Calibration method and device, electronic equipment, to-be-calibrated equipment, system and medium

Abstract

The application discloses a calibration method and device, electronic equipment, a device to be calibrated, a system and a medium. The method comprises the following steps: transmitting a motion instruction to a calibration tool, wherein the motion instruction indicates the motion of the calibration tool; transmitting a collection instruction corresponding to the type of a device to be calibrated to the device to be calibrated, wherein the collection instruction is determined according to the type of the device to be calibrated, and the collection instruction indicates that the device to be calibrated collects an image of the calibration tool; acquiring the image, and completing the calibration of the device to be calibrated based on the image. By using the method, the calibration tool and the device to be calibrated can be controlled by the electronic equipment to complete the automatic calibration of the device to be calibrated, and the calibration efficiency of the device to be calibrated is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of eye-tracking technology, and in particular to calibration methods, devices, electronic equipment, devices to be calibrated, systems and media. Background Technology

[0002] Devices to be calibrated, such as Extended Reality (XR) devices, typically require hardware calibration to correct for errors introduced during the installation of eye-tracking devices within the XR device, enabling eye tracking based on the corrected eye-tracking. These errors include discrepancies between the actual and designed installation positions of the eye-tracking camera on the device, as well as discrepancies between the actual and designed installation angles of the eye-tracking camera on the device.

[0003] In existing technologies, when calibrating a device, the parameters of the XR device's eye-tracking camera are first adjusted to suit hardware calibration. This includes adjusting the eye-tracking camera's exposure and the brightness of the light source. Then, the calibration personnel use a small steel ball placed above the eye-tracking cameras of the left and right eyes to capture several images. During image acquisition, the calibration personnel need to observe in real-time, based on experience, whether the eye-tracking camera can capture the steel ball and whether the captured image is usable. The images are then imported into the hardware calibration algorithm for calculation, outputting a hardware calibration result file. This result file is then imported into the XR device to complete the calibration. It is evident that existing technologies require a high degree of manual intervention when calibrating a device, resulting in low calibration efficiency. Summary of the Invention

[0004] The embodiments of the present invention provide a calibration method, apparatus, electronic device, device to be calibrated, system, and medium, which realizes automatic calibration of the device to be calibrated and improves calibration efficiency.

[0005] In a first aspect, embodiments of the present invention provide a calibration method applied to an electronic device, the method comprising:

[0006] Transmit motion commands to the calibration device, the motion commands instructing the calibration device to move;

[0007] A data acquisition command corresponding to the device type is transmitted to the device to be calibrated. The data acquisition command is determined according to the device type of the device to be calibrated. The data acquisition command instructs the device to be calibrated to acquire the image of the calibration instrument.

[0008] The image is acquired, and the calibration of the device to be calibrated is completed based on the image.

[0009] Secondly, embodiments of the present invention also provide a calibration method applied to a device to be calibrated, the method comprising:

[0010] Acquire acquisition commands transmitted by electronic devices;

[0011] The image of the calibration device is acquired according to the acquisition command, wherein the acquisition command is determined based on the device type of the device to be calibrated.

[0012] The image is transmitted so that the electronic device can complete the calibration of the device to be calibrated.

[0013] Thirdly, embodiments of the present invention also provide a calibration device integrated on an electronic device, the device comprising:

[0014] A motion command transmission module is used to transmit motion commands to a calibration device, wherein the motion commands instruct the calibration device to move;

[0015] The acquisition instruction transmission module is used to transmit an acquisition instruction corresponding to the device type to the device to be calibrated according to the device type of the device to be calibrated. The acquisition instruction instructs the device to be calibrated to acquire the image of the calibration instrument.

[0016] The acquisition module is used to acquire the image and perform calibration of the device to be calibrated based on the image.

[0017] Fourthly, embodiments of the present invention provide a calibration device integrated on a device to be calibrated, the device comprising:

[0018] The acquisition module is used to acquire the acquisition commands transmitted by the electronic device;

[0019] The acquisition module is used to acquire images of the calibration device according to the acquisition command, wherein the acquisition command is determined based on the device type of the device to be calibrated;

[0020] A transmission module is used to transmit the image so that the electronic device can complete the calibration of the device to be calibrated.

[0021] Fifthly, embodiments of the present invention provide an electronic device, comprising:

[0022] One or more processors;

[0023] Storage device for storing one or more programs;

[0024] The one or more programs are executed by the one or more processors, causing the one or more processors to implement the calibration method provided in the first aspect of the present invention.

[0025] Sixthly, embodiments of the present invention provide a device to be calibrated, comprising:

[0026] One or more processors;

[0027] Storage device for storing one or more programs;

[0028] When the one or more programs are executed by the one or more processors, the one or more processors implement the calibration method provided in the second aspect of the present invention.

[0029] In a seventh aspect, embodiments of the present invention also provide a calibration system, including an electronic device as provided in embodiments of the present invention, a device to be calibrated, a calibration instrument, and a calibration stand as provided in embodiments of the present invention;

[0030] The electronic device is used to control the movement of the calibration instrument based on motion commands; and to control the device to be calibrated to acquire images of the calibration instrument based on acquisition commands.

[0031] The calibration device is used to move based on the motion command; the device to be calibrated is used to acquire images of the calibration device based on the acquisition command.

[0032] The device to be calibrated and the calibration instrument are respectively fixed on the calibration platform.

[0033] Eighthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the calibration method provided in embodiments of the present invention.

[0034] This invention provides a calibration method, apparatus, electronic device, device to be calibrated, system, and medium. First, a motion command is transmitted to the calibration instrument, instructing it to move. Then, a data acquisition command corresponding to the device type is transmitted to the device to be calibrated. This acquisition command is determined based on the device type of the device to be calibrated, instructing the device to acquire an image from the calibration instrument. Finally, the image is acquired, and the calibration of the device to be calibrated is completed based on the image. Using this technical solution, the calibration instrument and the device to be calibrated can be controlled by an electronic device to automatically calibrate the device to be calibrated, improving the calibration efficiency of the device to be calibrated. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating a calibration method provided in Embodiment 1 of the present invention;

[0036] Figure 2 This is a flowchart illustrating a calibration method provided in Embodiment 2 of the present invention;

[0037] Figure 2a This is a flowchart illustrating another calibration method provided in Embodiment 2 of the present invention;

[0038] Figure 3 This is a schematic diagram of the structure of a calibration device provided in Embodiment 3 of the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of a calibration device provided in Embodiment 4 of the present invention;

[0040] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention;

[0041] Figure 6 This is a schematic diagram of the structure of a device to be calibrated provided in Embodiment Six of the present invention. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0043] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc. Moreover, embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0044] The term "comprising" and its variations as used in this invention are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment".

[0045] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish the corresponding contents and are not used to limit the order or interdependence.

[0046] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0047] Example 1

[0048] Figure 1This is a flowchart illustrating a calibration method provided in Embodiment 1 of the present invention. This method is applicable to the automatic calibration of devices to be calibrated. The method can be executed by a calibration device, which can be implemented by software and / or hardware and is generally integrated into an electronic device. In this embodiment, the electronic device includes, but is not limited to, a computer or other device capable of sending instructions through human-computer interaction. The instructions are instructions related to controlling the calibration of the device, including but not limited to motion instructions and data acquisition instructions.

[0049] In existing technologies, the calibration of equipment such as XR equipment is entirely manual. The operator holds a small ball, such as a small steel ball, and takes several images. While the operator is holding the ball, it is necessary to observe in real time whether the ball can be captured and whether the captured images are usable. The calibration personnel rely on their experience to observe whether the ball can be captured and whether the images are usable. This places high demands on the calibration personnel and results in low efficiency.

[0050] Furthermore, after image acquisition, the images need to be manually copied into the hardware calibration algorithm for calculation. Then, based on the result file, it's determined whether to copy the result file to the device to be calibrated. If the result file indicates success, it's copied to the device; otherwise, the device is returned for repair based on the calibration results. This process involves a significant amount of manual work and is unsuitable for batch calibration of devices.

[0051] The results file, also known as the calibration results file, includes: the installation position and angle errors of the eye-tracking camera compared to the design value, and the installation position and angle errors of the light source, such as LED lights, compared to the design value.

[0052] The device to be calibrated can be any eye-tracking device; this invention uses an XR device as an example for illustration.

[0053] The present invention provides a calibration system, which includes an electronic device provided by the present invention, a device to be calibrated provided by the present invention, a calibration instrument and a calibration stand.

[0054] The electronic device is used to control the movement of the calibration instrument based on motion commands; and to control the device to be calibrated to acquire images of the calibration instrument based on acquisition commands.

[0055] The calibration device is used to move based on the motion command;

[0056] The device to be calibrated is used to acquire images of the calibration instrument based on the acquisition command;

[0057] The device to be calibrated and the calibration instrument are respectively fixed on the calibration platform.

[0058] In this embodiment, the device to be calibrated and the calibration instrument are fixed on the calibration platform. Then, under the control of the electronic device, the calibration instrument is moved. After the calibration instrument moves to the movement point indicated by the movement command transmitted by the electronic device, the device to be calibrated is controlled to acquire an image of the calibration instrument through the acquisition command, so as to perform calibration based on the acquired image.

[0059] The calibration platform is not limited, as long as it can hold the equipment to be calibrated and the calibration tools, such as any flat table.

[0060] It is important to note that since the movement trajectory of the calibration instrument is determined during the calibration of each piece of equipment, the positions of multiple pieces of equipment from the same batch or of the same model on the calibration platform remain fixed. That is, the calibration platform will fix the same batch or model of equipment at the same location on the platform. However, the positions of different batches or models of equipment on the calibration platform may differ.

[0061] Different batches or models of equipment to be calibrated can have their calibration instrument's movement trajectory set according to their position on the calibration platform. After designing the movement trajectory for different batches or models of equipment to be calibrated, when calibrating the equipment, simply place it at the corresponding position on the calibration platform.

[0062] The positional relationship between the device to be calibrated and the calibration instrument is not limited, as long as it ensures that the device to be calibrated can acquire images from the calibration instrument. For example, the eye-tracking camera of the device to be calibrated may be oriented perpendicular to the calibration platform and upwards, i.e., perpendicular to the calibration platform and away from it. The calibration instrument may be positioned above the device to be calibrated, i.e., within the acquisition area of ​​the eye-tracking camera.

[0063] In one embodiment, the device to be calibrated is an XR device with an integrated eye-tracking device or an eye-tracking device for connecting to an XR device; the calibration apparatus includes a robotic arm and a calibration object, the shape of which includes a sphere.

[0064] The robotic arm is mounted on the calibration platform and is used to fix the calibration object.

[0065] When the device to be calibrated acquires an image, the light emitted by the device to be calibrated forms a light spot on the surface of the calibrated object.

[0066] An XR device with integrated eye-tracking technology can be considered an all-in-one device. An eye-tracking device connected to an XR device can be considered a pluggable, separate unit.

[0067] When the device to be calibrated is an eye-tracking device, the eye-tracking device can be directly connected to the electronic device. After receiving the acquisition command transmitted by the electronic device, the eye-tracking device will directly transmit the acquired image to the electronic device for storage.

[0068] All-in-one devices can refer to wearable devices such as AR, VR, and MR, which are generally near-eye devices.

[0069] The hardware included in the calibration equipment consists of LED lights and an image acquisition device. Each eye can correspond to a set of LED lights and one image acquisition device.

[0070] The LEDs are typically infrared light sources, with wavelengths of 850nm or 940nm. The arrangement of the LEDs is not limited, such as in a ring. The arrangement can be determined based on the shape of the screen of the device to be calibrated.

[0071] Image acquisition equipment includes infrared cameras, infrared image sensors, eye-tracking cameras, or video cameras, etc.

[0072] The calibration object can be a reflective sphere. It can be used to simulate the human eye. When an LED light from the device to be calibrated shines on the calibration object, it forms a light spot in the image acquisition device. A robotic arm can be used to hold the calibration object in place, and after receiving motion commands, the robotic arm can move the calibration object.

[0073] The image acquired by the device to be calibrated can include light spots. The result file is obtained by analyzing the light spots in the image.

[0074] Specifically, the specific operations performed by electronic devices in the calibration system during calibration are as follows: Figure 1 As shown, the calibration method provided in Embodiment 1 of the present invention includes the following steps:

[0075] S110. Transmit a motion command to the calibration device, the motion command instructing the calibration device to move.

[0076] In this embodiment, the calibration device can be considered as the instrument used to calibrate the device to be calibrated. The device to be calibrated can be considered as the device to be calibrated. The specific structure of the calibration device is not limited. Different devices to be calibrated can correspond to different calibration devices. Taking an XR device as an example, the corresponding calibration device is a robotic arm and a calibration object. The robotic arm can carry the calibration object to complete the calibration of the device to be calibrated.

[0077] In this invention, the electronic device can be considered as a device that controls the calibration apparatus and the device to be calibrated. The electronic device can control the movement of the calibration apparatus by sending motion commands to it, so as to complete the calibration of the device to be calibrated.

[0078] This embodiment does not limit the specific content of the motion commands. Different devices to be calibrated can correspond to different motion commands, as long as the calibration device moves above the eye-tracking camera of the device to be calibrated, so that the device to be calibrated can acquire images of the calibration device at different positions above the eye-tracking camera. For example, the positions of the calibration device above the eye-tracking camera can be evenly distributed. Here, the eye-tracking camera can be considered as the camera of the device to be calibrated used for eye tracking.

[0079] The purpose of ensuring that the calibration device moves above the eye-tracking camera in this embodiment is to enable the eye-tracking camera to acquire images of the calibration device. By analyzing the acquired images, the calibration of the device to be calibrated can be completed.

[0080] For example, calibration instruments corresponding to different batches or models of devices to be calibrated may have different motion commands. Calibration instruments corresponding to devices of the same batch or model may have the same motion commands. Motion commands may be determined based on the attributes of the device to be calibrated and the calibration instrument. Attributes include, but are not limited to, the size of the instrument to be calibrated, the size of the calibration objects included in the calibration instrument, and the acquisition frequency of the eye-tracking camera.

[0081] In one embodiment, the motion command includes a set of motion points or motion point information, the set of motion points including the location information of multiple motion points, and the motion command instructs the calibration device to move to the location corresponding to the motion point information or the set of motion points.

[0082] The motion commands sent by the electronic device to the calibration instrument can correspond to one motion point or multiple motion points. Multiple motion points can form a motion trajectory.

[0083] When the motion command includes a set of motion points, the calibration device can move directly based on multiple points included in the set. When the motion command includes motion point information, the device can move based on the motion point information, and when the motion ends, the electronic device can send the next motion point information to the calibration device.

[0084] The motion point information can be location information representing the motion point. Location information can be considered as information representing the position. The motion end event can indicate the end of the calibration device's motion. The motion end event can be detected and determined by electronic equipment, or it can be triggered by the calibration device after the motion ends.

[0085] S120. Transmit a data acquisition command corresponding to the device type to the device to be calibrated. The data acquisition command is determined according to the device type of the device to be calibrated. The data acquisition command instructs the device to be calibrated to acquire the image of the calibration instrument.

[0086] In this invention, device type can be considered as information characterizing the type of device to be calibrated. Different device types can correspond to different acquisition instructions.

[0087] The electronic device transmits acquisition commands to the device to be calibrated, thereby controlling the device to acquire images of the calibration instrument based on the acquisition commands. Different acquisition commands correspond to different acquisition methods, which are not limited here.

[0088] For example, the device to be calibrated can be an all-in-one device or a pluggable eye-tracking device, also known as an eye-tracking device. Pluggable means that the eye-tracking device can be plugged into the XR device.

[0089] When the device to be calibrated is an all-in-one machine, image acquisition can be completed through the calibration program installed in the all-in-one machine. The calibration program can complete image acquisition under the control of acquisition commands. When the device to be calibrated is an eye-tracking device, image acquisition can be performed directly by controlling the eye-tracking device through acquisition commands.

[0090] In one embodiment, when the device type indicates that the device to be calibrated is an all-in-one machine, the acquisition command is an acquisition control command of the calibration program; when the device type indicates that the device to be calibrated is an eye-tracking device directly connected to the electronic device, the acquisition command is an image acquisition command.

[0091] The all-in-one device is an XR device integrated from an eye-tracking device. The calibration program is installed on the all-in-one device under the control of the electronic device. The acquisition control command is used to control the calibration program to complete image acquisition.

[0092] An all-in-one device can be considered as an eye-tracking device integrated into an XR device. In this invention, the calibration of the all-in-one device is completed by installing a calibration program. This calibration program can be installed on the all-in-one device under the control of an electronic device. After installation, the electronic device can send acquisition commands to the all-in-one device, and the calibration program, upon receiving these commands, performs image acquisition. The acquisition commands corresponding to the all-in-one device can be considered acquisition control commands, i.e., commands that control the calibration program to perform image acquisition.

[0093] When the device to be calibrated is an eye-tracking device, the acquisition command can be an image acquisition command. The electronic device sends an image acquisition command to the eye-tracking device to control the eye-tracking device to acquire images.

[0094] In one embodiment, when the motion command includes motion point information, the acquisition command is triggered after a motion end event is detected. The motion end event is triggered after the motion end command is obtained from the calibration device. The motion end command is triggered after the calibration device finishes its motion based on the motion point information, or the motion end event is triggered by the electronic device after it detects that the calibration device has moved to the position indicated by the motion point information.

[0095] After transmitting motion commands to the calibration apparatus, if the electronic device detects a motion completion event, it indicates that the calibration apparatus has moved to the position corresponding to the motion point specified in the motion command. The electronic device can then transmit acquisition commands to the device under test to control it to acquire images of the calibration apparatus at that motion point. After receiving the acquisition completion event, the electronic device can continue to transmit the next motion command to the calibration apparatus until a set number of images have been acquired.

[0096] The acquisition completion event can be triggered either by the electronic device starting a timer after sending the acquisition command and the event being triggered after the acquisition duration has elapsed, or by the device to be calibrated sending a completion command back to the electronic device after completing the acquisition. The acquisition duration can be determined based on the attributes of the eye-tracking camera on the device to be calibrated and the transmission latency. When determining the acquisition duration, the eye-tracking camera attribute can be the time required to complete image acquisition. The transmission latency can be considered as the delay in transmitting the acquisition command from the electronic device to the device to be calibrated.

[0097] In this embodiment, the motion end event can be considered as an event triggered after the calibration device moves to the motion point corresponding to the motion command. The calibration device can trigger a motion end command after moving to the motion point. The motion end command represents the instruction of the calibration device to move to the motion point corresponding to the motion command. The electronic device triggers the motion end event after receiving the motion end command. The motion end event can also be triggered by the electronic device detecting whether the calibration device has moved to the motion point. The detection method of the electronic device is not limited here; for example, it can be determined by the motion duration. The motion duration can be determined based on the time required for the calibration device to move and the transmission delay of the motion command. The transmission delay of the motion command can be considered as the delay of the motion command being transmitted from the electronic device to the calibration device.

[0098] In one embodiment, when the motion command includes a set of motion points, the acquisition command is used to trigger the device to be calibrated to acquire a set number of images. The acquisition command is determined based on the time required for the calibration device to move sequentially to all motion points in the set of motion points and the number of motion points included in the set of motion points.

[0099] The number of images to be acquired is not limited, as long as calibration can be completed based on that number. The acquisition command can include a set number of sub-commands, each of which can perform one image acquisition. When the motion command includes motion point information, the acquisition command can be a single sub-command. When the motion command includes a set of motion points, the acquisition command can include multiple sub-commands.

[0100] Taking a set of two motion points as an example, after the calibration device moves to the first motion point, it moves to the second motion point. The time required for the calibration device to move to all motion points in the set of motion points in sequence can be considered as the time spent by the calibration device from the start of moving to the first motion point to moving to the second motion point.

[0101] When determining the acquisition command, it can be based on the time required for the calibration device to move sequentially to the motion point set and the number of motion points. For example, dividing the required time by the number of motion points determines the time interval between adjacent sub-commands.

[0102] For example, if the required time is 10 seconds and there are 10 movement points, then each second corresponds to one sub-instruction, and the acquisition instruction includes 10 sub-instructions.

[0103] S130. Acquire the image and complete the calibration of the device to be calibrated based on the image.

[0104] After transmitting the acquisition command, if the image acquisition corresponding to the acquisition command is completed, the electronic device can acquire the image from the device to be calibrated.

[0105] For example, when the acquisition command corresponds to a set of motion points, if the image acquisition corresponding to the set of motion points is completed, the image can be acquired; when the acquisition command corresponds to a motion point, if the image acquisition corresponding to the motion point is completed, the next motion command can be transmitted until a set number of images are acquired, and then each of the images is acquired.

[0106] Once the image is acquired, the electronic device can analyze it to obtain the result file.

[0107] When the device to be calibrated is an eye-tracking device, after the eye-tracking device acquires images, the images can be directly stored in the electronic device. The electronic device can then retrieve the images from the storage directory and analyze them to complete the calibration.

[0108] When the device to be calibrated is an all-in-one machine, after the all-in-one machine acquires images, the images can be stored in the all-in-one machine's storage directory. The electronic device can retrieve the images from the all-in-one machine's storage directory for calibration. After retrieving the images from the all-in-one machine, the images can be stored in the target directory. The specific locations of the storage directory and the target directory are not limited and can be determined according to the actual situation, such as storing them in storage space that is not easily lost when power is off.

[0109] In one embodiment, acquiring the image includes:

[0110] After the acquisition completion event is triggered, an export command is transmitted to the device to be calibrated to export the image acquired by the device to be calibrated and stored therein; or,

[0111] After the acquisition ends, the image is acquired from the eye-tracking device.

[0112] The acquisition completion event can be triggered after a set number of images have been acquired.

[0113] After the acquisition completion event is triggered, if the device to be calibrated is an all-in-one device, an export command can be transmitted to it. This export command can be considered an instruction to export the image from the device to be calibrated. The electronic device can then export the acquired image from the device to be calibrated by transmitting the export command. If the camera to be calibrated is an eye-tracking device, the image can be acquired from the eye-tracking device after it has acquired the image. After acquiring the image, the eye-tracking device can directly store it within the electronic device.

[0114] The calibration method provided in Embodiment 1 of this invention first transmits a motion command to a calibration instrument, the motion command instructing the calibration instrument to move; then, it transmits an acquisition command corresponding to the device type to be calibrated, the acquisition command being determined according to the device type of the device to be calibrated, the acquisition command instructing the device to acquire an image from the calibration instrument; finally, it acquires the image and completes the calibration of the device to be calibrated based on the image. Using the above method, the calibration instrument and the device to be calibrated can be controlled by electronic equipment to complete the automatic calibration of the device to be calibrated, improving the calibration efficiency of the device to be calibrated.

[0115] Based on the above embodiments, modified embodiments of the above embodiments are proposed. It should be noted that, in order to keep the description brief, only the differences from the above embodiments are described in the modified embodiments.

[0116] In one embodiment, prior to transmitting motion commands to the calibration device, the method further includes:

[0117] Configuration parameters are transmitted to the device to be calibrated to instruct the device to adjust its calibration status based on the configuration parameters.

[0118] Configuration parameters can be considered as parameters used to complete the calibration state configuration of the device to be calibrated. For example, configuring the eye-tracking camera and light source of the device to be calibrated. For example, configuring the camera parameters of the eye-tracking camera, including exposure; and configuring the brightness of the light source so that the light emitted by the light source is suitable for calibration.

[0119] The calibration state can be considered as the state in which the device to be calibrated is suitable for calibration, such as the eye-tracking camera and light source of the device being in a suitable state for calibration. The specific state of calibration is not limited and can be determined based on the actual situation.

[0120] In one embodiment, prior to transmitting motion commands to the calibration device, the method further includes:

[0121] A test command is transmitted to the calibration device to instruct it to perform an unloaded test.

[0122] A test command can be considered as a command to perform a test on the calibration device. Before calibration, this embodiment first tests the calibration device to check whether it can function properly. The test command can be a test command. After the test command is transmitted to the calibration device, the calibration device can move to the movement point corresponding to the test command. The electronic device determines whether the no-load test was successful by determining whether the calibration device has moved to the movement point corresponding to the test command.

[0123] Example 2

[0124] Figure 2 This is a flowchart illustrating a calibration method provided in Embodiment 2 of the present invention. This method is applicable to the automatic calibration of the device to be calibrated. The method can be executed by a calibration device, which can be implemented by software and / or hardware and is generally integrated into the device to be calibrated.

[0125] like Figure 2 As shown, the calibration method provided in Embodiment 2 of the present invention includes the following steps:

[0126] S210, Obtain the acquisition command transmitted by the electronic device.

[0127] The connection method between the electronic device and the device to be calibrated is not limited. Different connection methods can correspond to different acquisition methods. No restrictions are placed here. For example, if a wired connection is possible, the acquisition command is obtained from the connection interface; if a wireless connection is possible, the acquisition command is obtained through wireless communication.

[0128] S220. Acquire an image of the calibration device according to the acquisition command, wherein the acquisition command is determined based on the device type of the device to be calibrated.

[0129] After receiving the acquisition command, image acquisition can be performed under its guidance. The acquired images can be stored in the device to be calibrated or in an electronic device.

[0130] S230. Transmit the image so that the electronic device can complete the calibration of the device to be calibrated.

[0131] When an image is stored in the device to be calibrated, it can be exported to the electronic device after the electronic device transmits the export command; when an image is stored in the electronic device, it can be transmitted to the electronic device after the image is acquired so that the electronic device can store the image.

[0132] The second embodiment of the present invention provides a calibration method, which first obtains a collection command transmitted by an electronic device; then, it collects an image of the calibration device according to the collection command, wherein the collection command is determined based on the device type of the device to be calibrated; finally, it transmits the image so that the electronic device can complete the calibration of the device to be calibrated. Under the control of the electronic device, the device to be calibrated completes the acquisition of the image of the calibration device, realizing automatic calibration of the camera to be calibrated, improving calibration efficiency, and facilitating batch calibration of the devices to be calibrated.

[0133] Based on the above embodiments, modified embodiments of the above embodiments are proposed. It should be noted that, in order to keep the description brief, only the differences from the above embodiments are described in the modified embodiments.

[0134] In one embodiment, acquiring the image of the calibration device according to the acquisition command includes:

[0135] After receiving the acquisition command, acquire the image of the calibration device at the current moment; or,

[0136] After receiving the acquisition command, the system acquires a set number of images of the calibration instrument based on the acquisition parameters indicated by the acquisition command.

[0137] When the acquisition command is an image acquisition command, the image is acquired directly; when the acquisition command is an acquisition control command, the image is acquired under the control of the calibration program.

[0138] The acquisition command can correspond to the motion point information. After the device to be calibrated receives the acquisition command, it can be assumed that the calibration instrument has moved to the motion point. Therefore, after receiving the acquisition command, the device to be calibrated can immediately acquire the image of the calibration instrument, that is, complete the image of the calibration instrument at the current moment.

[0139] The acquisition command corresponds to a set of motion points. When acquiring the set of motion points, the calibration instrument can move sequentially to those points. After the calibration device receives the acquisition command, it can complete image acquisition based on the acquisition parameters indicated by the command. The acquisition parameters indicate when the calibration device should acquire images. When the acquisition time indicated by the parameters arrives, the calibration instrument moves to the corresponding motion point, at which point the calibration device acquires the image at that motion point.

[0140] The movement point, acquisition parameters, and sub-commands can have a one-to-one correspondence. Sub-commands can consist of acquisition parameters.

[0141] When the acquisition command is a data acquisition control command, it can be sent to the calibration program. After receiving the acquisition control command, the calibration program can export the image to the electronic device. When the acquisition command is an image acquisition command, the device to be calibrated can be directly controlled to acquire an image, and the image can be acquired after acquisition.

[0142] In one embodiment, the method further includes:

[0143] Get configuration parameters;

[0144] The calibration status of the device to be calibrated is configured based on the configuration parameters.

[0145] In this embodiment, the configuration parameters can be parameters used to complete the calibration state configuration of the device to be calibrated. After obtaining the configuration parameters, the device to be calibrated completes the configuration of the eye-tracking camera and the light source based on the parameters indicated by the configuration parameters.

[0146] The present invention will be described below by way of example. The calibration method provided by the present invention can be considered as a fully automatic hardware calibration method for eye tracking of XR devices. Figure 2a This is a flowchart illustrating another calibration method provided in Embodiment 2 of the present invention. In this embodiment, the XR device to be calibrated is placed on a calibration platform, and the XR device and a robotic arm are fixed on the calibration platform. The robotic arm completes the fully automatic calibration of the device to be calibrated. An electronic device (also known as a PC) integrating the calibration method described in Embodiment 1 of the present invention (also known as eye-tracking automatic calibration software) is connected to a robotic arm with a calibration object, such as a small ball, via a serial cable.

[0147] The hardware calibration of this invention mainly calculates the installation error of the eye-tracking camera and LED relative to the design value, and corrects the error caused by installation relative to the design value through the hardware calibration result.

[0148] See Figure 2a Execute when the device to be calibrated is an all-in-one machine. Figure 2aThe method for selecting the right branch of the hardware solution, i.e., the method for the corresponding branch of MIPI ADB, is as follows:

[0149] The electronic device first configures its product parameters to complete the configuration of the parameters of the device to be calibrated. Configuring product parameters can be considered as configuring relevant information about the device to be calibrated on the electronic device side, such as the model, type, and calibration time of the device.

[0150] After configuring the product parameters, the robotic arm can be started to perform an no-load test. If the no-load test is successful, the service corresponding to the calibration method will be started, waiting for the ADB device to connect to the PC. The ADB device can be considered as the device to be calibrated.

[0151] When calibrating devices, a PC can be connected to each device in sequence. After the PC is connected to the device, i.e., after the XR device is connected to the PC via USB, the automatic calibration software on the PC can control the movement of the robotic arm via serial port and install the APK program (calibration program) on the XR device via ADB commands. This APK program controls the eye-tracking camera and light source, such as an LED light, on the XR device to complete the calibration adjustment.

[0152] After launching the APK using ADB, hardware calibration can begin. At this point, the PC controls the robotic arm to move the ball. The PC uses ADB commands to control the calibration APK program to open the eye-tracking camera, LED lights, and acquire images. Once the LED lights are turned on, they will form several light spots on the surface of the ball, similar to the light spots of a human eye. This process continues until several images with light spots are acquired. Then, the PC uses ADB commands to export the images to the PC, which then imports the images into the calibration algorithm to complete the hardware calibration. Finally, the PC software imports the calibration result file into the XR device.

[0153] Specifically, the electronic device transmits motion commands to the calibration instrument to control the movement of the robotic arm. After the robotic arm moves to a position, that is, the movement point corresponding to the motion command, the PC sends an ADB image acquisition signal, that is, an acquisition command, to the calibration program to control the APK to acquire images and save them locally.

[0154] After image acquisition is complete, the robotic arm can be moved to the next position. If the robotic arm does not move to the next position again, the set number of images can be considered acquired. The PC then exports the images via ADB. The preset images are then used for calibration. If the calculation results based on the images indicate correct calibration, the result file can be transferred to the calibration program for writing to the hardware, i.e., the device to be calibrated.

[0155] It should be noted that the adb commands are for illustrative purposes only, and the interaction commands between the electronic device and the device to be calibrated are not limited.

[0156] When the device to be calibrated is an eye-tracking device, you can select the left branch of the hardware scheme. The device to be calibrated and the electronic device can be connected via USB. The specific connection method is not limited here. For example, it can also be connected wirelessly.

[0157] For details on configuring product parameters and conducting no-load testing in this solution, please refer to the relevant solutions for all-in-one machines; they will not be elaborated upon here.

[0158] After the no-load test is completed, configuration parameters can be transferred via USB to the camera (eye-tracking camera) and light source to complete the calibration state configuration and start the camera and light source. If the camera to be calibrated is configured correctly, hardware calibration begins. The electronic device transmits motion commands to the robotic arm to control its movement. After the robotic arm moves to the position corresponding to the movement point included in the motion command, the electronic device can transmit an acquisition command to the camera to acquire an image. If image acquisition is complete, the robotic arm can continue to move to the next position to acquire the image corresponding to the next position. If the robotic arm does not move to the next position, a motion end event is triggered, and the electronic device performs calculations based on the acquired images. If the calculation results indicate that the calibration is correct, the result file can be transferred to the device to be calibrated.

[0159] The calibration method provided in this embodiment achieves fully automated calibration of the device to be calibrated. Motion commands control the movement of the robotic arm, ensuring accurate positioning. Acquisition commands control the device to be calibrated to acquire images, ensuring high image acquisition availability. Electronic control of the calibration instrument and the device to be calibrated improves calibration speed, making it suitable for mass production tasks in factories. The calibration method provided by this invention requires no manual intervention, achieving calibration of the device to be calibrated and improving calibration efficiency.

[0160] Example 3

[0161] Figure 3 This is a schematic diagram of a calibration device provided in Embodiment 3 of the present invention. The device is applicable to the automatic calibration of the equipment to be calibrated. The device can be implemented by software and / or hardware and is generally integrated into an electronic device.

[0162] like Figure 3 As shown, the device includes:

[0163] Motion command transmission module 31 is used to transmit motion commands to the calibration device, the motion commands instructing the calibration device to move;

[0164] The acquisition instruction transmission module 32 is used to transmit an acquisition instruction corresponding to the device type to the device to be calibrated according to the device type of the device to be calibrated. The acquisition instruction instructs the device to be calibrated to acquire the image of the calibration instrument.

[0165] The acquisition module 33 is used to acquire the image and complete the calibration of the device to be calibrated based on the image.

[0166] In this embodiment, the device first transmits motion commands to the calibration instrument via the motion command transmission module 31, the motion commands instructing the calibration instrument to move; secondly, via the acquisition command transmission module 32, it transmits acquisition commands corresponding to the device type to be calibrated to the device to be calibrated, the acquisition commands instructing the device to acquire images of the calibration instrument; then, via the acquisition module 33, it acquires the images and completes the calibration of the device to be calibrated based on the images.

[0167] This embodiment provides a calibration device that can control the calibration instrument and the device to be calibrated through electronic devices to complete the automatic calibration of the device to be calibrated, thereby improving the calibration efficiency of the device to be calibrated.

[0168] In one embodiment, the motion command includes a set of motion points or motion point information, the set of motion points including the location information of multiple motion points, and the motion command instructs the calibration device to move to the location corresponding to the motion point information or the set of motion points.

[0169] In one embodiment, when the motion command includes motion point information, the acquisition command is triggered after a motion end event is detected. The motion end event is triggered after the motion end command is obtained from the calibration device. The motion end command is triggered after the calibration device finishes moving based on the motion point information, or after the electronic device detects that the calibration device has moved to the position indicated by the motion point information. When the motion command includes a set of motion points, the acquisition command is used to trigger the device to be calibrated to acquire a set number of images. The acquisition command is determined based on the time required for the calibration device to move sequentially to all motion points in the set of motion points and the number of motion points included in the set of motion points.

[0170] In one embodiment, when the device type indicates that the device to be calibrated is an all-in-one machine, the acquisition command is an acquisition control command of the calibration program; when the device type indicates that the device to be calibrated is an eye-tracking device directly connected to the electronic device, the acquisition command is an image acquisition command.

[0171] In one embodiment, the calibration program is installed on the all-in-one machine under the control of the electronic device, and the acquisition control command is used to control the calibration program to complete image acquisition.

[0172] In one embodiment, the device further includes a configuration parameter transmission module for transmitting configuration parameters to the device to be calibrated before transmitting motion commands to the calibration apparatus, so as to instruct the device to be calibrated to adjust its calibration state based on the configuration parameters.

[0173] In one embodiment, the device further includes a test command transmission module for transmitting a test command to the calibration device before transmitting the motion command to the calibration device, so as to instruct the calibration device to perform an unloaded test.

[0174] In one embodiment, the acquisition module acquires the image by:

[0175] After the acquisition completion event is triggered, an export command is transmitted to the device to be calibrated to export the image acquired by the device to be calibrated and stored therein; or,

[0176] After the acquisition ends, the image is acquired from the eye-tracking device.

[0177] The above-described calibration device can execute the calibration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0178] Example 4

[0179] Figure 4 This is a schematic diagram of a calibration device provided in Embodiment 4 of the present invention. The device is applicable to the automatic calibration of the device to be calibrated. The device can be implemented by software and / or hardware and is generally integrated into the device to be calibrated.

[0180] like Figure 4 As shown, the device includes:

[0181] Acquisition module 41 is used to acquire acquisition commands transmitted by the electronic device;

[0182] Acquisition module 42 is used to acquire images of the calibration device according to the acquisition command, wherein the acquisition command is determined based on the device type of the device to be calibrated;

[0183] The transmission module 43 is used to transmit the image so that the electronic device can complete the calibration of the device to be calibrated.

[0184] In this embodiment, the device first acquires the acquisition command transmitted by the electronic device through the acquisition module 41; the acquisition module 42 acquires the image of the calibration device according to the acquisition command, wherein the acquisition command is determined based on the device type of the device to be calibrated; and the transmission module 43 transmits the image so that the electronic device can complete the calibration of the device to be calibrated.

[0185] This embodiment provides a calibration device in which the device to be calibrated completes the acquisition of images of the calibration instrument under the control of an electronic device, realizing automatic calibration of the camera to be calibrated, improving calibration efficiency, and facilitating batch calibration of the device to be calibrated.

[0186] In one embodiment, the acquisition module 42 acquires an image of the calibration device according to the acquisition command, including:

[0187] After receiving the acquisition command, acquire the image of the calibration device at the current moment; or,

[0188] After receiving the acquisition command, the system acquires a set number of images of the calibration instrument based on the acquisition parameters indicated by the acquisition command.

[0189] When the acquisition command is an image acquisition command, the image is acquired directly; when the acquisition command is an acquisition control command, the image is acquired under the control of the calibration program.

[0190] In one embodiment, the device further includes: a configuration module, configured to:

[0191] Get configuration parameters;

[0192] The calibration status of the device to be calibrated is configured based on the configuration parameters.

[0193] The above-described calibration device can execute the calibration method provided in any of the second embodiments of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0194] Example 5

[0195] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. Figure 5 As shown, the electronic device provided in Embodiment 4 of the present invention includes: one or more processors 51 and a storage device 52; the processor 51 in the electronic device may be one or more, Figure 5 Taking a processor 51 as an example; storage device 52 is used to store one or more programs; the one or more programs are executed by the one or more processors 51, so that the one or more processors 51 implement the calibration method as described in Embodiment 1 of the present invention.

[0196] The electronic device may further include an input device 53 and an output device 54.

[0197] The processor 51, storage device 52, input device 53, and output device 54 in the electronic device can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0198] The storage device 52 in this electronic device serves as a computer-readable storage medium, which can be used to store one or more programs. These programs can be software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the calibration method provided in Embodiment 1 of this invention (e.g., appendix). Figure 3 The calibration device shown includes modules such as a motion command transmission module 31, a data acquisition command transmission module 32, and an acquisition module 33. The processor 51 executes various functional applications and data processing of the electronic device by running software programs, instructions, and modules stored in the storage device 52, thereby implementing the calibration method in Embodiment 1 above.

[0199] Storage device 52 may include a stored program area and a stored data area, wherein the stored program area may store the operating system and applications required for at least one function; the stored data area may store data created based on the use of the electronic device, etc. Furthermore, storage device 52 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, storage device 52 may further include memory remotely located relative to processor 51, and this remote memory may be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0200] Input device 53 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the electronic device. Output device 54 may include display devices such as a display screen.

[0201] Furthermore, when one or more programs included in the aforementioned electronic device are executed by one or more processors 51, the programs perform the following operations: transmitting motion commands to the calibration device, the motion commands instructing the calibration device to move;

[0202] A data acquisition command corresponding to the device type is transmitted to the device to be calibrated. The data acquisition command is determined according to the device type of the device to be calibrated. The data acquisition command instructs the device to be calibrated to acquire the image of the calibration instrument.

[0203] The image is acquired, and the calibration of the device to be calibrated is completed based on the image.

[0204] Example 6

[0205] Figure 6 This is a schematic diagram of the structure of a device to be calibrated provided in Embodiment Six of the present invention, as shown below. Figure 6 As shown, the electronic device provided in Embodiment 4 of the present invention includes: one or more processors 61 and a storage device 62; the processor 61 in the electronic device may be one or more, Figure 6 Taking a processor 61 as an example; storage device 62 is used to store one or more programs; the one or more programs are executed by the one or more processors 61, so that the one or more processors 61 implement the calibration method as described in Embodiment 2 of the present invention.

[0206] The electronic device may further include an input device 63 and an output device 64.

[0207] The processor 61, storage device 62, input device 63, and output device 64 in the electronic device can be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0208] The storage device 62 in this electronic device serves as a computer-readable storage medium, which can be used to store one or more programs. These programs can be software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the calibration method provided in Embodiment 2 of this invention (e.g., attached...). Figure 4 The calibration device shown includes modules such as an acquisition module 41, a data acquisition module 42, and a transmission module 43. The processor 61 executes various functional applications and data processing of the electronic device by running software programs, instructions, and modules stored in the storage device 62, thereby implementing the calibration method in the second embodiment of the above method.

[0209] Storage device 62 may include a stored program area and a stored data area, wherein the stored program area may store the operating system and applications required for at least one function; the stored data area may store data created based on the use of the electronic device, etc. Furthermore, storage device 62 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, storage device 62 may further include memory remotely located relative to processor 61, and this remote memory may be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0210] Input device 63 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the electronic device. Output device 64 may include display devices such as a display screen.

[0211] Furthermore, when one or more programs included in the aforementioned electronic device are executed by one or more processors 61, the programs perform the following operations:

[0212] Acquire acquisition commands transmitted by electronic devices;

[0213] The image of the calibration device is acquired according to the acquisition command, wherein the acquisition command is determined based on the device type of the device to be calibrated.

[0214] The image is transmitted so that the electronic device can complete the calibration of the device to be calibrated.

[0215] Example 7

[0216] Embodiment 7 of the present invention provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the program is used to perform a calibration method, the method comprising: transmitting a motion command to a calibration device, the motion command instructing the calibration device to move;

[0217] A data acquisition command corresponding to the device type is transmitted to the device to be calibrated. The data acquisition command is determined according to the device type of the device to be calibrated. The data acquisition command instructs the device to be calibrated to acquire the image of the calibration instrument.

[0218] The image is acquired, and the calibration of the device to be calibrated is completed based on the image.

[0219] The method further includes:

[0220] Acquire acquisition commands transmitted by electronic devices;

[0221] The image of the calibration device is acquired according to the acquisition command, wherein the acquisition command is determined based on the device type of the device to be calibrated.

[0222] The image is transmitted so that the electronic device can complete the calibration of the device to be calibrated.

[0223] Optionally, when the program is executed by the processor, it can also be used to execute the calibration method provided in any embodiment of the present invention.

[0224] The computer storage medium of this invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable CD-ROM, optical storage device, magnetic storage device, or any suitable combination thereof. The computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0225] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit programs for use by or in connection with an instruction execution system, apparatus, or device.

[0226] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, radio frequency (RF), etc., or any suitable combination thereof.

[0227] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0228] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A calibration method characterized by, Applied to electronic devices, the method includes: Transmit motion commands to the calibration device, the motion commands instructing the calibration device to move; A data acquisition command corresponding to the device type is transmitted to the device to be calibrated. The data acquisition command is determined according to the device type of the device to be calibrated. The data acquisition command instructs the device to be calibrated to acquire the image of the calibration instrument. Acquire the image and complete the calibration of the device to be calibrated based on the image; Wherein, when the device type indicates that the device to be calibrated is an all-in-one machine, the acquisition command is the acquisition control command of the calibration program; when the device type indicates that the device to be calibrated is an eye-tracking device directly connected to the electronic device, the acquisition command is an image acquisition command. The all-in-one device is an XR device integrated from an eye-tracking device. The calibration program is installed on the all-in-one device under the control of the electronic device. The acquisition control command is used to control the calibration program to complete image acquisition.

2. The method of claim 1, wherein, The motion command includes a set of motion points or motion point information. The set of motion points includes the location information of multiple motion points. The motion command instructs the calibration device to move to the location corresponding to the motion point information or the set of motion points.

3. The method according to claim 2, characterized in that, When the motion command includes motion point information, the acquisition command is triggered after a motion end event is detected. The motion end event is triggered after the motion end command is obtained from the calibration device. The motion end command is triggered after the calibration device finishes its motion based on the motion point information, or the motion end event is triggered by the electronic device after it detects that the calibration device has moved to the position indicated by the motion point information. When the motion command includes a set of motion points, the acquisition command is used to trigger the device to be calibrated to acquire a set number of images. The acquisition command is determined based on the time required for the calibration device to move sequentially to all motion points in the set of motion points and the number of motion points included in the set of motion points.

4. The method according to claim 1, characterized in that, Before transmitting motion commands to the calibration device, the method further includes: Configuration parameters are transmitted to the device to be calibrated to instruct the device to adjust its calibration status based on the configuration parameters.

5. The method according to claim 1, characterized in that, Before transmitting motion commands to the calibration device, the method further includes: A test command is transmitted to the calibration device to instruct it to perform an unloaded test.

6. The method according to claim 1, characterized in that, The acquisition of the image includes: After the acquisition completion event is triggered, an export command is transmitted to the device to be calibrated to export the image acquired by the device to be calibrated and stored therein; or, After the acquisition ends, the image is acquired from the eye-tracking device.

7. A calibration method, characterized in that, Applied to the device to be calibrated, the method includes: Acquire acquisition commands transmitted by electronic devices; The image of the calibration device is acquired according to the acquisition command, wherein the acquisition command is determined based on the device type of the device to be calibrated. The image is transmitted so that the electronic device can complete the calibration of the device to be calibrated; Wherein, when the device type indicates that the device to be calibrated is an all-in-one machine, the acquisition command is the acquisition control command of the calibration program; when the device type indicates that the device to be calibrated is an eye-tracking device directly connected to the electronic device, the acquisition command is an image acquisition command. The all-in-one device is an XR device integrated from an eye-tracking device. The calibration program is installed on the all-in-one device under the control of the electronic device. The acquisition control command is used to control the calibration program to complete image acquisition.

8. The method according to claim 7, characterized in that, The step of acquiring images of the calibration device according to the acquisition command includes: After receiving the acquisition command, acquire the image of the calibration device at the current moment; or, After receiving the acquisition command, the system acquires a set number of images of the calibration instrument based on the acquisition parameters indicated by the acquisition command. When the acquisition command is an image acquisition command, the image is acquired directly; when the acquisition command is an acquisition control command, the image is acquired under the control of the calibration program.

9. The method according to claim 7, characterized in that, Also includes: Get configuration parameters; The calibration status of the device to be calibrated is configured based on the configuration parameters.

10. A calibration device, characterized in that, Integrated on an electronic device, the device includes: A motion command transmission module is used to transmit motion commands to a calibration device, wherein the motion commands instruct the calibration device to move; The acquisition instruction transmission module is used to transmit an acquisition instruction corresponding to the device type to the device to be calibrated according to the device type of the device to be calibrated. The acquisition instruction instructs the device to be calibrated to acquire the image of the calibration instrument. An acquisition module is used to acquire the image and perform calibration of the device to be calibrated based on the image; Wherein, when the device type indicates that the device to be calibrated is an all-in-one machine, the acquisition command is the acquisition control command of the calibration program; when the device type indicates that the device to be calibrated is an eye-tracking device directly connected to the electronic device, the acquisition command is an image acquisition command. The all-in-one device is an XR device integrated from an eye-tracking device. The calibration program is installed on the all-in-one device under the control of the electronic device. The acquisition control command is used to control the calibration program to complete image acquisition.

11. A calibration device, characterized in that, Integrated into the device to be calibrated, the device includes: The acquisition module is used to acquire the acquisition commands transmitted by the electronic device; The acquisition module is used to acquire images of the calibration device according to the acquisition command, wherein the acquisition command is determined based on the device type of the device to be calibrated; A transmission module is used to transmit the image so that the electronic device can complete the calibration of the device to be calibrated. Wherein, when the device type indicates that the device to be calibrated is an all-in-one machine, the acquisition command is the acquisition control command of the calibration program; when the device type indicates that the device to be calibrated is an eye-tracking device directly connected to the electronic device, the acquisition command is an image acquisition command. The all-in-one device is an XR device integrated from an eye-tracking device. The calibration program is installed on the all-in-one device under the control of the electronic device. The acquisition control command is used to control the calibration program to complete image acquisition.

12. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-6.

13. A device to be calibrated, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 7-9.

14. A calibration system, characterized in that, Includes the electronic device as described in claim 12, the device to be calibrated as described in claim 13, the calibration apparatus, and the calibration stand; The electronic device is used to control the movement of the calibration instrument based on motion commands; and to control the device to be calibrated to acquire images of the calibration instrument based on acquisition commands. The calibration device is used to move based on the motion command; The device to be calibrated is used to acquire images of the calibration instrument based on the acquisition command; The device to be calibrated and the calibration instrument are respectively fixed on the calibration platform.

15. The calibration system according to claim 14, characterized in that, The device to be calibrated is an XR device with integrated eye-tracking or an eye-tracking device for connecting to an XR device; the calibration apparatus includes a robotic arm and a calibration object, the shape of which includes a sphere. The robotic arm is mounted on the calibration platform and is used to fix the calibration object. When the device to be calibrated acquires an image, the light emitted by the device to be calibrated forms a light spot on the surface of the calibrated object.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-9.

Images