Calibration Method and Device

Abstract

The present disclosure provides a calibration method and apparatus. The method is applied to a device, and the method includes: in response to the working component moving to the current station, determining the movement information of the working component moving from the reference station to the current station, determining correction information used when the working component is located at the current station according to the movement information and the reference calibration relationship used when the working component is located at the reference station, using the correction information to correct the reference calibration relationship, and obtaining a target calibration relationship used when the working component is located at the current station. The calibration method provided by the embodiments of the present disclosure has characteristics such as simple operation. Only the reference calibration relationship needs to be calibrated. Compared with the prior art, the number of times of calibrating the calibration relationship is reduced, and the time consumed for calibration work is shortened.

Description

Technical Field

[0001] The present disclosure relates to the field of computer communication technologies, and in particular, to a calibration method and apparatus. Background Art

[0002] In an industrial environment, for example, during a test, a manipulator is responsible for picking and placing items at multiple workstations. A camera is installed on the manipulator, and the same calibration method is used to calibrate each workstation to obtain the calibration relationship used when the manipulator is at each workstation. The calibration relationship is the conversion relationship between the image coordinate system used by the camera and the world coordinate system used by the manipulator.

[0003] The operation of determining the calibration relationship used for one workstation is relatively complex and time-consuming. In the case of a large number of workstations, the above method requires determining the calibration relationship multiple times, resulting in a long calibration time. Summary of the Invention

[0004] To overcome the problems in the related art, the present disclosure provides a calibration method applied to a device for determining the calibration relationship between an image acquisition component and a working component. The method includes:

[0005] In response to the working component moving to the current workstation, determining the movement information of the working component moving from the reference workstation to the current workstation;

[0006] According to the movement information and the reference calibration relationship used when the working component is at the reference workstation, determining the correction information used when the working component is at the current workstation;

[0007] Using the correction information to correct the reference calibration relationship to obtain the target calibration relationship used when the working component is at the current workstation.

[0008] Optionally, the movement information includes translation information and rotation information. The translation information includes a translation matrix, and the rotation information includes a rotation matrix; the reference calibration relationship includes a reference coordinate system conversion matrix; the determining the correction information used when the working component is at the current workstation according to the movement information and the reference calibration relationship used when the working component is at the reference workstation includes:

[0009] According to the translation matrix, the rotation matrix, and the reference coordinate system conversion matrix, obtaining the correction matrix used when the working component is at the current workstation.

[0010] Optionally, the target calibration relationship includes a target coordinate system transformation matrix; the step of using the correction information to correct the reference calibration relationship to obtain the target calibration relationship used when the working component is at the current station includes:

[0011] Multiply the correction matrix and the reference coordinate system transformation matrix to obtain the target coordinate system transformation matrix.

[0012] Optionally, objects to be operated with the same identifier are placed at each station; the method further includes:

[0013] Obtain a first image and a second image collected by the image acquisition component, where the first image is an image collected when the working component is at the reference station, and the second image is an image collected when the working component rotates to the current station. The image coordinate system used by the image acquisition component when collecting the second image is rotated relative to the image coordinate system used when collecting the first image;

[0014] Determine the rotation information according to the coordinate change information of the same identifier in the first image and the second image.

[0015] Optionally, objects to be operated are placed at each station, and a target object to be operated is placed at the current station; the method further includes:

[0016] In response to controlling the station component to be at a target distance from the current station, where the target distance is the distance between the working component and the reference station when calibrating the reference station, and controlling the target object to be operated to be within the field of view of the image acquisition device, determine that the working component has moved to the current station.

[0017] Optionally, the relative positions of the working component and the image acquisition component are fixed.

[0018] According to a second aspect of the embodiments of the present disclosure, a calibration device is provided, which is applied to a device for determining the calibration relationship between an image acquisition component and a working component. The device includes:

[0019] A movement information determination module configured to determine the movement information of the working component moving from the reference station to the current station in response to the working component moving to the current station;

[0020] A correction information determination module configured to determine the correction information used when the working component is at the current station according to the movement information and the reference calibration relationship used when the working component is at the reference station;

[0021] The calibration relationship obtaining module is configured to correct the reference calibration relationship using the correction information to obtain a target calibration relationship for use when the working component is at the current station.

[0022] Optionally, the movement information includes translation information and rotation information. The translation information includes a translation matrix, and the rotation information includes a rotation matrix. The reference calibration relationship includes a reference coordinate system transformation matrix.

[0023] The correction information determining module is configured to obtain a correction matrix for use when the working component is at the current station according to the translation matrix, the rotation matrix, and the reference coordinate system transformation matrix.

[0024] Optionally, the target calibration relationship includes a target coordinate system transformation matrix.

[0025] The calibration relationship obtaining module is configured to multiply the correction matrix and the reference coordinate system transformation matrix to obtain the target coordinate system transformation matrix.

[0026] Optionally, objects to be operated with the same identifier are placed at each station. The apparatus further includes:

[0027] The image acquisition module is configured to acquire a first image and a second image acquired by the image acquisition component. The first image is an image acquired when the working component is at the reference station, and the second image is an image acquired when the working component rotates to the current station. The image coordinate system used by the image acquisition component when acquiring the second image is rotated relative to the image coordinate system used when acquiring the first image.

[0028] The rotation information determining module is configured to determine the rotation information according to the coordinate change information of the same identifier in the first image and the second image.

[0029] Optionally, objects to be operated are placed at each station, and a target object to be operated is placed at the current station. The apparatus further includes:

[0030] The station determination module is configured to determine that the working component has moved to the current station in response to controlling the station component to be at a target distance from the current station, where the target distance is the distance between the working component and the reference station when calibrating the reference station, and controlling the target object to be operated to be within the field of view of the image acquisition device.

[0031] Optionally, the relative position of the working component and the image acquisition component is fixed.

[0032] According to a third aspect of the embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor implements the method described in any one of the above first aspects.

[0033] According to a fourth aspect of the embodiments of the present disclosure, there is provided a device, comprising:

[0034] a processor;

[0035] a memory for storing instructions executable by the processor;

[0036] wherein, the processor is configured to:

[0037] Upon the work component moving to the current work station, determine the movement information of the work component moving from the reference work station to the current work station;

[0038] According to the movement information and the reference calibration relationship used when the work component is at the reference work station, determine the correction information used when the work component is at the current work station;

[0039] Use the correction information to correct the reference calibration relationship to obtain the target calibration relationship used when the work component is at the current work station.

[0040] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0041] The embodiments of the present disclosure provide a calibration method. After the work component moves to a work station each time, the correction information used when the work component is at the current work station is determined, and the reference calibration relationship used when the work component is at the reference work station is corrected using the correction information to obtain the target calibration relationship used when the work component is at the current work station. The calibration method provided by the embodiments of the present disclosure has characteristics such as simple operation. Only the reference calibration relationship needs to be calibrated. Compared with the prior art, the number of times of calibrating the calibration relationship is reduced, and the time consumed for calibration work is shortened.

[0042] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a flowchart of a calibration method shown according to an exemplary embodiment;

[0044] Figure 2 is a flowchart of a method for determining a reference calibration relationship shown according to an exemplary embodiment;

[0045] Figure 3 is a block diagram of a calibration device shown according to an exemplary embodiment;

[0046] Figure 4 It is a schematic structural diagram of a device shown according to an exemplary embodiment. Detailed implementation manners

[0047] Here, the exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0048] The terms used in the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "the", and "said" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0049] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0050] The intelligent device includes a working component and an image acquisition component. The image acquisition component is used to acquire images. For example, the image acquisition component includes a camera. The working component is used to perform specific work. For example, the working component includes a manipulator, and the manipulator is used to grab and place items. When the manipulator is a multi-axis manipulator (such as a six-axis manipulator), the camera can be fixed on one axis of the multi-axis manipulator.

[0051] The image acquisition component uses an image coordinate system for imaging. For example, the pixel at the upper left corner of the screen is (0, 0). The image coordinate system takes the pixel (0, 0) as the coordinate origin, takes the direction parallel to one side of the screen as the X-axis direction, and takes the direction parallel to the other side of the screen as the Y-axis direction, and the above two sides are perpendicular.

[0052] The calibration method provided by the embodiments of the present disclosure is applied to a device, which is used to determine the calibration relationship between an image acquisition component and a working component. The calibration relationship is the conversion relationship between the image coordinate system used by the image acquisition component and the world coordinate system used by the working component. In the case of multiple workstations, the device needs to determine the calibration relationships used when the workstation component is located at different workstations.

[0053] The device may include a processor, an image acquisition device, and a working component, and the processor is used to execute the calibration method to achieve calibration. Alternatively, the device may be a device independent of the image acquisition device and the working component, such as a control device or a server, etc.

[0054] Figure 1 It is a flowchart of a calibration method shown according to an exemplary embodiment. Figure 1 The method shown includes:

[0055] In step 101, in response to the working component moving to the current workstation, determine the movement information of the working component moving from the reference workstation to the current workstation.

[0056] There are multiple workstations. The reference workstation may be the workstation where the working component first moves, or the reference workstation may be a preset workstation.

[0057] The movement information of the working component may include translation information and rotation information.

[0058] In some embodiments, for some working components, after moving from the reference workstation to the current workstation, the structure of the working component changes, and the translation information of the working component can be determined according to the structure of the working component at different workstations.

[0059] For example, according to the structure of the manipulator at the reference workstation, determine the first position where the manipulator is located. According to the structure of the manipulator at the current workstation, determine the second position where the manipulator is located. According to the second position and the first position, determine the translation information of the manipulator.

[0060] In some embodiments, there are multiple jobs, and objects to be operated with the same identifier are placed at each workstation. For example, the object to be operated is a mobile phone. Determine the camera module on the mobile phone as the identifier of the object to be operated, and place mobile phones of the same model at different workstations. In some cases, the identifier needs to meet conditions such as clear boundaries, asymmetry, and only including one in an image collected by the image acquisition device.

[0061] The relative position between the image acquisition device and the working component is fixed. When the working component rotates from one workstation to another workstation, the image acquisition device rotates synchronously, and the image coordinate system used by the image acquisition device also rotates.

[0062] Based on this, the rotational information of the working component moving from the reference station to the current station can be achieved through the following method: First, obtain the first image and the second image collected by the image acquisition component. Among them, the first image is the image collected when the working component is at the reference station, and the second image is the image collected when the working component rotates to the current station. The image coordinate system used by the image acquisition component when collecting the second image rotates relative to the image coordinate system used when collecting the first image. Secondly, determine the rotation information of the image acquisition device based on the coordinate change information of the same identifier in the first image and the second image, that is, determine the rotation information of the working component.

[0063] For example, a six-axis manipulator includes a fixed end and a free end. The fixed end is used to fix the six-axis manipulator to other objects, and the free end is used to grasp items. The six-axis manipulator can rotate around the vertical axis, and a camera is fixed on one of the axes of the six-axis manipulator. There are multiple stations around the six-axis manipulator. During calibration, after completing the calibration of one station, control the six-axis manipulator to rotate around the vertical axis and move to another station. During this process, the camera rotates synchronously with the six-axis manipulator, and the image coordinate system used by the camera rotates. Determine the rotation information of the camera based on the coordinate change information of the same identifier in the two images collected by the camera before and after rotation, that is, determine the rotation information of the six-axis manipulator.

[0064] In one embodiment, objects to be operated are placed at each station, and the target object to be operated is placed at the current station. During the calibration process, the movement of the working component to the current station can be determined through the following method: Control the station component to be at a target distance from the current station. The target distance is the distance between the working component and the reference station during the calibration of the reference station, and control the target object to be operated to be within the field of view of the image acquisition device. When the above two conditions are met, it is determined that the working component has moved to the current station.

[0065] The same method can be used to determine the movement of the working component to other stations.

[0066] In step 102, according to the movement information and the reference calibration relationship used when the working component is at the reference station, determine the correction information used when the working component is at the current station.

[0067] The reference calibration relationship is the conversion relationship between the image coordinate system used by the image acquisition component and the world coordinate system used by the working component when the working component is at the reference station.

[0068] The correction information obtained in this step is used to correct the reference calibration relationship to obtain the target calibration relationship used when the working component is at the current station.

[0069] In one embodiment, the movement information of the working component may include translation information and rotation information. The translation information includes a translation matrix, the rotation information includes a rotation matrix, and the reference calibration relationship includes a reference coordinate system transformation matrix.

[0070] Determining the correction information used when the working component is at the current station according to the movement information and the reference calibration relationship used when the working component is at the reference station includes: obtaining a correction matrix used when the working component is at the current station according to the translation matrix of the working component, the rotation matrix of the working component, and the reference coordinate system transformation matrix.

[0071] The correction matrix is used to correct the reference coordinate system transformation matrix to obtain the target calibration relationship used when the working component is at the current station.

[0072] The forms of the respective matrices can be set as needed. For example, each matrix is a third-order matrix.

[0073] In step 103, the reference calibration relationship is corrected using the correction information to obtain the target calibration relationship used when the working component is at the current station.

[0074] In one embodiment, the correction information includes a correction matrix, and the reference calibration relationship includes a reference coordinate system transformation matrix. The correction matrix and the reference coordinate system transformation matrix can be multiplied to obtain the target coordinate system transformation matrix. The target calibration relationship includes the target coordinate system transformation matrix.

[0075] Using the calibration method provided by the embodiments of the present disclosure, only the reference calibration relationship used when the working component is at the reference station needs to be calibrated, and the calibration relationship used when the working component is at other stations can be obtained through simple relationship conversion. It has the advantages of simple operation and fast execution speed. Compared with the related art in which the same calibration method is used to calibrate each station, using the calibration method provided by the embodiments of the present disclosure can significantly shorten the time consumed for calibration work.

[0076] In one embodiment, an object to be operated is provided on the station, and the object to be operated has an identifier.

[0077] When calibrating a station, the working component is at a first distance from the station, and the position of the identifier of the object to be operated in the image is the first position. Calibrating a station can be understood as: determining the calibration relationship used when the working component is at a station.

[0078] When operating on this station, the working component is moved to the target position so that the working component is at a first distance from the station, and the identifier in the image collected by the image acquisition device is at the first position.

[0079] After that, using the calibration relationship corresponding to the work station, the image coordinates in the image are converted into the coordinates in the world coordinate system used by the work component, and the work component is controlled to move to the position indicated by the converted coordinates and perform corresponding operations (such as picking and placing items).

[0080] By using the method provided in this embodiment, the position of the work component is automatically adjusted, improving the working efficiency of the work component. Moreover, it is only realized by using the existing image acquisition component hardware, without the need to additionally set other sensor hardware, reducing costs while improving the positioning accuracy.

[0081] The embodiment of the present disclosure provides a calibration method. After the work component moves to a work station each time, the correction information used when the work component is located at the current work station is determined, and the reference calibration relationship used at the reference work station is corrected by using the correction information to obtain the target calibration relationship used at the current work station. The target calibration relationship is used to convert the image coordinates in the image collected by the image acquisition component. The method provided by the embodiment of the present disclosure has the characteristics of simple operation. Only the reference calibration relationship used when the work component moves to the reference work station needs to be calibrated. Compared with the prior art, the number of times of calibrating the coordinate conversion relationship is reduced, and the time consumed by the calibration work is shortened.

[0082] An object to be operated is placed on the reference work station, and the object to be operated has an identifier. Figure 2 It is a flowchart of a method for determining a reference calibration relationship shown according to an exemplary embodiment. Figure 2 The method shown includes:

[0083] In step 201, the work component is controlled to move to multiple positions, and the image acquisition device is controlled to acquire images of the object to be operated at each position.

[0084] The image of the object to be operated can be understood as: including the image of the object to be operated placed on the reference work station.

[0085] In step 202, the mechanical coordinates and / or pixel coordinates when the work component is located at each position are obtained, where the mechanical coordinates are the coordinates of the work component in the world coordinate system, and the pixel coordinates are the coordinates of the identifier of the object to be operated in the image coordinate system.

[0086] The coordinates of the identifier of the object to be operated in the image coordinate system can be understood as: the coordinates of the identifier of the object to be operated in the image.

[0087] In step 203, the reference calibration relationship is determined according to the mechanical coordinates and / or pixel coordinates when the work component is located at each position.

[0088] The work component can be moved to multiple positions by translating and / or rotating the work component.

[0089] The first method: Move the working component to multiple positions by translation. This can be achieved in the following way: First, obtain the image captured by the image acquisition component and obtain the coordinates of the identifier of the object to be operated in the image. Secondly, according to the coordinates of the identifier of the object to be operated in the image, control the working component to move to the first reference position. When the working component is at the first reference position, the identifier is located at the first reference point of the image. Finally, starting from the first reference position, control the working component to translate to at least four positions. When the working component is at the four positions, the identifier is respectively located on the edge of a rectangular area surrounding the first reference point in the image.

[0090] The position of the first reference point can be preset and can be generated either automatically or according to the user's instruction.

[0091] Specifically, the working component can be controlled to translate to eight positions. When the working component is at the eight positions, the identifiers on the object to be operated are respectively located at the upper left corner, the center of the upper side line, the upper right corner, the center of the left side line, the lower left corner, the center of the lower side line, the lower right corner, and the center of the right side line of the image captured by the image acquisition device. For the above eight positions, the corresponding mechanical coordinates and pixel coordinates are respectively obtained. The above eight points are distributed on the edge of the image, making the translation of the working component reach the maximum amplitude (a larger amplitude cannot be obtained in the image), increasing the coverage area and scope of the nine translation positions including the first reference position, making the calibration results determined based on these positions more accurate and reliable; moreover, the above eight points are evenly distributed on the image, further improving the accuracy of the calibration results.

[0092] When at the first reference position, the mechanical coordinates and pixel coordinates can be obtained, and the rotation amount of the identifier can also be obtained while obtaining the pixel coordinates; when at the above eight translation positions, the mechanical coordinates and pixel coordinates can be obtained.

[0093] The second method: Move the working component to multiple positions by rotation. This can be achieved in the following way: First, obtain the image captured by the image acquisition component and obtain the coordinates of the identifier of the object to be operated in the image. Secondly, according to the coordinates of the identifier of the object to be operated in the image, control the working component to move to the second reference position. Finally, move the working component to the following at least two positions respectively: Starting from the second reference position, control the working component to rotate a preset angle in the first direction to reach one of the positions; starting from the second reference position, control the working component to rotate a preset angle in the second direction to reach the other of the positions; where the first direction and the second direction are opposite.

[0094] The above two rotation positions are symmetric about the second reference position, making the calibration results determined based on these positions more accurate and reliable. Pixel coordinates can be obtained at the second reference position and the above two rotation positions.

[0095] The third method: Move the working component to multiple positions by translating and rotating the working component.

[0096] In the case of moving the working component to multiple positions by translating and rotating the working component, the reference calibration relationship can be determined in the following way: First, determine the translation matrix according to the mechanical coordinates and pixel coordinates of each position among the multiple positions reached by translation and the first reference position; Second, determine the rotation matrix according to the pixel coordinates of each position among the multiple positions reached by rotation and the second reference position; Finally, determine the calibration matrix according to the translation matrix and the rotation matrix. The calibration relationship includes the calibration matrix.

[0097] The mechanical coordinates and pixel coordinates for each position satisfy the relationship shown in the following formula:

[0098]

[0099] where (X′, Y′, Z′) are the pixel coordinates for a position, and (X, Y, Z) are the mechanical coordinates for the same position. is the translation matrix.

[0100] The mechanical coordinates and pixel coordinates for each position form a coordinate combination. The coordinate combinations for multiple positions can be substituted into the above formula to jointly solve for a 1 、a 2 、a 3 、a 4 、t x 、t y , thereby determining the translation matrix.

[0101] When determining the rotation matrix, a corresponding rotation circle can be fitted according to the pixel coordinates of each position among the multiple positions reached by rotation and the second reference position, and the rotation matrix can be determined according to the center and radius of the rotation circle. The center of the rotation circle can also be calibrated as the rotation center, and the rotation center in the image coordinate system can be transformed to the preset coordinate system where the working component is located through the translation matrix to obtain the rotation center in the preset coordinate system; In addition, the rotation matrix can be obtained from the Rodrigues rotation formula according to the pixel coordinates of two positions reached by rotation and the value of the preset angle.

[0102] The translation matrix and the rotation matrix can be multiplied to obtain the calibration matrix.

[0103] For the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present disclosure is not limited by the described action sequence, because according to the present disclosure, certain steps can be performed in other sequences or simultaneously.

[0104] Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present disclosure.

[0105] Corresponding to the foregoing method embodiments for realizing application functions, the present disclosure also provides embodiments of an apparatus for realizing application functions and corresponding electronic devices.

[0106] Figure 3 is a calibration device shown according to an exemplary embodiment, applied to a device for determining a calibration relationship between an image acquisition component and a working component. Figure 3 The shown calibration device includes: a movement information determination module 31, a correction information determination module 32, and a calibration relationship acquisition module 33; wherein,

[0107] The movement information determination module 31 is configured to, in response to the working component moving to the current station, determine the movement information of the working component moving from the reference station to the current station.

[0108] The correction information determination module 32 is configured to determine correction information to be used when the working component is at the current station according to the movement information and a reference calibration relationship used when the working component is at the reference station.

[0109] The calibration relationship acquisition module 33 is configured to correct the reference calibration relationship using the correction information to obtain a target calibration relationship to be used when the working component is at the current station.

[0110] In an optional embodiment, Figure 3 Based on the shown calibration device, the movement information includes translation information and rotation information, the translation information includes a translation matrix, and the rotation information includes a rotation matrix; the reference calibration relationship includes a reference coordinate system conversion matrix.

[0111] The correction information determination module 32 can be configured to obtain a correction matrix to be used when the working component is at the current station according to the translation matrix, the rotation matrix, and the reference coordinate system conversion matrix.

[0112] In an optional embodiment, the target calibration relationship includes a target coordinate system conversion matrix.

[0113] The calibration relationship obtaining module 33 may be configured to multiply the correction matrix and the reference coordinate system transformation matrix to obtain the target coordinate system transformation matrix.

[0114] In an alternative embodiment, objects to be operated with the same identifier are placed at each work station; the apparatus may further include: an image acquisition module and a rotation information determination module; wherein,

[0115] The image acquisition module is configured to acquire a first image and a second image acquired by the image acquisition component, where the first image is an image acquired when the working component is at the reference work station, and the second image is an image acquired when the working component rotates to the current work station. The image coordinate system used by the image acquisition component when acquiring the second image is rotated relative to the image coordinate system used when acquiring the first image;

[0116] The rotation information determination module is configured to determine the rotation information according to the coordinate change information of the same identifier in the first image and the second image.

[0117] In an alternative embodiment, on Figure 3 On the basis of the calibration apparatus shown, objects to be operated are placed at each work station, and a target object to be operated is placed at the current work station; the apparatus may further include: a work station determination module;

[0118] The work station determination module is configured to respond to controlling the work station component to be at a target distance from the current work station, where the target distance is the distance between the working component and the reference work station when calibrating the reference work station, and to control the target object to be operated to be within the field of view of the image acquisition device, and determine that the working component has moved to the current work station.

[0119] In an alternative embodiment, on Figure 3 On the basis of the calibration apparatus shown, the relative positions of the working component and the image acquisition component are fixed.

[0120] Figure 4 FIG. 1600 is a schematic structural diagram of a device 1600 according to an exemplary embodiment. For example, the device 1600 may be a user device, and may specifically be a mobile phone, a computer, a digital broadcast electronic device, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, a wearable device such as a smart watch, smart glasses, a smart bracelet, smart running shoes, etc.

[0121] Referring to Figure 4, device 1600 may include one or more of the following components: a processing component 1602, a memory 1604, a power component 1606, a multimedia component 1608, an audio component 1610, an input / output (I / O) interface 1612, a sensor component 1614, and a communication component 1616.

[0122] The processing component 1602 generally controls the overall operation of the device 1600, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 1602 may include one or more processors 1620 to execute instructions to complete all or part of the steps of the above-described methods. In addition, the processing component 1602 may include one or more modules to facilitate the interaction between the processing component 1602 and other components. For example, the processing component 1602 may include a multimedia module to facilitate the interaction between the multimedia component 1608 and the processing component 1602.

[0123] The memory 1604 is configured to store various types of data to support the operation of the device 1600. Examples of such data include instructions for any application or method operating on the device 1600, contact data, phone book data, messages, pictures, videos, etc. The memory 1604 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0124] The power component 1606 provides power to the various components of the device 1600. The power component 1606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 1600.

[0125] The multimedia component 1608 includes a screen that provides an output interface between the above-described apparatus 1600 and a user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors described above can sense not only the boundaries of touch or swipe actions, but also detect the duration and pressure associated with the touch or swipe operations. In some embodiments, the multimedia component 1608 includes a front camera and / or a rear camera. When the device 1600 is in an operating mode, such as an adjustment mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0126] The audio component 1610 is configured to output and / or input audio signals. For example, the audio component 1610 includes a microphone (MIC) that is configured to receive external audio signals when the apparatus 1600 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 1604 or transmitted via the communication component 1616. In some embodiments, the audio component 1610 further includes a speaker for outputting audio signals.

[0127] The I / O interface 1612 provides an interface between the processing component 1602 and a peripheral interface module, and the peripheral interface module can be a keyboard, a click wheel, buttons, and the like. These buttons can include, but are not limited to: a home button, a volume button, a power button, and a lock button.

[0128] The sensor component 1614 includes one or more sensors for providing an assessment of various aspects of the status of the device 1600. For example, the sensor component 1614 can detect the on / off state of the device 1600, the relative positioning of components, such as the display and keypad of the device 1600. The sensor component 1614 can also detect a change in the position of the device 1600 or a component of the device 1600 in the environment, the presence or absence of user contact with the device 1600, the orientation or acceleration / deceleration of the device 1600, and a change in the temperature of the device 1600. The sensor component 1614 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 1614 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 1614 can further include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0129] The communication component 1616 is configured to facilitate communication between the device 1600 and other devices in a wired or wireless manner. The device 1600 can access a communication standard-based wireless network, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1616 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1616 further includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0130] In an exemplary embodiment, the device 1600 can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above method.

[0131] In an exemplary embodiment, a non-transitory computer-readable storage medium is also provided, such as a memory 1604 including instructions, which when executed by a processor 1620 of the device 1600, enables the device 1600 to perform a calibration method, the method including: determining movement information of the working component moving from a reference station to the current station in response to the working component moving to the current station; determining correction information used when the working component is at the current station according to the movement information and a reference calibration relationship used when the working component is at the reference station; and using the correction information to correct the reference calibration relationship to obtain a target calibration relationship used when the working component is at the current station.

[0132] The non-transitory computer-readable storage medium can be a ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0133] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not disclosed by the present disclosure. The specification and embodiments are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0134] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A calibration method, characterized in that, applied to a device for determining a calibration relationship between an image acquisition component and a working component, the method comprising: responding to the working component moving to the current station, determining movement information of the working component moving from a reference station to the current station; determining correction information used when the working component is at the current station according to the movement information and a reference calibration relationship used when the working component is at the reference station, wherein the reference calibration relationship is a conversion relationship between an image coordinate system used by the image acquisition component and a world coordinate system used by the working component when the working component is at the reference station; using the correction information to correct the reference calibration relationship to obtain a target calibration relationship used when the working component is at the current station; wherein the movement information includes translation information and rotation information, the translation information includes a translation matrix, and the rotation information includes a rotation matrix; the reference calibration relationship includes a reference coordinate system conversion matrix; the determining correction information used when the working component is at the current station according to the movement information and the reference calibration relationship used when the working component is at the reference station includes: obtaining a correction matrix used when the working component is at the current station according to the translation matrix, the rotation matrix, and the reference coordinate system conversion matrix; the target calibration relationship includes a target coordinate system conversion matrix; the using the correction information to correct the reference calibration relationship to obtain a target calibration relationship used when the working component is at the current station includes: multiplying the correction matrix and the reference coordinate system conversion matrix to obtain the target coordinate system conversion matrix.

2. The method according to claim 1, characterized in that, objects to be operated with the same identifier are placed at each station; the method further comprises: acquiring a first image and a second image acquired by the image acquisition component, the first image being an image acquired when the working component is at the reference station, the second image being an image acquired when the working component rotates to the current station, and the image coordinate system used by the image acquisition component when acquiring the second image rotates relative to the image coordinate system used when acquiring the first image; determining the rotation information according to coordinate change information of the same identifier in the first image and the second image.

3. The method according to claim 1, characterized in that, objects to be operated are placed at each station, and a target object to be operated is placed at the current station; the method further comprises: responding to controlling the working component to be at a target distance from the current station, the target distance being the distance between the working component and the reference station when calibrating the reference station, and controlling the target object to be operated to be within the field of view of the image acquisition component, determining that the working component moves to the current station.

4. The method according to claim 1, characterized in that, The relative position of the working component and the image acquisition component is fixed.

5. A calibration device, characterized in that it is applied to a device for determining the calibration relationship between an image acquisition component and a working component, and the device includes: a movement information determination module configured to determine the movement information of the working component moving from a reference station to the current station in response to the working component moving to the current station; a correction information determination module configured to determine correction information used when the working component is at the current station according to the movement information and a reference calibration relationship used when the working component is at the reference station, wherein the reference calibration relationship is the conversion relationship between the image coordinate system used by the image acquisition component and the world coordinate system used by the working component when the working component is at the reference station; a calibration relationship acquisition module configured to correct the reference calibration relationship using the correction information to obtain a target calibration relationship used when the working component is at the current station; wherein the movement information includes translation information and rotation information, the translation information includes a translation matrix, and the rotation information includes a rotation matrix; the reference calibration relationship includes a reference coordinate system conversion matrix; the correction information determination module is configured to obtain a correction matrix used when the working component is at the current station according to the translation matrix, the rotation matrix, and the reference coordinate system conversion matrix; the target calibration relationship includes a target coordinate system conversion matrix; the calibration relationship acquisition module is configured to multiply the correction matrix and the reference coordinate system conversion matrix to obtain the target coordinate system conversion matrix.

6. The device according to claim 5, characterized in that objects to be operated with the same identifier are placed at each station; the device further includes: an image acquisition module configured to acquire a first image and a second image acquired by the image acquisition component, the first image being an image acquired when the working component is at the reference station, and the second image being an image acquired when the working component rotates to the current station, and the image coordinate system used by the image acquisition component when acquiring the second image rotates relative to the image coordinate system used when acquiring the first image; a rotation information determination module configured to determine the rotation information according to the coordinate change information of the same identifier in the first image and the second image.

7. The device according to claim 5, characterized in that objects to be operated are placed at each station, and a target object to be operated is placed at the current station; the device further includes: a station determination module configured to determine that the working component moves to the current station in response to controlling the working component to be at a target distance from the current station, the target distance being the distance between the working component and the reference station when calibrating the reference station, and controlling the target object to be operated to be within the field of view of the image acquisition component.

8. The device according to claim 5, characterized in that The relative position of the working component and the image acquisition component is fixed.

9. A non-transitory computer-readable storage medium, on which a computer program is stored, characterized in that, when the program is executed by a processor, it implements the method described in any one of claims 1-4.

10. A device, characterized in that, comprising: a processor; a memory for storing processor-executable instructions; wherein, the processor is configured to: in response to the working component moving to the current station, determine the movement information of the working component moving from the reference station to the current station; according to the movement information and the reference calibration relationship used when the working component is at the reference station, determine the correction information used when the working component is at the current station, wherein the reference calibration relationship is the conversion relationship between the image coordinate system used by the image acquisition component and the world coordinate system used by the working component when the working component is at the reference station; use the correction information to correct the reference calibration relationship to obtain the target calibration relationship used when the working component is at the current station; wherein, the movement information includes translation information and rotation information, the translation information includes a translation matrix, and the rotation information includes a rotation matrix; the reference calibration relationship includes a reference coordinate system conversion matrix; the determining the correction information used when the working component is at the current station according to the movement information and the reference calibration relationship used when the working component is at the reference station includes: obtaining a correction matrix used when the working component is at the current station according to the translation matrix, the rotation matrix and the reference coordinate system conversion matrix; the target calibration relationship includes a target coordinate system conversion matrix; the using the correction information to correct the reference calibration relationship to obtain the target calibration relationship used when the working component is at the current station includes: multiplying the correction matrix and the reference coordinate system conversion matrix to obtain the target coordinate system conversion matrix.

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