Three-dimensional calibration method, device, storage medium and electronic device based on galvanometer

Abstract

The present invention relates to a three-dimensional calibration method, device, storage medium and electronic device based on a galvanometer, comprising: constructing a calibration system including an active tracking subsystem, a dynamic camera subsystem and a dynamic laser subsystem; for each calibration object, controlling the active tracking subsystem to shoot the calibration object so that the calibration object is kept at the center of the shooting, obtaining the galvanometer voltage value and the pixel information of the center of the calibration object shot; based on the horizontal galvanometer voltage value and X-axis pixel information of the calibration object shot before and after, calculating the horizontal galvanometer voltage offset and X-axis pixel offset, and calibrating the horizontal offset coefficient based on the horizontal galvanometer voltage offset and X-axis pixel offset; based on the rotation galvanometer voltage value and Y-axis pixel information of the calibration object shot before and after, calculating the rotation galvanometer voltage offset and Y-axis pixel offset, and calibrating the vertical offset coefficient based on the rotation galvanometer voltage offset and Y-axis pixel offset. The calibration efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the field of visual measurement technology, and in particular to a three-dimensional calibration method, device, storage medium and electronic equipment based on a galvanometer. Background Art

[0002] Line laser three-dimensional (3D) vision measurement systems are widely used in railway traffic monitoring, medical imaging, robotics and industrial production due to their high adaptability, high measurement accuracy and low cost. However, most existing line laser 3D vision measurement systems are used for the 3D reconstruction of stationary targets and are difficult to handle the 3D reconstruction of moving targets. In order to expand the application areas of line laser 3D vision systems, such as industrial online detection, robot grasping navigation, motion analysis, etc., the line laser 3D vision measurement system is improved, and a tracking and reconstruction system based on three galvanometers is proposed. By real-time tracking and feeding back motion information to the 3D reconstruction system, the tracking and 3D reconstruction of moving targets can be achieved based on the line laser principle. However, in order to achieve high-precision 3D reconstruction of the tracking and reconstruction system, the calibration of the system is the key, including: calibration of the active tracking subsystem based on the galvanometer, calibration of the dynamic laser subsystem based on the galvanometer, calibration of the dynamic camera based on the galvanometer, and the joint calibration of the three.

[0003] For the calibration of the active tracking subsystem based on the galvanometer, the calibration method based on three-dimensional calibration objects is generally used. Since a large number of spatial position markers need to be selected, the implementation is complicated. For the calibration of the dynamic laser subsystem based on the galvanometer, the calibration process based on mathematical models is currently used. The model is complex and difficult to optimize, and the calibration accuracy is low. For the calibration method of the dynamic camera based on the galvanometer, a calibration method based on a neural network is adopted, using an end-to-end single hidden layer feedforward neural network model. The calculation is relatively complex and the calibration efficiency is low. Summary of the invention

[0004] In view of this, the present invention provides a three-dimensional calibration method, device, storage medium and electronic device based on a galvanometer.

[0005] Specifically, the present invention is achieved through the following technical solutions:

[0006] According to a first aspect of the present invention, a galvanometer-based three-dimensional calibration method is provided, and the galvanometer-based three-dimensional calibration method comprises:

[0007] Construct a calibration system based on tracking and reconstruction of three galvanometers, including an active tracking subsystem, a dynamic camera subsystem, and a dynamic laser subsystem, wherein the active tracking subsystem includes: a first galvanometer assembly and a first camera, wherein the first galvanometer assembly includes a horizontal first lens and a rotating first lens;

[0008] For each calibration object set on the calibration board, control the first camera of the active tracking subsystem to shoot the calibration object so that the calibration object is kept at the center of the shooting, obtain the galvanometer voltage value of the calibration object and the pixel information of the center of the calibration object shot, the galvanometer voltage value includes: the horizontal galvanometer voltage value of the horizontal first lens of the first galvanometer assembly and the rotating galvanometer voltage value of the rotating first lens, and the pixel information includes: X-axis pixel information and Y-axis pixel information;

[0009] Based on the horizontal galvanometer voltage value and X-axis pixel information of the calibration object photographed before and after, calculating the horizontal galvanometer voltage offset and the X-axis pixel offset, and calibrating the horizontal offset coefficient based on the horizontal galvanometer voltage offset and the X-axis pixel offset;

[0010] Based on the rotating galvanometer voltage value and Y-axis pixel information of the calibration object photographed before and after, the rotating galvanometer voltage offset and the Y-axis pixel offset are calculated, and based on the rotating galvanometer voltage offset and the Y-axis pixel offset, the vertical offset coefficient is calibrated.

[0011] According to a second aspect of the present invention, a three-dimensional calibration device based on a galvanometer is provided, and the three-dimensional calibration device based on the galvanometer comprises:

[0012] The calibration system construction module is used to construct a calibration system based on tracking and reconstruction of three galvanometers, including an active tracking subsystem, a dynamic camera subsystem, and a dynamic laser subsystem, wherein the active tracking subsystem includes: a first galvanometer assembly and a first camera, wherein the first galvanometer assembly includes a horizontal first lens and a rotating first lens;

[0013] The calibration parameter acquisition module is used to control the first camera of the active tracking subsystem to shoot each calibration object set on the calibration board so that the calibration object is kept at the center of the shooting, and obtain the galvanometer voltage value of the calibration object and the pixel information of the center of the calibration object shot, wherein the galvanometer voltage value includes: the horizontal galvanometer voltage value of the horizontal first lens of the first galvanometer assembly and the rotating galvanometer voltage value of the rotating first lens, and the pixel information includes: X-axis pixel information and Y-axis pixel information;

[0014] A first offset coefficient calibration module, used to calculate a horizontal galvanometer voltage offset and an X-axis pixel offset based on a horizontal galvanometer voltage value and X-axis pixel information of a calibration object photographed before and after, and calibrate a horizontal offset coefficient based on the horizontal galvanometer voltage offset and the X-axis pixel offset;

[0015] The second offset coefficient calibration module is used to calculate the rotating galvanometer voltage offset and the Y-axis pixel offset based on the rotating galvanometer voltage value and the Y-axis pixel information of the calibration object taken before and after, and calibrate the vertical offset coefficient based on the rotating galvanometer voltage offset and the Y-axis pixel offset.

[0016] According to a third aspect of the present invention, there is provided a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the galvanometer-based three-dimensional calibration method in any possible implementation of the first aspect.

[0017] According to a fourth aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the galvanometer-based three-dimensional calibration method in any possible implementation of the first aspect are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 A schematic diagram of a flow chart of a galvanometer-based three-dimensional calibration method provided in an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of calibrating an offset coefficient in a galvanometer-based three-dimensional calibration method provided in an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of calibration of a dynamic camera subsystem in a galvanometer-based three-dimensional calibration method provided in an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of dynamic 3D reconstruction calibration in a galvanometer-based three-dimensional calibration method provided in an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of each coordinate system in a galvanometer-based three-dimensional calibration method provided in an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of 3D motion compensation calibration in a galvanometer-based three-dimensional calibration method provided in an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of a galvanometer-based three-dimensional calibration device provided in an embodiment of the present invention;

[0027] Figure 8A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1 The embodiment of the present invention provides a three-dimensional calibration method based on a galvanometer, which may include the following steps:

[0030] S101, constructing a three-galvanometer-based tracking and reconstruction calibration system including an active tracking subsystem, a dynamic camera subsystem, and a dynamic laser subsystem, wherein the active tracking subsystem includes: a first galvanometer assembly and a first camera, wherein the first galvanometer assembly includes a horizontal first lens and a rotating first lens;

[0031] In this embodiment, the calibration system based on the galvanometer, that is, the calibration system based on tracking and reconstruction of the galvanometer, includes an active tracking subsystem, a dynamic camera subsystem, and a dynamic laser subsystem.

[0032] In this embodiment, as an optional embodiment, the active tracking subsystem is used to track the moving target, and the dynamic camera subsystem and the dynamic laser subsystem are used to realize the dynamic three-dimensional reconstruction of the moving target. Among them, the active tracking subsystem tracks the moving target, and feeds back the acquired target position information of the moving target to the dynamic laser subsystem. The third galvanometer component in the dynamic laser subsystem adjusts the position of the horizontal third lens and the rotational third lens according to the target position information, controls the laser projection onto the moving target, and scans periodically. The dynamic camera subsystem collects the moving target image with laser stripe information according to the laser reflected by the moving target, and calculates the 3D information of the moving target based on the pre-set mathematical model and the pre-acquired calibration, the collected moving target image and the voltage value of the third galvanometer component in the dynamic laser subsystem.

[0033] S102, for each calibration object set on the calibration board, control the first camera of the active tracking subsystem to shoot the calibration object so that the calibration object is kept at the center of the shooting, obtain the galvanometer voltage value of the calibration object and the pixel information of the center of the calibration object shot, the galvanometer voltage value includes: the horizontal galvanometer voltage value of the horizontal first lens of the first galvanometer assembly and the rotating galvanometer voltage value of the rotating first lens, and the pixel information includes: X-axis pixel information and Y-axis pixel information;

[0034] In this embodiment, the world coordinate system constructed based on the calibration plate is {W}, where the origin of the world coordinate system is the upper left vertex of the calibration plate, the X-axis and the Y-axis are respectively along the two sides of the calibration plate, and the Z-axis is perpendicular to the calibration plate plane formed by the X-axis and the Y-axis.

[0035] In this embodiment, as an optional embodiment, a pre-set motion target detection algorithm is used, for example, a continuous frame difference detection method, a background difference detection method, an optical flow detection method and a motion energy detection method, to obtain pixel information of the center of the calibration object.

[0036] In this embodiment, as an optional embodiment, the calibration object set on the calibration board is a Quick Response (QR) code.

[0037] In this embodiment, as an optional embodiment, taking the calibration plate with 4x5 QR codes as an example, shooting is performed in order from left to right and from top to bottom, and the galvanometer voltage value and the center pixel information of the calibration object when the first QR code is located in the imaging center, the galvanometer voltage value and the center pixel information of the calibration object when the second QR code is located in the imaging center, ..., the galvanometer voltage value and the center pixel information of the calibration object when the twentieth QR code is located in the imaging center are recorded in sequence.

[0038] In this embodiment, as an optional embodiment, the galvanometer voltage value includes: a horizontal galvanometer voltage value and a rotating galvanometer voltage value, wherein the horizontal galvanometer voltage value corresponds to the horizontal first mirror, and the rotating galvanometer voltage value corresponds to the rotating first mirror.

[0039] S103, calculating a horizontal galvanometer voltage offset and an X-axis pixel offset based on the horizontal galvanometer voltage value and X-axis pixel information of the calibration object photographed before and after, and calibrating a horizontal offset coefficient based on the horizontal galvanometer voltage offset and the X-axis pixel offset;

[0040] In this embodiment, the galvanometer voltage offset is calculated based on the galvanometer voltage value when the second QR code is photographed so that it is located at the center of the imaging and the galvanometer voltage value when the first QR code is photographed so that it is located at the center of the imaging, and the pixel offset is calculated based on the center pixel information of the calibration object when the second QR code is photographed so that it is located at the center of the imaging and the galvanometer voltage value when the first QR code is photographed so that it is located at the center of the imaging.

[0041] S104, calculating the rotating galvanometer voltage offset and the Y-axis pixel offset based on the rotating galvanometer voltage value and the Y-axis pixel information of the calibration object photographed before and after, and calibrating the vertical offset coefficient based on the rotating galvanometer voltage offset and the Y-axis pixel offset.

[0042] In this embodiment, the active tracking subsystem calibration includes: calibrating the horizontal offset coefficient and the vertical offset coefficient of the first galvanometer assembly.

[0043] Figure 2 A schematic diagram of calibrating an offset coefficient in a three-dimensional calibration method based on a galvanometer provided in an embodiment of the present invention. Figure 2 As shown, camera-1 is the first camera, and galvanometer-1 is the first galvanometer assembly. By controlling the first galvanometer assembly to detect the QR code on the calibration board, the galvanometer voltage value and the corresponding pixel information when each QR code is photographed are recorded, and the offset coefficient is calculated based on the galvanometer voltage value and the corresponding pixel information, thereby realizing the calibration of the offset coefficient. In this embodiment, the active tracking subsystem calibration includes: calibrating the horizontal offset coefficient and the vertical offset coefficient of the first galvanometer assembly.

[0044] In this embodiment, as an optional embodiment, the offset coefficient is calibrated using the following formula:

[0045]

[0046]

[0047] Where α is the horizontal offset coefficient of the first galvanometer assembly, x i is the X-axis pixel information of the previous frame (the center of the calibration object corresponding to the image), x0 is the X-axis pixel information of the current frame, and U pan-1i is the horizontal galvanometer voltage value of the horizontal first lens corresponding to the previous frame, U pan-10 is the horizontal galvanometer voltage value of the horizontal first lens corresponding to the current frame, and n is the number of frames minus 1;

[0048] β is the vertical offset coefficient of the first galvanometer assembly, y i is the Y-axis pixel information of the previous frame, y0 is the Y-axis pixel information of the current frame, U tilt-1i is the voltage value of the rotating galvanometer of the first rotating mirror corresponding to the previous frame, U tilt-10 It is the rotating galvanometer voltage value of the rotating first mirror corresponding to the current frame.

[0049] In this embodiment, for the active tracking subsystem, when performing 3D reconstruction, it is necessary to keep the center of the tracked moving target at the center of the image. As an optional embodiment, the method further includes:

[0050] Controlling the first camera of the active tracking subsystem to shoot a moving target;

[0051] Obtaining the change value of the X-axis pixel information and the change value of the Y-axis pixel information of the moving target in the previous and next frames of shooting the moving target;

[0052] Calculate the product of the change value of the X-axis pixel information and the horizontal offset coefficient to obtain a horizontal galvanometer voltage adjustment value of the horizontal first lens;

[0053] Calculate the product of the change value of the Y-axis pixel information and the vertical offset coefficient to obtain a rotating galvanometer voltage adjustment value for rotating the first lens;

[0054] The horizontal galvanometer voltage value of the horizontal first mirror is adjusted according to the horizontal galvanometer voltage adjustment value, and the rotating galvanometer voltage value of the vertical first mirror is adjusted according to the rotating galvanometer voltage adjustment value.

[0055] In this embodiment, the galvanometer voltage of the first galvanometer assembly can be adjusted based on the offset of the pixel information of the center of the moving target in the previous and next frames and the offset coefficient of the first galvanometer assembly to keep the center of the moving target at the center of the captured image.

[0056] In this embodiment, as an optional embodiment, the voltage of the first galvanometer assembly is adjusted using the following formula:

[0057]

[0058] In the formula, Δx pi ,Δy pi They are respectively the X-axis offset (the change value of the X-axis pixel information) and the Y-axis offset (the change value of the Y-axis pixel information) of the pixel information of the moving target center in the previous and next frames;

[0059] ΔU 1-pan is the voltage variation of the horizontal first mirror in the front and rear frames (horizontal galvanometer voltage adjustment value), ΔU 1-tilt It is the variable voltage of rotating the first mirror in the front and rear frames (vertical galvanometer voltage adjustment value).

[0060] In this embodiment, as an optional embodiment, the dynamic camera subsystem includes: a second galvanometer assembly and a second camera, the second galvanometer assembly includes a horizontal second lens and a rotating second lens, and the method further includes:

[0061] For each calibration object set on the calibration board, control the first camera of the first galvanometer assembly to shoot the calibration object, and obtain the galvanometer voltage value when the calibration object is at the imaging center; and control the second camera of the second galvanometer assembly to shoot the calibration object, and obtain the galvanometer voltage value when the calibration object is at the imaging center;

[0062] Based on each calibration object, a first galvanometer voltage value matrix of the first galvanometer assembly is constructed according to the obtained galvanometer voltage value of the first galvanometer assembly, and a second galvanometer voltage value matrix of the second galvanometer assembly is constructed according to the obtained galvanometer voltage value of the second galvanometer assembly;

[0063] Based on the first galvanometer voltage value matrix and the second galvanometer voltage value matrix, a first voltage conversion coefficient matrix between the first galvanometer assembly and the second galvanometer assembly is obtained.

[0064] In this embodiment, the calibration of the dynamic camera subsystem includes calibrating a first voltage conversion coefficient matrix between the first galvanometer assembly and the second galvanometer assembly.

[0065] Figure 3 A schematic diagram of the calibration of a dynamic camera subsystem in a galvanometer-based three-dimensional calibration method provided in an embodiment of the present invention. Figure 3 As shown, camera-2 is the second camera, and galvanometer-2 is the second galvanometer assembly. By controlling the galvanometer assembly, for the active tracking subsystem and the dynamic camera subsystem, the QR code on the calibration board is at the imaging center. For example, for the dynamic laser subsystem, the laser is projected at the center of the QR code. The galvanometer voltage values ​​of the first galvanometer assembly and the second galvanometer assembly corresponding to each QR code are recorded, and the following formula is used to solve the problem, and the first voltage conversion coefficient matrix can be obtained, thereby realizing the calibration of the first voltage conversion coefficient matrix.

[0066] In this embodiment, as another optional embodiment, the dynamic laser subsystem includes: a third galvanometer assembly and a laser, the third galvanometer assembly includes a horizontal third lens and a rotating third lens, and the method further includes:

[0067] For each calibration object set on the calibration board, control the third galvanometer assembly to shoot the calibration object, obtain the galvanometer voltage value of the calibration object when it is at the imaging center, and construct a third galvanometer voltage value matrix of the third galvanometer assembly based on each calibration object and the obtained galvanometer voltage value of the third galvanometer assembly;

[0068] Based on the first galvanometer voltage value matrix and the third galvanometer voltage value matrix, a second voltage conversion coefficient matrix between the first galvanometer assembly and the third galvanometer assembly is obtained.

[0069] In this embodiment, the calibration of the first voltage conversion coefficient matrix and the calibration of the second voltage conversion coefficient matrix constitute active projection calibration.

[0070] In this embodiment, for any point in space, when the motion of the point is tracked, the point is required to be at the imaging center of the three galvanometers (the first galvanometer assembly, the second galvanometer assembly, and the third galvanometer assembly), that is, the voltage relationship between the first galvanometer assembly, the second galvanometer assembly, and the third galvanometer assembly satisfies the following formula:

[0071]

[0072] Where U 1-pan is the horizontal galvanometer voltage value of the horizontal first lens in the first galvanometer assembly, U 1-tiltis the voltage value of the rotating galvanometer when the first lens is rotated in the first galvanometer assembly, U 2-pan is the horizontal galvanometer voltage value of the second mirror in the second galvanometer assembly, U 2-tilt is the voltage value of the rotating galvanometer when the second mirror is rotated in the second galvanometer assembly, U 3-pan is the horizontal galvanometer voltage value of the third mirror in the third galvanometer assembly, U 3-tilt is the rotating galvanometer voltage value of rotating the third lens in the third galvanometer assembly, T1 is the first voltage conversion coefficient matrix between the first galvanometer assembly and the second galvanometer assembly, T2 is the second voltage conversion coefficient matrix between the first galvanometer assembly and the third galvanometer assembly, a1, b1, c1, a2, b2, c2 are conversion coefficients of the first voltage conversion coefficient matrix.

[0073] In this embodiment, active projection calibration includes: calibrating a first voltage conversion coefficient matrix between the first galvanometer assembly and the second galvanometer assembly, and a second voltage conversion coefficient matrix between the first galvanometer assembly and the third galvanometer assembly. The first voltage conversion coefficient matrix and the second voltage conversion coefficient matrix are both 3×3 matrices, and each coefficient matrix contains 6 unknowns, which need to be calibrated to obtain specific values ​​of the 6 unknowns.

[0074] In this embodiment, taking the calibration plate containing 5 QR codes as an example, for each QR code, the galvanometer voltage of the QR code at the imaging center of the first galvanometer component, the galvanometer voltage of the third galvanometer component when the laser is projected at the center of the QR code, and the galvanometer voltage of the QR code at the imaging center of the second galvanometer component are respectively obtained, and a galvanometer voltage value matrix is ​​generated based on each galvanometer voltage. Taking the first galvanometer voltage value matrix as an example, the first galvanometer voltage value matrix can be expressed as follows:

[0075]

[0076] In the formula, U 1-pan3 For example, it represents the galvanometer voltage of the third QR code at the imaging center of the first galvanometer assembly.

[0077] In this embodiment, as another optional embodiment, the method further includes:

[0078] According to the horizontal galvanometer voltage adjustment value of the horizontal first lens, the rotational galvanometer voltage adjustment value of the vertical first lens and the first galvanometer voltage value matrix, the horizontal galvanometer voltage adjustment value of the horizontal second lens and the rotational galvanometer voltage adjustment value of the rotational second lens are obtained;

[0079] According to the horizontal galvanometer voltage adjustment value of the horizontal first lens, the rotational galvanometer voltage adjustment value of the vertical first lens and the second galvanometer voltage value matrix, the horizontal galvanometer voltage adjustment value of the horizontal third lens and the rotational galvanometer voltage adjustment value of the rotational third lens are obtained;

[0080] Adjusting the horizontal galvanometer voltage value of the horizontal second lens according to the horizontal galvanometer voltage adjustment value of the horizontal second lens, and adjusting the rotating galvanometer voltage value of the vertical second lens according to the rotating galvanometer voltage adjustment value of the vertical second lens;

[0081] The horizontal galvanometer voltage value of the horizontal third lens is adjusted according to the horizontal galvanometer voltage adjustment value of the horizontal third lens, and the rotating galvanometer voltage value of the vertical third lens is adjusted according to the rotating galvanometer voltage adjustment value of the vertical third lens.

[0082] In this embodiment, the dynamic camera subsystem and the dynamic laser subsystem are used to realize dynamic three-dimensional reconstruction. Among them, the active tracking subsystem tracks the moving target, and feeds back the acquired target position information of the moving target to the dynamic laser subsystem. The third galvanometer component in the dynamic laser subsystem adjusts the position of the horizontal third lens and the rotational third lens according to the target position information, controls the laser projection onto the moving target, and scans periodically. The dynamic camera subsystem collects the moving target image with laser stripe information according to the laser reflected by the moving target, and calculates the 3D information of the moving target based on the pre-set mathematical model and the pre-acquired calibration, the collected moving target image and the voltage value of the third galvanometer component in the dynamic laser subsystem.

[0083] In this embodiment, as another optional embodiment, the method further includes:

[0084] Control the dynamic camera subsystem to make the laser scan the grid calibration plate at multiple positions, and use the second camera of the dynamic camera subsystem to capture the laser image, and calibrate the first parameter and the second parameter of the dynamic camera according to the captured laser image, wherein the first parameter is the distance from the optical center of the camera to the center of the horizontal lens of the galvanometer, and the second parameter is the distance from the center of the horizontal lens of the galvanometer to the center of the tilted lens of the galvanometer; and / or,

[0085] Controlling the dynamic camera subsystem to make the laser scan the checkerboard calibration plate at multiple positions, and taking a laser image through a second camera of the dynamic camera subsystem, and calibrating the rotation axis of the laser plane according to the taken laser image; and / or,

[0086] Control the dynamic camera subsystem and the dynamic laser subsystem, scan the spherical calibration plate, and jointly calibrate the dynamic laser subsystem and the dynamic camera subsystem.

[0087] In this embodiment, the first parameter and the second parameter calibration, the rotation axis calibration of the laser plane and the joint calibration constitute the dynamic 3D reconstruction calibration. That is, the dynamic 3D reconstruction calibration includes: the calibration of the distance from the optical center of the camera to the center of the galvanometer horizontal lens, the calibration of the distance from the center of the galvanometer horizontal lens to the center of the galvanometer tilt lens, the calibration of the rotation axis of the laser plane and the joint calibration of the dynamic laser subsystem and the dynamic camera subsystem.

[0088] Figure 4 A schematic diagram of dynamic 3D reconstruction calibration in a galvanometer-based three-dimensional calibration method provided in an embodiment of the present invention. Figure 4 As shown, galvanometer-3 is the third galvanometer assembly, the calibration plate corresponding to step 3.1 is the grid calibration plate, the calibration plate corresponding to step 3.2 is the chessboard calibration plate, and the calibration plate corresponding to step 3.3 is the sphere calibration plate.

[0089] In this embodiment, as an optional embodiment, taking the dynamic camera subsystem as an example, the dynamic camera subsystem is controlled to make the laser scan the checkerboard calibration plate at multiple positions, and the laser image is captured by the camera of the dynamic camera subsystem, and the rotation axis of the laser plane is calibrated based on the captured laser image.

[0090] In this embodiment, while calibrating the rotation axis of the laser plane, the dynamic camera subsystem and the dynamic laser subsystem are controlled to scan the spherical calibration plate to complete the joint calibration of the dynamic laser subsystem and the dynamic camera subsystem.

[0091] In this embodiment, for the calibration of the distance from the optical center of the camera to the center of the galvanometer horizontal lens, the calibration of the distance from the center of the galvanometer horizontal lens to the center of the galvanometer tilted lens, the calibration of the rotation axis of the laser plane, and the joint calibration of the dynamic laser subsystem and the dynamic camera subsystem, please refer to the relevant technical literature and the detailed description is omitted here.

[0092] In this embodiment, as an optional embodiment, the method further includes:

[0093] Control the first galvanometer assembly and the second galvanometer assembly to synchronously scan each grid object on the grid calibration plate, obtain the galvanometer voltage value of the grid object photographed by the active tracking subsystem, and obtain the galvanometer voltage value of the grid object photographed by the dynamic camera subsystem;

[0094] Obtain the center coordinates of the grid object on the grid calibration plate;

[0095] Based on the galvanometer voltage value of the grid object photographed by the active tracking subsystem, the galvanometer voltage value of the grid object photographed by the dynamic camera subsystem and the center coordinates of the grid object, the linear parameters are solved using the relationship between the motion coordinates and the voltage of the first galvanometer component.

[0096] Figure 5Schematic diagram of various coordinate systems in a three-dimensional calibration method based on a galvanometer provided in an embodiment of the present invention. Figure 5 As shown, in this embodiment, as an optional embodiment, the world coordinate system constructed based on the calibration plate is assumed to be {W}, wherein the origin of the world coordinate system is the upper left vertex of the calibration plate, the X-axis and the Y-axis are respectively along the two sides of the calibration plate, and the Z-axis is perpendicular to the calibration plate plane formed by the X-axis and the Y-axis.

[0097] The coordinate system {G} corresponding to the galvanometer assembly is the galvanometer coordinate system, which is a base coordinate system, wherein the long direction along the horizontal lens is the Z axis, the short direction along the horizontal lens is the Y axis, and the direction perpendicular to the horizontal lens is the X axis.

[0098] The coordinate system {C} corresponding to the camera is the camera coordinate system, which is reflected by the horizontal lens and the rotating lens of the galvanometer to form a virtual camera coordinate system {V}.

[0099] In this embodiment, the linear parameter calibration is 3D motion compensation calibration. Taking the first galvanometer assembly as an example, the relationship between the motion coordinates of the center of the moving target on the motion plane and the voltage of the first galvanometer assembly is as follows:

[0100]

[0101] in,

[0102] x n ,y n is the motion coordinate of the center of the moving target on the motion plane, U pan-1 is the horizontal galvanometer voltage of the first horizontal mirror in the first galvanometer assembly, U tilt-1 is the rotating galvanometer voltage of the first mirror in the first galvanometer assembly, S pan ,t pan , S tilt ,t tilt is the linear parameter of the first galvanometer assembly.

[0103] In this embodiment, the linear parameters need to be calibrated.

[0104] Figure 6 A schematic diagram of 3D motion compensation calibration in a galvanometer-based three-dimensional calibration method provided in an embodiment of the present invention. Figure 6 As shown, in this embodiment, the galvanometer voltage value of the first galvanometer assembly corresponding to the position of the center of the circle on the grid calibration plate can be calculated by the voltage adjustment formula of the first galvanometer assembly. Since the coordinates of the center of the circle on the plane of the grid calibration plate are known, the relationship formula between the motion coordinates and the voltage of the first galvanometer assembly is substituted to solve the linear parameters.

[0105] In this embodiment, in the virtual camera coordinate system, the spatial coordinates of the center of the moving target can be calculated using the motion coordinates through the following formula:

[0106]

[0107] in,

[0108] X n , Y n , Z n is the spatial coordinate of the center of the moving target, T3 is the rotation and translation matrix, which is the external parameter matrix between the virtual camera coordinate system and the grid calibration plate coordinate system, and can be obtained by Zhang’s calibration method in the open source computer vision library (OpenCV, Open Source Computer Vision Library).

[0109] The method of this embodiment is further described in detail below:

[0110] First, a calibration experiment is performed. In this embodiment, for the calibration of the active tracking subsystem, 10 different voltages are set for the first galvanometer assembly, and the first camera takes 10 images of the QR code pattern mark, that is, an image of the QR code pattern mark is taken at each voltage. The target detection algorithm is used to obtain the pixel information of the center of the mark, and the pixel information of the center of the mark is substituted into the offset coefficient calibration formula to obtain the calibrated horizontal offset coefficient and vertical offset coefficient.

[0111] In this embodiment, α=-0.0182482, β=-0.0188679.

[0112] In this embodiment, for the calibration of active projection, a calibration plate for calibrating the active tracking subsystem is used to control the first galvanometer assembly and the second galvanometer assembly to scan the calibration plate and detect the mark. When the centers of the 10 marks are respectively aligned with the centers of the first camera and the second camera images, the galvanometer voltage values ​​of the corresponding galvanometers are substituted into the voltage relationship formula between the first galvanometer assembly, the second galvanometer assembly, and the third galvanometer assembly to solve the voltage conversion coefficient matrix. Taking the voltage conversion coefficient matrix as the first voltage conversion coefficient matrix as an example, the calibrated first voltage conversion coefficient matrix is ​​as follows:

[0113]

[0114] For the calibration of the dynamic 3D system, when the galvanometer voltage of the second galvanometer assembly is (0,0), 25 calibration plate images are taken by the second camera, and the camera intrinsic parameters are calibrated using the Zhang calibration method in OpenCV. Among them, the calibrated camera intrinsic parameters are:

[0115] f x=7801.375,f y =7798.242,u0=359.5,v0=269.5

[0116] Using the above dynamic camera calibration method, the first calibration parameter (the distance from the camera optical center to the center of the galvanometer horizontal lens) and the second calibration parameter (the distance from the center of the galvanometer horizontal lens to the center of the galvanometer tilt lens) are:

[0117] l=83.45mm,d=22.14mm

[0118] Fix the horizontal lens of the second galvanometer assembly and place the calibration plate within the field of view of the virtual camera. Then control the tilt lens of the second galvanometer assembly to rotate 30 times with a step size of 0.1V to scan the calibration plate. Then, randomly change the position of the calibration plate five times and repeat the scan of rotating 30 times with a step size of 0.1V. The calculated laser rotation axis parameters are:

[0119] (n,p)=([0.99,0.02,-0.0004],[-18310.30,-195.93,257.97])

[0120] In this embodiment, for the calibration of 3D motion compensation, the first galvanometer assembly is controlled to scan the 3D motion compensation calibration plate. The size of the calibration plate is: 740 mm x 740 mm, and 25 large circular marks are set on the calibration plate. The distance between the large circular marks is 140 mm. The parameters calculated using the above calibration method are as follows:

[0121] S pan =77.77, t pan =-314, S tilt =70, t tilt =142.55

[0122] In this embodiment, while keeping the second galvanometer assembly at the initial position, the Zhang calibration method in OpenCV is applied to calculate the external parameter matrix T3 between the calibration plate coordinate system and {V} as follows:

[0123]

[0124] In this embodiment, a reconstruction accuracy test is performed: the calibrated system is used to reconstruct a moving stair and sphere-shaped target, wherein the distance between the two planes of the stair is 20 mm, and the diameter of the sphere is 20 mm.

[0125] For the point cloud reconstructed from a step-shaped target, RANSAC (RANdom SAmpleConsensus) is used to fit the two planes of the step, and the distance between the two fitted planes is calculated, and the error is calculated by comparing it with the true value. For the point cloud reconstructed from a spherical target, RANSAC is used to fit the diameter of the sphere, and the error is calculated by comparing it with the true value.

[0126] The average error, maximum error, and root mean square error (RMSE) of the moving target at different speeds are shown in Table 1. When the object is stationary, the repeated measurement error is between 0.0124 mm and 0.1086 mm, and the RMSE is 0.0845 mm. When the object moves at different speeds, the repeated measurement error ranges from 0.2232 mm to 0.5993 mm, and the RMSE remains below 0.5 mm. This shows that the method of this embodiment has high accuracy and stability when measuring moving objects.

[0127] Table 1: Reconstruction errors of step-shaped and spherical targets at different speeds

[0128]

[0129] The three-mirror tracking and three-dimensional reconstruction calibration method of this embodiment can perform calibrated three-dimensional reconstruction error compensation for moving targets, including active tracking subsystem calibration, dynamic laser subsystem calibration, dynamic camera subsystem calibration and 3D motion error compensation calibration. The calibration method and calibration process are simple and flexible, with high calibration efficiency and calibration accuracy, and can be applied to the fields of computer vision, three-dimensional reconstruction, and visual measurement.

[0130] Based on the same inventive concept, Figure 7 As shown, an embodiment of the present invention further provides a three-dimensional calibration device based on a galvanometer, the device comprising:

[0131] The calibration system construction module 701 is used to construct a calibration system based on tracking and reconstruction of three galvanometers, including an active tracking subsystem, a dynamic camera subsystem, and a dynamic laser subsystem, wherein the active tracking subsystem includes: a first galvanometer assembly and a first camera, wherein the first galvanometer assembly includes a horizontal first lens and a rotating first lens;

[0132] The calibration parameter acquisition module 702 is used to control the first camera of the active tracking subsystem to shoot each calibration object set on the calibration board so that the calibration object is kept at the center of the shooting, and obtain the galvanometer voltage value of the calibration object and the pixel information of the center of the calibration object shot, the galvanometer voltage value includes: the horizontal galvanometer voltage value of the horizontal first lens of the first galvanometer assembly and the rotating galvanometer voltage value of the rotating first lens, and the pixel information includes: X-axis pixel information and Y-axis pixel information;

[0133] In this embodiment, as an optional embodiment, the calibration object set on the calibration board is a quick response code.

[0134] The first offset coefficient calibration module 703 is used to calculate the horizontal galvanometer voltage offset and the X-axis pixel offset based on the horizontal galvanometer voltage value and the X-axis pixel information of the calibration object photographed before and after, and calibrate the horizontal offset coefficient based on the horizontal galvanometer voltage offset and the X-axis pixel offset;

[0135] In this embodiment, as an optional embodiment, the offset coefficient is calibrated using the following formula:

[0136]

[0137]

[0138] The second offset coefficient calibration module 704 is used to calculate the rotating galvanometer voltage offset and the Y-axis pixel offset based on the rotating galvanometer voltage value and the Y-axis pixel information of the calibration object taken before and after, and calibrate the vertical offset coefficient based on the rotating galvanometer voltage offset and the Y-axis pixel offset.

[0139] In this embodiment, as an optional embodiment, the device further includes:

[0140] An active tracking module (not shown in the figure) is used to control the first camera of the active tracking subsystem to shoot a moving target; obtain the change value of the X-axis pixel information and the change value of the Y-axis pixel information of the moving target in the front and back frames of shooting the moving target; calculate the product of the change value of the X-axis pixel information and the horizontal offset coefficient to obtain the horizontal galvanometer voltage adjustment value of the horizontal first lens; calculate the product of the change value of the Y-axis pixel information and the vertical offset coefficient to obtain the rotational galvanometer voltage adjustment value of the rotating first lens; adjust the horizontal galvanometer voltage value of the horizontal first lens according to the horizontal galvanometer voltage adjustment value, and adjust the rotational galvanometer voltage value of the vertical first lens according to the rotational galvanometer voltage adjustment value.

[0141] In this embodiment, as an optional embodiment, the dynamic camera subsystem includes: a second galvanometer assembly and a second camera, the second galvanometer assembly includes a horizontal second lens and a rotating second lens, and the device also includes:

[0142] The active projection first calibration module is used to control the first camera of the first galvanometer assembly to shoot the calibration object for each calibration object set on the calibration board, and obtain the galvanometer voltage value when the calibration object is at the imaging center, and control the second camera of the second galvanometer assembly to shoot the calibration object and obtain the galvanometer voltage value when the calibration object is at the imaging center;

[0143] Based on each calibration object, a first galvanometer voltage value matrix of the first galvanometer assembly is constructed according to the obtained galvanometer voltage value of the first galvanometer assembly, and a second galvanometer voltage value matrix of the second galvanometer assembly is constructed according to the obtained galvanometer voltage value of the second galvanometer assembly;

[0144] Based on the first galvanometer voltage value matrix and the second galvanometer voltage value matrix, a first voltage conversion coefficient matrix between the first galvanometer assembly and the second galvanometer assembly is obtained.

[0145] In this embodiment, as an optional embodiment, the dynamic laser subsystem includes: a third galvanometer assembly and a laser, the third galvanometer assembly includes a horizontal third lens and a rotating third lens, and the device also includes:

[0146] The active projection second calibration module is used to control the third galvanometer assembly to shoot each calibration object set on the calibration board, obtain the galvanometer voltage value of the calibration object when it is at the imaging center, and construct a third galvanometer voltage value matrix of the third galvanometer assembly based on each calibration object and the obtained galvanometer voltage value of the third galvanometer assembly;

[0147] Based on the first galvanometer voltage value matrix and the third galvanometer voltage value matrix, a second voltage conversion coefficient matrix between the first galvanometer assembly and the third galvanometer assembly is obtained.

[0148] In this embodiment, as an optional embodiment, the device further includes:

[0149] A tracking module, for obtaining a horizontal galvanometer voltage adjustment value of the horizontal second lens and a rotating galvanometer voltage adjustment value of the rotating second lens according to the horizontal galvanometer voltage adjustment value of the horizontal first lens, the rotating galvanometer voltage adjustment value of the vertical first lens and the first galvanometer voltage value matrix;

[0150] According to the horizontal galvanometer voltage adjustment value of the horizontal first lens, the rotational galvanometer voltage adjustment value of the vertical first lens and the second galvanometer voltage value matrix, the horizontal galvanometer voltage adjustment value of the horizontal third lens and the rotational galvanometer voltage adjustment value of the rotational third lens are obtained;

[0151] Adjusting the horizontal galvanometer voltage value of the horizontal second lens according to the horizontal galvanometer voltage adjustment value of the horizontal second lens, and adjusting the rotating galvanometer voltage value of the vertical second lens according to the rotating galvanometer voltage adjustment value of the vertical second lens;

[0152] The horizontal galvanometer voltage value of the horizontal third lens is adjusted according to the horizontal galvanometer voltage adjustment value of the horizontal third lens, and the rotating galvanometer voltage value of the vertical third lens is adjusted according to the rotating galvanometer voltage adjustment value of the vertical third lens.

[0153] In this embodiment, as an optional embodiment, the device further includes:

[0154] A reconstruction and calibration module is used to control the dynamic camera subsystem to make the laser scan the grid calibration plate at multiple positions, and to capture the laser image through the second camera of the dynamic camera subsystem, and to calibrate the first parameter and the second parameter of the dynamic camera according to the captured laser image, wherein the first parameter is the distance from the optical center of the camera to the center of the horizontal lens of the galvanometer, and the second parameter is the distance from the center of the horizontal lens of the galvanometer to the center of the tilted lens of the galvanometer; and / or,

[0155] Controlling the dynamic camera subsystem to make the laser scan the checkerboard calibration plate at multiple positions, and taking a laser image through a second camera of the dynamic camera subsystem, and calibrating the rotation axis of the laser plane according to the taken laser image; and / or,

[0156] Control the dynamic camera subsystem and the dynamic laser subsystem, scan the spherical calibration plate, and jointly calibrate the dynamic laser subsystem and the dynamic camera subsystem.

[0157] Based on the same inventive concept, an embodiment of the present invention further provides a storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the galvanometer-based three-dimensional calibration method in any possible implementation manner described above are implemented.

[0158] Alternatively, the storage medium may be a non-transitory computer-readable storage medium, for example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0159] Based on the same inventive concept, see Figure 8 The embodiment of the present invention further provides an electronic device, including a memory 101 (such as a non-volatile memory), a processor 102, and a computer program stored in the memory 101 and executable on the processor 102. When the processor 102 executes the program, the steps of the three-dimensional calibration method based on the galvanometer in any possible implementation manner described above are implemented, which can be equivalent to the three-dimensional calibration device based on the galvanometer as described above. Of course, the processor can also be used to process other data or operations. The electronic device can be a PC, a server, a terminal, and other devices.

[0160] like Figure 8 As shown, the electronic device may also generally include: a memory 103, a network interface 104, and an internal bus 105. In addition to these components, other hardware may also be included, which will not be described in detail.

[0161] It should be pointed out that the above-mentioned galvanometer-based three-dimensional calibration device can be implemented through software. As a device in a logical sense, it is formed by the processor 102 of the electronic device in which it is located reading the computer program instructions stored in the non-volatile memory into the memory 103 for execution.

[0162] The embodiments of the subject matter and functional operations described in this specification may be implemented in the following: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or a combination of one or more of them. The embodiments of the subject matter described in this specification may be implemented as one or more computer programs, i.e., one or more modules in computer program instructions encoded on a tangible non-temporary program carrier to be executed by a data processing device or to control the operation of the data processing device. Alternatively or additionally, the program instructions may be encoded on an artificially generated propagation signal, such as a machine-generated electrical, optical or electromagnetic signal, which is generated to encode information and transmit it to a suitable receiver device for execution by a data processing device. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

[0163] The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform the corresponding functions by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuits, such as FPGAs (field programmable gate arrays) or ASICs (application specific integrated circuits), and the apparatus can also be implemented as special purpose logic circuits.

[0164] Computers suitable for executing computer programs include, for example, general and / or special microprocessors, or any other type of central processing unit. Typically, the central processing unit will receive instructions and data from a read-only memory and / or a random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, the computer will also include one or more large-capacity storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, or the computer will be operably coupled to this large-capacity storage device to receive data from it or to transmit data to it, or both. However, the computer does not necessarily have such a device. In addition, the computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0165] Computer readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including, for example, semiconductor memory devices (e.g., EPROM, EEPROM and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD-ROM and DVD-ROM disks. The processor and memory may be supplemented by, or incorporated in, special purpose logic circuitry.

[0166] Although this specification includes many specific implementation details, these should not be interpreted as limiting the scope of any invention or the scope of protection claimed, but are mainly used to describe the features of the specific embodiments of specific inventions. Certain features described in multiple embodiments in this specification may also be implemented in combination in a single embodiment. On the other hand, the various features described in a single embodiment may also be implemented separately in multiple embodiments or in any suitable sub-combination. In addition, although the features may work as above in certain combinations and even initially claim protection, one or more features from the claimed combination may be removed from the combination in some cases, and the claimed combination may point to a sub-combination or a variation of a sub-combination.

[0167] Similarly, although operations are depicted in a particular order in the accompanying drawings, this should not be understood as requiring that these operations be performed in the particular order shown or performed sequentially, or requiring that all illustrated operations be performed to achieve the desired results. In some cases, multitasking and parallel processing may be advantageous. In addition, the separation of various system modules and components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product, or packaged into multiple software products.

[0168] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the particular order or sequential order shown to achieve the desired results. In some implementations, multitasking and parallel processing may be advantageous.

[0169] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0170] The above is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features applied herein.

Claims

1. A three-dimensional calibration method based on a galvanometer, characterized in that: include: Construct a calibration system based on tracking and reconstruction of three galvanometers, including an active tracking subsystem, a dynamic camera subsystem, and a dynamic laser subsystem, wherein the active tracking subsystem includes: a first galvanometer assembly and a first camera, wherein the first galvanometer assembly includes a horizontal first lens and a rotating first lens; For each calibration object set on the calibration board, control the first camera of the active tracking subsystem to shoot the calibration object so that the calibration object is kept at the center of the shooting, obtain the galvanometer voltage value of the calibration object and the pixel information of the center of the calibration object shot, the galvanometer voltage value includes: the horizontal galvanometer voltage value of the horizontal first lens of the first galvanometer assembly and the rotating galvanometer voltage value of the rotating first lens, and the pixel information includes: X-axis pixel information and Y-axis pixel information; Based on the horizontal galvanometer voltage value and X-axis pixel information of the calibration object photographed before and after, calculating the horizontal galvanometer voltage offset and the X-axis pixel offset, and calibrating the horizontal offset coefficient based on the horizontal galvanometer voltage offset and the X-axis pixel offset; Based on the rotating galvanometer voltage value and Y-axis pixel information of the calibration object photographed before and after, the rotating galvanometer voltage offset and the Y-axis pixel offset are calculated, and based on the rotating galvanometer voltage offset and the Y-axis pixel offset, the vertical offset coefficient is calibrated.

2. The galvanometer-based three-dimensional calibration method according to claim 1, characterized in that: The method further comprises: Controlling the first camera of the active tracking subsystem to shoot a moving target; Obtaining the change value of the X-axis pixel information and the change value of the Y-axis pixel information of the moving target in the previous and next frames of shooting the moving target; Calculate the product of the change value of the X-axis pixel information and the horizontal offset coefficient to obtain a horizontal galvanometer voltage adjustment value of the horizontal first lens; Calculate the product of the change value of the Y-axis pixel information and the vertical offset coefficient to obtain a rotating galvanometer voltage adjustment value for rotating the first lens; The horizontal galvanometer voltage value of the horizontal first mirror is adjusted according to the horizontal galvanometer voltage adjustment value, and the rotating galvanometer voltage value of the vertical first mirror is adjusted according to the rotating galvanometer voltage adjustment value.

3. The galvanometer-based three-dimensional calibration method according to claim 1, characterized in that: The dynamic camera subsystem includes: a second galvanometer assembly and a second camera, the second galvanometer assembly includes a horizontal second lens and a rotating second lens, and the method further includes: For each calibration object set on the calibration board, control the first camera of the first galvanometer assembly to shoot the calibration object, and obtain the galvanometer voltage value when the calibration object is at the imaging center; and control the second camera of the second galvanometer assembly to shoot the calibration object, and obtain the galvanometer voltage value when the calibration object is at the imaging center; Based on each calibration object, a first galvanometer voltage value matrix of the first galvanometer assembly is constructed according to the obtained galvanometer voltage value of the first galvanometer assembly, and a second galvanometer voltage value matrix of the second galvanometer assembly is constructed according to the obtained galvanometer voltage value of the second galvanometer assembly; Based on the first galvanometer voltage value matrix and the second galvanometer voltage value matrix, a first voltage conversion coefficient matrix between the first galvanometer assembly and the second galvanometer assembly is obtained.

4. The galvanometer-based three-dimensional calibration method according to claim 3, characterized in that: The dynamic laser subsystem includes: a third galvanometer assembly and a laser, the third galvanometer assembly includes a horizontal third lens and a rotating third lens, and the method further includes: For each calibration object set on the calibration board, control the third galvanometer assembly to shoot the calibration object, obtain the galvanometer voltage value of the calibration object when it is at the imaging center, and construct a third galvanometer voltage value matrix of the third galvanometer assembly based on each calibration object and the obtained galvanometer voltage value of the third galvanometer assembly; Based on the first galvanometer voltage value matrix and the third galvanometer voltage value matrix, a second voltage conversion coefficient matrix between the first galvanometer assembly and the third galvanometer assembly is obtained.

5. The galvanometer-based three-dimensional calibration method according to claim 4, characterized in that: The method further comprises: According to the horizontal galvanometer voltage adjustment value of the horizontal first lens, the rotational galvanometer voltage adjustment value of the vertical first lens and the first galvanometer voltage value matrix, the horizontal galvanometer voltage adjustment value of the horizontal second lens and the rotational galvanometer voltage adjustment value of the rotational second lens are obtained; According to the horizontal galvanometer voltage adjustment value of the horizontal first lens, the rotational galvanometer voltage adjustment value of the vertical first lens and the second galvanometer voltage value matrix, the horizontal galvanometer voltage adjustment value of the horizontal third lens and the rotational galvanometer voltage adjustment value of the rotational third lens are obtained; Adjusting the horizontal galvanometer voltage value of the horizontal second lens according to the horizontal galvanometer voltage adjustment value of the horizontal second lens, and adjusting the rotating galvanometer voltage value of the vertical second lens according to the rotating galvanometer voltage adjustment value of the vertical second lens; The horizontal galvanometer voltage value of the horizontal third lens is adjusted according to the horizontal galvanometer voltage adjustment value of the horizontal third lens, and the rotating galvanometer voltage value of the vertical third lens is adjusted according to the rotating galvanometer voltage adjustment value of the vertical third lens.

6. The galvanometer-based three-dimensional calibration method according to any one of claims 1 to 5, characterized in that: The method further comprises: The dynamic camera subsystem is controlled to make the laser scan the grid calibration plate at multiple positions, and the laser image is captured by the second camera of the dynamic camera subsystem. The first parameter and the second parameter of the dynamic camera are calibrated according to the captured laser image, wherein the first parameter is the distance from the optical center of the camera to the center of the horizontal lens of the galvanometer, and the second parameter is the distance from the center of the horizontal lens of the galvanometer to the center of the tilted lens of the galvanometer.

7. The galvanometer-based three-dimensional calibration method according to any one of claims 1 to 5, characterized in that: The calibration object set on the calibration board is a quick response code.

8. A three-dimensional calibration device based on a galvanometer, characterized in that: The three-dimensional calibration device based on the galvanometer comprises: The calibration system construction module is used to construct a calibration system based on tracking and reconstruction of three galvanometers, including an active tracking subsystem, a dynamic camera subsystem, and a dynamic laser subsystem, wherein the active tracking subsystem includes: a first galvanometer assembly and a first camera, wherein the first galvanometer assembly includes a horizontal first lens and a rotating first lens; The calibration parameter acquisition module is used to control the first camera of the active tracking subsystem to shoot each calibration object set on the calibration board so that the calibration object is kept at the center of the shooting, and obtain the galvanometer voltage value of the calibration object and the pixel information of the center of the calibration object shot, wherein the galvanometer voltage value includes: the horizontal galvanometer voltage value of the horizontal first lens of the first galvanometer assembly and the rotating galvanometer voltage value of the rotating first lens, and the pixel information includes: X-axis pixel information and Y-axis pixel information; A first offset coefficient calibration module, used to calculate a horizontal galvanometer voltage offset and an X-axis pixel offset based on a horizontal galvanometer voltage value and X-axis pixel information of a calibration object photographed before and after, and calibrate a horizontal offset coefficient based on the horizontal galvanometer voltage offset and the X-axis pixel offset; The second offset coefficient calibration module is used to calculate the rotating galvanometer voltage offset and the Y-axis pixel offset based on the rotating galvanometer voltage value and the Y-axis pixel information of the calibration object taken before and after, and calibrate the vertical offset coefficient based on the rotating galvanometer voltage offset and the Y-axis pixel offset.

9. A storage medium, characterized in that: The storage medium stores a program or an instruction, and when the program or the instruction is executed by the processor, the steps of the three-dimensional calibration method based on a galvanometer as described in any one of claims 1 to 7 are implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the galvanometer-based three-dimensional calibration method according to any one of claims 1 to 7 are implemented.

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