Calibration method and calibration equipment of wide-angle tof module

Abstract

The invention discloses a calibration method of a wide-angle TOF module and calibration equipment thereof, wherein the calibration plate of the calibration equipment is specifically implemented as a curved surface shape to adapt to the working field of view of the wide-angle TOF module. Specifically, the calibration device of a wide-angle TOF module calibrates the wide-angle TOF module by calibrating the module parameters of the wide-angle TOF module, and the calibration device is implemented as a special shape to match the wide-angle TOF module. TOF module, so that the TOF image (or depth image) obtained by the wide-angle TOF module has higher measurement accuracy and / or good resolution.

Description

technical field [0001] The present invention relates to the technical field of TOF (time of flight, Time of flight), in particular to a calibration method and calibration equipment for a wide-angle TOF module, wherein the working field of view of the wide-angle TOF module is greater than 80°, and the calibration The method can calibrate the wide-angle TOF module whose working field angle is greater than 80°. Background technique [0002] The Time Of Flight (TOF) method measures the time interval t (often called the pulse ranging method) of the pulse signal sent by the measuring instrument from transmission to reception (often called the pulse ranging method) or the phase generated by the laser going back and forth to the target object once (phase difference measurement). distance method) to realize the measurement of the three-dimensional structure or three-dimensional profile of the target object (or target object detection area). TOF measuring instruments can obtain grays...

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Problems solved by technology

Or it is configured in a robot device, taking a sweeping robot as an example, wherein the sweeping robot device helps the sweeping robot to perform path planning according to the phase change of the fixed object in the home relative to the sweeping robot detected by the TOF measuring instrument, so as to realize automatic completion. Cleaning, automatic charging and other functions At this time, due to the limitation of the field of view of the existing TOF measuring instrument, the sweeping robot can only be used within a certain range

[0007] In addition, since the working field of view of the wide-angle TOF module is larger than that of the general conventional TOF module, the wide-angle TOF module is not suitable for conventional calibration equipment calibration

Or it can be said that conventional equipment calibration methods and calibration equipment cannot meet the test requirements of wide-angle TOF modules. However, the output data of wide-angle TOF modules that have not been calibrated is wrong, so wide-angle TOF modules must be calibrated before they can be put into operation. normal application

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