted by the first laser and is reflected to the first receiving curtain by a reflecting sheet, and the reflecting sheet is arranged on the upper surface of the standard plane;
disposing a second receiving curtain carrier between the standard plane and the first receiving curtain;
adjusting the position of the second receiving curtain carrier to be parallel to the standard plane according to the position relation between the laser cursor displayed by the first receiving curtain and the outline of the first laser;
disposing a second laser on an upper surface of the second receiver curtain carrier and aligning it with the positioning structure;
removing the first laser and the first receiving curtain;
arranging a camera above the second receiving curtain carrier; and
and adjusting the position of the camera to be vertical to the standard plane according to the position relation among the light spot projected by the second laser, the outline of the second laser and the lens center of the camera shot by the camera, and enabling the lens center of the camera to coincide with the center of the outline of the second laser.
2. The calibration method according to claim 1, wherein in the step of arranging a first laser above the standard plane and aligning it with the positioning structure,
aligning the first laser with the positioning structure according to a positional relationship of the laser cursor emitted by the first laser toward the standard plane and the positioning structure.
3. The calibration method according to claim 1, wherein in the step of arranging a first receiving curtain parallel to the standard plane below the first laser,
the first receiving curtain is in intimate contact with the first laser.
4. The calibration method as claimed in claim 3, wherein the first receiving curtain has a rigid bearing surface against which an end surface of the exit end of the first laser bears.
5. The calibration method according to claim 1, wherein the step of arranging a first receiving curtain parallel to the standard plane below the first laser comprises:
arranging the first receiving curtain below the first laser, and enabling the end face of the emergent end of the first laser to be abutted against a rigid bearing surface of the first receiving curtain;
the first laser emits a laser cursor, and the laser cursor is reflected to the first receiving curtain by the reflector plate, so that a first cross cursor is displayed on the first receiving curtain; and
and adjusting the position of the first receiving curtain to be parallel to the standard plane according to the position relation between the first cross cursor and the outline of the first laser.
6. The calibration method according to claim 5, wherein the step of adjusting the position of the first receiving curtain to be parallel to the standard plane according to the position relationship between the first cross-shaped cursor and the profile of the first laser comprises:
and adjusting the inclination angles of the first receiving curtain and the first laser to enable the center of the first cross cursor to coincide with the center of the outline of the first laser displayed on the first receiving curtain.
7. Calibration method according to claim 1, wherein the positioning structure is an opening.
8. Calibration method according to claim 1, characterized in that the first laser is a cross laser.
9. The calibration method according to claim 1, wherein the reflective sheet is an IR reflective sheet.
10. Calibration method according to claim 1, characterized in that said standard plane is a marble standard plane.
11. The calibration method according to claim 1, wherein the second curtain carrier is transparent tempered glass.
12. The calibration method according to claim 1, wherein the second receiving curtain carrier is transparent;
the step of adjusting the position of the second receiving curtain carrier to be parallel to the standard plane according to the position relation between the laser cursor displayed by the first receiving curtain and the outline of the first laser comprises the following steps:
the first laser emits a laser cursor, and the laser cursor is reflected by the second receiving curtain carrier and then received by the first receiving curtain, so that a second laser cursor is displayed on the first receiving curtain; and
and adjusting the position of the second receiving curtain carrier to be parallel to the standard plane according to the position relation between the second laser cursor and the outline of the first laser.
13. The calibration method according to claim 12, wherein the second laser cursor is a second cross cursor;
the step of adjusting the position of the second curtain carrier to be parallel to the standard plane according to the position relationship between the second laser cursor and the profile of the first laser comprises:
and adjusting the inclination angle of the second receiving curtain carrier to enable the center of the second cross cursor to coincide with the center of the outline of the first laser displayed on the first receiving curtain.
14. The calibration method as recited in claim 1, wherein in the step of arranging a second laser on the upper surface of the second curtain carrier and aligning the second laser with the positioning structure, the step of emitting laser light by the first laser toward the second laser adjusts the alignment of the second laser with the first laser and thus with the positioning structure.
15. The calibration method according to claim 1, wherein the step of adjusting the position of the camera to be perpendicular to the standard plane and to make the lens center of the camera coincide with the center of the profile of the second laser according to the relationship between the spot projected by the second laser, the profile of the second laser and the position of the lens center of the camera, which is captured by the camera, specifically comprises:
adjusting the position of the camera to be perpendicular to the standard plane according to the position relation between the light spot projected by the second laser and the outline of the second laser shot by the camera;
and adjusting the position of the camera according to the position relation between the light spot projected by the second laser and the lens center of the camera, which is shot by the camera, so that the lens center of the camera is superposed with the light spot of the second laser.
16. The calibration method according to claim 1, wherein the step of adjusting the position of the camera to be perpendicular to the standard plane and to make the lens center of the camera coincide with the center of the profile of the second laser according to the relationship between the spot projected by the second laser, the profile of the second laser and the position of the lens center of the camera, which is captured by the camera, specifically comprises:
adjusting the position of the camera according to the position relation between the light spot projected by the second laser and the lens center of the camera, which is shot by the camera, so that the lens center of the camera is superposed with the light spot of the second laser;
and adjusting the position of the camera to enable the center of the outline of the second laser to coincide with the center of the lens of the camera according to the position relation between the light spot projected by the second laser and the outline of the second laser shot by the camera.
17. The calibration method according to claim 1, wherein the step of adjusting the position of the camera to be perpendicular to the standard plane and to make the lens center of the camera coincide with the center of the profile of the second laser according to the relationship between the spot projected by the second laser, the profile of the second laser and the position of the lens center of the camera, which is captured by the camera, specifically comprises:
according to the position relation between the lens center of the camera and the outline center of the second laser, which is shot by the camera, adjusting the position of the camera to enable the lens center of the camera to coincide with the outline center of the second laser;
and adjusting the position of the camera according to the position relation between the light spot projected by the second laser and the lens center of the camera shot by the camera so as to enable the light spot projected by the second laser and the lens center of the camera to coincide.
18. A method of assembling a structured light projection module using a cluster tool calibrated according to the calibration method of any of claims 1 to 17, comprising:
disposing a projecting chip assembly at the locating structure of the standard plane, disposing a lens assembly between a second receiving sheet and the projecting chip assembly;
starting the projection chip assembly, receiving a structured light projection pattern by using the second receiving curtain, and shooting the structured light projection pattern received by the second receiving curtain by using the camera;
actively calibrating the relative position of the projection chip component and the lens component according to the quality of the structured light projection pattern shot by the camera; and
the projection chip assembly and the lens assembly are fixed so that they remain in relative positions determined by the active calibration.
19. A method of assembling a structured light projection module according to claim 18, wherein in said securing step, said projected chip assembly is attached to said lens assembly by an adhesive or soldering process.
20. A method for detecting a structured light projection module by a set of devices calibrated using the calibration method of any one of claims 1 to 17, comprising:
arranging the structured light projection module at the positioning structure of the standard plane;
starting a projection chip assembly, receiving a structured light projection pattern by using a second receiving curtain, and shooting the structured light projection pattern received by the second receiving curtain by using the camera; and
and judging whether the pattern projected by the structured light projection module meets the standard or not according to the quality of the structured light projection pattern shot by the camera.
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| CN112067259A (en) * | 2020-10-10 | 2020-12-11 | 烟台创迹软件有限公司 | Optical instrument for adjusting camera view field |
| CN112577429B (en) * | 2020-12-11 | 2022-12-23 | 博炯(上海)精密机械科技有限公司 | Workpiece machining is with measuring imager calibrating device |
| CN114659473B (en) * | 2020-12-22 | 2024-06-21 | 宁波舜宇光电信息有限公司 | Flatness detection device, flatness detection system and flatness detection method |
| CN116295116A (en) * | 2023-04-13 | 2023-06-23 | 广东省旭晟半导体股份有限公司 | Infrared emission module and preparation method thereof |
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