48results about How to "Reduce calibration error" patented technology

The invention provides a calibration method and device of motion capture equipment, equipment and a medium, the motion capture equipment is worn on a limb of a human body, the method is applied to head-mounted display equipment, the head-mounted display equipment comprises a camera, and the method comprises the following steps: collecting an image of the motion capture equipment through the camera; according to the motion capture equipment image, determining target attitude information of an equipment coordinate system relative to a world coordinate system; and calibrating the motion capture equipment according to the target attitude information. The motion capture equipment is calibrated by using the image of the motion capture equipment, so that the calibration difficulty of the motion capture equipment can be effectively reduced, the calibration time can be shortened, the calibration error can be reduced, and the calibration precision of the motion capture equipment can be improved.

The invention discloses a multi-target detection method based on a multi-source high-frequency track and a high-precision map, which realizes conversion of a video coordinate system, a millimeter wave radar coordinate system and a world coordinate system and fuses a radar target and a video target. The method comprises the following steps: automatically calibrating video and thunder vision; performing automatic deviation correction on a north corner and an equipment position based on multi-straight-line regression; transforming the video sensor into a world coordinate system; and carrying out decision association of the Leiyu tracking target. According to the method, the target trajectory and the high-precision map data are tracked by utilizing the thunder vision high frequency, the complexity of calibration between the sensors and between the sensors and a world coordinate system is reduced, meanwhile, the precision errors of coordinate transformation between the thunder vision sensors and thunder vision data world coordinate transformation are reduced, and compared with the prior art, the method has the advantages that in the application of complex traffic roadside vehicle detection scenes, the detection efficiency is improved. The precision is higher; and the data association has robustness.

The utility model discloses an auxiliary calibration device and system for a measuring trolley. The device comprises a supporting mechanism, a position adjusting mechanism, a first bottom plate and a top plate. One end of the supporting mechanism is connected with the first bottom plate, and the other end is fixed to the rail bottom of the steel rail during calibration and used for adjusting the horizontal levelness of the top plate. A clamping jaw is arranged at the bottom of the first bottom plate in the longitudinal direction, and the first bottom plate is fixed to a steel rail through the clamping jaw during calibration. Fixing bolts are arranged at the front end and the rear end of the first bottom plate in the longitudinal direction and used for adjusting the longitudinal levelness of the top plate. The position adjusting mechanism is arranged on the first bottom plate, the top plate is arranged on the position adjusting mechanism, and the position adjusting mechanism is used for adjusting the height of the top plate relative to the first bottom plate. The technical problems that an existing manual field calibration mode is high in labor intensity, large in calibration error and low in metering efficiency can be solved.

The present invention discloses a method and system for calibrating the zero position of a permanent magnet synchronous motor with different rotation speeds, and relates to the technical field of drive motors for new energy electric vehicles. The method includes: S1: pre-positioning the rotor position and determining the initial zero position value of the resolver; S2: controlling the drive motor to a predetermined speed; S3: implementing zero current control through a controller to allow the motor speed to drop freely; S4: adjusting the zero position value of the resolver to keep the target voltage at zero; S5: recording the zero position value of the resolver at different speeds and fitting the curve to complete the calibration. According to the technical solution of the present application, high-precision resolver zero position angle calibration can be achieved without the need for additional bench resources, which reduces the complexity of the calibration process and has high practical value.

The invention discloses a camera module image calibration method, relates to the technical field of electronic data processing, and aims to solve the problems that the calibration of a camera module cannot adapt to a changeable illumination environment and the consistency of the camera module is difficult to guarantee, and the method comprises the following steps: S1, obtaining a color temperature graph from the first color temperature to the Nth color temperature of a current module, each color temperature image is divided into a * b areas in a gridding mode; s2, calculating an R / G mean value and a B / G mean value of each region according to the image data of each region of each color temperature image of the current module; s3, screening out bad modules according to R / G and B / G ratios of the current module and the corresponding area of the typical module; s4, calculating AWB data and LSC data of the camera module from the first color temperature to the Nth color temperature according to the image data of the N color temperature graphs, and storing the AWB data and the LSC data in a memory; and S5, according to the actual environment illumination condition, automatically calling the AWB data and the LSC data, calculating a correction coefficient, and using the correction coefficient to calibrate the image, the camera module image calibration method not only can calibrate the color balance under different color temperatures, but also can significantly improve the consistency between modules, especially in large-scale production, the production efficiency is greatly improved, and the production cost is reduced. And the method is particularly effective for controlling bad modules.

The invention discloses a radar and video calibration method and device and a storage medium, and belongs to the technical field of radar detection.The radar and video calibration method comprises the steps that a radar track and a video track of at least one target in an intersection area are obtained, the intersection area comprises a plurality of divided areas, and each divided area comprises a plurality of calibration blocks; determining a video-to-radar track corresponding to the video track according to the initial calibration parameter of each divided region; an association point group corresponding to each calibration block is determined from all radar tracks and video-to-radar tracks, and each association point group comprises a radar track point and a video-to-radar track point; and according to the association point groups corresponding to all the calibration blocks and the initial calibration parameters, determining the target calibration parameters corresponding to each divided region, thereby realizing accurate calibration between the radar and the video, and effectively improving the calibration precision and the calibration efficiency.

The utility model relates to the technical field of optical fiber temperature measurement, in particular to a distributed temperature measurement temperature calibration device which comprises a heat preservation shell, a heating cavity is arranged in the heat preservation shell, a cylindrical heating core column is arranged in the heating cavity, a heating piece is arranged at one end of the heating core column, and a first temperature sensor is further fixedly installed on the heating core column. Two sections of calibration optical fibers are wound on the peripheral surface of the heating core column, the two ends of the temperature measuring optical fiber are connected with the two sections of calibration optical fibers respectively, one end, away from the temperature measuring optical fiber, of one section of calibration optical fiber is connected with a reference optical fiber, and a heat preservation layer used for wrapping the heating core column is arranged in the heating cavity; a heating sheet is placed at the top of an aluminum alloy heating core column, a calibration optical fiber is tightly wound on the outer wall of the heating core column, and gaps between the heating core column and the heating sheet and between the heating core column and the calibration optical fiber are filled with heat-conducting silicone grease, so that the calibration optical fiber is uniformly heated.

The invention relates to a mechanical arm coordinate conversion calibration method and device based on an optical tracking system, and the method comprises the steps: installing the optical tracking system, and fixing an optical calibration plate on a base of a to-be-calibrated mechanical arm; adjusting the joint of the mechanical arm to be calibrated to a standard zero position; sampling sample points in a plurality of directions perpendicular to the base flange plate through an infrared optical probe; performing circle center calculation based on a space circle equation, and determining a coordinate axis of the base; determining an intersection point on a base shaft and a base center point of the mechanical arm; calculating a space coordinate transformation matrix of the base according to the center point of the base and the X axis and the Y axis of the base; and the conversion module is used for converting the mechanical arm base into a coordinate system of the optical tracking system in real time based on the position of the optical calibration plate. Compared with the prior art, the problems that in a traditional method, operation is complex, the calculated amount is large, and the environmental influence is large are effectively solved, the positioning workload of the mechanical arm is remarkably simplified, and the working efficiency and operation safety of the mechanical arm are improved.

The invention relates to the technical field of petroleum and natural gas exploration and development, and discloses a relative isochronous logging and earthquake calibration method, which is characterized in that a multi-well average velocity unified calibration method is adopted for calibration of the top and the bottom of a marker bed, and trend correction is carried out on a velocity body according to errors and layer space distribution characteristics; and finally, the calibration error of the above-well layering and the seismic interpretation layer is very small, and the result is in normal distribution. In the calibration process, the single well curve is not stretched or compressed, it is guaranteed that the speed trend is reasonable, no distortion section exists, and the speed model is closer to the real speed. The method mainly aims at calibration of thin sand layers which are thin in thickness, rapid in transverse change and unstable in distribution in continental clastic rock deposition in China, and particularly has a good effect on connectivity research such as development area small layer comparison and water injection.

The invention discloses a single-point calibration method and device, equipment, a storage medium and a product, and relates to the technical field of automation equipment, and the single-point calibration method comprises the steps that the first point position height of a current measurement point in a standard part measured by a 3D laser sensor and the second point position height of the current measurement point measured by an OMM are obtained; compensating the 3D laser sensor based on the first point position height and the second point position height to obtain a compensation point position height of the 3D laser sensor to the current measurement point; and performing single-point calibration on the 3D laser sensor based on the compensation point height. Namely, according to the height of the first point position and the height of the second point position, single-point compensation is carried out on the 3D laser sensor to obtain the height of the compensation point position, calibration compensation is carried out on the current measurement point of the 3D laser sensor, and because the measurement points of the 3D laser sensor and the OMM measurement are the same, and the points are not prone to being affected by the size of a product. And the calibration accuracy of the 3D laser sensor is improved.

The invention relates to the technical field of intelligent logistics navigation laser radars, in particular to a wheel type odometer and single-line laser radar combined calibration method, which comprises a calibration environment construction module used for constructing a good calibration environment. The method firstly focuses on the accurate calibration of the internal reference of the single-line laser radar. The step is crucial because the accurate internal reference of the laser radar is the basis of the subsequent calibration work. Through accurate internal reference calibration, the overall calibration error caused by the internal error of the laser radar can be remarkably reduced, and the precision and reliability of the whole calibration system are improved. The accuracy of vehicle navigation can be improved, and more accurate data support can be provided for subsequent intelligent logistics tasks.

The invention relates to the technical field of visual guidance, and provides a visual calibration method and device of a visual assembly system and a medium, and the visual assembly system comprises a camera, a motion control platform and a clamping device. The motion control platform at least comprises a first moving mechanism for driving the clamping device to move in a first direction and a second moving mechanism for driving the clamping device to move in a second direction, the first direction is perpendicular to the second direction, and the camera is used for observing a calibration object clamped by the clamping device. The method comprises the following steps: acquiring first coordinates of a plurality of preset calibration points in a platform coordinate system of the motion control platform; obtaining a deviation angle of a product coordinate system relative to a platform coordinate system; compensating the first coordinate according to the deviation angle to obtain a second coordinate of the calibration point position; and according to the second coordinates, calibrating a conversion relation between the coordinates in the platform coordinate system and the coordinates in the camera coordinate system of the camera.

The present invention discloses a method for optimizing calibration parameters of a binocular stereo vision camera, and relates to the technical field of computer vision. The method comprises the following steps: hierarchical optimization calibration of feature points of different scales in the extracted scene, establishing a multi-scale feature point model, and characterizing the scale difference of the feature points by a scale factor; using a time series analysis algorithm to dynamically optimize calibration data at different times and adjust the calibration parameters of the camera; establishing a self-learning calibration optimization mechanism, that is, performing error analysis based on real-time feedback data to automatically evaluate the accuracy of the current calibration parameters. The present invention performs hierarchical multi-scale modeling of feature points, introduces independent calibration parameters for feature points of different scales, enables the system to more effectively reduce calibration errors caused by parallax or perspective distortion, and also introduces a self-learning calibration optimization mechanism that can dynamically adjust calibration parameters based on real-time feedback data.

The invention belongs to the technical field of blood purification, and relates to an automatic temperature calibration system and method.The automatic temperature calibration system comprises liquid purification equipment and a calibration device which are detachably connected, the liquid purification equipment comprises a heating piece and a first temperature sensor which are connected with a control device, and the heating piece is used for heating liquid in a heating cavity; the first temperature sensor is used for collecting a current first temperature signal of liquid on the inlet side and / or the outlet side of the heating cavity and feeding back the first temperature signal to the control device. The calibration device comprises a constant-temperature liquid circulating device used for simulating a target object, a second temperature sensor used for collecting an actual second temperature signal of the heated liquid on the outlet side of the heating cavity, and a temperature inspection instrument used for transmitting the second temperature signal to the control device; according to the invention, heating devices of different liquid purification equipment can be conveniently detected, the calibration points can be automatically switched according to the preset flow velocity from small to large for temperature calibration, the calibration is accurate and efficient, the operation is simple, and the cost is low.

The present application discloses a calibration method, device, electronic device, and storage medium for an autonomous driving vehicle, wherein the autonomous driving vehicle at least includes: an RTK positioning device and an image acquisition device, and realizes the calibration of the relative positions of the RTK positioning device and the image acquisition device in the horizontal direction of the line connecting the front and rear wheels of the vehicle body. Through the present application, the calculation result of the lane line is accurate, and the relative position calibration result of the RTK positioning device and the image acquisition device is obtained.

The invention provides a laser measuring device for steel bar deformation, and belongs to the technical field of laser measuring equipment, the laser measuring device is characterized in that a top cover frame is arranged above a device base, and a detection cavity is formed between the device base and the top cover frame; the detection assembly comprises a grating light emitter and a grating light receiver which are used for detecting the deformation amount of the reinforcing steel bar, and the grating light emitter and the grating light receiver are both installed in the detection cavity and located on the two sides of the reinforcing steel bar; the driving assembly is used for fixing the bottom end of the reinforcing steel bar, driving the reinforcing steel bar to rotate along the axis of the reinforcing steel bar and driving the grating light emitter and the grating light receiver to move along the axis of the reinforcing steel bar for deformation detection, so that full-section detection of rotary scanning and axial movement is formed, and light signal changes instead of the relative offset between the two sections are captured section by section. The problem that a traditional laser measuring device is prone to data deviation is solved, a fixing assembly comprises two sets of clamping forks used for clamping the top end of a steel bar, and lubricating assemblies used for lubricating the rotating connecting position of a clamping roller and a support are arranged on the clamping forks.

The invention provides a piston type gas-liquid phase equilibrium dynamic observation device and a use method thereof, the observation device comprises: a cylinder, an inner cavity of which is divided into an observation cavity gas area, an observation cavity liquid area, a pressure control piston and a pressure control cavity; the first storage bottle is communicated with the observation cavity gas area; the pressure control device pushes the pressure control piston by changing the pressure of the pressure control cavity so as to change the pressure of the observation cavity liquid area and the observation cavity gas area; the temperature control device is used for controlling the temperature of the cylinder; the parallel light source is used as experiment exciting light to irradiate the cylinder; and the data acquisition device is used for acquiring the temperature, the pressure and the image of the observation area, and acquiring the emitted light intensity of the observation area through the images of the observation cavity gas area and the observation cavity liquid area. According to the invention, through temperature and pressure control and real-time image acquisition, the phase equilibrium fraction distribution condition under the conditions of temperature, pressure, composition and time is obtained based on the relationship between the fluid exciting light-emission light intensity and the fluid composition condition.

The application discloses a kind of analog signal calibration method, controller and system suitable for semiconductor equipment, method includes: control analog signal output module exports first preset electric signal;Through analog signal input module, first preset electric signal is collected, and first electric parameter acquisition value is obtained;First preset electric signal is measured by analog electric parameter measuring device, and first electric parameter measurement value is obtained;According to first electric parameter acquisition value and first electric parameter measurement value, analog signal input module is calibrated;Control analog signal output module exports second preset electric signal corresponding to first preset electric parameter value;Second preset electric signal is collected by calibrated analog signal input module, and second electric parameter acquisition value is obtained;According to first preset electric parameter value and second electric parameter acquisition value, the signal output by analog signal output module is calibrated.By the above-mentioned mode, analog input signal and analog output signal can be calibrated to improve precision.

The present invention discloses a laser welding robot tool calibration method and system based on focus positioning compensation, which belongs to the field of laser welding technology, including: setting a robot tool tool1 in a robot geodetic coordinate system, and calibrating a tool parameter P0 at tool1; generating a laser indicator light co-focal with the welding laser, and adjusting the robot so that the focus of the laser indicator light is located at point O on the plane of a pre-set sensor, and then obtaining the coordinate position of tool1 as the initial position; after controlling the robot to rotate a certain angle around a rotation axis passing through the initial position, controlling the robot to translate so that the focus returns to point O, and obtaining the coordinate position of tool1 as a newly added position; after obtaining N≥3 newly added positions that are not coplanar, spherical fitting is performed together with the initial position, and a vector pointing to the center of the sphere from the initial position is calculated, and P0 is compensated by the vector to obtain the tool parameters in the robot system, and the calibration ends. The present invention can improve the calibration accuracy of the robot tool parameters at the focus.

The utility model discloses an automatic calibration device of a remote sensing detection system, which realizes the purpose of automatically calibrating the remote sensing system and comprises a fixed plate, a calibration plate is arranged on the front side of the fixed plate, a plurality of detachable calibration boxes are arranged on the front side of the calibration plate, a cleaning shaft is arranged on the front side of the calibration plate, and the cleaning shaft is arranged on the front side of the calibration box. A baffle plate fixedly connected with the fixing plate is arranged on the upper side of the calibration plate, a light-transmitting lens is arranged on the front side of the fixing plate, the baffle plate and the fixing plate are matched with each other to form a light-transmitting lens cleaning structure, and a detachable detector is arranged on the rear side of the fixing plate. The device is simple and convenient to operate, effectively achieves the purpose of cleaning an optical lens during calibration, achieves the purpose of improving calibration accuracy during calibration, achieves the purpose of cleaning a light-transmitting lens, effectively reduces calibration errors, and improves the accuracy of remote sensing detection of the device.

The present invention relates to a robot hand-eye calibration method based on matrix solution, comprising: determining the rotation matrix and translation matrix in the hand-eye calibration initialization parameters based on the calibration strategy of the robot terminal coordinate system axial translation and the robot repositioning movement; establishing the robot kinematic parameter error model by using the robot DH model and the differential transformation of the posture error, and correcting the hand-eye calibration initialization parameters in the form of matrix compensation; establishing the robot kinematic parameter error identification model according to the position constraint conditions inherent in the system, and constructing the overdetermined equation group of the robot kinematic parameter error identification according to multiple sampling point data; solving the kinematic parameter error in the overdetermined equation group, and using the differential compensation method to compensate the robot posture transformation matrix and the hand-eye calibration initialization parameters based on the kinematic parameter error. The present invention improves the calibration accuracy while reducing the calibration error.

The present disclosure provides an AOI multi-station distance calibration method, device, equipment and medium, comprising: when the detection condition of the target product is triggered, the optical camera is controlled to perform synchronous optical detection; the frame number of the target image corresponding to the product mark collected by each optical camera in the optical detection process is obtained; the position code of the product mark relative to each detection station is determined according to the center point coordinates of the product mark in each target image and the pulse accuracy of the encoder moving synchronously with the target product; the position code of the starting motion position of each detection station relative to the product mark is determined according to the frequency division data and the frequency multiplication data of the optical camera, the pulse accuracy of the encoder moving synchronously with the target product, the frame number of each target image and the position code; and the position distance of each detection station is calibrated according to the position code of the starting motion position of each detection station relative to the product mark. Thus, the calibration error is effectively reduced.

The invention provides a diesel particulate filter type selection method, device and equipment and a storage medium, and relates to the technical field of automobile control. The first pressure drop data, the first inlet temperature and the first inlet pressure when the DPF reaches the preset carbon loading capacity under the two different loading conditions are obtained; determining a first volume flow rate of diesel particles entering the DPF according to the first inlet temperature and the first inlet pressure; drawing a first back pressure curve according to the first pressure drop data and the first volume flow, and determining a first linear equation based on the first back pressure curve; and then, the linearity of the DPF is determined based on the first linear equation, the linearity is used for model selection of the DPF, and the smaller the linearity is, the smaller the calibration error of the carbon loading capacity model carried out based on the diesel particulate filter with the smaller linearity is. According to the method, the DPF model selection error is small, and therefore the calibration precision of the carbon loading capacity model is improved.

The invention provides a flow meter calibration system and method based on the Internet of Things. The system comprises: a meter to be calibrated and a standard meter arranged on a calibration pipeline, the standard meter providing a standard flow corresponding to each calibration point for the meter to be calibrated; each standard meter corresponds to a plurality of meters to be calibrated of the same type; the standard meter and the meter to be calibrated are connected by a serial port server to collect corresponding standard flow data; a calibration control system is used to adjust the calibration environment of the meter to be calibrated on the calibration pipeline until it is the same as the calibration environment of each calibration point preset in the standard meter; after the calibration environment is adjusted, the standard flow data of each meter to be calibrated is fitted to complete the calibration of each meter to be calibrated, the calibration environment of each calibration point preset in the meter to be calibrated and the standard meter is adjusted to make the two completely consistent, the calibration error is reduced by adjusting the accuracy and stability of the calibration environment, and the calibration accuracy of the calibration equipment and the flow meter is also improved; unmanned calibration is realized, and the calibration intelligence and efficiency are improved.

The utility model discloses a railway rail butt joint device, and relates to the technical field of railway rails, the railway rail butt joint device comprises a frame body and a butt joint mechanism, the butt joint mechanism is arranged on the inner side of the frame body, and through the arrangement of the butt joint mechanism, during use, a connecting assembly is a key part for connecting and fixing and is used for providing strength during fixing; the connecting base provides basic support for connection for the fixing block, so that the device can be stably connected when fixed to a rail, the push rod is used for pushing and maintaining pressure between the connecting fixing block and the connecting base, the fixing assembly can fix the device to the rail during butt joint operation, and the threaded rod penetrates through the fixing block to fix the device to the rail. An adjustable connection mechanism is provided, installation and adjustment can be carried out according to the actual situation of the rails so as to adapt to the rails with different widths, the calibration assembly is used for ensuring the consistency and accuracy during rail butt joint, and the limiting assembly is used for preventing the butted rails from moving after rail butt joint so as to limit the positions of the butted rails. And subsequent welding work is facilitated.

The present application discloses a digital phased array transceiver calibration method based on a zero intermediate frequency architecture, which relates to the field of radar communication technology. The invention discloses a digital phased array transceiver calibration method based on a zero intermediate frequency architecture, which includes: obtaining static amplitude and phase compensation values ​​of each transceiver channel in a digital phased array transceiver network relative to a calibration network; dynamically calibrating each of the transceiver channels based on a preset calibration network to obtain dynamic amplitude and phase compensation values ​​of each of the transceiver channels; superimposing the static amplitude and phase compensation values ​​with the dynamic amplitude and phase compensation values ​​to obtain the target amplitude and phase compensation values ​​required for the digital phased array in the transceiver network, and calibrating the digital phased array based on the target amplitude and phase compensation values. The calibration process not only calibrates the inherent phase difference and amplitude difference of each transceiver channel, but also calibrates the random phase difference and amplitude difference caused by environmental factors, thereby improving the accuracy of transceiver calibration of the digital phased array.

The utility model discloses a calibration tool for an inertial measurement unit, which comprises a fixed frame, a fixed base, a fixed base and a movable base, the rotating disc is arranged below the fixing frame and is detachably connected with the fixing frame; the IMU fixing assembly is arranged on the fixing frame and used for fixing an IMU, and the IMU fixing assembly comprises a limiting groove frame which is horizontally arranged in the fixing frame in the width direction of the fixing frame and detachably connected with the bottom of the fixing frame; the limiting block is in an inverted L shape, and the limiting block is vertically arranged in the fixing frame and detachably connected with the left side wall or the right side wall of the fixing frame; the mounting plate is arranged above the limiting groove frame and is detachably connected with the top of the fixing frame; the first pressing block is horizontally arranged between the limiting groove frame and the mounting plate and detachably connected with the mounting plate. The calibration tool has the advantages of being good in compatibility, light in weight, convenient to maintain, accurate in calibration result and the like.

The present application relates to a flowered stereo calibration box and a camera calibration method based on an OCAM algorithm, wherein the flowered stereo calibration box comprises five checkerboards, each checkerboard is a regular row and column distributed black and white checkerboard, the bottom checkerboard is a square, the four side checkerboards are rectangles, the four side checkerboards are connected with one bottom side of the bottom checkerboard respectively, the four side checkerboards are equal to the included angle of the bottom checkerboard, and the four side checkerboards are divergent and inclined upward with the bottom checkerboard as the center; the checkerboard small grid of the bottom checkerboard is provided with a closed black frame, the black frame does not intersect with the checkerboard small grid; the three sides of the four side checkerboards which do not intersect with the bottom side of the bottom checkerboard are provided with black frames, the black frames are connected with the checkerboard small grid of the side checkerboard; and the bottom checkerboard is provided with four circular calibration points. The present application reduces the requirement for image quality, and improves the operation precision and operation efficiency of panoramic camera calibration.

The application provides a position calibration method and system of a mechanical arm and an electronic device. The first pose information set of a laser device in a first coordinate system when the laser device emits laser spots to a plurality of calibration points on a work plane is obtained. The first true value coordinate information set of the plurality of calibration points in a second coordinate system is obtained. The projection coordinate information set of the laser spots emitted by the laser device to the plurality of calibration points in the second coordinate system is calculated according to the first pose information set and an expected conversion relationship. The projection error is calculated according to the projection coordinate information set and the first true value coordinate information set. The expected conversion relationship is iteratively updated and the projection error is recalculated until the projection error converges. Then, the target conversion relationship from the first coordinate system to the second coordinate system is determined according to the expected conversion relationship corresponding to the projection error convergence. Thus, the non-contact calibration of the mechanical arm can be realized, and the calibration error of the mechanical arm can be reduced, and the calibration accuracy can be improved.

The invention discloses an orthopedic surgery robot calibration device and method, and the method comprises the steps: obtaining the real-time position of a tail end execution mechanism through a position sensor, comparing the obtained real-time position of the tail end execution mechanism with the initial position of the tail end execution mechanism when the tail end execution mechanism leaves a factory, and carrying out the calibration of the real-time position of the tail end execution mechanism, obtaining a calibrated position parameter; the torque sensor is used for collecting torque parameters borne by the tail end executing mechanism, the collected torque parameters are calibrated according to the calibrated position parameters, and the calibrated torque parameters reduce operation errors of surgical instruments; the initial position of the surgical instrument is adjusted according to the calibrated position parameters, the stress condition of the surgical instrument is adjusted according to the calibration data of the torque, the position parameters are corrected firstly, then the torque parameters are corrected in an auxiliary mode through the corrected position parameters, and the surgical precision and safety of the surgical robot are improved.