A method, device, computer equipment and storage medium for calibrating a rotation center

Abstract

The embodiment of the present invention discloses a method, device, computer equipment and storage medium for calibrating a rotation center. The method for calibrating a rotation center provided by the embodiment of the present invention includes: obtaining the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured; obtaining the first actual coordinate value of the object to be measured after rotating the object to be measured according to the compensation value; obtaining the new coordinate value of the rotation center according to the standard coordinate value, the first actual coordinate value and the initial coordinate value. The embodiment of the present invention discloses a method, device, computer equipment and storage medium for calibrating a rotation center, which can calibrate the rotation center and compensate for the position that deviates from the rotation center.

Description

Technical Field

[0001] The invention relates to industrial detection technology, in particular to a rotation center calibration method, device, computer equipment and storage medium. Background Art

[0002] With the advancement of industrial technology, in order to reduce the labor of operators, automated equipment has become increasingly intelligent and is gradually replacing operators in high-risk operations.

[0003] In automation equipment, rotating mechanisms are indispensable. After the entire automation equipment is installed, it is necessary to find the point of the rotating drive device before motion control can be performed. At present, the point calibration of the circular mechanism is usually carried out using external calibration instruments.

[0004] At present, when calibrating the rotation center of a rotating mechanism, there is often a problem that the calibration point deviates from the rotation center. Summary of the invention

[0005] The embodiments of the present invention provide a rotation center calibration method, device, computer equipment and storage medium to calibrate the rotation center and compensate for the position deviating from the rotation center.

[0006] In a first aspect, an embodiment of the present invention provides a method for calibrating a rotation center, comprising:

[0007] Obtaining the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured;

[0008] Obtaining a first actual coordinate value of the object to be measured after rotating the object to be measured according to the compensation value;

[0009] A new coordinate value of the rotation center is acquired according to the standard coordinate value, the first actual coordinate value and the initial coordinate value.

[0010] Optionally, obtaining the initial coordinate value of the rotation center includes:

[0011] Obtaining a second actual coordinate value of the calibration plate in the first posture;

[0012] Acquire a third actual coordinate value of the calibration plate in a second posture, where the second posture is obtained by rotating the first posture around the rotation center by a preset angle;

[0013] The initial coordinate value is acquired according to the second actual coordinate value and the third actual coordinate value.

[0014] Optionally, the preset angle is less than or equal to 10°.

[0015] Optionally, obtaining a second actual coordinate value of the calibration plate in the first posture includes:

[0016] Acquire the actual coordinate value of the first marking point of the calibration plate in the first posture photographed by the first camera;

[0017] Acquire the actual coordinate value of the second marking point of the calibration plate in the first posture photographed by the second camera;

[0018] Acquire the second actual coordinate value according to the actual coordinate value of the first marking point in the first posture and the actual coordinate value of the second marking point in the first posture;

[0019] Obtaining a third actual coordinate value of the calibration plate in the second posture includes:

[0020] Acquire the actual coordinate value of the first marking point in the second posture photographed by the first camera;

[0021] Acquire the actual coordinate value of the second marking point in the second posture photographed by the second camera;

[0022] The third actual coordinate value is acquired according to the actual coordinate value of the first marking point in the second posture and the actual coordinate value of the second marking point in the second posture.

[0023] Optionally, before obtaining the first actual coordinate value of the object to be measured after rotating the object to be measured according to the compensation value, the method further includes:

[0024] Acquire a fourth actual coordinate value of the object to be measured in a third posture;

[0025] The compensation value is obtained according to the initial coordinate value, the fourth actual coordinate value, and a transformation matrix between a pixel coordinate system and a motion coordinate system.

[0026] Optionally, acquiring a new coordinate value of the rotation center according to the standard coordinate value, the first actual coordinate value, and the initial coordinate value includes:

[0027] Acquire a rotation center difference according to a difference between the standard coordinate value and the first actual coordinate value;

[0028] The new coordinate value is obtained according to the initial coordinate value and the rotation center difference value.

[0029] Optionally, obtaining a first actual coordinate value of the object to be measured after rotating the object to be measured according to the compensation value includes:

[0030] Acquire the actual coordinate value of the first feature point of the measured object photographed by the first camera after being rotated according to the compensation value;

[0031] Acquire the actual coordinate value of the second feature point of the object to be measured after being rotated according to the compensation value and photographed by the second camera;

[0032] The first actual coordinate value is acquired according to the actual coordinate value of the first feature point rotated according to the compensation value and the actual coordinate value of the second feature point rotated according to the compensation value.

[0033] In a second aspect, an embodiment of the present invention further provides a rotation center calibration device, comprising:

[0034] An initial coordinate value and standard coordinate value acquisition module, used to acquire the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured;

[0035] A first actual coordinate value acquisition module, used to acquire a first actual coordinate value of the object to be measured after the object to be measured is rotated according to the compensation value;

[0036] The new coordinate value acquisition module is used to acquire the new coordinate value of the rotation center according to the standard coordinate value, the first actual coordinate value and the initial coordinate value.

[0037] In a third aspect, an embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for calibrating the rotation center described in the first aspect of the embodiment of the present invention is implemented.

[0038] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the rotation center calibration method described in the first aspect of the embodiment of the present invention.

[0039] A method for calibrating a rotation center provided by an embodiment of the present invention obtains the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured, and then obtains the first actual coordinate value of the object to be measured after rotating the object to be measured according to the compensation value. The new coordinate value of the rotation center can be obtained based on the standard coordinate value, the first actual coordinate value and the initial coordinate value, so that the rotation center can be calibrated and the position deviating from the rotation center can be compensated. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A flow chart of a rotation center calibration method provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the position change of the object under test in a method for calibrating the rotation center provided by an embodiment of the present invention;

[0042] Figure 3 A flow chart of another method for calibrating a rotation center provided by an embodiment of the present invention;

[0043] Figure 4A schematic diagram of the posture change of a calibration plate in a rotation center calibration method provided by an embodiment of the present invention;

[0044] Figure 5 A flow chart of another method for calibrating a rotation center provided by an embodiment of the present invention;

[0045] Figure 6 A flow chart of another method for calibrating a rotation center provided by an embodiment of the present invention;

[0046] Figure 7 A schematic diagram of the position change of the object under test in the third posture of a rotation center calibration method provided by an embodiment of the present invention;

[0047] Figure 8 A flow chart of another method for calibrating a rotation center provided by an embodiment of the present invention;

[0048] Fig. 9 A flow chart of another method for calibrating a rotation center provided by an embodiment of the present invention;

[0049] Fig.10 A schematic diagram of the structure of a rotation center calibration device provided by an embodiment of the present invention;

[0050] Fig.11 A schematic diagram of the structure of a computer device applied to a rotation center calibration method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "etc." and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] Figure 1A flow chart of a rotation center calibration method provided by an embodiment of the present invention, Figure 2 The present invention provides a method for calibrating the rotation center according to an embodiment of the present invention. The present invention can be applied to calibrating the center point of a rotating mechanism. The method can be performed by a rotation center calibration device, which can be implemented in the form of hardware and / or software. Figure 1 and Figure 2 As shown, the method includes:

[0054] S101, obtaining the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured.

[0055] The rotation center refers to the rotation center of the rotating mechanism, and the initial coordinate value of the rotation center can be the coordinate value of the rotation center point after the rotating mechanism is initialized and powered on. For example, the rotation center can be represented by C, and the initial coordinate value of the rotation center can be represented in the plane direct coordinate system as C(x 0 ,y 0 ).

[0056] The object to be measured may be an object placed on a rotating mechanism waiting to be rotated by the rotating mechanism. The standard coordinate value of the object to be measured refers to the position reached by the object to be measured after being rotated by the rotating mechanism under an ideal state. The standard coordinate value of the object to be measured may be a set value. For example, refer to Figure 2 The standard coordinate value of the object to be measured can be expressed by the coordinate values ​​of the two vertices of the object along the diagonal direction, that is, they can be expressed as A and 3 (x 5 ,y 5 ) and B 3 (x 6 ,y 6 ).

[0057] S102, obtaining a first actual coordinate value of the object to be measured after the object to be measured is rotated according to the compensation value.

[0058] Wherein, the compensation value refers to the angle difference between the standard coordinate value of the measured object and the standard coordinate value of the measured object after the measured object is rotated from the placement position. Exemplarily, the compensation value can be represented by θ, and the compensation value θ can be 3°. In other embodiments, the compensation value can also include other values ​​besides the angle, such as the compensation distance along the first direction x, and / or the compensation distance along the second direction y.

[0059] The first actual coordinate value may be the position coordinate of the object after being rotated according to the compensation value. Figure 2 , the first actual coordinate value obtained after rotating the object according to the compensation value can be expressed as A 3 '(x 7 ,y7 ) and B 3 '(x 8 ,y 8 ).

[0060] S103, obtaining a new coordinate value of the rotation center according to the standard coordinate value, the first actual coordinate value and the initial coordinate value.

[0061] The new coordinate value of the rotation center refers to the coordinate value of the rotation center after the measured object is rotated from the placement position by the rotation mechanism, that is, the new position coordinate of the rotation center. For example, the new coordinate value of the rotation center can be expressed as C'(x 11 ,y 11 ).

[0062] It should be noted that when the rotating mechanism rotates the object to be measured, due to factors such as mechanical control accuracy and the camera pixel of the industrial camera, the control requirements of the ideal state cannot be met. Therefore, there is a certain deviation between the position of the object to be measured after rotation and the target position, which results in the appearance of a new coordinate value of the rotation center. Under ideal conditions, the new coordinate value of the rotation center of the object to be measured after rotation should be consistent with the initial coordinate value of the rotation center.

[0063] A method for calibrating a rotation center provided by an embodiment of the present invention obtains the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured; obtains the first actual coordinate value of the object to be measured after rotating the object to be measured according to the compensation value; and obtains the new coordinate value of the rotation center based on the standard coordinate value, the first actual coordinate value and the initial coordinate value. The rotation center can be calibrated and the position deviating from the rotation center can be compensated.

[0064] Figure 3 A flowchart of another method for calibrating a rotation center provided by an embodiment of the present invention, Figure 4 A schematic diagram of the change of the posture of the calibration plate of a rotation center calibration method provided by an embodiment of the present invention, referring to Figure 3 and Figure 4 , the method comprising:

[0065] S201, obtaining a second actual coordinate value of the calibration plate in a first posture.

[0066] Exemplary, combined Figure 4 , the calibration plate in the first posture may be in a vertical position. In this case, the second actual coordinate value can be represented by the coordinate values ​​of the two vertices along the diagonal direction of the calibration plate, that is, the second actual coordinate value can be represented as A 1 (x 1 ,y 1 ) and B 1 (x 2 ,y 2 ).

[0067] S202, obtaining a third actual coordinate value of the calibration plate in a second posture, where the second posture is obtained by rotating the first posture around a rotation center by a preset angle.

[0068] Exemplary, combined Figure 4 The calibration plate in the second posture can be the calibration plate in the first posture which is placed vertically. The third actual coordinate value is obtained by rotating the calibration plate counterclockwise around the rotation center C for a certain angle. The third actual coordinate value can be expressed as A 2 (x 3 ,y 3 ) and B 2 (x 4 ,y 4 ).

[0069] S203: Obtain an initial coordinate value according to the second actual coordinate value and the third actual coordinate value.

[0070] Exemplary, combined Figure 4 , the distance from point A1 to the rotation center C is equal to that from point A2 to the rotation center C. Similarly, the distance from point B1 to the rotation center C is equal to that from point B2 to the rotation center C. The initial coordinate value of the rotation center C can be calculated by these two equations, namely:

[0071]

[0072] For example, it is known that A 1 (x 1 ,y 1 ), B 1 (x 2 ,y 2 ), A 2 (x 3 ,y 3 ) and B 2 (x 4 ,y 4 ), the calculation formula for obtaining the initial coordinate value is as follows:

[0073]

[0074]

[0075]

[0076]

[0077]

[0078]

[0079]

[0080] y 0 =ax 0 -b.

[0081] Among them, D1, D2, a, b, c, d are all calculated x 0 and 0 Parameters in the process.

[0082] S204, obtaining the standard coordinate value of the object to be measured.

[0083] S205 , obtaining a first actual coordinate value of the object to be measured after the object to be measured is rotated according to the compensation value.

[0084] S206: Obtain a new coordinate value of the rotation center according to the standard coordinate value, the first actual coordinate value, and the initial coordinate value.

[0085] Optionally, the preset angle is less than or equal to 10°.

[0086] The preset angle is the angle at which the calibration plate rotates from the first posture to the second posture around the rotation center. For example, the preset angle may be 3°. In an industrial production environment, in order to meet production requirements, the preset angle will not be very large, and will generally be less than or equal to 10°.

[0087] Figure 5 A flowchart of another method for calibrating a rotation center provided in an embodiment of the present invention, with reference to FIG. 4 and FIG. Figure 5 , the method comprising:

[0088] S301, obtaining the actual coordinate value of a first marking point on a calibration plate in a first posture photographed by a first camera.

[0089] Exemplary, combined Figure 4 , the first marking point can be A in the calibration plate under the first posture 1 point, the actual coordinate value of the first marking point can be A 1 (x 1 ,y 1 ).

[0090] S302: Acquire the actual coordinate value of the second marking point of the calibration plate in the first posture photographed by the second camera.

[0091] Exemplary, combined Figure 4 The second marking point can be B in the calibration plate under the first posture 1 point, the actual coordinate value of the first marking point can be B 1 (x 2 ,y 2 ).

[0092] S303: Acquire a second actual coordinate value according to the actual coordinate value of the first marking point in the first posture and the actual coordinate value of the second marking point in the first posture.

[0093] Exemplary, combined Figure 4 The second actual coordinate value is composed of the actual coordinate value of the first marking point of the calibration plate in the first posture and the actual coordinate value of the second marking point, that is, the second actual coordinate value can be expressed as A 1 (x 1 ,y 1 ) and B 1 (x 2 ,y 2 ).

[0094] S304: Obtain the actual coordinate value of the first marking point in the second posture photographed by the first camera.

[0095] Exemplary, combined Figure 4 When the calibration plate is in the second posture, the first marking point may be A in the calibration plate captured by the first camera. 2 point, the actual coordinate value of the point can be A 2 (x 3 ,y 3 ).

[0096] S305: Obtain the actual coordinate value of the second marking point in the second posture photographed by the second camera.

[0097] Exemplary, combined Figure 4 When the calibration plate is in the second posture, the second marking point may be B in the calibration plate captured by the second camera. 2 point, the actual coordinate value of the point can be B 2 (x 4 ,y 4 ).

[0098] S306: Obtain a third actual coordinate value according to the actual coordinate value of the first marking point in the second posture and the actual coordinate value of the second marking point in the second posture.

[0099] Exemplary, combined Figure 4 The third actual coordinate value is composed of the actual coordinate value of the first marking point of the calibration plate in the second posture and the actual coordinate value of the second marking point, that is, the third actual coordinate value can be expressed as A 2 (x 3 ,y 3 ) and B 2 (x 4 ,y 4 ).

[0100] S307: Obtain an initial coordinate value according to the second actual coordinate value and the third actual coordinate value.

[0101] S308. Obtain the standard coordinate value of the object to be measured.

[0102] S309: Obtain a first actual coordinate value of the object to be measured after rotating the object to be measured according to the compensation value.

[0103] S310, obtaining a new coordinate value of the rotation center according to the standard coordinate value, the first actual coordinate value and the initial coordinate value.

[0104] An embodiment of the present invention provides a method for calibrating a rotation center, wherein a first camera and a second camera are used to obtain the actual coordinate values ​​of a first mark point and a second mark point in a calibration plate in a first posture and a second posture, respectively, so as to obtain a second actual coordinate value and a third actual coordinate value. By using two cameras to obtain the actual coordinate values ​​on the calibration plate, an image in a larger area can be obtained, thereby improving the measurement accuracy.

[0105] Figure 6 A flowchart of another method for calibrating a rotation center provided by an embodiment of the present invention, Figure 7 A schematic diagram of the position change of the object under test in the third posture of a rotation center calibration method provided by an embodiment of the present invention, with reference to Figure 6 and Figure 7 , the method comprising:

[0106] S401, obtaining the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured.

[0107] S402: Obtain a fourth actual coordinate value of the object under test in a third posture.

[0108] Exemplary, combined Figure 7 , the third posture refers to the position of the object to be measured after the object is rotated around the rotation center at the standard coordinate position. Among them, the fourth actual coordinate value can be expressed as A 4 (x 9 ,y 9 ) and B 4 (x 10 ,y 10 ).

[0109] S403 . Obtain a compensation value according to the initial coordinate value, the fourth actual coordinate value, and a conversion matrix between the pixel coordinate system and the motion coordinate system.

[0110] For example, it is known that C(x 0 ,y 0 ), A 4 (x 9 ,y 9 ), B 4(x 10 ,y 10 ) and the pixel coordinate system and the motion coordinate system. Among them, the pixel coordinate system and the motion coordinate system are both on the imaging plane, but their respective origins and measurement units are different. The origin of the motion coordinate system is the intersection of the camera optical axis and the imaging plane, usually the midpoint of the imaging plane. The unit of the motion coordinate system is mm, which is a physical unit, while the unit of the pixel coordinate system is pixel. Usually, a pixel is described by several rows and columns. So the conversion between the two is as follows: where dx and dy indicate how many mm each column and row represent, that is, 1pixel=1dxmm. According to:

[0111]

[0112] The rotation center C is at point A. 3 , B 3 , A 4 , B 4 The distances can be expressed as A 3 C. B 3 C. A 4 C. B 4 C, since the standard coordinate value and the rotation center C are known, the compensation value can be obtained by solving the equation group.

[0113] S404: Obtain a first actual coordinate value of the object to be measured after the object to be measured is rotated according to the compensation value.

[0114] S405: Obtain a new coordinate value of the rotation center according to the standard coordinate value, the first actual coordinate value and the initial coordinate value.

[0115] Figure 8 A flowchart of another rotation center calibration method provided by an embodiment of the present invention, the method comprising:

[0116] S501, obtaining the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured.

[0117] S502: Obtain a first actual coordinate value of the object to be measured after the object to be measured is rotated according to the compensation value.

[0118] S503: Obtain new coordinate values ​​according to the initial coordinate values ​​and the rotation center difference.

[0119] For example, the rotation center difference can be expressed as (Δx, Δy). 3 (x 5 ,y 5 ), B 3 (x 6 ,y 6 ), A 3 '(x7 ,y 7 ) and B 3 '(x 8 ,y 8 ), and based on the known 1pixel = 1dxmm, and the difference δ′ between the position of the object under test and the standard position after correction, we can calculate:

[0120]

[0121]

[0122]

[0123] Among them, δ is the radian value corresponding to δ′. Then according to C(x 0 ,y 0 ) and the difference between the rotation center can get the new coordinate value C'(x 11 ,y 11 ),in,

[0124] x=x0+Δx;

[0125] y=y0+Δy。

[0126] Fig. 9 A flowchart of another rotation center calibration method provided by an embodiment of the present invention, the method comprising:

[0127] S601, obtaining the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured.

[0128] S602: Acquire the actual coordinate value of the first feature point of the object to be measured, which is photographed by the first camera and rotated according to the compensation value.

[0129] Exemplary, combined Figure 7 The first feature point can be A in the object to be measured after being rotated according to the compensation value and photographed by the first camera. 4 point, the actual coordinate value of the first feature point can be A 4 (x 9 ,y 9 ).

[0130] S603: Acquire the actual coordinate value of the second feature point of the object to be measured, which is photographed by the second camera and rotated according to the compensation value.

[0131] Exemplary, combined Figure 7 The second feature point can be B in the object being measured after being rotated according to the compensation value and photographed by the second camera. 4 point, the actual coordinate value of the first feature point can be B 4 (x 10 ,y 10 ).

[0132] S604 , obtaining a first actual coordinate value according to the actual coordinate value of the first feature point rotated according to the compensation value and the actual coordinate value of the second feature point rotated according to the compensation value.

[0133] Exemplary, combined Figure 7 The first actual coordinate value is composed of the actual coordinate value of the first feature point after rotation according to the compensation value and the actual coordinate value of the second feature point after rotation according to the compensation value, that is, the second actual coordinate value can be expressed as A 4 (x 9 ,y 9 ) and B 4 (x 10 ,y 10 ).

[0134] S605: Obtain new coordinate values ​​according to the initial coordinate values ​​and the rotation center difference.

[0135] The embodiment of the present invention provides a method for calibrating a rotation center, which uses a first camera and a second camera to respectively obtain the actual coordinate values ​​of the first feature point and the second feature point of the measured object after rotation according to the compensation value, and then obtains the first actual coordinate value, and further obtains a new coordinate value. The two cameras are used to respectively obtain the actual coordinate values ​​on the measured object to reversely calculate and correct the rotation center, thereby improving the measurement accuracy.

[0136] Fig.10 A schematic diagram of a rotation center calibration device provided by an embodiment of the present invention is shown in FIG10 , and the device includes:

[0137] An initial coordinate value and standard coordinate value acquisition module 11 is used to acquire the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured;

[0138] A first actual coordinate value acquisition module 12 is used to acquire a first actual coordinate value of the object to be measured after the object to be measured is rotated according to the compensation value;

[0139] The new coordinate value acquisition module 13 is used to acquire the new coordinate value of the rotation center according to the standard coordinate value, the first actual coordinate value and the initial coordinate value.

[0140] Optionally, the initial coordinate value and standard coordinate value acquisition module 11 may include a second actual coordinate value acquisition unit and a third actual coordinate value acquisition unit.

[0141] The second actual coordinate value acquisition unit is used to acquire the second actual coordinate value of the calibration plate in the first posture. The third actual coordinate value acquisition unit is used to acquire the third actual coordinate value of the calibration plate in the second posture.

[0142] Optionally, the third actual coordinate value acquiring unit may include an actual coordinate value acquiring subunit for the first marking point and an actual coordinate value acquiring subunit for the second marking point.

[0143] The actual coordinate value acquisition subunit of the first marking point is used to acquire the actual coordinate value of the first marking point in the second posture photographed by the first camera. The actual coordinate value acquisition subunit of the second marking point is used to acquire the actual coordinate value of the second marking point in the second posture photographed by the second camera.

[0144] Optionally, before acquiring the first actual coordinate value of the object to be measured after the object to be measured is rotated according to the compensation value, the first actual coordinate value acquiring module 12 further includes a fourth actual coordinate value acquiring unit and a compensation value acquiring unit.

[0145] The fourth actual coordinate value acquisition unit is used to acquire the fourth actual coordinate value of the object under the third posture. The compensation value acquisition unit is used to acquire the compensation value according to the initial coordinate value, the fourth actual coordinate value and the conversion matrix between the pixel coordinate system and the motion coordinate system.

[0146] Optionally, the first actual coordinate value acquisition module 12 includes an actual coordinate value acquisition unit for a first feature point and an actual coordinate value acquisition unit for a second feature point.

[0147] The actual coordinate value acquisition unit of the first feature point is used to acquire the actual coordinate value of the first feature point of the object to be measured after being rotated according to the compensation value and photographed by the first camera. The actual coordinate value acquisition unit of the second feature point is used to acquire the actual coordinate value of the second feature point of the object to be measured after being rotated according to the compensation value and photographed by the second camera.

[0148] Optionally, the new coordinate value acquisition module 13 may include a rotation center difference acquisition unit, which is used to acquire the rotation center difference according to the difference between the standard coordinate value and the first actual coordinate value.

[0149] A rotation center calibration device provided in an embodiment of the present invention can execute a rotation center calibration method provided in any embodiment of the present invention, and obtains the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured through the initial coordinate value and standard coordinate value acquisition module 11. Then, through the first actual coordinate value acquisition module 12, the first actual coordinate value of the object to be measured after the object to be measured is rotated according to the compensation value is obtained. Then, through the new coordinate value acquisition module 13, the new coordinate value of the rotation center is obtained according to the standard coordinate value, the first actual coordinate value and the initial coordinate value. The embodiment of the present invention can achieve the above functions through the mutual cooperation between the various modules. The embodiment of the present invention can not only calibrate the conversion relationship between pixels and mechanical positions, but also calibrate the rotation center and compensate for the position that deviates from the rotation center.

[0150] Fig.11 1 is a schematic diagram of the structure of a computer device for implementing a calibration method for a rotation center according to an embodiment of the present invention. The computer device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The computer device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0151] like Fig.11 As shown, the computer device 50 includes at least one processor 51, and a memory connected to the at least one processor 51, such as a read-only memory (ROM) 52, a random access memory (RAM) 53, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 to the random access memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the computer device 50 can also be stored. The processor 51, ROM 52 and RAM 53 are connected to each other through a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0152] A number of components in the computer device 50 are connected to the I / O interface 55, including: an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a disk, an optical disk, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the computer device 50 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0153] The processor 51 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 51 executes the various methods and processes described above, such as a calibration method applied to the rotation center.

[0154] In some embodiments, the calibration method applied to the rotation center can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 58. In some embodiments, part or all of the computer program can be loaded and / or installed on the computer device 50 via the ROM 52 and / or the communication unit 59. When the computer program is loaded into the RAM 53 and executed by the processor 51, one or more steps of the calibration method applied to the rotation center described above can be performed. Alternatively, in other embodiments, the processor 51 can be configured to execute the calibration method applied to the rotation center in any other appropriate manner (for example, by means of firmware).

[0155] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0156] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0157] In the context of an embodiment of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0158] To provide interaction with a user, the systems and techniques described herein may be implemented on a computer device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0159] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0160] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0161] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for calibrating a rotation center, characterized in that: include: Obtaining the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured; Obtaining a first actual coordinate value of the object to be measured after rotating the object to be measured according to the compensation value; Acquire a new coordinate value of the rotation center according to the standard coordinate value, the first actual coordinate value and the initial coordinate value; Wherein, obtaining the initial coordinate value of the rotation center includes: Obtaining a second actual coordinate value of the calibration plate in the first posture; Acquire a third actual coordinate value of the calibration plate in a second posture, where the second posture is obtained by rotating the first posture around the rotation center by a preset angle; Acquire the initial coordinate value according to the second actual coordinate value and the third actual coordinate value; Wherein, obtaining the second actual coordinate value of the calibration plate in the first posture includes: Acquire the actual coordinate value of the first marking point of the calibration plate in the first posture photographed by the first camera; Acquire the actual coordinate value of the second marking point of the calibration plate in the first posture photographed by the second camera; Acquire the second actual coordinate value according to the actual coordinate value of the first marking point in the first posture and the actual coordinate value of the second marking point in the first posture; Obtaining a third actual coordinate value of the calibration plate in the second posture includes: Acquire the actual coordinate value of the first marking point in the second posture photographed by the first camera; Acquire the actual coordinate value of the second marking point in the second posture photographed by the second camera; The third actual coordinate value is acquired according to the actual coordinate value of the first marking point in the second posture and the actual coordinate value of the second marking point in the second posture.

2. The calibration method according to claim 1, characterized in that: The preset angle is less than or equal to 10°.

3. The calibration method according to claim 1, characterized in that: Before obtaining the first actual coordinate value of the object to be measured after the object to be measured is rotated according to the compensation value, the method further includes: Acquire a fourth actual coordinate value of the object to be measured in a third posture; The compensation value is obtained according to the initial coordinate value, the fourth actual coordinate value, and a transformation matrix between a pixel coordinate system and a motion coordinate system.

4. The calibration method according to claim 1, characterized in that: Acquiring a new coordinate value of the rotation center according to the standard coordinate value, the first actual coordinate value, and the initial coordinate value, including: Acquire a rotation center difference according to a difference between the standard coordinate value and the first actual coordinate value; The new coordinate value is obtained according to the initial coordinate value and the rotation center difference value.

5. The calibration method according to claim 1, characterized in that: Obtaining a first actual coordinate value of the object to be measured after the object to be measured is rotated according to the compensation value, comprising: Acquire the actual coordinate value of the first feature point of the measured object photographed by the first camera after being rotated according to the compensation value; Acquire the actual coordinate value of the second feature point of the object to be measured after being rotated according to the compensation value and photographed by the second camera; The first actual coordinate value is acquired according to the actual coordinate value of the first feature point rotated according to the compensation value and the actual coordinate value of the second feature point rotated according to the compensation value.

6. A rotation center calibration device, characterized in that: include: An initial coordinate value and standard coordinate value acquisition module, used to acquire the initial coordinate value of the rotation center and the standard coordinate value of the object to be measured; A first actual coordinate value acquisition module, used to acquire a first actual coordinate value of the object to be measured after the object to be measured is rotated according to the compensation value; A new coordinate value acquisition module, used for acquiring a new coordinate value of the rotation center according to the standard coordinate value, the first actual coordinate value and the initial coordinate value; A second actual coordinate value acquisition submodule is used to acquire the actual coordinate value of the first marking point of the calibration plate in the first posture photographed by the first camera; Obtaining an actual coordinate value of a second marking point on the calibration plate in the first posture photographed by the second camera; Acquire the second actual coordinate value according to the actual coordinate value of the first marking point in the first posture and the actual coordinate value of the second marking point in the first posture; A third actual coordinate value acquisition submodule is used to acquire a third actual coordinate value of the calibration plate in a second posture obtained by rotating the first posture around the rotation center by a preset angle, acquire the actual coordinate value of the first marking point in the second posture photographed by the first camera; and acquire the actual coordinate value of the second marking point in the second posture photographed by the second camera; The third actual coordinate value is acquired according to the actual coordinate value of the first marking point in the second posture and the actual coordinate value of the second marking point in the second posture.

7. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the calibration method as described in any one of claims 1-5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the calibration method as described in any one of claims 1 to 5 is implemented.

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