Parameter optimization device and parameter optimization method

Abstract

The present application provides a parameter optimization device and a parameter optimization method, which relates to the technical field of parameter optimization, including: a laser emission component, a triangular prism, an image acquisition component and a controller; the triangular prism is provided with a rectangular base; a plurality of triangular prisms are arranged side by side and adjacently on the rectangular base; scale lines are provided on both sides of the upper surface of the rectangular base parallel to the prisms of the triangular prisms; the laser emission component is used to emit laser to the triangular prism; the image acquisition component is used to acquire images of the triangular prism after emitting laser to the triangular prism; the controller is used to analyze the acquired image to obtain the coordinates of the intersection of the top edge of any two adjacent triangular prisms and the laser; based on the obtained coordinates of the intersection, a parameter optimization function is constructed; based on the parameter optimization function, the configured parameters to be optimized are optimized to obtain the optimized parameters. The present application optimizes the parameters of the laser measuring instrument to improve the accuracy of the calibration and measurement of the laser measuring instrument.

Description

Technical Field

[0001] The present application relates to the technical field of parameter optimization, and in particular to a parameter optimization device and a parameter optimization method. Background Art

[0002] Existing laser measuring instruments generally use the light plane constraint method for parameter optimization. However, due to errors in the laser measuring instrument itself, inaccurate camera calibration, and errors in light stripe extraction, the multiple light plane points calculated during the optimization process are not actually strictly on the same plane, which in turn leads to poor parameter optimization of the laser measuring instrument, which directly leads to poor measurement accuracy of the laser measuring instrument after the optimized parameters.

[0003] At the same time, the camera of the laser measuring instrument has distortion and needs to extract errors from the diagonal points during calibration. The camera parameter optimization process currently requires manual operation. Therefore, different operators or the same person performing optimization with different means at different times may lead to different results. Even using low-noise, high-stability cameras or high-precision parameter optimization methods is difficult to completely solve the problem; thus further aggravating the instability and inaccuracy of the laser measuring instrument parameter optimization results. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a parameter optimization device and a parameter optimization method to solve the above-mentioned problems existing in the prior art, to obtain the optimal parameters of the instrument, and to improve the measurement accuracy of the laser measuring instrument.

[0005] In a first aspect, a parameter optimization device is provided, which may include: a laser emission component, a triangular prism, an image acquisition component, and a controller; the triangular prism is provided with a rectangular base; a plurality of triangular prisms are arranged on the rectangular base in parallel and adjacent to each other; scale lines are provided on both sides of the upper surface of the rectangular base parallel to the prisms of the triangular prisms; a side of any triangular prism in contact with the rectangular base is a rectangle; and two sides of any triangular prism perpendicular to the rectangular base are isosceles triangles;

[0006] The laser emitting assembly is used to emit laser light toward the triangular prism;

[0007] The image acquisition component is used to acquire an image of the triangular prism after emitting a laser to the triangular prism;

[0008] The controller is used to analyze the collected image to obtain the coordinates of the intersection between the top edges of any two adjacent triangular prisms and the laser; construct a parameter optimization function based on the obtained coordinates of the intersection; and optimize the configured parameters to be optimized based on the parameter optimization function to obtain optimized parameters.

[0009] In a second aspect, a parameter optimization method is provided, which may include:

[0010] Get the configured parameters to be optimized;

[0011] Based on the parameter constraint optimization method, the parameters to be optimized are processed to obtain multiple parameters to be optimized and error values ​​of the corresponding parameters to be optimized;

[0012] From the obtained multiple error values, the error value that minimizes the pre-constructed parameter optimization function is selected as the target error value; wherein the parameter optimization function is constructed by taking the minimum sum of all deviations as the optimization target; the deviation is obtained based on the coordinates of the intersection of the top edges of any two adjacent triangular prisms and the laser;

[0013] The parameter to be optimized corresponding to the target error value is used as the optimized parameter.

[0014] In an optional implementation, the method for constructing the parameter optimization function includes:

[0015] When the laser emitted by the laser emitting assembly coincides with the scale line on the rectangular parallelepiped base, a laser image of the triangular prism is collected;

[0016] Analyze the laser image to obtain the coordinates of the intersection of the top edge of each triangular prism and the laser;

[0017] Based on the obtained coordinates of the intersection points, determine the deviations of the intersection points corresponding to any two adjacent triangular prisms in different directions;

[0018] The parameter optimization function is constructed with the minimum sum of all deviations as the optimization goal.

[0019] In an optional implementation, the laser image is analyzed to obtain the coordinates of the intersection of the top edge of each triangular prism and the laser, including:

[0020] For any triangular prism, the laser image is analyzed to obtain the coordinates of all intersections between the laser and the triangular prism;

[0021] Fitting straight lines to the coordinates of all the obtained intersection points using the least square method to obtain the straight line equations of the intersection points of the laser and the two side surfaces of the triangular prism respectively;

[0022] The intersection point of the two obtained intersection line equations is used as the coordinate of the intersection point between the top edge of the triangular prism and the laser.

[0023] In an optional implementation, based on the obtained coordinates of the intersection points, determining the deviations of the intersection points corresponding to any two adjacent triangular prisms in different directions includes:

[0024] For any triangular prism, the coordinates of the intersection of the top edge of the triangular prism and the laser are used as the first coordinates;

[0025] Select any triangular prism adjacent to the triangular prism as the target triangular prism;

[0026] The coordinates of the intersection of the top edge of the target triangular prism and the laser are used as the second coordinates;

[0027] Based on the first coordinate and the second coordinate, the deviations between the triangular prism and the target triangular prism in different directions are determined.

[0028] In an optional implementation, the deviations in different directions include: a deviation in the x-direction and a deviation in the z-direction.

[0029] In an optional implementation, determining the deviation between the triangular prism and the target triangular prism in different directions based on the first coordinate and the second coordinate includes:

[0030] Taking the difference between the coordinate value of the first coordinate in the x-direction and the coordinate value of the second coordinate in the x-direction as the deviation between the triangular prism and the target triangular prism in the x-direction;

[0031] Taking the difference between the coordinate value of the first coordinate in the z direction and the coordinate value of the second coordinate in the z direction as the deviation between the triangular prism and the target triangular prism in the z direction;

[0032] Based on the deviation amount in the x direction and the deviation amount in the z direction, the deviation amounts between the triangular prism and the target triangular prism in different directions are obtained.

[0033] In an optional implementation, based on a parameter constraint optimization method, the parameters to be optimized are processed to obtain a plurality of parameters to be optimized and error values ​​of the corresponding parameters to be optimized, including:

[0034] Performing maximum likelihood estimation on the parameters to be optimized to obtain multiple parameters to be optimized;

[0035] For any parameter to be optimized, the error value of the corresponding parameter to be optimized is calculated using the parameter constraint optimization method.

[0036] In a third aspect, a parameter optimization system is provided, which may include:

[0037] An acquisition unit, used for acquiring the configuration parameters to be optimized;

[0038] A processing unit, used for processing the parameters to be optimized based on a parameter constraint optimization method to obtain a plurality of parameters to be optimized and error values ​​of the corresponding parameters to be optimized;

[0039] The optimization unit is used to select the error value that minimizes the pre-constructed parameter optimization function from the multiple error values ​​obtained as the target error value; wherein the parameter optimization function is constructed with the minimum sum of all deviations as the optimization target; the deviation is obtained based on the coordinates of the intersection of the top edges of any two adjacent triangular prisms and the laser; and the parameter to be optimized corresponding to the target error value is used as the optimized parameter.

[0040] In a fourth aspect, an electronic device is provided, the electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0041] Memory, used to store computer programs;

[0042] The processor is used to implement the method steps described in any one of the second aspects when executing the program stored in the memory.

[0043] In a fifth aspect, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method steps described in any one of the above-mentioned second aspect are implemented.

[0044] The present application can simultaneously optimize the posture parameters of the laser plane relative to the camera and the camera internal parameters, and iteratively optimize to obtain parameters of the laser measuring instrument that are closer to the actual situation, thereby improving the accuracy of the calibration and measurement of the laser measuring instrument.

[0045] The present application adopts a triangular prism composed of multiple triangular prisms and scale lines perpendicular to the edges of the triangular prisms as an optimization reference. Based on the fact that the horizontal distance between adjacent triangular prisms is fixed and the vertical distance is the same, the difference between the actual measurement result and the fixed horizontal distance and vertical distance is compared to determine the deviation between the true value and the actual measurement value; and the minimum deviation is used as the optimization goal to obtain measurement data that is infinitely close to the true value; optimizing parameters in both the horizontal and vertical directions can effectively improve the linearity and accuracy in both the horizontal and vertical directions, and at the same time obtain the parameters to be optimized that can minimize the error value and maximize the accuracy; not only improves the consistency of parameter optimization and measurement accuracy, reduces the influence of each parameter error on the calibration result, makes the calculated imaging system parameters closer to the actual value, and reduces the error caused by human factors during the camera parameter optimization process; at the same time, it can stably optimize the parameters of various laser measuring instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A schematic diagram of a parameter optimization device provided in an embodiment of the present application;

[0048] Figure 2 A schematic diagram of a triangular prism provided in an embodiment of the present application;

[0049] Figure 3 A flow chart of a parameter optimization method provided in an embodiment of the present application;

[0050] Figure 4 A schematic diagram of the intersection of a laser and a triangular prism provided in an embodiment of the present application;

[0051] Figure 5 A schematic diagram of all intersections between a laser and each triangular prism provided in an embodiment of the present application;

[0052] Figure 6 A schematic diagram of the structure of a parameter optimization system provided in an embodiment of the present application;

[0053] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0054] In the figure: 1. Laser emitting component; 2. Triangular prism; 3. Image acquisition component; 4. Scale line; 5. Light plane. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0056] The parameter optimization method provided in the embodiment of the present application can be applied to Figure 1 In the parameter optimization device shown in Figure 1 As shown, the device may include: a laser emission component 1, a triangular prism 2, an image acquisition component 3 and a controller;

[0057] The laser emitting assembly 1 may be a line laser; the laser emitting assembly 1 is used to emit laser light toward the triangular prism 2;

[0058] The image acquisition component 3 includes an industrial camera and a lens, and is used to acquire an image of the triangular prism 2 after emitting a laser to the triangular prism 2 .

[0059] In one embodiment of the present application, the laser emitting component 1 and the image acquisition component 3 may be an integrated device; the relative positions of the laser emitting component 1 and the image acquisition component 3 are fixed.

[0060] The triangular prism 2 is provided with a rectangular base; a plurality of triangular prisms are arranged side by side and adjacent to each other on the rectangular base; Figure 1 As shown, the bottom surface of any triangular prism (i.e., the side where the triangular prism contacts the rectangular base) is a rectangle; the front and back surfaces of any triangular prism (i.e., the two surfaces perpendicular to the rectangular base) are isosceles triangles; the two side surfaces of any triangular prism (i.e., the planes between the top edge of the triangular prism and the two side edges) are rectangles; the three edges of the triangular prism are parallel; and scale lines 4 are provided on both sides of the upper surface of the rectangular base parallel to the prisms of the triangular prism.

[0061] In the embodiments of the present application, Figure 2 As shown, the flatness, contour and dimensional tolerance of the triangular prism are limited to the um (micrometer) level; the processing accuracy is guaranteed, thereby improving the accuracy of optimization.

[0062] In the embodiment of the present application, the scale on the scale line is perpendicular to any prism of the triangular prism.

[0063] A controller is used to analyze the collected image to obtain the coordinates of the intersection of the top edges of any two adjacent triangular prisms and the laser; based on the obtained coordinates of the intersection, a parameter optimization function is constructed; based on the parameter optimization function, the configured parameters to be optimized are optimized to obtain the optimized parameters. The controller can be a physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), as well as big data and artificial intelligence platforms. This application is not limited here.

[0064] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0065] Figure 3 A flow chart of a parameter optimization method provided in an embodiment of the present application. Figure 3As shown, the method may include:

[0066] Step S310, obtaining the configured parameters to be optimized; based on the parameter constraint optimization method, processing the parameters to be optimized to obtain multiple parameters to be optimized and error values ​​of the corresponding parameters to be optimized.

[0067] In the embodiment of the present application, the parameters to be optimized are acquired after the laser emission component and the image acquisition component are built.

[0068] In the embodiment of the present application, the parameters to be optimized include: camera intrinsic parameters, the posture parameters of the laser plane relative to the camera; the posture parameters of the laser plane relative to the camera specifically include: camera distortion parameters, camera focal length, coordinate transformation matrix and camera pixel size.

[0069] In the embodiment of the present application, based on the parameter constraint optimization method, the parameters to be optimized are processed to obtain multiple parameters to be optimized and the error values ​​of the corresponding parameters to be optimized, including:

[0070] The maximum likelihood estimation is performed on the parameters to be optimized to obtain multiple parameters to be optimized; for any parameter to be optimized, the error value of the corresponding parameter to be optimized is calculated using the parameter constraint optimization method.

[0071] In an embodiment of the present application, the parameter constraint optimization method adopts a nonlinear constrained least squares optimization algorithm, specifically including the steepest descent method, Newton's method, Gauss-Newton (GN) method, Levenberg-Marquardt (LM) algorithm, etc.; the solution method of the parameter constraint optimization method of the present application can adopt any one or more of the Newton method, gradient descent method, Gauss-Newton method and Levenberg-Marquardt method.

[0072] Specifically, after determining a set of parameters to be optimized in the present application, the optimization target is iteratively descended and differentiated through a nonlinear constrained least squares optimization algorithm, thereby obtaining multiple sets of parameters to be optimized based on a set of initial parameters to be optimized; the initial parameters to be optimized may be pre-configured.

[0073] Step S320: From the obtained multiple error values, select the error value that minimizes the pre-constructed parameter optimization function as the target error value; and use the parameter to be optimized corresponding to the target error value as the optimized parameter.

[0074] In the embodiment of the present application, the parameter optimization function is constructed by taking the minimum sum of all deviations as the optimization target; the deviations are obtained based on the coordinates of the intersection of the top edges of any two adjacent triangular prisms and the laser.

[0075] In an embodiment of the present application, a method for constructing a parameter optimization function includes:

[0076] When the laser emitted by the laser emitting assembly coincides with the scale line on the rectangular base, the laser image of the triangular prism is collected; the laser image is analyzed to obtain the coordinates of the intersection of the top edge of each triangular prism and the laser; based on the obtained coordinates of the intersection, the deviation of the intersection points corresponding to any two adjacent triangular prisms in different directions is determined; the minimum sum of all deviations is taken as the optimization goal, and a parameter optimization function is constructed.

[0077] In the embodiment of the present application, the laser emitted by the laser emitting assembly is a line laser, and the line laser is controlled to coincide with any scale mark on the scale line. At this time, the emitted laser is perpendicular to the three edges of each triangular prism, and the light plane 5 formed is as shown in FIG. Figure 4 As shown, Figure 4 Here, planeA refers to the left side of the triangular prism, and planeB refers to the right side of the triangular prism. The present application utilizes a triangular prism to replace a calibration image or a calibration device. Due to the characteristics of the triangular prism itself, combined with the scale lines perpendicular to the edges of the triangular prism, the triangular prism becomes a calibration device with a built-in calibration pattern or calibration scale, thereby optimizing the instrument parameters.

[0078] In the embodiment of the present application, the laser image is analyzed to obtain the coordinates of the intersection of the top edge of each triangular prism and the laser, including:

[0079] For any triangular prism, the laser image is analyzed to obtain the coordinates of all intersections between the laser and the triangular prism; the least squares method is used to fit straight lines to the coordinates of all the intersections to obtain the equations of the intersections between the laser and the two sides of the triangular prism; the intersection of the two intersection straight line equations is used as the coordinates of the intersection between the top edge of the triangular prism and the laser.

[0080] In the embodiment of the present application, the coordinates of the intersection of the top edge of the triangular prism and the laser are the point cloud imaging position.

[0081] In the embodiment of the present application, the laser image is analyzed to obtain the coordinates of all intersection points (i.e., laser points) of the laser and the triangular prism, including:

[0082] De-noising and enhancing the collected laser image to obtain an enhanced laser image; performing binary processing on the obtained enhanced laser image to obtain a laser black-and-white image; performing edge detection on the laser black-and-white image using an edge detection algorithm to obtain an edge image of the laser black-and-white image;

[0083] Find bright areas or dots in the laser black and white image as possible laser point candidates; use morphological operations (such as opening and closing operations) to remove small-area non-laser point features and retain the largest bright spot as the laser point; determine the coordinates of each laser point in the image coordinate system; obtain the focal length, principal point coordinates and other parameters of the industrial camera of the image acquisition component; according to the camera calibration information, convert the laser point coordinates in the image coordinate system to the coordinates in the world coordinate system; the coordinates of all laser points in the laser image are the coordinates of all intersections of the laser and the triangular prism (i.e., laser points).

[0084] Specifically, denoising can be performed by using image filtering technology; enhancement can be performed by adjusting brightness and contrast to make the laser point more obvious; thereby helping to improve the accuracy of the obtained coordinates.

[0085] In the embodiments of the present application, Figure 5 As shown, the coordinates of all the intersection points are fitted with straight lines using the least squares method, and the straight line equations of the intersection points of the laser and the two sides of the triangular prism (i.e., the straight line equations of Line1 and Line2) are obtained as follows:

[0086] The equation of Line1 is as follows:

[0087] ;

[0088] in, is a point on Line1, is the direction vector of Line1, and t is the parameter;

[0089] The equation of Line2 is as follows:

[0090] ;

[0091] in, is a point on Line2, is the direction vector of line Line2, and S is the parameter.

[0092] In the embodiment of the present application, the intersection of the two intersection line equations is obtained by combining the line equations of Line1 and Line2; specifically, it includes:

[0093] Combining the linear equations of Line1 and Line2, we get the following system of equations:

[0094] ;

[0095] S and t can be solved:

[0096] ;

[0097] Substituting t or S into the linear equation of any straight line, the coordinates of the intersection point are obtained, and the coordinates of the intersection point are the coordinates of the intersection point of the top edge of the triangular prism and the laser.

[0098] In the embodiment of the present application, the intersection points of the straight line equations of the two sides of each triangular prism are calculated in sequence to obtain the coordinates of the intersection points of the top edges of different triangular prisms and the laser, that is, The coordinates of represents the intersection point between the top edge of the i-th triangular prism and the laser, , m represents the number of triangular prisms.

[0099] In the embodiment of the present application, by calculating the intersection point of the top edge of the i-th triangular prism and the laser through the intersection point of the spatial straight lines, the influence of noise caused by camera imaging can be shielded, thereby effectively improving the accuracy of optimization.

[0100] In the embodiment of the present application, the order of the triangular prisms can be from left to right, from right to left, or in a predefined order; Figure 5 As shown, the order of defining the triangular prism from left to right is Indicates the intersection of the top edge of the first triangular prism from the left and the laser.

[0101] In the embodiment of the present application, based on the obtained coordinates of the intersection points, the deviations of the intersection points corresponding to any two adjacent triangular prisms in different directions are determined, including:

[0102] For any triangular prism, the coordinates of the intersection of the top edge of the triangular prism and the laser are used as the first coordinates; any triangular prism adjacent to the triangular prism is selected as the target triangular prism; the coordinates of the intersection of the top edge of the target triangular prism and the laser are used as the second coordinates; the difference between the coordinate value of the first coordinate in the x direction and the coordinate value of the second coordinate in the x direction is used as the deviation amount of the triangular prism and the target triangular prism in the x direction; the difference between the coordinate value of the first coordinate in the z direction and the coordinate value of the second coordinate in the z direction is used as the deviation amount of the triangular prism and the target triangular prism in the z direction; based on the deviation amount in the x direction and the deviation amount in the z direction, the deviation amount of the triangular prism and the target triangular prism in different directions is obtained.

[0103] In the embodiment of the present application, since the coordinates of the two adjacent triangular prisms are determined, the deviation of the intersection points of triangular prism A and triangular prism B in different directions is calculated by taking triangular prism A as the target triangular prism, and the deviation of the intersection points of triangular prism A and triangular prism B in different directions is calculated by taking triangular prism B as the target triangular prism. The results are the same. Therefore, after the order of the triangular prisms is defined, the calculation can be performed in sequence according to the defined order. and The deviation in different directions, that is, first calculate and The deviation in the x and z directions; then calculate and Deviation in the x and z directions; until the calculation is completed and The amount of deviation in the x and z directions.

[0104] In the embodiment of the present application, the deviation in the x-direction and the z-direction are calculated respectively, and the linearity and accuracy in the x-direction and the z-direction are optimized simultaneously; specifically, the point at the lower left corner of the rectangular base can be used as the origin to construct a coordinate system, in which case the x-direction represents the horizontal direction, that is, from left to right; the z-direction represents the vertical direction, and the coordinate value of z is the vertical distance between the top edge of the triangular prism and the upper or lower surface of the rectangular base.

[0105] In the embodiment of the present application, the minimum sum of all deviations is taken as the optimization goal, and a parameter optimization function is constructed, including:

[0106] The calibration process of the laser measuring instrument, i.e. the process of parameter optimization, is regarded as the process of solving nonlinear optimization problems. The parameters to be optimized of the laser measuring instrument are used as optimization variables. Between the points and The accumulated deviation is used as the optimization target to construct the parameter optimization function:

[0107]

[0108]

[0109] in, ; x represents the parameter to be optimized of the laser measuring instrument; f(x) represents the calibration deviation, which can be evaluated by the difference between the actual measured value and the standard value; m represents the number of equality constraints, p represents the number of inequality constraints, and n represents the spatial dimension; represents an inequality constraint; ; .

[0110] In the embodiment of the present application, Between the points and The cumulative deviation is used as the optimization target, and the expression is as follows:

[0111] ;

[0112] in, Indicates the standard value of the X interval (i.e. the deviation in the x direction), which is the horizontal distance between the two side edges of the triangular prism. Indicates the standard value of the Z spacing (i.e. the deviation in the z direction), which is the vertical distance between the top edge of the triangular prism and any side edge.

[0113] In the embodiments of the present application, the parameter optimization method can be applied to laser profilers, laser rangefinders, and other instruments that use lasers for measurement.

[0114] Corresponding to the above method, the embodiment of the present application also provides a parameter optimization system, such as Figure 6 As shown, the parameter optimization system includes:

[0115] An acquisition unit 610 is used to acquire the configured parameters to be optimized;

[0116] A processing unit 620 is used to process the parameters to be optimized based on the parameter constraint optimization method to obtain multiple parameters to be optimized and error values ​​of the corresponding parameters to be optimized;

[0117] The optimization unit 630 is used to select the error value that minimizes the pre-constructed parameter optimization function from the multiple error values ​​obtained as the target error value; wherein the parameter optimization function is constructed with the minimum sum of all deviations as the optimization target; the deviation is obtained based on the coordinates of the intersection of the top edges of any two adjacent triangular prisms and the laser; and the parameter to be optimized corresponding to the target error value is used as the optimized parameter.

[0118] The functions of each functional unit of the parameter optimization system provided in the above embodiments of the present application can be achieved through the above method steps. Therefore, the specific working process and beneficial effects of each unit in the parameter optimization system provided in the embodiments of the present application will not be repeated here.

[0119] The present application also provides an electronic device, such as Figure 7 As shown, it includes a processor 710 , a communication interface 720 , a memory 730 and a communication bus 740 , wherein the processor 710 , the communication interface 720 , and the memory 730 communicate with each other via the communication bus 740 .

[0120] Memory 730, for storing computer programs;

[0121] The processor 710 is used to execute the program stored in the memory 730 to implement the following steps:

[0122] Get the configured parameters to be optimized;

[0123] Based on the parameter constraint optimization method, the parameters to be optimized are processed to obtain multiple parameters to be optimized and the error values ​​of the corresponding parameters to be optimized;

[0124] From the multiple error values ​​obtained, the error value that minimizes the pre-constructed parameter optimization function is selected as the target error value; wherein the parameter optimization function is constructed with the minimum sum of all deviations as the optimization target; the deviation is obtained based on the coordinates of the intersection of the top edges of any two adjacent triangular prisms and the laser; the parameter to be optimized corresponding to the target error value is used as the optimized parameter.

[0125] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0126] The communication interface is used for communication between the above electronic device and other devices.

[0127] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0128] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0129] The implementation methods and beneficial effects of the components of the electronic device in the above embodiments to solve the problems can be seen in Figure 3 The various steps in the illustrated embodiment are implemented, therefore, the specific working process and beneficial effects of the electronic device provided by the embodiment of the present application are not repeated here.

[0130] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes any parameter optimization method in the above embodiments.

[0131] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any parameter optimization method in the above embodiments.

[0132] Those skilled in the art will appreciate that the embodiments in the present application can be provided as methods, systems, or computer program products. Therefore, the embodiments in the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments in the present application can be in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0133] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0134] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0135] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1The steps for the functions specified in one or more boxes.

[0136] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

[0137] Obviously, those skilled in the art can make various changes and modifications to the embodiments in the present application without departing from the spirit and scope of the embodiments in the present application. Thus, if these modifications and variations of the embodiments in the present application fall within the scope of the claims and their equivalents in the embodiments of the present application, the embodiments of the present application are also intended to include these modifications and variations.

Claims

1. A parameter optimization device, characterized in that: The parameter optimization device comprises: a laser emission component, a triangular prism, an image acquisition component and a controller; the triangular prism is provided with a rectangular base; a plurality of triangular prisms are arranged adjacent to each other on the rectangular base; scale lines are provided on both sides of the upper surface of the rectangular base parallel to the prisms of the triangular prisms; a side of any triangular prism in contact with the rectangular base is a rectangle; and the two sides of any triangular prism perpendicular to the rectangular base are isosceles triangles; The laser emitting assembly is used to emit laser light toward the triangular prism; The image acquisition component is used to acquire an image of the triangular prism after emitting a laser to the triangular prism; The controller is used to analyze the collected image to obtain the coordinates of the intersection of the top edges of any two adjacent triangular prisms and the laser; obtain multiple deviations based on the coordinates of the intersection of the top edges of any two adjacent triangular prisms and the laser; construct a parameter optimization function with the minimum sum of all deviations as the optimization target; obtain the configured parameters to be optimized; based on the parameter constraint optimization method, process the parameters to be optimized to obtain multiple parameters to be optimized and the error values ​​of the corresponding parameters to be optimized; from the multiple error values ​​obtained, select the error value that minimizes the parameter optimization function as the target error value; and use the parameter to be optimized corresponding to the target error value as the optimized parameter.

2. The device according to claim 1, characterized in that The controller is specifically used for: When the laser emitted by the laser emitting assembly coincides with the scale line on the rectangular parallelepiped base, a laser image of the triangular prism is collected; Analyzing the laser image to obtain the coordinates of the intersection of the top edge of each triangular prism and the laser; Based on the obtained coordinates of the intersection points, determine the deviations of the intersection points corresponding to any two adjacent triangular prisms in different directions; The parameter optimization function is constructed with the minimum sum of all deviations as the optimization goal.

3. The device according to claim 2, characterized in that The laser image is analyzed to obtain the coordinates of the intersection of the top edge of each triangular prism and the laser, including: For any triangular prism, the laser image is analyzed to obtain the coordinates of all intersections between the laser and the triangular prism; Fitting straight lines to the coordinates of all the obtained intersection points using the least square method to obtain the straight line equations of the intersection points of the laser and the two side surfaces of the triangular prism respectively; The intersection point of the two obtained intersection line equations is used as the coordinate of the intersection point of the top edge of the triangular prism and the laser.

4. The device according to claim 2, characterized in that Based on the obtained coordinates of the intersection points, the deviations of the intersection points corresponding to any two adjacent triangular prisms in different directions are determined, including: For any triangular prism, the coordinates of the intersection of the top edge of the triangular prism and the laser are used as the first coordinates; Select any triangular prism adjacent to the triangular prism as the target triangular prism; The coordinates of the intersection of the top edge of the target triangular prism and the laser are used as the second coordinates; Based on the first coordinate and the second coordinate, the deviations between the triangular prism and the target triangular prism in different directions are determined.

5. The device according to claim 4, characterized in that The deviations in different directions include: the deviation in the x-direction and the deviation in the z-direction.

6. The device according to claim 5, characterized in that Determining the deviation between the triangular prism and the target triangular prism in different directions based on the first coordinate and the second coordinate includes: Taking the difference between the coordinate value of the first coordinate in the x-direction and the coordinate value of the second coordinate in the x-direction as the deviation between the triangular prism and the target triangular prism in the x-direction; Taking the difference between the coordinate value of the first coordinate in the z direction and the coordinate value of the second coordinate in the z direction as the deviation between the triangular prism and the target triangular prism in the z direction; Based on the deviation amount in the x direction and the deviation amount in the z direction, the deviation amounts between the triangular prism and the target triangular prism in different directions are obtained.

7. The device according to claim 1, characterized in that Based on the parameter constraint optimization method, the parameters to be optimized are processed to obtain multiple parameters to be optimized and error values ​​of the corresponding parameters to be optimized, including: Performing maximum likelihood estimation on the parameters to be optimized to obtain multiple parameters to be optimized; For any parameter to be optimized, the error value of the corresponding parameter to be optimized is calculated using the parameter constraint optimization method.

8. A parameter optimization system, characterized in that: Applied to a parameter optimization device, the parameter optimization device comprises: a laser emission component, a triangular prism, an image acquisition component and a controller; the triangular prism is provided with a rectangular base; a plurality of triangular prisms are arranged adjacent to each other on the rectangular base; scale lines are provided on both sides of the upper surface of the rectangular base parallel to the prisms of the triangular prisms; a side of any triangular prism in contact with the rectangular base is a rectangle; the two sides of any triangular prism perpendicular to the rectangular base are isosceles triangles; the system comprises: A transmitting unit, used for transmitting laser light to the triangular prism by using the laser transmitting assembly; A collection unit, used for collecting images of the triangular prism by using an image collection component after emitting laser light to the triangular prism; The optimization unit is used to analyze the collected image to obtain the coordinates of the intersection of the top edges of any two adjacent triangular prisms and the laser; obtain multiple deviations based on the coordinates of the intersection of the top edges of any two adjacent triangular prisms and the laser; construct a parameter optimization function with the minimum sum of all deviations as the optimization target; obtain the configured parameters to be optimized; based on the parameter constraint optimization method, process the parameters to be optimized to obtain multiple parameters to be optimized and the error values ​​of the corresponding parameters to be optimized; from the multiple error values ​​obtained, select the error value that minimizes the parameter optimization function as the target error value; and use the parameter to be optimized corresponding to the target error value as the optimized parameter.

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