Single-point calibration method and device, equipment, storage medium and product

Abstract

The invention discloses a single-point calibration method and device, equipment, a storage medium and a product, and relates to the technical field of automation equipment, and the single-point calibration method comprises the steps that the first point position height of a current measurement point in a standard part measured by a 3D laser sensor and the second point position height of the current measurement point measured by an OMM are obtained; compensating the 3D laser sensor based on the first point position height and the second point position height to obtain a compensation point position height of the 3D laser sensor to the current measurement point; and performing single-point calibration on the 3D laser sensor based on the compensation point height. Namely, according to the height of the first point position and the height of the second point position, single-point compensation is carried out on the 3D laser sensor to obtain the height of the compensation point position, calibration compensation is carried out on the current measurement point of the 3D laser sensor, and because the measurement points of the 3D laser sensor and the OMM measurement are the same, and the points are not prone to being affected by the size of a product. And the calibration accuracy of the 3D laser sensor is improved.

Description

Technical Field

[0001] The present application relates to the field of automation equipment technology, and in particular to single-point calibration methods, devices, equipment, storage media and products. Background Art

[0002] In product flatness CCD inspection projects, 3D laser sensors are often used to perform 3D line scan measurements on the product's flatness.

[0003] To ensure measurement accuracy, before measuring the flatness of a product, it is necessary to first calibrate the 3D laser sensor using the standard testing equipment OMM (Optical Measuring Machine) to ensure that the 3D laser sensor's measurement of the product meets the standard. Currently, when calibrating a 3D laser sensor, it is usually necessary to first use the OMM and 3D laser sensor to measure the flatness of the product separately, and then combine the flatness measurements of the two to calibrate and compensate the 3D laser sensor. However, this compensation method is easily affected by the overall dimensional fluctuations of the product's flatness, resulting in low accuracy in the calibration of the 3D laser sensor.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a single-point calibration method to solve the technical problem of low accuracy in 3D laser sensor calibration.

[0006] To achieve the above purpose, the present application proposes a single-point calibration method, which comprises: Acquire a first point height measured by the 3D laser sensor for a current measurement point in the standard component, and a second point height measured by the OMM for the current measurement point; Based on the first point height and the second point height, the 3D laser sensor is compensated to obtain a compensated point height of the current measurement point by the 3D laser sensor; Based on the compensation point height, single-point calibration is performed on the 3D laser sensor.

[0007] In one embodiment, the step of performing single-point calibration on the 3D laser sensor based on the compensation point height includes: Based on the compensation point height, performing a single-point test on the 3D laser sensor; Verifying the calibrated 3D laser sensor to determine a calibration error of the 3D laser sensor; Determining whether the calibration error meets a preset accuracy requirement; If the preset accuracy requirement is not met, the steps of obtaining the first point height measured by the 3D laser sensor for the current measurement point in the standard part and the second point height measured by the OMM for the current measurement point are executed until the calibration error meets the preset accuracy requirement, thereby completing the single-point calibration of the 3D laser sensor.

[0008] In one embodiment, the step of verifying the calibrated 3D laser sensor and determining the calibration error of the 3D laser sensor comprises: Obtaining a measurement height of the flatness measurement of the standard part by the calibrated 3D laser sensor; Based on the measured height and the second point height, a calibration error of the 3D laser sensor is determined.

[0009] In one embodiment, the step of performing single-point calibration on the 3D laser sensor based on the compensation point height includes: After obtaining the compensation point heights of all measurement points in the standard part by the 3D laser sensor, performing plane fitting on the standard part based on the heights of the compensation points to determine the fitting plane of the standard part; Based on the fitting plane, an overall calibration result of the 3D laser sensor is detected.

[0010] In one embodiment, the step of compensating the 3D laser sensor based on the first point height and the second point height to obtain the compensated point height of the current measurement point by the 3D laser sensor includes: Calculate the difference between the first point height and the second point height to obtain a measurement error of the 3D laser sensor for the current measurement point; Based on the measurement error of the measurement point, the 3D laser sensor is compensated to obtain the compensated point height of the current measurement point.

[0011] In one embodiment, before the step of obtaining the first point height measured by the 3D laser sensor for the current measurement point in the standard component and the second point height measured by the OMM for the current measurement point, the step further includes: A preset number of standard parts are selected from a preset standard part set, the standard parts including a preset sub-number of lower limit standard parts that exceed the lower limit of the flatness standard fluctuation, a preset sub-number of upper limit standard parts that exceed the upper limit of the flatness standard fluctuation, a preset sub-number of median standard parts that are located at the median of the flatness standard fluctuation, a preset sub-number of lower limit close standard parts that are located closest to the lower limit within the flatness standard fluctuation, and a preset sub-number of upper limit close standard parts that are located closest to the upper limit within the flatness standard fluctuation.

[0012] In addition, to achieve the above purpose, the present application also proposes a single-point calibration device, which includes: An acquisition module, used to acquire a first point height measured by the 3D laser sensor for a current measurement point in the standard part, and a second point height measured by the OMM for the current measurement point; A compensation module, used to compensate the 3D laser sensor based on the first point height and the second point height, and obtain a compensated point height of the current measurement point by the 3D laser sensor; The calibration module is used to perform single-point calibration on the 3D laser sensor based on the compensation point height.

[0013] In addition, to achieve the above-mentioned purpose, the present application also proposes a single-point calibration device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the single-point calibration method described above.

[0014] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the single-point calibration method described above are implemented.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the single-point calibration method described above are implemented.

[0016] One or more technical solutions proposed in this application have at least the following technical effects: By measuring the same measuring point of the standard part with the 3D laser sensor and the OMM respectively, the first point height of the current measuring point measured by the 3D laser sensor and the second point height of the current measuring point measured by the OMM are obtained to ensure that the points measured by the OMM and the 3D laser sensor for the standard part are the same, thereby reducing the calibration error caused by the different points. Then, according to the first point height and the second point height, single-point compensation is performed on the 3D laser sensor to obtain the compensation point height, so as to calibrate and compensate the 3D laser sensor for the current measuring point. Since the measuring points measured by the 3D laser sensor and the OMM are the same and the points are not easily affected by the product size, the accuracy of the calibration of the 3D laser sensor is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the single-point calibration method of this application; Figure 2 A schematic diagram of the overall implementation process provided for the single-point calibration method of this application; Figure 3 A schematic diagram of a flow chart provided for the second embodiment of the single-point calibration method of this application; Figure 4 A schematic diagram of a flow chart provided for the third embodiment of the single-point calibration method of the present application; Figure 5 This is a schematic diagram of the module structure of the single-point calibration device according to an embodiment of the present application; Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the single-point calibration method in the embodiment of the present application.

[0020] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0022] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0023] The main solution of the embodiment of the present application is: the calibration device obtains the first point height measured by the 3D laser sensor for the current measurement point in the standard part, and the second point height measured by the OMM for the current measurement point; based on the first point height and the second point height, the 3D laser sensor is compensated to obtain the compensated point height of the 3D laser sensor for the current measurement point; based on the compensated point height, the 3D laser sensor is single-point calibrated.

[0024] In this embodiment, for the convenience of description, the following description is made with the calibration device as the execution subject.

[0025] In order to ensure the accuracy of measurement, before measuring the flatness of the product, it is necessary to calibrate the 3D laser sensor using the standard testing equipment OMM to ensure that the 3D laser sensor's measurement of the product meets the standard. At present, when calibrating a 3D laser sensor, it is usually necessary to first use the OMM and the 3D laser sensor to measure the flatness of the product separately, and then combine the flatness measured by the two to calibrate and compensate the 3D laser sensor. However, this compensation method is easily affected by the overall dimensional fluctuations of the product's flatness, resulting in low accuracy in the calibration of the 3D laser sensor.

[0026] The present application provides a solution, which measures the same measurement point of the standard part by a 3D laser sensor and an OMM respectively, obtains the first point height of the current measurement point measured by the 3D laser sensor, and the second point height of the current measurement point measured by the OMM, so as to ensure that the points measured by the OMM and the 3D laser sensor on the standard part are the same, thereby reducing the calibration error caused by the different points, and then performs single-point compensation on the 3D laser sensor according to the first point height and the second point height, obtains the compensated point height, so as to calibrate and compensate the 3D laser sensor for the current measurement point. Since the measurement points measured by the 3D laser sensor and the OMM are the same, and the points are not easily affected by the product size, the accuracy of the calibration of the 3D laser sensor is improved.

[0027] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a calibration device, etc. The following takes the calibration device as an example to illustrate this embodiment and the following embodiments.

[0028] Based on this, the present application embodiment provides a single-point calibration method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the single-point calibration method of the present application.

[0029] In this embodiment, the single-point calibration method includes steps S10 to S30: Step S10, obtaining a first point height measured by the 3D laser sensor for a current measuring point in the standard component, and a second point height measured by the OMM for the current measuring point; It should be noted that the 3D laser sensor is a sensor that uses laser technology to obtain three-dimensional information on the surface of the object being measured. By emitting a laser beam and receiving the reflected laser signal, the distance information of each point on the object surface is calculated, thereby realizing the measurement of three-dimensional features such as the height and shape of the object surface. The standard part is a reference object used to calibrate and verify the flatness accuracy of the 3D laser sensor. The current measurement point is the same position point on the surface of the standard part measured by the 3D laser sensor and the OMM, that is, the focus of attention during the calibration process, which is used to determine the measurement error of the 3D laser sensor and compensate for it. The first point height is the height value of the current measurement point measured by the 3D laser sensor. OMM is a high-precision optical measurement device used to obtain accurate geometric information on the surface of an object. Therefore, in this embodiment, it can be used to compare and calibrate the measurement results of the 3D laser sensor. The second point height: refers to the height value of the current measurement point measured by the OMM.

[0030] It is understandable that in order to reduce the calibration error caused by different point positions, the first point height and the second point height of the current measurement point in the standard part of the 3D laser sensor and OMM can be obtained, so as to provide accurate data basis for subsequent error analysis and sensor compensation based on the first point height and the second point height.

[0031] Optionally, before step S10, the single-point calibration method further includes: A preset number of standard parts are selected from a preset standard part set, the standard parts including a preset sub-number of lower limit standard parts that exceed the lower limit of the flatness standard fluctuation, a preset sub-number of upper limit standard parts that exceed the upper limit of the flatness standard fluctuation, a preset sub-number of median standard parts that are located at the median of the flatness standard fluctuation, a preset sub-number of lower limit close standard parts that are located closest to the lower limit within the flatness standard fluctuation, and a preset sub-number of upper limit close standard parts that are located closest to the upper limit within the flatness standard fluctuation.

[0032] It should be noted that the preset standard parts set is a set of standard parts pre-selected for calibration and verification of the performance of the measuring equipment. These standard parts have known precise geometric features, such as flatness, size, etc., and are used to compare and calibrate the accuracy of the sensor measurement results. Preset quantity: refers to the number of standard parts pre-set during the calibration process, for example, 10. Flatness standard fluctuation: refers to the allowable deviation range of the flatness of the standard parts. The lower limit standard part is a standard part whose flatness exceeds the lower limit of the flatness standard fluctuation. The upper limit standard part is a standard part whose flatness exceeds the upper limit of the flatness standard fluctuation. The median standard part is a standard part whose flatness is at the median of the flatness standard fluctuation, and the lower limit close standard part is a standard part whose flatness is closest to the lower limit within the flatness standard fluctuation. The upper limit close standard part is a standard part whose flatness is closest to the upper limit within the flatness standard fluctuation. The preset sub-quantity is the number of lower limit standard parts, upper limit standard parts, median standard parts, lower limit close standard parts, and upper limit close standard parts in the selected standard parts.

[0033] In the specific implementation, according to the working principle and calibration requirements of 3D line scanning, the corresponding detection program is written. The program should include each step of the calibration process, as well as the functions of data acquisition, processing and analysis.

[0034] Step S20, compensating the 3D laser sensor based on the first point height and the second point height to obtain a compensated point height of the current measurement point by the 3D laser sensor; It should be noted that compensation is the process of eliminating or reducing measurement errors by adjusting or correcting the output value of the 3D laser sensor, so as to make the measurement result of the measuring device closer to the true value and improve the measurement accuracy. The compensation point height is the height value of the current measurement point obtained by the 3D laser sensor after the compensation process. Among them, this value is obtained by comparing and adjusting the first point height with the second point height to be closer to the true height of the current measurement point.

[0035] It can be understood that by compensating the 3D laser sensor through the first point height and the second point height, the measurement error of the 3D laser sensor at the current measurement point can be effectively eliminated or reduced, and a more accurate compensation point height can be obtained to improve the accuracy of single-point calibration of the 3D laser sensor.

[0036] Furthermore, step S20 further includes: Calculate the difference between the first point height and the second point height to obtain a measurement error of the 3D laser sensor for the current measurement point; Based on the measurement error of the measurement point, the 3D laser sensor is compensated to obtain the compensated point height of the current measurement point.

[0037] It should be noted that the measurement error is the difference between the first point height measured by the 3D laser sensor and the second point height measured by the OMM, and the difference reflects the measurement accuracy deviation of the sensor at the current measurement point.

[0038] It can be understood that by calculating the difference between the first point height and the second point height, the measurement error of the 3D laser sensor at the current measurement point can be quantified, providing accurate data basis for subsequent compensation and calibration, making the compensation process more targeted and effective.

[0039] Optionally, after obtaining the measurement error, the 3D laser sensor can be compensated and adjusted accordingly according to the size and direction of the error. For example, if the measurement error is a positive value, it means that the sensor measurement value is too high, and the measurement value can be reduced by adjusting the sensor parameters or compensation model; if the error is a negative value, it means that the sensor measurement value is too low, and the measurement value can be increased through compensation, so that the measurement result after compensation will be closer to the true value, thereby significantly improving the measurement accuracy of the sensor.

[0040] It is understandable that by analyzing the size and stability of the measurement error and its relationship with the measurement conditions, targeted improvements can be made to the 3D laser sensor. For example, if the error is found to be related to the installation position of the sensor, the installation structure of the sensor can be optimized; if the error is found to be related to the performance of the laser emission and receiving system, the performance parameters of the laser and detector can be improved to enhance the overall performance and reliability of the 3D laser sensor for product flatness measurement.

[0041] In a specific implementation, the difference between the first point height and the second point height is calculated to determine the measurement error of the 3D laser sensor at the current measurement point, analyze the size and direction of the measurement error, and determine whether the error is within an acceptable range. If the error is large or exceeds the preset accuracy requirement, the 3D laser sensor needs to be compensated according to the compensation strategy, that is, according to the compensation strategy and the calculated measurement error, the relevant parameters of the 3D laser sensor are adjusted. For example, the laser emission power, receiving sensitivity, data processing algorithm, etc. are adjusted to make the output value of the sensor closer to the true value, so as to obtain the compensated point height of the 3D laser sensor for the current measurement point.

[0042] Step S30: performing single-point calibration on the 3D laser sensor based on the compensation point height.

[0043] It should be noted that single-point calibration is the process of calibrating and adjusting the measuring equipment at a specific measuring point so that the measurement results of the equipment at that measuring point meet the predetermined accuracy requirements and ensure that the measurement performance of the equipment at that point meets the application requirements.

[0044] It can be understood that through single-point calibration, compensation and adjustment are directly performed for each measuring point, and the measurement error is accurately eliminated, so that the measurement result of the 3D laser sensor at each measuring point is closer to the true value.

[0045] It can be understood that by individually compensating and adjusting each measuring point through single-point calibration, it is not affected by the overall dimensional fluctuation, and can ensure that the measurement result of each measuring point is stable and reliable, thereby improving the stability of the overall measurement.

[0046] In the specific implementation, refer to Figure 2 , obtain the OMM measurement MSOP, write a 3D measurement program based on the MSOP, mainly based on this step to ensure the consistency of the measurement points, select 10 standard parts, 2 exceed the lower limit, 2 exceed the upper limit, 2 are close to the lower limit, 2 are close to the upper limit, and 2 are the median of the specification to ensure the uniformity of data distribution, use OMM and 3D line scan to measure the flatness and point height of the selected standard parts respectively, for each measurement point, calculate the difference between the 3D line scan measurement result and the OMM measurement result to reflect the measurement error of the 3D line scan at this point, according to the calculated difference, perform single-point compensation on the 3D line scan, measure the compensated 3D line scan again, and compare the result with the measurement result of OMM to verify the calibration effect, so as to ensure that the compensated measurement result meets the preset accuracy requirements, if the calibration error is less than or equal to 0.015mm, the calibration process ends and the calibration result is qualified (OK). If the calibration error is greater than 0.015mm, the calibration result is unqualified (NG), and you need to return to the step of "Using OMM and 3D line scanning to measure the flatness and point height of the selected standard parts respectively" and re-measure and compensate the 3D laser sensor until the accuracy requirements are met.

[0047] Among them, 3D line scanning is the process of 3D laser sensor laser scanning the product.

[0048] This embodiment provides a single-point calibration method, in which the 3D laser sensor and the OMM respectively measure the same measurement point of the standard part to obtain the first point height of the current measurement point measured by the 3D laser sensor and the second point height of the current measurement point measured by the OMM, so as to ensure that the points measured by the OMM and the 3D laser sensor on the standard part are the same, thereby reducing the calibration error caused by the different points. Then, according to the first point height and the second point height, the 3D laser sensor is single-point compensated to obtain the compensated point height, so as to calibrate and compensate the 3D laser sensor for the current measurement point. Since the measurement points measured by the 3D laser sensor and the OMM are the same and the points are not easily affected by the product size, the accuracy of the calibration of the 3D laser sensor is improved.

[0049] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 3 , step S30 also includes steps S31 to S34: Step S31, performing a single-point test on the 3D laser sensor based on the compensation point height; Step S32, verifying the calibrated 3D laser sensor to determine a calibration error of the 3D laser sensor; Step S33, determining whether the calibration error meets the preset accuracy requirement; Step S34, if the preset accuracy requirement is not met, execute the step of obtaining the first point height measured by the 3D laser sensor for the current measurement point in the standard part, and the second point height measured by the OMM for the current measurement point, until the calibration error meets the preset accuracy requirement, and complete the single-point calibration of the 3D laser sensor.

[0050] It should be noted that the single-point test is the process of calibrating and testing the 3D laser sensor to verify whether the measurement result of the 3D laser sensor at the current measurement point meets the predetermined accuracy requirements, and to make necessary adjustments and optimizations to the 3D laser sensor to ensure that its measurement performance at this point meets the application requirements. The calibration error is the error that still exists in the measurement process of the calibrated 3D laser sensor. The calibration error is obtained by comparing the measurement result of the 3D laser sensor with a known standard value or true value, and reflects the measurement accuracy deviation of the device after calibration. The preset accuracy requirement is the measurement accuracy standard pre-set during the calibration process.

[0051] It can be understood that the compensation point height has taken into account the compensation of measurement errors. Therefore, calibration on this basis can further eliminate small errors caused by the sensor's own characteristics or external environmental factors, making the sensor's measurement results at this point closer to the true value.

[0052] It can be understood that by verifying the calibrated 3D laser sensor, its calibration effect can be accurately evaluated, and the size and direction of the calibration error can be determined. If the calibration error does not meet the preset accuracy requirements, by re-obtaining the first point height and the second point height and repeating the calibration process, the accumulation of errors can be effectively avoided, and the calibration error can be gradually reduced until a satisfactory accuracy level is reached, thereby ensuring that the measurement accuracy of the equipment is always under control.

[0053] Furthermore, step S32 further includes: Obtaining a measurement height of the flatness measurement of the standard part by the calibrated 3D laser sensor; Based on the measured height and the second point height, a calibration error of the 3D laser sensor is determined.

[0054] It should be noted that the 3D laser sensor after calibration is a 3D laser sensor that has been adjusted and calibrated through the calibration process. Flatness measurement is the measurement of the flatness of the surface of an object. The measured height is the height value of each point on the surface of the standard part obtained by the 3D laser sensor when measuring the flatness of the standard part.

[0055] It can be understood that the measured height measured by the 3D laser sensor is compared with the height of the second point measured by the OMM, and the difference between the two is calculated, which is the calibration error. The calibration error is used to determine whether the calibration of the 3D laser sensor meets the preset accuracy requirements, so that the calibrated and compensated 3D laser sensor can meet higher accuracy.

[0056] It is understandable that by performing flatness measurement and error calculation on the calibrated 3D laser sensor, its calibration effect can be accurately evaluated, and the size and direction of the calibration error can be determined to ensure that the measurement accuracy of the 3D laser sensor meets the preset accuracy requirements.

[0057] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be described in detail later. Figure 4 After step S30, the single-point calibration method further includes steps S01-S02: Step S01, after obtaining the compensation point heights of all measurement points in the standard part by the 3D laser sensor, performing plane fitting on the standard part based on the heights of the compensation points to determine the fitting plane of the standard part; Step S02: Based on the fitting plane, detect the overall calibration result of the 3D laser sensor.

[0058] It should be noted that plane fitting is a process of analyzing a set of 3D point data using mathematical methods to determine the best fitting plane during measurement and calibration. The fitting plane can be used to evaluate the distribution of measurement points and the measurement accuracy of the sensor. The fitting plane is obtained through the plane fitting process and is the plane that best matches a set of measurement points. The parameters of the fitting plane can reflect the average position and distribution of this set of measurement points. The overall calibration result is a comprehensive evaluation of the measurement performance at all measurement points after the 3D laser sensor is calibrated. The overall calibration result can be determined by comparing the actual flatness of the fitting plane with that of the standard part.

[0059] It can be understood that through plane fitting, the comprehensive measurement performance of the 3D laser sensor at all measurement points can be more accurately evaluated, thereby improving the accuracy of calibration.

[0060] It is understandable that the use of single-point error calculation followed by flatness fitting solves the problem of large measurement differences caused by inconsistent dimensional fluctuations due to unstable incoming materials, thereby achieving high-precision benchmarking and high-precision measurement, effectively controlling the outflow of defective products, and meeting customers' high-precision inspection requirements.

[0061] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the single-point calibration method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0062] This application also provides a single-point calibration device, please refer to Figure 5 , the single-point calibration device comprises: An acquisition module 10 is used to acquire a first point height measured by the 3D laser sensor for a current measurement point in the standard component, and a second point height measured by the OMM for the current measurement point; A compensation module 20, configured to compensate the 3D laser sensor based on the first point height and the second point height, and obtain a compensated point height of the current measurement point by the 3D laser sensor; The calibration module 30 is used to perform single-point calibration on the 3D laser sensor based on the compensation point height.

[0063] Optionally, the calibration module 30 is also used to perform a single-point test on the 3D laser sensor based on the compensation point height; verify the calibrated 3D laser sensor to determine the calibration error of the 3D laser sensor; determine whether the calibration error meets the preset accuracy requirement; if it does not meet the preset accuracy requirement, execute the steps of obtaining the first point height measured by the 3D laser sensor for the current measurement point in the standard part, and the second point height measured by the OMM for the current measurement point, until the calibration error meets the preset accuracy requirement, thereby completing the single-point calibration of the 3D laser sensor.

[0064] Optionally, the calibration module 30 is further used to obtain a measurement height of the flatness measurement of the standard part by the 3D laser sensor after calibration; and determine a calibration error of the 3D laser sensor based on the measurement height and the second point height.

[0065] Optionally, the calibration module 30 is also used to, after obtaining the compensation point heights of all measurement points in the standard part by the 3D laser sensor, perform plane fitting on the standard part based on each compensation point height to determine the fitting plane of the standard part; and based on the fitting plane, detect the overall calibration result of the 3D laser sensor.

[0066] Optionally, the compensation module 20 is also used to calculate the difference between the first point height and the second point height to obtain the measurement error of the 3D laser sensor on the current measuring point; based on the measurement error of the measuring point, the 3D laser sensor is compensated to obtain the compensated point height of the current measuring point.

[0067] Optionally, the acquisition module 10 is also used to select a preset number of standard parts from a preset standard parts set, the standard parts including a preset sub-number of lower limit standard parts that exceed the lower limit of the flatness standard fluctuation, a preset sub-number of upper limit standard parts that exceed the upper limit of the flatness standard fluctuation, a preset sub-number of median standard parts that are located at the median of the flatness standard fluctuation, a preset sub-number of lower limit close standard parts that are closest to the lower limit within the flatness standard fluctuation, and a preset sub-number of upper limit close standard parts that are closest to the upper limit within the flatness standard fluctuation.

[0068] The single-point calibration device provided by the present application adopts the single-point calibration method in the above embodiment, which can solve the technical problem of low accuracy in 3D laser sensor calibration. Compared with the prior art, the beneficial effects of the single-point calibration device provided by the present application are the same as the beneficial effects of the single-point calibration method provided by the above embodiment, and other technical features in the single-point calibration device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0069] The present application provides a single-point calibration device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the single-point calibration method in the above-mentioned embodiment one.

[0070] Reference below Figure 6, which shows a schematic diagram of the structure of a single-point calibration device suitable for implementing the embodiment of the present application. The single-point calibration device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The single-point calibration device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0071] like Figure 6 As shown, the single-point calibration device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the single-point calibration device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the single-point calibration device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a single-point calibration device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0072] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0073] The single-point calibration device provided by the present application adopts the single-point calibration method in the above embodiment, which can solve the technical problem of low accuracy in 3D laser sensor calibration. Compared with the prior art, the beneficial effects of the single-point calibration device provided by the present application are the same as the beneficial effects of the single-point calibration method provided by the above embodiment, and the other technical features in the single-point calibration device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0074] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0075] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0076] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the single-point calibration method in the above-mentioned embodiment.

[0077] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0078] The computer-readable storage medium may be included in the single-point calibration device; or may exist independently without being assembled into the single-point calibration device.

[0079] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the single-point calibration device, the single-point calibration device: obtains the first point height measured by the 3D laser sensor for the current measurement point in the standard part, and the second point height measured by the OMM for the current measurement point; based on the first point height and the second point height, compensates the 3D laser sensor to obtain the compensated point height of the 3D laser sensor for the current measurement point; and performs single-point calibration on the 3D laser sensor based on the compensated point height.

[0080] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0081] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0082] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0083] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned single-point calibration method, and can solve the technical problem of low accuracy in 3D laser sensor calibration. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the single-point calibration method provided in the above-mentioned embodiment, and will not be elaborated here.

[0084] The present application also provides a computer program product, including a computer program, which implements the steps of the single-point calibration method as described above when executed by a processor.

[0085] The computer program product provided by the present application can solve the technical problem of low accuracy in 3D laser sensor calibration. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the single-point calibration method provided by the above embodiment, which will not be described in detail here.

[0086] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A single-point calibration method, characterized in that: The method includes: Acquire a first point height measured by the 3D laser sensor for a current measurement point in the standard component, and a second point height measured by the OMM for the current measurement point; Based on the first point height and the second point height, the 3D laser sensor is compensated to obtain a compensated point height of the current measurement point by the 3D laser sensor; Based on the compensation point height, single-point calibration is performed on the 3D laser sensor.

2. The method according to claim 1, characterized in that The step of performing single-point calibration on the 3D laser sensor based on the compensation point height includes: Based on the compensation point height, performing a single-point test on the 3D laser sensor; Verifying the calibrated 3D laser sensor to determine a calibration error of the 3D laser sensor; Determining whether the calibration error meets a preset accuracy requirement; If the preset accuracy requirement is not met, the steps of obtaining the first point height measured by the 3D laser sensor for the current measurement point in the standard part and the second point height measured by the OMM for the current measurement point are executed until the calibration error meets the preset accuracy requirement, thereby completing the single-point calibration of the 3D laser sensor.

3. The method according to claim 2, characterized in that The step of verifying the calibrated 3D laser sensor and determining the calibration error of the 3D laser sensor comprises: Obtaining a measurement height of the flatness measurement of the standard part by the calibrated 3D laser sensor; Based on the measured height and the second point height, a calibration error of the 3D laser sensor is determined.

4. The method according to claim 1, characterized in that The step of single-point calibration of the 3D laser sensor based on the compensation point height includes: After obtaining the compensation point heights of all measurement points in the standard part by the 3D laser sensor, performing plane fitting on the standard part based on the heights of the compensation points to determine the fitting plane of the standard part; Based on the fitting plane, an overall calibration result of the 3D laser sensor is detected.

5. The method according to claim 1, characterized in that The step of compensating the 3D laser sensor based on the first point height and the second point height to obtain the compensated point height of the current measurement point by the 3D laser sensor comprises: Calculate the difference between the first point height and the second point height to obtain a measurement error of the 3D laser sensor for the current measurement point; Based on the measurement error of the measurement point, the 3D laser sensor is compensated to obtain the compensated point height of the current measurement point.

6. The method according to claim 1, characterized in that Before the step of obtaining the first point height measured by the 3D laser sensor for the current measuring point in the standard component and the second point height measured by the OMM for the current measuring point, the following steps are also included: A preset number of standard parts are selected from a preset standard part set, the standard parts including a preset sub-number of lower limit standard parts that exceed the lower limit of the flatness standard fluctuation, a preset sub-number of upper limit standard parts that exceed the upper limit of the flatness standard fluctuation, a preset sub-number of median standard parts that are located at the median of the flatness standard fluctuation, a preset sub-number of lower limit close standard parts that are located closest to the lower limit within the flatness standard fluctuation, and a preset sub-number of upper limit close standard parts that are located closest to the upper limit within the flatness standard fluctuation.

7. A single-point calibration device, characterized in that: The device comprises: An acquisition module, used to acquire a first point height measured by the 3D laser sensor for a current measurement point in the standard part, and a second point height measured by the OMM for the current measurement point; A compensation module, used to compensate the 3D laser sensor based on the first point height and the second point height, and obtain a compensated point height of the current measurement point by the 3D laser sensor; The calibration module is used to perform single-point calibration on the 3D laser sensor based on the compensation point height.

8. A single-point calibration device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the single-point calibration method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the single-point calibration method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the single-point calibration method according to any one of claims 1 to 6 are implemented.

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