阅读说明：本技术 结构光投射模组组测设备的标定方法及投射模组组测方法 (Calibration method of structured light projection module group equipment and projection module group measurement method ) 是由 方泽 孙孝央 于 2018-07-19 设计创作，主要内容包括：本发明提供了一种标定方法,包括：在标准平面上方布置第一激光器并将其与定位结构对齐,其中标准平面具有用于定位待测所述投射模组的定位结构；在第一激光器下方布置与标准平面平行的第一接收幕布,第一接收幕布适于接收和显示激光光标,激光光标由第一激光器发出并由反射片反射至第一接收幕布,所述反射片布置于所述标准平面的上表面；在标准平面与第一接收幕布之间布置第二接收幕布载具；以及根据第一接收幕布所显示的激光光标与第一激光器的轮廓的位置关系,调整第二接收幕布载具的位置使其与标准平面平行。本发明还提供了相应的组装和检测结构光投射模组的方法。本发明可以实现对结构光投射模组组测设备简单高效的标定。(The invention provides calibration methods, which include arranging laser above a standard plane and aligning the laser with a positioning structure, wherein the standard plane has a positioning structure used for positioning a projection module to be measured, arranging receiving curtain parallel to the standard plane below a laser, wherein the receiving curtain is suitable for receiving and displaying a laser cursor, the laser cursor is emitted by a laser and is reflected to a receiving curtain by a reflector plate, 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 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 receiving curtain and the outline of an laser.)

1, kind of structured light throws calibration method of module group equipment, characterized by, including:

arranging th laser above a standard plane and aligning the laser with the positioning structure, wherein the standard plane is provided with a positioning structure for positioning the projection module to be tested;

disposing a th receiving curtain parallel to the standard plane below the th laser, the th receiving curtain adapted to receive and display a laser cursor emitted by the th laser and reflected by a reflective sheet disposed on an upper surface of the standard plane to the th receiving curtain;

arranging a second receiving curtain carrier between the standard plane and the th 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 th receiving curtain and the outline of the th laser.

2. The calibration method according to claim 1, wherein in the step of arranging th laser above the standard plane and aligning it with the positioning structure, the th laser is aligned with the positioning structure according to the positional relationship of the laser cursor emitted by the th laser towards the standard plane and the positioning structure.

3. The calibration method as claimed in claim 1, wherein in the step of arranging a th receiving curtain parallel to the standard plane below the th laser, the th receiving curtain is in close contact with the th laser.

4. The calibration method as claimed in claim 3, wherein the th receiving curtain has a rigid bearing surface against which the end face of the th laser's exit end bears.

5. The calibration method as claimed in claim 1, wherein the step of arranging a th receiving curtain parallel to the standard plane below the th laser comprises:

arranging the receiving curtain below the laser and bearing the end face of the exit end of the laser against a rigid bearing surface of the receiving curtain;

the th laser emitting a laser cursor reflected by the reflective sheet to the th receiving curtain to display a th cross cursor on the th receiving curtain, and

according to the position relation of the th cross cursor and the outline of the th laser, the position of the th receiving curtain is adjusted to be parallel to the standard plane.

6. The calibration method as claimed in claim 5, wherein the step of adjusting the position of the th receiving curtain to be parallel to the standard plane according to the position relationship between the th cross-cursor and the th laser profile comprises:

the center of the th cross cursor coincides with the center of the outline of the th laser displayed on the th receiving curtain by adjusting the inclination angles of the th receiving curtain and the th laser.

7. Calibration method according to claim 1, wherein the positioning structure is an opening.

8. The calibration method according to claim 1, wherein said th 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;

according to the position relation between the laser cursor displayed by the th receiving curtain and the outline of the th laser, the step of adjusting the position of a second receiving curtain carrier to be parallel to the standard plane comprises the following steps:

the th laser emitting a laser cursor which is reflected by the second receiving curtain carrier and received by the th receiving curtain so as to display a second laser cursor on the th 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 contour of the th 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 contour of the laser comprises:

the center of the second letter cursor is made to coincide with the center of the outline of the laser displayed on the th receiving curtain by adjusting the inclination angle of the second receiving curtain carrier.

14. The calibration method according to claim 1, further comprising:

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.

15. The calibration method as recited in claim 14, further comprising, after the step of disposing a second laser on the upper surface of the second curtain carrier and aligning the second laser with the positioning structure:

removing the th laser and the th receiving curtain.

16. The calibration method as recited in claim 14, wherein in the step of positioning a second laser on the upper surface of the second receiver curtain carrier and aligning it with the positioning structure, emitting laser light by the th laser toward the second laser adjusts the second laser to align with the th laser and thus with the positioning structure.

17. The calibration method according to claim 14, 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.

18. The calibration method according to claim 14, 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.

19. The calibration method according to claim 14, 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.

20, projection module group measurement method, comprising:

calibrating a structured light projection module set apparatus using the calibration method of any of claims 1-19;

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.

21. The method for assembling a projection module according to claim 20, wherein in the fixing step, the projection chip module and the lens module are connected by an adhesive or soldering process.

22, projection module group measurement method, comprising:

calibrating a structured light projection module set apparatus using the calibration method of any of claims 1-19;

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.

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 solutions that overcome at least the drawbacks of the prior art.

According to aspects of the present invention, there are provided methods for calibrating a device comprising a set of structured light projection modules, comprising:

arranging th laser above the standard plane and aligning the laser with the positioning structure, wherein the standard plane is provided with a positioning structure for positioning the projection module to be tested;

disposing a th receiving curtain parallel to the standard plane below the th laser, the th receiving curtain adapted to receive and display a laser cursor emitted by the th laser and reflected by the reflective sheet to the th receiving curtain, the reflective sheet disposed on an upper surface of the standard plane;

arranging a second receiving curtain carrier between the standard plane and the th 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 th receiving curtain and the outline of the th laser.

Wherein, in the step of arranging th laser above the standard plane and aligning it with the positioning structure, the th laser is aligned with the positioning structure according to the positional relationship of the laser cursor emitted by the th laser toward the standard plane and the positioning structure.

Wherein in the step of arranging a th receiving curtain parallel to the standard plane below the th laser, the th receiving curtain is in close contact with the th laser.

The th receiving curtain is provided with a rigid bearing surface, and the end surface of the emission end of the th laser bears against the rigid bearing surface.

Wherein the step of disposing a th receiving curtain parallel to the standard plane below the th laser comprises:

arranging the receiving curtain below the laser and bearing the end face of the exit end of the laser against a rigid bearing surface of the receiving curtain;

the th laser emitting a laser cursor reflected by the reflective sheet to the th receiving curtain to display a th cross cursor on the th receiving curtain, and

according to the position relation of the th cross cursor and the outline of the th laser, the position of the th receiving curtain is adjusted to be parallel to the standard plane.

Wherein, according to the position relationship between the th cross cursor and the laser outline, the step of adjusting the position of the th curtain receiving device to be parallel to the standard plane comprises the following steps:

the center of the th cross cursor coincides with the center of the outline of the th laser displayed on the th receiving curtain by adjusting the inclination angles of the th receiving curtain and the th laser.

Wherein the locating structure is an aperture.

Wherein the th 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;

according to the position relation between the laser cursor displayed by the th receiving curtain and the outline of the th laser, the step of adjusting the position of a second receiving curtain carrier to be parallel to the standard plane comprises the following steps:

the th laser emitting a laser cursor which is reflected by the second receiving curtain carrier and received by the th receiving curtain so as to display a second laser cursor on the th 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 contour of the th 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 contour of the laser comprises:

the center of the second letter cursor is made to coincide with the center of the outline of the laser displayed on the th receiving curtain by adjusting the inclination angle of the second receiving curtain carrier.

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 th laser and the th receiving curtain.

Wherein, in the step of arranging a second laser on the upper surface of the second receiving curtain carrier and aligning it with the positioning structure, emitting laser light by the th laser toward the second laser adjusts the alignment of the second laser with the th laser and thus 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 aspects of the present invention, there are provided methods for calibrating a structured light projection module assembled in a cluster tool 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 still another aspects of the present invention, there are provided methods 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 technical effects as follows:

1. the invention utilizes the principle of laser reflection to adjust the th 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 for receiving curtain leveling;

FIG. 2 is a schematic diagram of showing the adjusted 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 cluster tool of structured light projection modules according to an embodiment of the present invention.

Detailed Description

The detailed description is to be construed as merely illustrative of exemplary embodiments of the present application and not in any way limiting the scope of the present application.

It should be noted that the expressions , second, etc. are used only to distinguish features from another features and do not represent any limitation on the features in this specification accordingly, the body discussed hereinafter 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," "has," "including," and/or "includes," 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 or more other features, integers, steps, operations, elements, components, and/or groups thereof.

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.

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 an assembly apparatus of an structured light projection module according to an embodiment of the present invention, where the assembly may be an assembly of the projection module or the structured light module, a test (detection) of the projection module or the structured light module, or an assembly and a test of the projection module or the structured light module.

Referring to fig. 11, the calibration method includes the following steps S10 to S80:

s10, preparing a th laser 10, a th curtain 20, an IR reflecting sheet 30, a second curtain carrier 401 and a standard plane 50, wherein the standard plane has a positioning structure, and the positioning structure can be an opening 501.

20, the th laser 10 is mounted above the standard plane 50, the th receiving curtain 20 is mounted below the th laser 10 and in intimate contact with the th laser 10, wherein the 852 th laser 10 may be a cross laser, the th receiving curtain 20 has a rigid bearing surface, the th laser 10 has its exit end bearing against the rigid bearing surface of the th receiving curtain, the IR reflecting sheet 30 is mounted to the standard plane 50, wherein the th laser 10 and the aperture 501 are vertically aligned by emitting laser light from the th laser 10, the th laser 10 may project laser light through the th receiving curtain 20, the IR reflecting sheet 30 may reflect laser light from the th laser 10 to form a th cross 201 on the th receiving curtain, wherein in this step the third laser 10 is mounted to the standard plane , the mounting the th receiving curtain 10 to the standard plane is adjusted , the third laser 30 is mounted to the standard plane, and the third laser 30 is mounted to the standard plane.

Fig. 1 is a schematic diagram of an initial state of leveling an th receiving curtain, as shown in fig. 1, an th laser 10, a th receiving curtain 20, an IR reflecting sheet 30 and a 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, a th laser 10 is installed above the standard plane 50, a laser projected through a th laser 10 aligns the th laser 10 with the opening 501, a line connecting the center of the th laser 10 with the center of the opening 501 is kept perpendicular, wherein perpendicular is a line connecting the center of the th laser 10 with the center of the opening 501 is perpendicular to the standard plane 50, a th receiving curtain 20 is installed below the th laser 10 and in close contact with the th laser 10, a th laser 10 can project a cursor through a th receiving curtain 20, an IR reflecting sheet 30 is installed below the th laser 10 and in close contact with the th laser 10, and the tr receiving curtain is installed in a cross-ray receiving area 8620, wherein the initial state of the reflector 95 th receiving cross reflector 20 is a cross-shaped area 201, a cross-shaped.

And S30, adjusting the position of the receiving curtain 20 to make the center of the th cross cursor 201 coincide with the center of the th solid line circle 101.

FIG. 2 shows a schematic view of the th receiver curtain after adjustment, as shown in FIG. 2, the th receiver curtain 20 can be made to be at a horizontal position by adjusting the horizontal position of the th receiver curtain 20 to make the center position of the th cross cursor 201 coincide with the center position of the th solid line circle 101. the th receiver curtain can be leveled through the steps of FIG. 1 and FIG. 2, so as to prepare for leveling of the second receiver curtain carrier.

S40, the second drip tape carrier 401 is placed between the th laser 10 and the IR reflecting sheet 30, wherein the th laser 10 can reflect through the second drip tape 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 made of transparent tempered glass, a second display area 20 ″ of the twentieth cursor 202 in fig. 3 is a bottom view of the curtain carrier 20, wherein the solid line circle 101 is an outer contour of the laser 10, as shown in fig. 3, in the initial state of leveling of the second curtain carrier 401, the center position of the reflected twentieth cursor 202 is deviated from the center position of the solid line circle 101 because of a horizontal included angle of the second curtain carrier 401.

And S50, adjusting the position of the second curtain carrier 401 to make the center of the second letter cursor 202 coincide with the center of the solid line circle 101.

Fig. 4 is a schematic view of the second curtain carrier 401 after being leveled, as shown in fig. 4, the second curtain carrier 401 is located at a horizontal position by adjusting the horizontal position of the second curtain carrier 401 to make the center position of the twentieth cursor 202 coincide with the center position of the solid line circle 101, and the horizontal leveling of the second curtain carrier 401 can be completed through the adjusting steps shown in fig. 3 and fig. 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 showing a state after the second laser 60 is placed, as shown in fig. 5A, the position of the second laser 60 is adjusted by the laser light emitted from the th laser 10 so that the line connecting the center of the second laser 60 and the center of the opening 501 is kept perpendicular.

S70, the th laser 10 and the th 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 view of the initial state of the vertical adjustment of the camera, as shown in FIG. 5B, the th laser 10, the th receiving curtain 20 and the IR reflecting sheet 30 are removed based on FIG. 5A, and the camera 70 is added, wherein the camera 70 is in the 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 light 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 light 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.

, in embodiments, step S80 may further 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.

, in embodiments, step S80 may further 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.

, in embodiments, in the fixing step S4000, the projected chip assembly 801 and the lens assembly 802 can be connected by an adhesive or soldering process, wherein the soldering process includes laser soldering or ultrasonic soldering.

, in embodiments, the method for detecting the projection module 80 by the 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.