A calibration device, system and method

Abstract

The application relates to a calibration device, system and method, which comprises a base with a convex surface and a concave surface, a plurality of mark points arranged on the surface of the base, and a plurality of A-type standard parts arranged on the surface of the base and / or penetrating through at least two surfaces of the base, which are used for calibrating the spatial accuracy of the three-dimensional scanning device. Through the application, the problem that the existing standard ball rod or standard ball plate cannot be placed on the same reference plane and cannot calibrate the spatial accuracy of the laser three-dimensional scanning device is solved.

Description

Technical Field

[0001] This application relates to the field of calibration technology, and in particular to a calibration apparatus, system and method. Background Technology

[0002] Currently, the calibration of laser 3D scanning measurement equipment typically uses standard ball rods or standard ball plates. The distance between different standard balls and their diameters are measured as reference values ​​during equipment calibration. The calibration process involves placing the standard ball rods or standard ball plates on the same reference plane. Marking points are affixed around the standard ball rods or standard ball plates on the reference plane for positioning the equipment during scanning. Scanning the corresponding standard ball rods or standard ball plates, and measuring the diameters and center-to-center distances, calibrates the spatial position of the equipment.

[0003] In existing calibration schemes for standard bats or plates, the markers are all located on the same plane. During transition stitching, these are considered joints within the same plane, and the markers on the same plane generally have a consistent shape in the presented view. However, in actual scanning applications, the markers are often not on the same plane, resulting in transition stitching at various angles: circular transition stitching, convex transition stitching, concave transition stitching, C-shaped transition stitching, etc. Therefore, placing existing standard bats or plates on the same reference plane makes it impossible to calibrate the spatial accuracy of laser 3D scanning equipment. Summary of the Invention

[0004] This application provides a calibration apparatus, system, and method to address the problem that the spatial accuracy of laser 3D scanning equipment cannot be calibrated in the prior art.

[0005] In a first aspect, this application provides a calibration apparatus for calibrating a 3D scanning device, the calibration apparatus comprising:

[0006] The base has a convex surface and a concave surface;

[0007] Multiple marker points are set on the surface of the base;

[0008] Multiple Type A standard parts are disposed on the surface of the base and / or through at least two surfaces of the base for calibrating the spatial accuracy of the three-dimensional scanning device.

[0009] In some embodiments, the calibration device further includes:

[0010] Multiple Type B standard parts are set on multiple surfaces of the base for calibrating the spatial repeatability of the 3D scanning device to be calibrated.

[0011] In some embodiments, the Type A standard component is a standard bat with standard balls at both ends, and / or the Type B standard component is a standard ball.

[0012] In some embodiments, the base includes an L-shaped surface or a C-shaped surface, and the two ends of the A-type standard part are disposed at both ends of the L-shaped surface or the C-shaped surface.

[0013] In some embodiments, the base includes two mutually perpendicular surfaces, and at least two of the plurality of Type A standard parts are respectively disposed on the two mutually perpendicular surfaces of the base.

[0014] In some embodiments, three non-collinear Type B standard parts are provided on one surface of the base.

[0015] In some embodiments, the Type A standard part passes through at least two base surfaces of the base, with its two ends disposed on adjacent surfaces of the base surfaces it passes through, or disposed on the base surfaces it passes through.

[0016] Secondly, this application provides a calibration system comprising: a device to be calibrated and a calibration apparatus as described in the first aspect;

[0017] The device to be calibrated scans the calibration device to calibrate the device.

[0018] Thirdly, this application provides a calibration method applied to the calibration system described in the second aspect, the method comprising:

[0019] The device to be calibrated scans the calibration device multiple times to obtain the coordinate values ​​of multiple Type B standard parts;

[0020] The device to be calibrated calibrates its spatial repeatability based on the coordinate values.

[0021] In some embodiments, the device to be calibrated calibrates its spatial repeatability based on the coordinate values, including:

[0022] The device to be calibrated calculates the deviation value of the coordinate values ​​of the multiple B-type standard parts obtained from multiple scans, and calibrates the spatial repeatability of the device to be calibrated based on the deviation value.

[0023] Fourthly, this application provides a calibration method applied to the calibration system described in the second aspect, the method comprising:

[0024] The device to be calibrated scans the calibration device to obtain parameter values ​​of multiple Type A standard parts;

[0025] The device to be calibrated calibrates its spatial accuracy based on the parameter values.

[0026] Compared with the prior art, the calibration device, system and method provided in this application, by setting the type A standard part on the base surface or through at least two surfaces of the base, requires the device to be calibrated to perform transition splicing on multiple surfaces in space when splicing the data of the type A standard part, thereby enabling spatial accuracy calibration of the device to be calibrated. This solves the problem that existing standard ball bars or standard ball plates placed on the same reference plane cannot calibrate the spatial accuracy of laser three-dimensional scanning equipment.

[0027] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0028] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0029] Figure 1 This is a hardware structure block diagram of a terminal that performs a calibration method according to an embodiment of this application;

[0030] Figure 2 This is a schematic diagram of a calibration device according to an embodiment of this application;

[0031] Figure 3 This is a schematic diagram of another calibration device according to an embodiment of this application;

[0032] Figure 4 This is a schematic diagram of another calibration device according to an embodiment of this application;

[0033] Figure 5 This is a schematic diagram of another calibration device according to an embodiment of this application;

[0034] Figure 6 This is a schematic diagram of another calibration device according to an embodiment of this application;

[0035] Figure 7 This is a schematic diagram of another calibration device according to an embodiment of this application;

[0036] Figure 8 This is a schematic diagram of another calibration device according to an embodiment of this application;

[0037] Figure 9 This is a schematic diagram of another calibration device according to an embodiment of this application;

[0038] Figure 10 This is a schematic diagram of another calibration device according to an embodiment of this application;

[0039] Figure 11 This is a schematic diagram of another calibration device according to an embodiment of this application;

[0040] Figure 12 This is a flowchart of a calibration method according to an embodiment of this application;

[0041] Figure 13 This is a flowchart of another calibration method according to an embodiment of this application;

[0042] Figure 14 This is a schematic diagram of another calibration device according to an embodiment of this application. Detailed Implementation

[0043] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0044] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0045] The method embodiments provided in this application can be executed on a terminal, computer, or similar computing device. For example, they can be run on a terminal. Figure 1 This is a hardware structure block diagram of a terminal executing a calibration method according to an embodiment of this application. For example... Figure 1As shown, a terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 and a memory 104 for storing data are also included. The processor 102 may be, but is not limited to, a microprocessor (MCU) or a programmable logic device (FPGA). The terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that… Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the terminal described above. For example, the terminal may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown are illustrated.

[0046] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to a calibration method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the terminal 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.

[0047] The transmission device 106 is used to receive or send data via a network. This network includes a wireless network provided by the terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 can be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0048] This application provides a calibration device for calibrating a 3D scanning device, such as... Figure 2 As shown, the calibration device includes: a base 200 having a convex surface and a concave surface; multiple marking points disposed on the base surface; and multiple Type A standard parts disposed on the surface of the base 200 and / or passing through at least two surfaces of the base 200, for calibrating the spatial accuracy of the 3D scanning equipment. Specifically, the base 200 has multiple outer surfaces and multiple inner surfaces, such as... Figure 2The first outer surface 401, the second outer surface 402, the third outer surface 403, and the first inner surface 404, the second inner surface 405, and the third inner surface 406 are provided. Specifically, the first outer surface 401 and the second outer surface 402 form convex surfaces, the second outer surface 402 and the third outer surface 403 form convex surfaces, and the first inner surface 404 and the third inner surface 406 form concave surfaces. Multiple marker points are set on the surface of the base 200. These marker points are used for data stitching of 3D data during scanning by the 3D scanning equipment to be calibrated. During calibration, the 3D scanning equipment performs 3D data scanning on the base 200 and the multiple A-type standard components. Based on the parameters of the multiple A-type standard components, the spatial accuracy of the 3D scanning equipment is calibrated. These multiple A-type standard components include, for example... Figure 2 The fourth type A standard component 204, the fifth type A standard component 205, the sixth type A standard component 206, and the seventh type A standard component 207 are shown. The fourth type A standard component 204 and the fifth type A standard component 205 are respectively disposed on the surface of the base 200. The sixth type A standard component 206 and the seventh type A standard component 207 pass through at least two surfaces of the base 200, with their two ends disposed on adjacent surfaces of the base surfaces they pass through, or disposed on the base surfaces they pass through. For example, the type A standard component can be a standard ball stick with standard balls at both ends. The type A standard component can also be a standard ball target holder with a laser tracker target ball or gauge block. Magnetic ball holders are fixed at designated positions on the base surface. The magnetic ball holders can be used to place metal standard balls or laser tracker target balls. The spatial distance between the target ball holders can be obtained through the laser tracker, which serves as a reference value for the center distance when placing the standard ball, equivalent to the function of a standard ball stick. It should be noted that the base 200 can be, for example, Figure 2 The cubic base shown has convex and concave surfaces, but other bases with convex and concave surfaces can also be used.

[0049] More specifically, the two ends of the fourth type A standard part 204 are respectively set on the second outer surface 402, and the middle part of the fourth type A standard part 204 is suspended, that is, the middle part of the fourth type A standard part 204 is not set on the second outer surface 402; the two ends of the fifth type A standard part 205 are respectively set on the third outer surface 403, and the middle part of the fifth type A standard part 205 is suspended, that is, the middle part of the fifth type A standard part 205 is not set on the third outer surface 403. Here, the second outer surface 402 and the third outer surface 403 can be L-shaped surfaces or C-shaped surfaces. The setting of the fourth type A standard part 204 and the fifth type A standard part 205 on the L-shaped surface or C-shaped surface of the base 200 is used to evaluate the scanning accuracy of the 3D scanning equipment to be calibrated during single-plane C-shaped transition stitching and spatial C-shaped transition stitching.

[0050] Furthermore, more specifically, the sixth type A standard part 206 passes through the first inner surface 404 and the second outer surface 402 respectively. One end of the sixth type A standard part 206 is disposed on the second inner surface 405, and the other end of the sixth type A standard part 206 is disposed on the second outer surface 402 after passing through it. That is, one end of the sixth type A standard part 206 is disposed on the second inner surface 405, which is adjacent to the first inner surface 404 of the base surface it passes through, and the other end of the sixth type A standard part 206 is disposed on the second outer surface 402 it passes through. The sixth type A standard part 206 passes through multiple surfaces of the base 200 to evaluate the scanning accuracy of the three-dimensional scanning device to be calibrated during cross-surface transition stitching. For example, when the sixth type A standard component 206 is a standard ball rod with standard balls at both ends, the standard ball rod passes through the first inner surface 404 and the second outer surface 402 respectively, and the standard balls at both ends of the standard ball rod are placed on two parallel spatial surfaces, the second inner surface 405 and the second outer surface 402 respectively. The seventh type A standard component 207 passes through the third outer surface 403, the third inner surface 406, the first inner surface 404 and the first outer surface 401 respectively. One end of the seventh type A standard component 207 is set on the third outer surface 403, and the other end is set on the first outer surface 401. That is, one end of the seventh type A standard component 207 is set on the third outer surface 403 through which it passes, and the other end of the seventh type A standard component 207 is set on the first outer surface 401 through which it passes. The seventh type A standard component passes through multiple surfaces of the base 200 to evaluate the scanning accuracy of the two connecting surfaces transition splicing or the multi-surface transition splicing of the 3D scanning device to be calibrated. For example, when the seventh type A standard part 207 is a standard ball with standard balls at both ends, the standard ball passes through the third outer surface 403, the third inner surface 406, the first inner surface 404 and the first outer surface 401 respectively, and the standard balls at both ends of the standard ball are placed on the first outer surface 401 and the third outer surface 403 respectively.

[0051] In this embodiment, by setting the type A standard part on the base surface or through at least two surfaces of the base, the device to be calibrated needs to perform transition splicing on multiple surfaces in space when splicing the data of the type A standard part. This allows for spatial accuracy calibration of the device to be calibrated, solving the problem that existing standard ball bars or standard ball plates placed on the same reference plane cannot calibrate the spatial accuracy of laser three-dimensional scanning equipment.

[0052] In some of these embodiments, such as Figure 3 As shown, the calibration device also includes multiple Type B standard parts, which are set on multiple surfaces of the base 200 for calibrating the spatial repeatability of the 3D scanning device to be calibrated.

[0053] Specifically, the various Type B standard parts mentioned here include, for example: Figure 3 The diagram shows a first type B standard part 301, a second type B standard part 302, a third type B standard part 303, a fourth type B standard part 304, a fifth type B standard part 305, a sixth type B standard part 306, a seventh type B standard part 307, and an eighth type B standard part 308. Specifically, the first type B standard part 301 is disposed on the first inner surface 404, the second type B standard part 302 is disposed on the second inner surface 405, the third type B standard part 303 is disposed on the third inner surface 406, the fourth type B standard part 304 is disposed on the second outer surface 402, the fifth type B standard part 305, the sixth type B standard part 306, and the seventh type B standard part 307 are disposed on the first outer surface 401, and the eighth type B standard part 308 is disposed on the third outer surface 403. Exemplarily, the type B standard parts can be standard balls, standard blocks, or other standard measuring components.

[0054] More specifically, the fifth type B standard part 305, the sixth type B standard part 306, and the seventh type B standard part 307 are configured to be non-collinear. These three non-collinear type B standard parts 305, 306, and 307 serve as reference parts. When calibrating the spatial repeatability of the 3D scanning equipment to be calibrated, they are used to establish the 3D spatial coordinate reference during scanning calibration, ensuring that the obtained spatial coordinates remain unchanged during each scanning measurement, thus achieving optimal fitting.

[0055] In this embodiment, by setting type B standard parts on different surfaces of the base, and using three non-collinear type B standard parts as a reference, a coordinate system is established to achieve spatial repeatability calibration of the three-dimensional scanning device to be calibrated.

[0056] In some embodiments, the base includes two mutually perpendicular surfaces, and at least two of the plurality of Type A standard parts are respectively disposed on the two mutually perpendicular surfaces of the base.

[0057] In some embodiments, the base includes two mutually perpendicular surfaces, and three mutually perpendicular A-type standard parts are disposed on the two mutually perpendicular surfaces. The three mutually perpendicular A-type standard parts are respectively disposed along the X, Y and Z directions in space to evaluate the scanning accuracy in the three directions of space.

[0058] Specifically, such as Figure 4 As shown, the base 200 includes two mutually perpendicular surfaces: a first outer surface 401 and a second outer surface 402. These three mutually perpendicular A-type standard parts, such as... Figure 4 The first type A standard component 201, the second type A standard component 202, and the third type A standard component 203 shown are respectively disposed on two mutually perpendicular first outer surfaces 401 and second outer surfaces 402 of the base 200. Specifically, the first type A standard component 201 and the second type A standard component 202 are perpendicularly disposed on the first outer surface 401, and the third type A standard component 203 is disposed on the second outer surface 402 and is perpendicular to both the first type A standard component 201 and the second type A standard component 202.

[0059] In some embodiments, marking points are affixed to the first outer surface 401 or the second outer surface 402 of the base 200 to achieve a transition splicing when evaluating the parameters of the first type A standard 201, the second type A standard 202, the third type A standard 203 and the fourth type A standard 204.

[0060] In some of these embodiments, such as Figure 5 As shown, marking points 502 are affixed to the first outer surface 401 of the base 200, the second outer surface 402, and the two L-shaped ends of the third outer surface 403 to achieve a transition splicing, in order to evaluate the parameters of the fifth type A standard part 205. For example... Figure 6 As shown, marking points 502 can also be affixed to a portion of the first outer surface 401 of the base 200, a portion of the second outer surface 402, a portion of the second inner surface 405, and a portion of the third inner surface 406 to achieve a transitional splicing, in order to evaluate the parameters of the fifth type A standard part 205. Marking points 502 are affixed to both ends of the L-shape of the third outer surface 403, but no marking points are affixed to the middle area of ​​the third outer surface 403.

[0061] In some of these embodiments, such as Figure 7 As shown, marking points 502 are affixed to a portion of the second outer surface 402 of the base 200, marking points 502 are affixed to the first inner surface 404, and marking points 502 are affixed to the second inner surface 405 to achieve a transitional splicing, in order to evaluate the parameters of the sixth type A standard part 206. For example... Figure 8As shown, marking points 502 are pasted on the second outer surface 402, the second inner surface 405, and the third inner surface 406 of the base 200 to achieve transition splicing, so as to evaluate the parameters of the sixth type A standard part 206.

[0062] In some of these embodiments, such as Figure 9 As shown, marking points 502 are affixed to the first outer surface 401 and the third outer surface 403 of the base 200 to achieve a transition splicing, in order to evaluate the parameters of the seventh type A standard part 207. Figure 10 As shown, marking points 502 are affixed to the first outer surface 401, the third outer surface 403, the first inner surface 404, and the third inner surface 406 of the base 200 to achieve transition splicing, in order to evaluate the parameters of the seventh type A standard part 207.

[0063] This application also provides a calibration device for calibrating a 3D scanning device, such as... Figure 11 As shown, the calibration device includes: a base 200 having a convex surface and a concave surface; multiple marking points disposed on the base surface; multiple type A standard parts disposed on the surface of the base 200 and / or passing through at least two surfaces of the base 200 for calibrating the spatial accuracy of the 3D scanning device; and multiple type B standard parts disposed on multiple surfaces of the base 200 for calibrating the spatial repeatability of the 3D scanning device to be calibrated.

[0064] Specifically, multiple Type A standard parts, including such as Figure 11 The diagram shows a first type A standard component 201, a second type A standard component 202, a third type A standard component 203, a fourth type A standard component 204, a fifth type A standard component 205, a sixth type A standard component 206, and a seventh type A standard component 207. The first type A standard component 201, the second type A standard component 202, the third type A standard component 203, the fourth type A standard component 204, and the fifth type A standard component 205 are respectively disposed on the surface of the base 200. The sixth type A standard component 206 and the seventh type A standard component 207 pass through at least two surfaces of the base 200, with their two ends disposed on adjacent surfaces of the base surfaces they pass through, or disposed on the base surfaces they pass through. Here, the type A standard component can be a standard baseball bat, and the marking point can be a reflective marking point. The arrangement of the type A standard components is as described in the previous embodiment and will not be repeated here.

[0065] The spatial placement of the seven standard ball bats allows for adjustment of the distance between the center of the standard ball and each surface, enabling evaluation of the scanning accuracy between the reflective marker plane and the center of the standard ball at different distances. In practical calibration applications, one or more of the seven positions can be selected for calibration based on specific needs. For accuracy evaluation of the spatial positions of the seven standard ball bats, reflective markers are pasted onto the corresponding surfaces as required. Different transition splicing methods result in different reflective marker layouts. The laser 3D scanning measurement equipment assesses spatial accuracy by scanning the standard ball bats in the spatial layout. Evaluation parameters include the size and shape detection errors of each standard ball, and the center-to-center distance and length measurement errors of each standard ball bat. Alternatively, standard ball bats can be replaced by standard ball target mounts with laser trackers or gauge blocks. Magnetic ball mounts are fixed at designated positions on the base surface. These magnetic ball mounts can hold metal standard balls or the target ball of the laser tracker. The laser tracker provides the spatial distance between the target ball mounts, serving as a reference value for the center-to-center distance when placing the standard ball, effectively functioning as a standard ball bat.

[0066] More specifically, several Type B standard parts include, for example... Figure 11 The first type B standard part 301, the second type B standard part 302, the third type B standard part 303, the fourth type B standard part 304, the fifth type B standard part 305, the sixth type B standard part 306, the seventh type B standard part 307, and the eighth type B standard part 308 are shown. Specifically, the first type B standard part 301 is disposed on the first inner surface 404, the second type B standard part 302 is disposed on the second inner surface 405, the third type B standard part 303 is disposed on the third inner surface 406, the fourth type B standard part 304 is disposed on the second outer surface 402, the fifth type B standard part 305, the sixth type B standard part 306, and the seventh type B standard part 307 are disposed on the first outer surface 401, and the eighth type B standard part 308 is disposed on the third outer surface 403. The arrangement of the type B standard parts is as described in the previous embodiments and will not be repeated here. The B-type standard part here can be a standard ball. The standard ball is a high-precision metal ball or ceramic ball with a matte finish. Different height differences are allowed between the center of the standard ball and the fixed surface.

[0067] For example, the base 200 is a cubic base, which is formed by splicing three thick surfaces. The cubic base is made of marble or a metal frame, and its overall stability ensures calibration measurements under complex conditions. The cubic base includes convex and concave transitions, such as the convex transition between the first outer surface 401 and the second outer surface 402, and the concave transition between the first inner surface 404 and the second inner surface 405, ensuring basic application characteristics. The 3D scanning equipment to be calibrated includes laser 3D scanning measurement equipment, tracking 3D scanning equipment, or photogrammetry, etc. In this embodiment, by setting type A standard parts on the base surface or through at least two surfaces of the base, the device to be calibrated needs to perform transitional splicing on multiple surfaces in space when stitching data of type A standard parts, thereby enabling spatial accuracy calibration of the device to be calibrated. By setting type B standard parts on different surfaces of the base, and establishing a coordinate system based on three non-collinear type B standard parts as references, the spatial repeatability calibration of the 3D scanning device to be calibrated is achieved. This solves the problem that existing standard ball bars or standard ball plates placed on the same reference plane cannot calibrate the spatial accuracy of laser 3D scanning devices, and realizes the evaluation of the measurement volume accuracy of laser 3D scanning measurement devices.

[0068] This application also provides a calibration system, which includes: a device to be calibrated and the calibration device described in the foregoing embodiments; the device to be calibrated scans the calibration device to calibrate the device.

[0069] This application also provides a calibration method, which is applied to the calibration system described in the foregoing embodiments. Figure 12 This is a flowchart of a calibration method according to an embodiment of this application, such as... Figure 11 and Figure 12 As shown, the process includes the following steps:

[0070] Step S210: The device to be calibrated scans the calibration device multiple times to obtain the coordinate values ​​of multiple Type B standard parts.

[0071] Specifically, the device to be calibrated here is a laser three-dimensional scanning measurement device. The fifth type B standard part 305, the sixth type B standard part 306, and the seventh type B standard part 307, which are not collinear, serve as reference parts for establishing the three-dimensional spatial coordinate reference during the laser three-dimensional scanning measurement device's calibration. The laser three-dimensional scanning measurement device performs multiple scans on the calibration device to obtain the three-dimensional coordinate values ​​of the first type B standard part 301, the second type B standard part 302, the third type B standard part 303, the fourth type B standard part 304, and the eighth type B standard part 308. Here, the type B standard part is a standard sphere.

[0072] Step S220: The device to be calibrated performs spatial repeatability calibration based on the coordinate values.

[0073] Specifically, the laser 3D scanning measurement equipment calculates the deviation value of the coordinate values ​​of multiple B-type standard parts based on the coordinate values ​​obtained from multiple scans, and calibrates the spatial repeatability of the equipment to be calibrated based on the deviation value.

[0074] More specifically, the laser 3D scanning measurement equipment performs multiple measurements on the calibration device. Using the coordinate system established by the fifth type B standard 305, the sixth type B standard 306, and the seventh type B standard 307 as a reference, it calculates the 3D coordinate values ​​of the first type B standard 301, the second type B standard 302, the third type B standard 303, the fourth type B standard 304, and the eighth type B standard 308. The first set of 3D coordinate values ​​calculated for these three types of standard components is used as the reference coordinate values. The 2nd to nth sets of 3D coordinate values ​​are then used as the reference for the first set of 3D coordinate values, and a common point transformation is performed to calculate the spatial repeatability. The spatial repeatability of the laser 3D scanning measurement equipment is evaluated by calculating the transformation accuracy of the repeated measurements of the type B standard components. The transformation accuracy δ of each type B standard component in the X, Y, Z axes and the direction of that point is calculated using the following formula. x δ y δ z δ t The root mean square error (RMSE) of all Type B standard parts in the X, Y, Z and position directions was calculated. x RMSE y RMSE z RMSE t .

[0075] δ xj =X ij -X 1j

[0076] δ yj =Y ij -Y 1j

[0077] δ zj =Z ij -Z 1j

[0078]

[0079]

[0080]

[0081]

[0082] Where i represents the number of measurements (i = 1, 2, ..., n), n represents the total number of measurements, j represents the type B standard part number (j = 1, 2, ..., m), and m represents the number of type B standard parts measured; X ij Let X be the coordinate of the j-th type B standard part in the i-th measurement along the X-axis. 1j Let δ be the coordinate of the j-th type B standard part in the X-axis direction of the first measurement. xj The conversion accuracy in the X-axis direction of the j-th type B standard part; Y ij Let Y be the Y-axis coordinate of the j-th type B standard part during the i-th measurement. 1j Let δ be the Y-axis coordinate of the j-th type B standard part during the first measurement. yj Z represents the conversion accuracy in the Y-axis direction of the j-th type B standard part; ij Let Z be the coordinate of the j-th type B standard part in the i-th measurement along the Z-axis. 1j Let δ be the coordinate of the j-th type B standard part in the Z-axis direction of the first measurement. zj The conversion accuracy in the Z-axis direction for the j-th type B standard part; RMSE xi The root mean square error (RMSE) in the X-axis direction for the i-th measurement of all Type B standard parts. yi The root mean square error (RMSE) in the Y-axis direction for the i-th measurement of all Type B standard parts. zi The root mean square error (RMSE) in the Z-axis direction for the i-th measurement of all Type B standard parts. ti denoted as the root mean square error in the position direction of the i-th measurement for all Type B standard parts.

[0083] In this embodiment, the device to be calibrated calculates the deviation value of the coordinate values ​​of multiple B-type standard parts obtained from multiple scans, and calibrates the spatial repeatability of the device to be calibrated based on the deviation value, thereby achieving the calibration of the spatial repeatability of the 3D scanning device to be calibrated.

[0084] This application also provides a calibration method, which is applied to the calibration system described in the foregoing embodiments. Figure 13 This is a flowchart of another calibration method according to an embodiment of this application, such as... Figure 11 and Figure 13 As shown, the process includes the following steps:

[0085] Step S310: The device to be calibrated scans the calibration device to obtain parameter values ​​of multiple Type A standard parts.

[0086] Specifically, the device to be calibrated here is a laser 3D scanning measurement device. The laser 3D scanning measurement device scans the calibration device to obtain parameter values ​​for multiple Type A standard parts. These Type A standard parts are standard ball rods with standard spheres at both ends. The parameter values ​​include the measured dimensions of the standard spheres, the measured shape of the standard spheres, the distance between the centers of the standard ball rods, and the measured length of the standard ball rod.

[0087] Step S320: The device to be calibrated calibrates the spatial accuracy of the device to be calibrated according to the parameter values.

[0088] Specifically, the device to be calibrated compares the parameter values ​​of multiple standard bats obtained through measurement with their traceability reference values ​​to obtain the measurement deviation of each parameter, namely, size detection error, shape detection error, ball center distance measurement error, and length measurement error. Based on the measurement deviation of each parameter, the spatial accuracy of the device to be calibrated is evaluated or calibrated.

[0089] It should be noted that, as Figure 14 As shown, five Type A standard parts—the first Type A standard part 201, the second Type A standard part 202, the third Type A standard part 203, the fifth Type A standard part 205, and the sixth Type A standard part 206—can be selected to evaluate the spatial accuracy of the equipment to be calibrated. Marking points 502 are affixed to the first outer surface 401, the second outer surface 402, the second inner surface 405, and the third inner surface 406, respectively. Simultaneously, some marking points 502 are affixed to both ends of the third outer surface 403. These marking points are reflective marking points, and their layout ensures that the equipment to be calibrated can completely scan the Type A standard parts placed in the calibration device. Using the equipment to be calibrated, starting from the first outer surface 401, the equipment is spliced ​​and transitioned through the reflective marking points affixed to the calibration device, ultimately completing the scanning measurement of the five selected Type A standard parts. The surface point cloud data of the calibration device is obtained. Fitting calculations are performed on each Type A standard part to obtain the measured values ​​of the standard sphere's size and shape, the center distance of the standard ball, and the length of the standard ball. The measurement deviation of each parameter is obtained by comparing it with its traceability reference value, namely the size detection error, shape detection error, sphere center distance measurement error and length measurement error. The calibration device is repeatedly measured to obtain multiple sets of measurement error values, and the maximum value of each value is taken to characterize the accuracy performance of the device in the spatial volume.

[0090] In this embodiment, by setting the type A standard component on the base surface or through at least two surfaces of the base, the device to be calibrated needs to perform transition splicing on multiple surfaces in space when splicing the data of the type A standard component. This allows for spatial accuracy calibration of the device to be calibrated, solving the problem that existing standard ball bars or standard ball plates placed on the same reference plane cannot calibrate the spatial accuracy of laser three-dimensional scanning equipment. This enables the evaluation of the accuracy within the measurement volume of laser three-dimensional scanning measurement equipment.

[0091] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0092] This embodiment also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0093] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0094] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0095] S1, the device to be calibrated scans the calibration device multiple times to obtain the coordinate values ​​of multiple B-type standard parts;

[0096] S2, the device to be calibrated calibrates the spatial repeatability of the device to be calibrated according to the coordinate values.

[0097] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0098] Q1, the device to be calibrated scans the calibration device to obtain parameter values ​​of multiple Type A standard parts;

[0099] Q2, the device to be calibrated calibrates the spatial accuracy of the device to be calibrated according to the parameter values.

[0100] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0101] Furthermore, in conjunction with the calibration method provided in the above embodiments, this embodiment can also provide a storage medium for implementation. The storage medium stores a computer program; when executed by a processor, the computer program implements the steps of any of the calibration methods in the above embodiments.

[0102] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0103] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0104] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0105] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A calibration device for calibrating a three-dimensional scanning device, characterized in that, The calibration device includes: The base has a convex surface and a concave surface; the base is a cubic base. Multiple marker points are set on the surface of the base; Multiple Type A standard parts are disposed on the surface of the base and / or through at least two surfaces of the base, for calibrating the spatial accuracy of the three-dimensional scanning device; the Type A standard parts are standard ball-and-stick components. The base includes a first outer surface, a second outer surface, a third outer surface, a first inner surface, a second inner surface, and a third inner surface; The plurality of Type A standard parts includes Type 5 Type A standard part, Type 6 Type A standard part, and Type 7 Type A standard part; The two ends of the fifth type A standard part are respectively set on the third outer surface, and the middle part of the fifth type A standard part is suspended; the second outer surface and the third outer surface are L-shaped surfaces; the fifth type A standard part is set on the L-shaped surface of the base to evaluate the scanning accuracy of the three-dimensional scanning equipment to be calibrated during the C-shaped transition splicing in space, or to evaluate the scanning accuracy during the transition splicing from one end of the L-shape of the third outer surface, the first outer surface, the second inner surface, the third inner surface, the second outer surface, to the other end of the L-shape of the third outer surface; The sixth type A standard part passes through the first inner surface and the second outer surface respectively. One end of the sixth type A standard part is set on the second inner surface, and the other end of the sixth type A standard part is set on the second outer surface after passing through it. The sixth type A standard part passes through multiple surfaces of the base to evaluate the scanning accuracy of the three-dimensional scanning equipment to be calibrated during cross-surface transition stitching. The Type 7A standard part passes through the third outer surface, the third inner surface, the first inner surface, and the first outer surface respectively. One end of the Type 7A standard part is set on the third outer surface, and the other end is set on the first outer surface. The Type 7A standard part passes through multiple surfaces of the base to evaluate the scanning accuracy of the two connecting surfaces of the 3D scanning device to be calibrated during transition splicing or transition splicing across multiple surfaces. Transition splicing is achieved by attaching marking points on the first outer surface, the second outer surface, and the two ends of the L-shape on the third outer surface of the base; or, transition splicing is achieved by attaching marking points on a portion of the first outer surface, a portion of the second outer surface, the two ends of the L-shape on the third outer surface, the second inner surface, and the third inner surface of the base, in order to evaluate the parameters of the fifth type A standard part. Marking points are affixed to a portion of the second outer surface of the base, the first inner surface, and the second inner surface to achieve a transitional splicing, in order to evaluate the parameters of the sixth type A standard part; Marking points are affixed to the first and third outer surfaces of the base to achieve transition splicing, or marking points are affixed to the first, third, first, and third inner surfaces of the base to achieve transition splicing, in order to evaluate the parameters of the Type 7A standard part; When calibrating the three-dimensional scanning device using the calibration device, one or more standard baseball bat spatial placement positions are selected for calibration.

2. The calibration device of claim 1, wherein, The calibration device also includes: Multiple Type B standard parts are set on multiple surfaces of the base for calibrating the spatial repeatability of the 3D scanning device to be calibrated.

3. The calibration device of claim 2, wherein, The type A standard component is a standard ball stick with standard balls at both ends, and / or the type B standard component is a standard ball.

4. The calibration device of claim 1, wherein, The base includes an L-shaped surface or a C-shaped surface, and the two ends of the A-type standard part are disposed at both ends of the L-shaped surface or the C-shaped surface.

5. The calibration device according to claim 1, characterized in that, The base includes two mutually perpendicular surfaces, and at least two of the plurality of type A standard parts are respectively disposed on the two mutually perpendicular surfaces of the base.

6. The calibration device according to claim 2, characterized in that, Three non-collinear Type B standard parts are provided on one surface of the base.

7. A calibration system, characterized in that, The calibration system includes: the device to be calibrated and the calibration apparatus as described in any one of claims 1 to 6; The device to be calibrated scans the calibration device to calibrate the device.

8. A calibration method, characterized in that, The method is applied to the calibration system of claim 7, and the method includes: The device to be calibrated scans the calibration device multiple times to obtain the coordinate values ​​of multiple Type B standard parts; The device to be calibrated calibrates its spatial repeatability based on the coordinate values.

9. The calibration method according to claim 8, characterized in that, The device to be calibrated is calibrated for spatial repeatability based on the coordinate values, including: The device to be calibrated calculates the deviation value of the coordinate values ​​of the multiple B-type standard parts obtained from multiple scans, and calibrates the spatial repeatability of the device to be calibrated based on the deviation value.

10. A calibration method, characterized in that, The method is applied to the calibration system of claim 7, and the method includes: The device to be calibrated scans the calibration device to obtain parameter values ​​of multiple Type A standard parts; The device to be calibrated calibrates its spatial accuracy based on the parameter values.

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