Calibration method, calibration light source, electronic equipment and storage medium

Abstract

This application discloses a calibration method, a calibration light source, an electronic device, and a storage medium. The method includes: acquiring first calibration data of a standard multispectral sensor under a broadband light source and second calibration data under a ramp light source; acquiring third calibration data of a multispectral sensor to be calibrated under a broadband light source and fourth calibration data under a ramp light source; calibrating the multispectral sensor to be calibrated based on the first, second, third, and fourth calibration data to obtain the calibration result of the multispectral sensor. Using a ramp light source for calibration not only allows for rapid calibration of the multispectral sensor but also ensures the accuracy of the multispectral sensor calibration.

Description

Technical Field

[0001] This application relates to the field of multispectral sensor technology, and in particular to a calibration method, calibration light source, electronic device and storage medium. Background Technology

[0002] Multispectral sensors, consisting of a system structure and optical pathways, have wide applications in agriculture, environmental protection, and geological exploration. Due to the unique characteristics of their optical coatings, the generated spectral response curves of multispectral sensors often exhibit deviations. Therefore, calibrating multispectral sensors to address these deviations is essential. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this application provides a calibration method, calibration light source, electronic device, and storage medium, which can not only quickly calibrate multispectral sensors but also ensure the accuracy of multispectral sensor calibration.

[0004] To address the aforementioned technical problems, in a first aspect, embodiments of this application provide a calibration method, comprising: acquiring first calibration data under a broadband light source and second calibration data under a ramp light source during the calibration of a standard multispectral sensor; the luminous intensity of the ramp light source monotonically increasing or monotonically decreasing within a preset first frequency offset range corresponding to at least one color channel spectrum of the standard multispectral sensor; acquiring third calibration data under a broadband light source and fourth calibration data under a ramp light source during the calibration of the multispectral sensor to be calibrated; and calibrating the multispectral sensor to be calibrated based on the first calibration data, second calibration data, third calibration data, fourth calibration data, and the frequency offset model of the standard multispectral sensor to obtain the calibration result of the multispectral sensor to be calibrated.

[0005] Secondly, embodiments of this application also provide a calibration device, comprising: a first acquisition unit, configured to acquire first calibration data under a broadband light source and second calibration data under a ramp light source during the calibration of a standard multispectral sensor; wherein the luminous intensity of the ramp light source monotonically increases or monotonically decreases within a preset first frequency offset range corresponding to at least one color channel spectrum of the standard multispectral sensor; a second acquisition unit, configured to acquire third calibration data under a broadband light source and fourth calibration data under a ramp light source during the calibration of the multispectral sensor to be calibrated; and a calibration unit, configured to calibrate the multispectral sensor to be calibrated based on the first calibration data, the second calibration data, the third calibration data, the fourth calibration data, and the frequency offset model of the standard multispectral sensor, to obtain the calibration result of the multispectral sensor to be calibrated.

[0006] Thirdly, embodiments of this application also provide an electronic device, including a memory storing multiple instructions; a processor loads instructions from the memory to execute the calibration method provided in the first aspect.

[0007] Fourthly, embodiments of this application also provide a computer-readable storage medium storing multiple instructions adapted for loading by a processor to execute the calibration method provided in the first aspect.

[0008] Fifthly, embodiments of this application also provide a computer program product, including a computer program or instructions, wherein the computer program or instructions are executed by a processor using the calibration method provided in the first aspect.

[0009] In a sixth aspect, this application also provides a calibration light source, which is applied in the calibration method provided in the first aspect. The calibration light source includes a ramp light source, and the luminous intensity of the ramp light source increases or decreases monotonically within a preset first frequency offset range corresponding to the spectral response curves of each color channel of the multispectral sensor to be calibrated.

[0010] In the calibration method provided in this application, first calibration data of a standard multispectral sensor under a broadband light source and second calibration data under a ramp light source are acquired. Simultaneously, third calibration data of the multispectral sensor to be calibrated under a broadband light source and fourth calibration data under a ramp light source are acquired. Based on the first, second, third, and fourth calibration data, the multispectral sensor to be calibrated is calibrated. Since the luminous intensity of at least one color channel spectrum of the standard multispectral sensor under the ramp light source increases or decreases monotonically within a preset first frequency offset range, the calibration of the multispectral sensor to be calibrated can be achieved using one or fewer ramp light sources. This not only allows for rapid calibration of the multispectral sensor but also ensures the accuracy of the multispectral sensor calibration. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the frequency offset of the spectral response curve of a multispectral sensor in the prior art;

[0013] Figure 2 This is a schematic diagram showing the vertical shift of the spectral response curve of a multispectral sensor in the prior art;

[0014] Figure 3A schematic flowchart illustrating the calibration method provided in the embodiments of this application;

[0015] Figure 4 A schematic diagram of the spectrum of the ramp light source provided in the embodiments of this application;

[0016] Figure 5 A schematic block diagram of the calibration device provided in the embodiments of this application;

[0017] Figure 6 A schematic block diagram of an electronic device provided in an embodiment of this application;

[0018] Figure 7 This is a schematic diagram of the calibration device provided in the embodiments of this application;

[0019] Figure 8 This is a cross-sectional schematic diagram of the calibration device provided in the embodiments of this application;

[0020] Figure 9 This is a schematic diagram of some of the components included in the site provided in the embodiments of this application;

[0021] Figure 10 This is a schematic diagram showing the changing correspondence between the calibration time station and the multispectral sensor to be calibrated, provided in the embodiments of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0024] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0025] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0026] This application provides a calibration method, a calibration light source, an electronic device, and a storage medium. Specifically, the calibration method of this application can be executed by an electronic device or a calibration apparatus. The electronic device can be a terminal or a server. The terminal can be a smartphone, tablet, laptop, touchscreen, game console, wearable device, personal computer (PC), personal digital assistant (PDA), intelligent robot, intelligent vehicle, or other terminal device. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms.

[0027] Multispectral sensors have multiple color channels, each of which has different sensitivities to a specific wavelength of light through optical coating, i.e., spectral response curves. The response value of each color channel in a multispectral sensor can be simply understood as the integral result of the spectral response curve of each color channel in the multispectral sensor with respect to the ambient light intensity at different wavelengths.

[0028] Due to the special nature of optical coatings, multispectral sensors often exhibit some deviations in their spectral response curves during mass production: frequency offset error and / or response error.

[0029] Frequency offset error refers to the situation where the spectral response curve of a color channel shifts to the left or right. For example... Figure 1 As shown, the spectral response curve at a wavelength of 550 nm is the spectral response curve of the standard multispectral sensor (also known as the gold sensor). The spectral response curves of the two multispectral sensors to be calibrated (also known as prototypes, prototype 1 and prototype 2, respectively) are flattened to the left and right relative to the spectral response curve of the gold sensor, corresponding to the left and right spectral response curves, respectively. It should be noted that... Figure 1 The peak values ​​of the spectral response curves of the gold-plated machine and the prototype are the same.

[0030] Currently, frequency offset errors are mainly caused by variations in coating thickness due to manufacturing tolerances and changes in the incident angle distribution due to tolerances in the optical system. In mass-produced multispectral sensors, the spectral offsets of different sensors are inconsistent, and even within the same multispectral sensor, the spectral offsets of different color channels are inconsistent. In practical applications, such as with narrow-band spectra from fluorescent sources or LED light sources, even a 1% spectral offset can severely affect spectral recognition results.

[0031] Response error refers to the inconsistency in the peak response of the spectral response curves of the color channels. For example... Figure 2 As shown, the spectral response curve with the peak in the middle is the spectral response curve of the gold-plated machine. The bottom curve represents the spectral response curve of a prototype. The amplitude / peak value of the spectral response curve of this prototype is 0.9 times that of the gold-plated machine, meaning the response is relatively small. The top curve represents the spectral response curve of another prototype. The amplitude / peak value of the spectral response curve of this prototype is 1.2 times that of the gold-plated machine, meaning the response is relatively large.

[0032] The response error is mainly related to the coating thickness and transmittance. The coating thickness and transmittance affect the ambient light intensity received by the color channel, which in turn affects the response value.

[0033] Therefore, the frequency offset error and / or response error present in multispectral sensors need to be calibrated and corrected in order to reduce / eliminate the corresponding errors.

[0034] Currently, when calibrating multispectral sensors, multiple light sources used for calibration need to be activated sequentially in a time sequence to obtain the response values ​​of each color channel of the instrument and the prototype under each light source. Then, the response matrices of the instrument and the prototype are obtained based on the response values, and the channel correction matrix of the prototype is calculated based on the response matrices of the instrument and the prototype. During calibration, in order to obtain the response values ​​of the multispectral sensor under each light source, the light sources need to be activated sequentially in a time sequence. Usually, the time required for the light source to go from emission to stabilization after switching is relatively long, such as 1-2 seconds or even longer. If 12 light sources are used for calibration, the waiting time for the light source to go from emission to stabilization can be as long as 12-24 seconds, which reduces the calibration efficiency of the multispectral sensor. If the waiting time for the light source to stabilize after switching is too short (e.g., less than 0.5 seconds), the unstable light intensity of the light source will affect the calibration effect.

[0035] Therefore, this application provides a calibration method, a calibration light source, an electronic device, and a storage medium. During the calibration process, it is not necessary to switch light sources. Each light source is in a continuous and stable light-emitting state, which saves the time of waiting for the light source to stabilize, improves the calibration efficiency of the multispectral sensor, and at the same time ensures the calibration accuracy of the spectral sensor.

[0036] The calibration method, calibration light source, electronic device, and storage medium provided in this application embodiment can be used in any multispectral sensor calibration scenario, or even in the calibration scenarios of other sensors or similar components. The calibration method, calibration light source, electronic device, and storage medium provided in this application embodiment will be described in detail below.

[0037] The following will provide a detailed description of a calibration method, calibration light source, electronic device, and storage medium provided in the embodiments of this application.

[0038] Please see Figure 3 , Figure 3 This is a flowchart illustrating the calibration method provided in an embodiment of this application. The calibration method provided in this application is applied to a terminal device, and the method is executed through application software installed on the terminal device. The terminal device can be a desktop computer, laptop computer, tablet computer, mobile phone, etc.

[0039] It should be noted that the application scenarios described in the following embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0040] The calibration method provided in this disclosure will be described in detail below.

[0041] like Figure 3 As shown, the method includes the following steps S110 to S130.

[0042] S110. When calibrating a standard multispectral sensor, first calibration data under a broadband light source and second calibration data under a ramp light source are obtained; the luminous intensity of the ramp light source within a preset first frequency offset range corresponding to at least one color channel spectrum of the standard multispectral sensor increases or decreases monotonically.

[0043] In this embodiment, the first calibration data is the data collected under a broadband light source during the calibration of a standard multispectral sensor, and the second calibration data is the data collected under a ramp light source during the calibration of a standard multispectral sensor. The first calibration data includes a first response value and / or a first luminous intensity, and the second calibration data includes a second response value and / or a second luminous intensity.

[0044] A ramp light source is a light source whose luminous intensity monotonically increases or decreases within a preset wavelength range corresponding to each color channel spectrum of a standard multispectral sensor. It can be understood that in the spectral curve of a ramp light source, there is a peak, and on both sides of the peak, there are a first trough and a second trough. The intensity between the first trough and the peak, and between the second trough and the peak, is monotonically increasing. The peaks in the spectral response curves of each color channel of the standard multispectral sensor are all near the curves formed between the first trough and the peak or between the second trough and the peak. This can be defined as a ramp light source.

[0045] In other words, such as Figure 4 As shown, the bold black curve is the spectral curve of the ramp light source. The ramp light source is actually a type of light source. However, when selecting a ramp light source, it is necessary to ensure that the peaks in the spectral response curves of each color channel of the standard multispectral sensor are near the curves formed between the first trough and the peak or between the second trough and the peak.

[0046] Specifically, the ramp light source can be a monochromatic light source or a composite light source composed of multiple monochromatic light sources. It is sufficient that the peaks in the spectral response curves of each color channel of the standard multispectral sensor are near a monotonically increasing or monotonically decreasing curve in the spectral curve of the ramp light source.

[0047] Meanwhile, the number of ramp light sources can be one, and the luminous intensity of the ramp light source within the preset first frequency deviation range corresponding to each color channel spectrum of the standard multispectral sensor increases or decreases monotonically. The ramp light source is used to calibrate the frequency deviation value of each color channel. Alternatively, the number of ramp light sources can be multiple, and multiple ramp light sources are used together to calibrate the frequency deviation value of each color channel. Each ramp light source calibrates the spectrum of at least one color channel, and the luminous intensity of each ramp light source within the preset first frequency deviation range corresponding to at least one color channel spectrum increases or decreases monotonically.

[0048] The first frequency deviation range is the wavelength range of a monotonically increasing or monotonically decreasing curve in the spectral curve of the ramp light source. In other words, the first frequency deviation range can be determined based on the wavelength range of a monotonically increasing or monotonically decreasing curve in the spectral curve of the ramp light source.

[0049] Furthermore, the first response value can be understood as the value obtained by integrating the spectral response curve of the standard multispectral sensor with the spectral curve of the broadband light source, and the first luminous intensity is the intensity of the light emitted by the broadband light source, which can be determined by the spectral curve of the broadband light source. Similarly, the second response value can be understood as the value obtained by integrating the spectral response curve of the standard multispectral sensor with the spectral curve of the ramp light source, and the second luminous intensity is the intensity of the light emitted by the ramp light source, which can be determined by the spectral curve of the ramp light source. The standard multispectral sensor is a multispectral sensor that does not require calibration, i.e., the gold sensor mentioned above in this application, which can be obtained by screening multiple prototypes.

[0050] S120. When calibrating the multispectral sensor to be calibrated, acquire the third calibration data under a broadband light source and the fourth calibration data under a ramp light source.

[0051] In this embodiment, the third calibration data is data collected under a broadband light source during the calibration of the multispectral sensor to be calibrated, and the fourth calibration data is data collected under a ramp light source during the calibration of the multispectral sensor to be calibrated. The third calibration data includes a third response value and / or the third luminous intensity of the broadband light source, and the fourth calibration data includes a fourth response value and / or the fourth luminous intensity. The third response value can be understood as the value obtained by integrating the spectral response curve of the multispectral sensor to be calibrated with the spectral curve of the broadband light source, and the third luminous intensity is the intensity of the light emitted by the broadband light source, which can be determined by the spectral curve of the broadband light source. The fourth response value can be understood as the value obtained by integrating the spectral response curve of the multispectral sensor to be calibrated with the spectral curve of the ramp light source, and the fourth luminous intensity is the intensity of the light emitted by the ramp light source, which can be determined by the spectral curve of the ramp light source.

[0052] It is understood that the multispectral sensor to be calibrated mentioned in this embodiment is the prototype mentioned above in this application, which is a multispectral sensor that needs to be calibrated. Meanwhile, the first and third luminous intensities can be the same or different, and the second and fourth luminous intensities can be the same or different. The selection of the first, second, third, and fourth luminous intensities can be made according to the actual application scenario, and this application does not impose specific limitations.

[0053] It should also be noted that the first luminous intensity, the second luminous intensity, the third luminous intensity, and the fourth luminous intensity can be obtained through a preset light intensity monitoring module. The light intensity monitoring module mentioned here can obtain the luminous intensity of the ramp light source and the broadband light source in real time.

[0054] S130. Based on the first calibration data, the second calibration data, the third calibration data, the fourth calibration data, and the frequency offset model of the standard multispectral sensor, the multispectral sensor to be calibrated is calibrated to obtain the calibration result of the multispectral sensor to be calibrated.

[0055] Specifically, after obtaining the first, second, third, and fourth calibration data, the first response value, first luminous intensity, second response value, second luminous intensity, third response value, third luminous intensity, fourth response value, and fourth luminous intensity can be obtained from each calibration data. Based on this, the response error of the multispectral sensor to be calibrated can be pre-calibrated. Then, the frequency offset error is calibrated using the frequency offset model of a standard multispectral sensor. In other words, the calibration result includes at least one of the multispectral sensor's response error and frequency offset error.

[0056] In this embodiment, the frequency offset model can be understood as generating frequency offset data for calibrating the frequency offset error of the multispectral sensor based on the first calibration data, the second calibration data, the third calibration data, and the fourth calibration data, thereby realizing the calibration of the frequency offset error of the multispectral sensor.

[0057] It is understandable that when the multispectral sensor to be calibrated only needs to calibrate the response error, and the influence of broadband light source intensity is not considered, the calibration can be performed using the first response value and the third response value. In this case, the calculation formula 1 for the response error of the multispectral sensor to be calibrated can be: R_Coef=R1 / R3, where R_Coef is the response error, R1 is the first response value, and R3 is the third response value.

[0058] When the multispectral sensor to be calibrated only needs to calibrate the response error, and the influence of broadband light source intensity is taken into account, the calibration can be performed using the first response value, the first luminous intensity, the third response value, and the third luminous intensity. In this case, the calculation formula 2 for the response error of the multispectral sensor to be calibrated can be: R_Coef=(R1 / E1) / (R3 / E3); where E1 is the first luminous intensity and E3 is the third luminous intensity.

[0059] When the multispectral sensor to be calibrated has no response error, and only the frequency offset error needs to be calibrated, and the influence of the slope light source intensity is not considered, the calibration can be performed using the second response value and the fourth response value. In this case, the calculation formula 3 for the frequency offset error of the multispectral sensor to be calibrated can be: ratioSimp = R4 / R2; where ratioSimp is the ratio of the response values ​​of the standard multispectral sensor and the multispectral sensor to be calibrated, R2 is the second response value, and R4 is the fourth response value.

[0060] When the multispectral sensor to be calibrated has no response error, only the frequency offset error needs to be calibrated. Considering the influence of the slope light source intensity, the calibration can be performed using the second response value, the second luminous intensity, the fourth response value, and the fourth luminous intensity. In this case, the calculation formula 4 for the frequency offset error of the multispectral sensor to be calibrated can be: ratioSimp=R4 / (E4 / E2) / R2, where E2 is the second luminous intensity and E4 is the fourth luminous intensity.

[0061] When the multispectral sensor to be calibrated needs to be calibrated for response error and frequency offset error, and the influence of broadband light source and ramp light source intensity is not considered, the calibration can be performed using the first response value, the second response value, the third response value and the fourth response value. The calculation formula can be obtained by multiplying calculation formula 1 and calculation formula 3.

[0062] When the multispectral sensor to be calibrated needs to be calibrated for response error and frequency offset error, and the influence of broadband light source and ramp light source intensity is considered, the calibration can be performed using the first response value, the first luminous intensity, the second response value, the second luminous intensity, the third response value, the third luminous intensity, the fourth response value, and the fourth luminous intensity. The calculation formula can be obtained by multiplying calculation formula 2 and calculation formula 4.

[0063] In some embodiments, when calibrating a multispectral sensor to be calibrated based on first calibration data, second calibration data, third calibration data, fourth calibration data, and a frequency offset model of a standard multispectral sensor, the specific steps include: determining the response error of the multispectral sensor to be calibrated based on a first response value, a first luminous intensity, a third response value, and a third luminous intensity; and determining the frequency offset data of the multispectral sensor to be calibrated based on the response error, a second response value, a second luminous intensity, a fourth response value, a fourth luminous intensity, and the frequency offset model.

[0064] In this embodiment, it is necessary to calibrate the response error and frequency offset error of the multispectral sensor to be calibrated. Simultaneously, the influence of the slope light source intensity during the calibration process must be considered. Therefore, this application can first determine the response error of the multispectral sensor to be calibrated based on the first calibration data and the third calibration data. Then, based on the response error, the second calibration data, the fourth calibration data, and the frequency offset model, the frequency offset data of the multispectral sensor to be calibrated can be determined. Specifically, this application can first determine the response error of the multispectral sensor to be calibrated based on the first response value, the first luminous intensity, the third response value, and the third luminous intensity. Then, based on the response error, the second response value, the second luminous intensity, the fourth response value, the fourth luminous intensity, and the frequency offset model, the frequency offset data of the multispectral sensor to be calibrated can be determined. Subsequently, the frequency offset error of the multispectral sensor to be calibrated can be calibrated based on the frequency offset data. The frequency offset data is the data required for the calibration process of the frequency offset error of the multispectral sensor to be calibrated, and it can be generated by the frequency offset model.

[0065] Furthermore, in some embodiments, the process of determining the frequency offset data of the multispectral sensor to be calibrated based on the response error, the second response value, the second luminous intensity, the fourth response value, the fourth luminous intensity, and the frequency offset model includes the following steps: correcting the fourth response value of the multispectral sensor to be calibrated based on the response error, the second luminous intensity, and the fourth luminous intensity to obtain a corrected response value; determining the frequency offset data of the multispectral sensor to be calibrated based on the corrected response value, the second response value, and the frequency offset model of the standard multispectral sensor; wherein the frequency offset model includes the response values ​​of the spectral response curves of each color channel in the standard multispectral sensor at different frequency offset values, the response values ​​of the spectral response curves of each color channel when the frequency offset value is zero, and the correlation between the frequency offset values ​​of the spectral response curves of each color channel.

[0066] In this embodiment, the corrected response value is the response value of the multispectral sensor to be calibrated under a sloped light source after eliminating the influence of response error and slope light source intensity. The formula for calculating the corrected response value can be: R4_Corr=R4 / (E4 / E2)×R_Coef, where R4_Corr is the corrected response value and R_Coef is the response error.

[0067] In some embodiments, the process of determining the frequency offset data of the multispectral sensor to be calibrated based on the response error, the second response value, the second luminous intensity, the fourth response value, the fourth luminous intensity, and the frequency offset model includes the following steps: determining a target ratio of the response values ​​between the multispectral sensor to be calibrated and the standard multispectral sensor based on the response error, the second response value, the second luminous intensity, the fourth response value, and the fourth luminous intensity; and inputting the target ratio into the frequency offset model to obtain the frequency offset data of each color channel of the multispectral sensor to be calibrated.

[0068] In this embodiment, the target ratio is the ratio between the response values ​​of the multispectral sensor to be calibrated and the standard multispectral sensor. There are multiple target ratios, that is, there is a target ratio between the response value of each color channel in the multispectral sensor to be calibrated and the corresponding color channel in the standard multispectral sensor. Then, the frequency offset data of the multispectral sensor to be calibrated can be obtained by inputting each target ratio into the frequency offset model. Then, the frequency offset error of the multispectral sensor to be calibrated can be calibrated by using the frequency offset data.

[0069] Furthermore, this application can perform correction processing on the fourth response value of the multispectral sensor to be calibrated based on the response error, the second luminous intensity, and the fourth luminous intensity to obtain a corrected response value. After obtaining the corrected response value, the ratio between the response values ​​of the multispectral sensor to be calibrated and the standard multispectral sensor, i.e., the target ratio, can be generated based on the corrected response value and the second response value. Then, this ratio is input into a pre-built frequency offset model to obtain the frequency offset data of the multispectral sensor to be calibrated. In turn, the frequency offset error of the multispectral sensor to be calibrated can be calibrated using the frequency offset data.

[0070] In some embodiments, the frequency offset model construction steps include: obtaining the standard spectral response curves of each color channel of a standard multispectral sensor and the spectral curve of a ramp light source; and constructing a frequency offset model based on the standard spectral response curves and the spectral curves of the ramp light source.

[0071] Specifically, in constructing the frequency offset model, this application primarily uses the standard spectral response curves of each color channel in a standard multispectral sensor and the spectral curve of a ramp light source. Specifically, the standard spectral response curve of each color channel is shifted at least once and then integrated with the spectral curve of the ramp light source to obtain the frequency offset response value. The frequency offset model is then constructed based on the frequency offset response value and the second response value. The standard spectral response curve of each color channel can be measured using a monochromator, and the spectral curve of the ramp light source can be measured using a spectrometer.

[0072] In some embodiments, the process of constructing a frequency offset model based on a standard spectral response curve and a spectral curve of a ramp light source includes the following steps: shifting the standard spectral response curve at least once according to a preset second frequency offset range to obtain a standard spectral response curve after each shift; generating frequency offset response values ​​for the spectral response curves of each color channel based on the standard spectral response curve after each shift and the spectral curve of the ramp light source; and constructing a frequency offset model based on the frequency offset response values ​​and the second response value.

[0073] In this embodiment, the second frequency offset range is a pre-defined frequency offset range, which can be characterized by the wavelength range corresponding to the frequency. The wavelength range can be between -6nm and 6nm. That is, the standard spectral response curve needs to be shifted within the range of -6nm to 6nm each time, for example, shifted by -1nm, -2nm, 1nm, 2nm, etc. Furthermore, the standard spectral response curve for each color channel can be shifted once or multiple times. It should be noted that the more times the standard spectral response curve for each color channel is shifted, the higher the accuracy of the final frequency offset model.

[0074] The following specific example illustrates the construction process of the frequency offset model:

[0075] Step 1: Measure the spectral response curves (specGold) of each channel in the gold-making machine using a monochromator.

[0076] Step 2: Measure the spectral curve specLED of the slope light source using a spectrometer.

[0077] Step 3: Construct a frequency offset model φ based on the spectral response curve of the gold-plated machine and the spectral curve of the ramp light source. The frequency offset model determines the correspondence between the frequency offset value and the response value of each channel. The construction idea of ​​the frequency offset model is as follows:

[0078] Determine the frequency offset calibration range, assuming it is ±6nm. Samples that exceed this range are considered failure samples.

[0079] Shift the specGold spectral response curve of each channel in the gold-plating machine to the left by -6nm to obtain specGold1. Then multiply specGold1 and specLED and sum them to obtain the response value count1 of each channel at a frequency offset of -6nm.

[0080] Shift the specGold spectral response curve of each channel in the gold-plating machine to the left by -5nm to obtain the specGold2 spectral response curve. Then multiply and sum specGold2 with specLED to obtain the response value count2 of each channel at a frequency offset of -5nm.

[0081] Shift the specGold spectral response curve of each channel in the gold-plating machine to the left by -4nm to obtain specGold3. Then multiply specGold3 and specLED and sum them to obtain the response value count3 of each channel at a frequency shift of -4nm; ... and so on, to obtain a set of response values ​​count of each channel in the gold-plating machine at a frequency shift value peakshift of -6nm to 6nm.

[0082] Calculate the ratio of a set of response values ​​for each channel at different frequency offsets to the response value when the frequency offset is 0nm, and establish the mapping relationship between the response value ratio and the frequency offset value, i.e., the frequency offset model: peakshift = φ(ratio, n), where n represents the channel number.

[0083] In some embodiments, determining the response error of the multispectral sensor to be calibrated based on a first response value, a first luminous intensity, a third response value, and a third luminous intensity includes the following steps: determining a first ratio of the first response value to the first luminous intensity, and a second ratio of the third response value to the third luminous intensity; and determining the response error of the multispectral sensor to be calibrated based on the first ratio and the second ratio.

[0084] Specifically, this embodiment takes into account the influence of the slope light source intensity during the calibration of the response error of the multispectral sensor to be calibrated. Therefore, this application can generate a first ratio between the first response value and the first luminous intensity, i.e., a first ratio, and a second ratio between the third response value and the third luminous intensity. Dividing the first ratio by the second ratio yields the response error of the multispectral sensor to be calibrated, which can then be used to calibrate the response error of the multispectral sensor.

[0085] In the calibration method provided in this application embodiment, the first response value and the first luminous intensity of the broadband light source are obtained when calibrating a standard multispectral sensor, and the second response value and the second luminous intensity of the slope light source are obtained when calibrating a standard multispectral sensor. The luminous intensity of the slope light source within a preset first frequency offset range corresponding to at least one color channel spectrum of the standard multispectral sensor increases or decreases monotonically. The third response value and the third luminous intensity of the broadband light source are obtained when calibrating a multispectral sensor to be calibrated, and the fourth response value and the fourth luminous intensity of the slope light source are obtained when calibrating a multispectral sensor to be calibrated. Based on the first response value, the first luminous intensity, the second response value, the second luminous intensity, the third response value, the third luminous intensity, the fourth response value, and the fourth luminous intensity, the multispectral sensor to be calibrated is calibrated to obtain the calibration result of the multispectral sensor to be calibrated. This application combines broadband light sources and ramp light sources. The broadband light source is used to calibrate the response error, while the ramp light source is used to calibrate the frequency deviation. This can greatly reduce the number of light sources required for production line calibration, which can not only quickly calibrate multispectral sensors and improve calibration efficiency, but also ensure the accuracy of multispectral sensor calibration.

[0086] This application also provides a calibration device 200 for performing any of the aforementioned calibration methods.

[0087] Specifically, please refer to Figure 5 , Figure 5This is a schematic block diagram of the calibration device 200 provided in the embodiments of this application.

[0088] like Figure 5 As shown, the calibration device 200 includes: a first acquisition unit 210, a second acquisition unit 220, and a calibration unit 230.

[0089] The first acquisition unit 210 is used to acquire first calibration data under a broadband light source and second calibration data under a ramp light source during the calibration of a standard multispectral sensor; the luminous intensity of the ramp light source increases or decreases monotonically within a preset first frequency offset range corresponding to at least one color channel spectrum of the standard multispectral sensor.

[0090] The second acquisition unit 220 is used to acquire third calibration data under a broadband light source and fourth calibration data under a ramp light source when calibrating the multispectral sensor to be calibrated.

[0091] The calibration unit 230 is used to calibrate the multispectral sensor to be calibrated based on the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency offset model of the standard multispectral sensor, so as to obtain the calibration result of the multispectral sensor to be calibrated.

[0092] The calibration device 200 provided in this application embodiment is used to perform the above-mentioned acquisition of standard multispectral sensor calibration, including first calibration data under a broadband light source and second calibration data under a ramp light source; wherein, the first calibration data includes a first response value and / or a first luminous intensity, the second calibration data includes a second response value and / or a second luminous intensity, and the luminous intensity of the ramp light source monotonically increases or monotonically decreases within a preset first frequency offset range corresponding to at least one color channel spectrum of the standard multispectral sensor; acquiring the calibration of the multispectral sensor to be calibrated, including third calibration data under a broadband light source and fourth calibration data under a ramp light source; wherein, the third calibration data includes a third response value and / or a third luminous intensity of the broadband light source, and the fourth calibration data includes a fourth response value and / or a fourth luminous intensity; calibrating the multispectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency offset model of the standard multispectral sensor to obtain the calibration result of the multispectral sensor to be calibrated.

[0093] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned multispectral sensor calibration device 200 and each unit can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.

[0094] The aforementioned multispectral sensor calibration device 200 can be implemented as a computer program, which can be used in, for example... Figure 6It runs on the electronic device shown.

[0095] Please see Figure 6 , Figure 6 This is a schematic block diagram of an electronic device provided in an embodiment of this application. The electronic device 300 can be a terminal, wherein the terminal can be a cloud-based terminal device, a vehicle-mounted terminal device, a smartphone, a tablet computer, a laptop computer, a desktop computer, a personal digital assistant, and a wearable device, etc.

[0096] See Figure 6 The electronic device 300 includes a processor 302, a memory, and a network interface 305 connected via a system bus 301. The memory may include a non-volatile storage medium 303 and internal memory 304.

[0097] The non-volatile storage medium 303 may store an operating system 3031 and a computer program 3032. The computer program 3032 includes program instructions that, when executed, cause the processor 302 to perform the calibration method in any of the embodiments described above.

[0098] The processor 302 provides computing and control capabilities to support the operation of the entire electronic device 300.

[0099] The internal memory 304 provides an environment for the execution of the computer program 3032 in the non-volatile storage medium 303. When the computer program 3032 is executed by the processor 302, the processor 302 can perform the calibration method in any of the embodiments described above.

[0100] This network interface 305 is used for network communication with other devices. Those skilled in the art will understand that... Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device 300 to which the present application is applied. The specific electronic device 300 may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0101] The processor 302 is used to run a computer program 3032 stored in a memory to implement the steps in any of the embodiments of the calibration method described above, such as: acquiring first calibration data under a broadband light source and second calibration data under a ramp light source when calibrating a standard multispectral sensor; wherein the first calibration data includes a first response value and / or a first luminous intensity, the second calibration data includes a second response value and / or a second luminous intensity, and the luminous intensity of the ramp light source monotonically increases or monotonically decreases within a preset first frequency offset range corresponding to at least one color channel spectrum of the standard multispectral sensor; acquiring third calibration data under a broadband light source and fourth calibration data under a ramp light source when calibrating a multispectral sensor to be calibrated; wherein the third calibration data includes a third response value and / or a third luminous intensity of the broadband light source, and the fourth calibration data includes a fourth response value and / or a fourth luminous intensity; calibrating the multispectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data, and the frequency offset model of the standard multispectral sensor to obtain the calibration result of the multispectral sensor to be calibrated.

[0102] It should be understood that in the embodiments of this application, the processor 302 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0103] According to one aspect of this application, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. The processor of the electronic device reads the computer instructions from a computer-readable storage medium, executes the computer instructions, and causes the electronic device to implement the steps in any of the embodiments of the calibration method described above, such as: acquiring first calibration data under a broadband light source and second calibration data under a ramp light source when calibrating a standard multispectral sensor; wherein the first calibration data includes a first response value and / or a first luminous intensity, the second calibration data includes a second response value and / or a second luminous intensity, and the luminous intensity of the ramp light source monotonically increases or monotonically decreases within a preset first frequency offset range corresponding to at least one color channel spectrum of the standard multispectral sensor; acquiring third calibration data under a broadband light source and fourth calibration data under a ramp light source when calibrating a multispectral sensor to be calibrated; wherein the third calibration data includes a third response value and / or a third luminous intensity of the broadband light source, and the fourth calibration data includes a fourth response value and / or a fourth luminous intensity; calibrating the multispectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data, and the frequency offset model of the standard multispectral sensor to obtain the calibration result of the multispectral sensor to be calibrated.

[0104] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program includes program instructions and can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0105] Therefore, this application also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by the processor, the processor performs the steps in any of the embodiments of the above calibration method, such as: acquiring first calibration data under a broadband light source and second calibration data under a ramp light source when calibrating a standard multispectral sensor; wherein the first calibration data includes a first response value and / or a first luminous intensity, the second calibration data includes a second response value and / or a second luminous intensity, and the luminous intensity of the ramp light source monotonically increases or monotonically decreases within a preset first frequency offset range corresponding to at least one color channel spectrum of the standard multispectral sensor; acquiring third calibration data under a broadband light source and fourth calibration data under a ramp light source when calibrating a multispectral sensor to be calibrated; wherein the third calibration data includes a third response value and / or a third luminous intensity of the broadband light source, and the fourth calibration data includes a fourth response value and / or a fourth luminous intensity; calibrating the multispectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data, and the frequency offset model of the standard multispectral sensor to obtain the calibration result of the multispectral sensor to be calibrated.

[0106] The storage medium can be any computer-readable storage medium that can store program code, such as a USB flash drive, external hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0107] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0108] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0109] The steps in the methods of this application embodiment can be adjusted, merged, or deleted according to actual needs. The units in the apparatus of this application embodiment can be merged, divided, or deleted according to actual needs. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0110] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods provided in the various embodiments of this application.

[0111] In some embodiments, this application also provides a calibration device, such as Figure 7 As shown, the calibration device 100 includes a mobile module 110, a station module 120, and a main control module 130. The main control module 130 is communicatively connected to both the mobile module 110 and the station module 120.

[0112] The moving module 110 is used to place at least one multispectral sensor to be calibrated and is configured to move or stop when controlled, for example, the moving module 110 moves when it receives a movement command and stops moving when it receives a stop movement command. Specifically, the moving module 110 is controlled by the main control module 130, which controls the moving module 110 to move or stop moving.

[0113] When in motion, the moving module 110 can move the multispectral sensor to be calibrated, placed on the moving module 110, to a suitable position, such as moving it to the illumination area of ​​the calibration light source of a station in the station module 120. Specifically, under the control of the main control module 130, the moving module 110 moves the multispectral sensor to be calibrated from the illumination area of ​​the calibration light source of one station to the illumination area of ​​the calibration light source of another station.

[0114] The station module 120 has multiple stations, each station including a calibration light source for providing calibration of the multispectral sensor to be calibrated and a data acquisition module for collecting calibration data of the multispectral sensor to be calibrated. At least two of the multiple stations have different spectra of calibration light sources. Each loading point 1101 of the moving module 110 corresponds to one station. The data acquisition module can be a data acquisition card or other components that can realize data acquisition functions.

[0115] The main control module 130 is used to control the movement of the moving module 110 so that the multispectral sensor to be calibrated moves from the illumination area of ​​the calibration light source of one station to the illumination area of ​​the calibration light source of another station. When the multispectral sensor to be calibrated moves to the illumination area of ​​the calibration light source of the station, the data acquisition module corresponding to the station is controlled to acquire the calibration data of the multispectral sensor to be calibrated.

[0116] In some embodiments, the moving module 110 is provided with at least one loading point 1101, which can be used as follows: Figure 9 As shown, each loading point 1101 is used to place a multispectral sensor to be calibrated. Specifically, the moving module 110 can be a turntable unit, which is controlled by the main control module 130. The turntable unit is equipped with at least one dedicated fixture, and each fixture is a loading point 1101.

[0117] In this embodiment, the moving module 110 can be a turntable unit. Its core function is to move the multispectral sensor to be calibrated from the illumination area of ​​the calibration light source at one station to the illumination area of ​​the calibration light source at another station, thereby realizing the acquisition of calibration data of the multispectral sensor under different light sources. The station module 120 is a fixed module, and its core function is to acquire calibration data of the multispectral sensor to be calibrated. The station module 120 has multiple stations, each represented by SITE. Multiple stations can be represented by SITE1, SITE2, SITE3, etc. Figure 3 As shown.

[0118] When the main control module 130 detects that the multispectral sensor to be calibrated has completed the corresponding calibration data collection at one station, it sends a motion command to the main control module 130. Based on the motion command, the moving module 110 is controlled to move, so that the multispectral sensor to be calibrated moves from the illumination area of ​​the calibration light source at one station to the illumination area of ​​the calibration light source at another matching station. When the multispectral sensor to be calibrated reaches the illumination area of ​​the calibration light source at the other matching station, the moving module 110 stops moving and sends a collection command to that matching station, controlling the data acquisition module at that station to collect the calibration data of the multispectral sensor to be calibrated.

[0119] It is important to note that calibration data collection for the multispectral sensor at the corresponding station only begins when the mobile module 110 stops moving. During the movement of the mobile module 110, even if it passes other stations, calibration data for those other stations is not collected to avoid erroneous data collection. It is also important to note that during the calibration process of the multispectral sensor, the calibration light sources of multiple station modules remain on. This eliminates the need to switch light sources during calibration, improving the calibration efficiency of the multispectral sensor.

[0120] In some embodiments, the moving module 110 may also include multiple loading points 1101, such as 12 loading points 1101, arranged in a regular pattern. At least two of the multiple loading points 1101 can simultaneously calibrate the multispectral sensors to be calibrated, improving calibration efficiency. For example, the multiple loading points 1101 may include a first loading point and a second transfer point. The multispectral sensors to be calibrated placed at the first loading point and the second loading point can complete calibration at the same time, thus improving calibration efficiency.

[0121] In some embodiments, multiple loading points 1101 are arranged in a regular pattern, while multiple stations are also arranged in a regular pattern. For example, multiple stations may be arranged in a ring, correspondingly, the included angle between any two adjacent stations relative to the center of the moving module 110 is the same. Figure 8 As shown, there are 12 stations, with the angle between any two adjacent stations relative to the center of the mobile module 110 being 30 degrees; correspondingly, multiple loading points 1101 are also arranged in a ring. Alternatively, the stations can be arranged in a straight line, and correspondingly, the multiple loading points 1101 can also be arranged in a straight line. The number of loading points 1101 is the same as the number of stations, and each loading point 1101 corresponds to one station. The station module 120 also includes mounting slots, which correspond to the regular arrangement of the multiple stations. Figure 8 In the middle, the mounting slot is an annular area formed between two rings, and multiple stations are regularly set on the mounting slot.

[0122] Each calibration light source at each station can be powered by an external power source. To prevent crosstalk between calibration light sources at multiple stations, each station also includes a light tube 121 and a light source board 122. Figure 9 As shown, a calibration light source is provided on the light source board 122, and the light tube 121 is provided with a light inlet and a light outlet. The light outlet is on the side of the light tube 121 closest to the moving module 110. The light emitted by the calibration light source is directed from the light inlet to the light outlet, as shown. Figure 9 The direction indicated by the arrow in the diagram is the direction of the light emitted by the calibrated light source.

[0123] In some embodiments, one end face (light inlet) of the light tube 121 is connected to the light source plate 122, or the light source plate 122 covers the end face of the light tube 121, or the light source plate 122 is disposed inside the light tube 121, and the light emitted by the calibration light source is emitted from the other end face (light outlet) of the light tube 121 and illuminates the multispectral sensor to be calibrated that has moved to the station.

[0124] In some embodiments, in order to ensure that the light illuminating the multispectral sensor to be calibrated is uniform, a light homogenizer 123 is provided between the calibration light source and the multispectral sensor to be calibrated. The light homogenizer 123 is used to homogenize the light emitted by the calibration light source and then illuminate the corresponding multispectral sensor to be calibrated from the light outlet of the light tube.

[0125] In some embodiments, the light diffuser 123 is disposed in the light tube 123, for example, it may be disposed at the light outlet of the light tube 123 or disposed inside the light tube 123.

[0126] In some embodiments, each site's light source board 122 is further equipped with an optical power monitoring module. The optical power monitoring module is used to acquire the intensity information of the spectral spectrum of the calibration light source in real time during the calibration process of the multispectral sensor to be calibrated. Because the calibration light source will attenuate during use, it will cause changes in the intensity information of the spectral spectrum of the calibration light source. Changes in intensity information will also affect the calibration results. Therefore, it is necessary to acquire the intensity information of the spectral spectrum of the calibration light source in real time to correct for the impact of the attenuation of the calibration light source.

[0127] In some embodiments, when the multispectral sensor to be calibrated moves to the illumination area of ​​the calibration light source at the matching station, the main control module 130 controls the multispectral sensor to be calibrated to establish a communication connection with the data acquisition module of that station. Correspondingly, the calibration device 100 also includes a drive module, which is controlled by the main control module 130 and is used to drive the multispectral sensor to be calibrated to establish a communication connection with the data acquisition module when the multispectral sensor to be calibrated moves to the illumination area of ​​the calibration light source at the station. The communication connection can take many forms, such as Bluetooth connection, infrared connection, or card connection. The drive module can be a separate module or a module included in the mobile module 110.

[0128] In some embodiments, each station also includes a slot, and the drive module is used to drive the multispectral sensor to be calibrated to electrically connect with the data acquisition module in the station through the slot. Specifically, each station also includes a socket, which is a specially designed tooling structure with a built-in slot. The built-in slot can hold the multispectral sensor to be calibrated, electrically connecting the multispectral sensor to be calibrated and the data acquisition module of the station through the slot. When the multispectral sensor to be calibrated moves to the illumination area of ​​the calibration light source of the station, the main control module 130 controls the drive module to push the multispectral sensor to be calibrated into the slot of the station, so that the calibration device is held in place by the slot, and the multispectral sensor to be calibrated is electrically connected to the data acquisition card through the slot.

[0129] During the calibration process of the multispectral sensor to be calibrated, the above-mentioned calibration device does not require switching light sources, thus saving the time of waiting for the light sources to stabilize and improving the calibration efficiency of the multispectral sensor to be calibrated. In addition, each light source is in a continuous and stable light emission state, reducing the impact of unstable light emission intensity of the calibration light source on the calibration effect.

[0130] In some embodiments, such as Figure 7 As shown, the calibration device 100 also includes a feeding module 140 and / or a discharging module 150.

[0131] The feeding module 140, controlled by the main control module 130, loads at least one multispectral sensor to be calibrated into the moving module 110 under the control of the main control module 130. Specifically, when the feeding module 140 receives a feeding command from the main control module 130, it transfers at least one multispectral sensor to be calibrated to the loading point 1101 corresponding to the moving module 110.

[0132] The unloading module 150, controlled by the main control module 130, unloads / removes at least one multispectral sensor to be calibrated from the moving module 110. Specifically, when the unloading module 150 receives an unloading command from the main control module 130, it removes at least one multispectral sensor to be calibrated from the loading point 1101. It should be noted that the main control module 130 first drives the unloading of at least one multispectral sensor to be calibrated from the corresponding loading point 1101 of the moving module 110, disconnecting / disconnecting it from the corresponding station, such as from the slot at the corresponding station.

[0133] By setting the loading module 140 and / or unloading module 150, the loading of the multispectral sensor to be calibrated on the moving module 110 and the automatic removal of the calibrated multispectral sensor from the moving module 110 are completed, thereby improving the efficiency of multispectral sensor calibration.

[0134] The calibration light sources at the aforementioned multiple sites include at least one set of light sources for calibrating multispectral sensors. Each set of light sources can be used independently to calibrate the multispectral sensor to be calibrated. Each set of light sources includes at least one first light source and / or one second light source. At least one first light source in each set is used to calibrate the frequency offset error of the multispectral sensor to be calibrated, and the second light source in each set is used to calibrate the response error of the multispectral sensor to be calibrated. Each first light source and each second light source corresponds to one site; that is, each site either has one first light source or one second light source.

[0135] In this system, the first light source is a narrowband light source, and the second light source is a broadband light source. When both frequency offset error and response error need to be calibrated, a set of light sources includes at least one narrowband light source and one broadband light source. Each narrowband light source includes at least one monochromatic light source; a narrowband light source can be understood as a light source composed of at least one monochromatic light source.

[0136] For example, for a multispectral sensor with 10 color channels to be calibrated, the minimum number of individual light sources required is determined to be 11. Adding a broadband light source, a total of 12 light sources are needed. When the station module 120 includes 12 stations, and each narrowband light source includes one monochromatic light source, each of the 11 stations is equipped with a narrowband light source, and the remaining station is equipped with a broadband light source. Thus, by controlling the multispectral sensor to be calibrated on the moving module 110 to move one station at a time, the calibration data for the corresponding color channel at that station can be collected. The multispectral sensor to be calibrated completes the calibration of all color channels of the multispectral sensor by moving it around the moving module 110 in one revolution.

[0137] The first light source can be a ramp light source, and the second light source can be a broadband light source. The luminous intensity of the ramp light source monotonically increases or monotonically decreases within a preset first frequency offset range corresponding to the spectral response curve of at least one color channel of the multispectral sensor to be calibrated. The ramp light source has been described in detail above and will not be repeated here.

[0138] The calibration light sources at multiple stations include multiple sets of light sources for calibrating multispectral sensors to be calibrated; each set of light sources includes at least one first light source and / or a second light source. One set of light sources can calibrate one multispectral sensor to be calibrated, and multiple sets of light sources can simultaneously calibrate multiple multispectral sensors to be calibrated, thus achieving simultaneous calibration of multiple multispectral sensors to be calibrated and improving calibration efficiency. Correspondingly, under the control of the main control module 130, the loading module 140 is used to place the same number of multispectral sensors to be calibrated as the number of light source sets on the loading point 1101 of the moving module 110, and / or, under the control of the main control module 130, the unloading module 150 is used to remove the same number of multispectral sensors to be calibrated as the number of light source sets, which were first placed on the moving module 110, from the loading point 1101 of the moving module 110.

[0139] When it is necessary to calibrate both frequency offset error and response error, the station module may include multiple light sources, wherein each narrowband light source includes at least one monochromatic light source.

[0140] For example, for a multispectral sensor with 8 color channels to be calibrated, the minimum number of individual light sources required is determined to be 9. Adding a broadband light source, a total of 10 light sources are needed. When each narrowband light source includes a monochromatic light source, and the station module 120 includes 20 stations, 18 of these stations are equipped with narrowband light sources, and the remaining 2 stations are equipped with a broadband light source. Thus, the station module 120 includes two sets of light sources, enabling simultaneous calibration of two multispectral sensors.

[0141] For example, a multispectral sensor with 10 color channels requires 12 light sources. When each narrowband light source includes multiple monochromatic light sources, such as two monochromatic light sources, and the station module 120 includes 12 stations, each of the 10 stations is equipped with one narrowband light source. Of these 10 narrowband light sources, 8 include two monochromatic light sources, 2 include one monochromatic light source, and the remaining 2 stations are each equipped with a broadband light source. Thus, the station module 120 includes two sets of light sources, enabling simultaneous calibration of two multispectral sensors.

[0142] When each narrowband light source includes multiple monochromatic light sources, the number of narrowband light sources required for calibration is greatly reduced, the number of data acquisitions is reduced, and the site utilization and calibration efficiency are improved.

[0143] The following will combine Figure 8 and Figure 10 This describes the entire calibration process using the calibration device. It is assumed that the multispectral sensor to be calibrated requires five narrowband light sources, designated as group1, group2...group5. Figure 8 The terms are abbreviated as G1, G2...G5 respectively. There is one broadband light source, which is group 6. Figure 8 The abbreviation is G6; the site module 120 includes 12 sites such as SITE1, SITE2, SITE3...SITE12, with a total of two sets of light sources; the moving module 110 includes 12 loading points 1101, and the multispectral sensors to be calibrated are represented by dieID, namely die1, die2, die3...dien.

[0144] At the start of operation, the mobile module 110 is not loaded with any multispectral sensors to be calibrated. First, the main control module initiates a loading command, loading multiple multispectral sensors to be calibrated, such as die1 and die2, onto the loading point 1101 of the mobile module 110. The main control module then initiates a motion command, controlling die1 and die2 of the mobile module 110 to move to the irradiation area corresponding to the two stations in group1 and stopping there. It also controls the drive module to push the multiple multispectral sensors to be calibrated, such as die1 and die2, upwards into the socket slots of the station modules such as SITE1 and SITE2. Then, the data acquisition module configures the registers of the multiple multispectral sensors to be calibrated and acquires calibration data, sending the acquired data to the main control module 130. The main control module 130 acquires the calibration data collected from all stations in real time. Register configuration is necessary to enable the multispectral sensors to be calibrated to function. After acquisition, the main control module 130 saves the calibration data. Finally, the main control module 130 controls the drive module to detach die1 and die2 from their slots.

[0145] The main control module 130 initiates a loading command, loading multiple multispectral sensors to be calibrated, such as die3 and die4, onto the loading point 1101 of the moving module 110. The main control module then initiates a motion command, controlling the moving module 110 to move to the corresponding positions and stop. Specifically, die1 and die2 move to the illumination areas of the two stations corresponding to group2, and die3 and die4 move to the illumination areas corresponding to the two stations corresponding to group1. The main control module then controls the drive module to lift the multiple multispectral sensors to be calibrated, such as die1, die2, die3, and die4, into the socket slots of the station modules such as SITE1, SITE2, SITE3, and SITE4, and collects and sends the data to the main control module. Data is saved after collection. The main control module 130 then detaches die1, die2, die3, and die4 from their respective slots.

[0146] The same operation is performed until all 12 loading points 1101 on the moving module 110 are equipped with multispectral sensors to be calibrated. For example, Figure 10 As shown, when die1 passes through SITE2, SITE4, SITE6, SITE8, SITE10, and SITE12, it can sequentially collect the sensor's response values ​​under light source group1, group2, group3, group4, group5, and group6 to obtain calibration data for each color channel. Based on the calibration data for each color channel, it can perform calibration frequency deviation error and response error calculation and save the data.

[0147] Then, the main control module 130 first controls the drive module to separate die1 and die2 from the card slot, and the control module starts the unloading command to remove die1 and die2 from the loading point 1101 of the moving module 110.

[0148] The main control module 130 initiates a loading command, loading multiple multispectral sensors to be calibrated, such as die13 and die14, onto the loading point 1101 of the moving module 110. The main control module 130 then initiates a motion command, controlling the moving module 110 to move to the corresponding position and stop. It also controls the drive module to lift the multiple multispectral sensors to be calibrated upwards into the slots of the station module, and collects and sends the data to the main control module. The main control module 130 saves the collected data. The main control module 130 then detaches the multiple multispectral sensors to be calibrated from the slots. This process is then repeated cyclically.

[0149] Through the above operations, calibration data of 12 multispectral sensors to be calibrated can be collected simultaneously under different light sources. After the 12 loading points 1101 on the moving module 110 are all equipped with multispectral sensors to be calibrated, two multispectral sensors will complete calibration every time the moving module 110 moves, which can significantly improve calibration efficiency.

[0150] This application embodiment also provides a calibration light source, which is applied to the calibration device in any of the above embodiments. The calibration device includes multiple stations, and the calibration light source is disposed in each station. At least two of the multiple stations have different spectra of calibration light sources. The calibration light sources in the multiple stations include at least one set of light sources for calibrating the multispectral sensor to be calibrated. Each set of light sources includes at least one first light source and / or a second light source. The at least one first light source is used to calibrate the frequency offset error in the multispectral sensor to be calibrated, and the second light source is used to calibrate the response error of the multispectral sensor to be calibrated. The calibration light source is in an on state during the calibration process of the calibration device calibrating the multispectral sensor to be calibrated, so as to calibrate the multispectral sensor to be calibrated when the multispectral sensor to be calibrated moves to the illumination area of ​​the calibration light source of the station.

[0151] As explained above, the first light source can be a ramp light source, and the second light source can be a broadband light source. The luminous intensity of the ramp light source increases or decreases monotonically within a preset first frequency offset range corresponding to the spectral response curve of at least one color channel of the multispectral sensor to be calibrated.

[0152] Among them, a ramp light source is a light source whose luminous intensity monotonically increases or decreases within a preset wavelength range corresponding to each color channel spectrum of a standard multispectral sensor. It can be understood that in the spectral curve of a ramp light source, there is a peak, and there are a first trough and a second trough on both sides of the peak. The intensity between the first trough and the peak, and between the second trough and the peak, is monotonically increasing. The peaks in the spectral response curves of each color channel of the standard multispectral sensor are all near the curves formed between the first trough and the peak or between the second trough and the peak. At this time, it can be defined as a ramp light source.

[0153] In other words, a ramp light source is actually a type of light source. However, when selecting a ramp light source, it is necessary to ensure that the peaks in the spectral response curves of each color channel of the standard multispectral sensor are all near the curves formed between the first trough and the peak or between the second trough and the peak.

[0154] Specifically, the ramp light source can be a monochromatic light source or a composite light source composed of multiple monochromatic light sources. It is sufficient that the peaks in the spectral response curves of each color channel of the standard multispectral sensor are near a monotonically increasing or monotonically decreasing curve in the spectral curve of the ramp light source.

[0155] Meanwhile, the number of ramp light sources can be one, and the luminous intensity of the ramp light source within the preset first frequency deviation range corresponding to each color channel spectrum of the standard multispectral sensor increases or decreases monotonically. The ramp light source is used to calibrate the frequency deviation value of each color channel. Alternatively, the number of ramp light sources can be multiple, and multiple ramp light sources are used together to calibrate the frequency deviation value of each color channel. Each ramp light source calibrates the spectrum of at least one color channel, and the luminous intensity of each ramp light source within the preset first frequency deviation range corresponding to at least one color channel spectrum increases or decreases monotonically.

[0156] The first frequency deviation range is the wavelength range of a monotonically increasing or monotonically decreasing curve in the spectral curve of the ramp light source. In other words, the first frequency deviation range can be determined based on the wavelength range of a monotonically increasing or monotonically decreasing curve in the spectral curve of the ramp light source.

[0157] Using ramp light sources eliminates the need to determine the left and right monochromatic light sources for each color channel, greatly reducing the number of light sources required, decreasing data acquisition time, and improving calibration efficiency.

[0158] The second light source is a broadband light source, with its spectral curve covering the wavelength range of 380-950 nm. The values ​​of the spectral curve of the second light source should be as flat as possible within this wavelength range, or the spectral intensity should be relatively stable within a small wavelength interval within this range. The broadband light source is specifically designed to be relatively flat, with as few peaks as possible, to prevent the response values ​​of the multispectral sensor to be calibrated from being affected by the frequency shift of the color channels.

[0159] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A calibration method characterized by, include: When calibrating a standard multispectral sensor, first calibration data under a broadband light source and second calibration data under a ramp light source are obtained; The luminous intensity of the ramp light source increases or decreases monotonically within a preset first frequency offset range corresponding to at least one color channel spectrum of the standard multispectral sensor. The first calibration data includes a first response value and a first luminous intensity of the broadband light source. The second calibration data includes a second response value and a second luminous intensity of the ramp light source. When calibrating the multispectral sensor to be calibrated, the third calibration data under the broadband light source and the fourth calibration data under the ramp light source are obtained. The third calibration data includes a third response value and a third luminous intensity of the broadband light source. The fourth calibration data includes a fourth response value and a fourth luminous intensity of the ramp light source. The multispectral sensor to be calibrated is calibrated based on the first calibration data, the second calibration data, the third calibration data, the fourth calibration data, and the frequency offset model of the standard multispectral sensor to obtain the calibration result of the multispectral sensor to be calibrated. The frequency offset model is used to generate frequency offset data for frequency offset error calibration of the multispectral sensor based on the first calibration data, the second calibration data, the third calibration data, and the fourth calibration data.

2. The calibration method of claim 1, wherein The calibration results include response error and frequency offset data; The method for calibrating the multispectral sensor to be calibrated based on the first calibration data, the second calibration data, the third calibration data, the fourth calibration data, and the frequency offset model of the standard multispectral sensor includes: The response error of the multispectral sensor to be calibrated is determined based on the first calibration data and the third calibration data; The frequency offset data of the multispectral sensor to be calibrated is determined based on the response error, the second calibration data, the fourth calibration data, and the frequency offset model.

3. The calibration method of claim 2, wherein, The method for determining the frequency offset data of the multispectral sensor to be calibrated based on the response error, the second calibration data, the fourth calibration data, and the frequency offset model includes: Based on the response error, the second luminescence intensity, and the fourth luminescence intensity, the fourth response value of the multispectral sensor to be calibrated is corrected to obtain a corrected response value. The frequency offset data of the multispectral sensor to be calibrated is determined based on the correction response value, the second response value, and the frequency offset model.

4. The calibration method of claim 2, wherein The method for determining the frequency offset data of the multispectral sensor to be calibrated based on the response error, the second calibration data, the fourth calibration data, and the frequency offset model includes: Based on the response error, the second response value, the second luminescence intensity, the fourth response value, and the fourth luminescence intensity, determine the target ratio of the response values ​​between the multispectral sensor to be calibrated and the standard multispectral sensor; The target ratio is input into the frequency offset model to obtain the frequency offset data of each color channel of the multispectral sensor to be calibrated.

5. The calibration method of claim 2, wherein The method for determining the response error of the multispectral sensor to be calibrated based on the first calibration data and the third calibration data includes: Determine a first ratio of the first response value to the first luminous intensity, and a second ratio of the third response value to the third luminous intensity; The response error of the multispectral sensor to be calibrated is determined based on the first ratio and the second ratio.

6. The calibration method according to any one of claims 1 to 5, characterized in that, The construction of the frequency offset model includes: Obtain the standard spectral response curves of each color channel of the standard multispectral sensor, as well as the spectral curve of the ramp light source; The frequency offset model is constructed based on the standard spectral response curve and the spectral curve of the ramp light source.

7. The calibration method according to any one of claims 1 to 5, characterized in that, include: The number of ramp light sources is one. The luminous intensity of the ramp light source monotonically increases or monotonically decreases within a preset first frequency offset range corresponding to each color channel spectrum of the standard multispectral sensor. The ramp light source is used to calibrate the frequency offset value of each color channel; or... The number of ramp light sources is multiple, and the multiple ramp light sources are used together to calibrate the frequency offset value of each color channel. Each ramp light source calibrates the spectrum of at least one color channel, and the luminous intensity of each ramp light source monotonically increases or monotonically decreases within a preset first frequency offset range corresponding to the spectrum of at least one color channel.

8. An electronic device, comprising: The electronic device includes: one or more processors; a memory; and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the calibration method of any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, It stores a computer program, which is loaded by a processor to execute the calibration method according to any one of claims 1 to 7.

10. A calibrated light source characterized by, The calibration method applied to any one of claims 1 to 7, wherein the calibration light source includes a ramp light source, and the luminous intensity of the ramp light source increases or decreases monotonically within a preset first frequency offset range corresponding to the spectral response curves of each color channel of the multispectral sensor to be calibrated.

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