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

Abstract

The present application discloses a single-point calibration method, device, equipment, storage medium and product, relating to the technical field of automation equipment. The disclosed single-point calibration method includes: obtaining the first point height measured by a 3D laser sensor for the current measurement point in a standard part, and the second point height measured by an OMM for the current measurement point; compensating the 3D laser sensor based on the first point height and the second point height to obtain the compensated point height of the 3D laser sensor for the current measurement point; and performing single-point calibration on the 3D laser sensor based on the compensated point height. That is, according to the first point height and the second point height, single-point compensation is performed on the 3D laser sensor to obtain the compensated point height, and calibration compensation is performed on 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 calibrating the 3D laser sensor is improved.

Description

Technical Field

[0001] This application relates to the technical field of automated equipment, and particularly to a single-point calibration method, device, equipment, storage medium, and product. Background Art

[0002] In the product flatness CCD detection project, a 3D laser sensor is often used to perform 3D line scanning measurement on the flatness of the product.

[0003] To ensure measurement accuracy, before measuring the flatness of the product, it is necessary to first calibrate the 3D laser sensor using a standard detection device OMM (Optical Measuring Machine) to ensure that the measurement of the product by the 3D laser sensor meets the standards. Currently, when calibrating the 3D laser sensor, it is usually to first measure the flatness of the product using the OMM and the 3D laser sensor respectively, and then combine the flatness measured by the two to perform calibration compensation on the 3D laser sensor. However, this compensation method is easily affected by the overall size fluctuation of the flatness of the product, resulting in a low calibration accuracy of the 3D laser sensor.

[0004] The above content is only used to assist in understanding the technical solution of this application, and does not represent an admission that the above content is prior art. Summary of the Invention

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

[0006] To achieve the above purpose, this application proposes a single-point calibration method, and the method includes:

[0007] Obtain 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;

[0008] Based on the first point height and the second point height, compensate the 3D laser sensor to obtain the compensated point height of the 3D laser sensor for the current measurement point;

[0009] Based on the compensated point height, perform single-point calibration on the 3D laser sensor.

[0010] In an embodiment, the step of performing single-point calibration on the 3D laser sensor based on the compensated point height includes:

[0011] Based on the compensated point height, perform a single-point test on the 3D laser sensor;

[0012] Verify the calibrated 3D laser sensor to determine the calibration error of the 3D laser sensor;

[0013] Determine whether the calibration error meets the preset accuracy requirements;

[0014] If the preset accuracy requirements are not met, perform 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 requirements, and complete the single-point calibration of the 3D laser sensor.

[0015] In one embodiment, the step of verifying the calibrated 3D laser sensor to determine the calibration error of the 3D laser sensor includes:

[0016] Obtain the measurement height of the flatness measurement of the standard part by the 3D laser sensor after calibration;

[0017] Based on the measurement height and the second point height, determine the calibration error of the 3D laser sensor.

[0018] In one embodiment, after the step of performing single-point calibration on the 3D laser sensor based on the compensated point height, it includes:

[0019] After obtaining the compensated point heights of all measurement points of the standard part by the 3D laser sensor, perform plane fitting on the standard part based on each compensated point height to determine the fitting plane of the standard part;

[0020] Based on the fitting plane, detect the overall calibration result of the 3D laser sensor.

[0021] 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 3D laser sensor for the current measurement point includes:

[0022] Calculate the difference between the first point height and the second point height to obtain the measurement error of the 3D laser sensor for the current measurement point;

[0023] Based on the measurement error of the measurement point, compensate the 3D laser sensor to obtain the compensated point height of the current measurement point.

[0024] 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 part and the second point height measured by the OMM for the current measurement point, it further includes:

[0025] Select a preset number of standard parts from a preset standard part set. The standard parts include 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 located at the median value of the flatness standard fluctuation, a preset sub-number of lower limit proximity standard parts located closest to the lower limit within the flatness standard fluctuation, and a preset sub-number of upper limit proximity standard parts located closest to the upper limit within the flatness standard fluctuation.

[0026] In addition, to achieve the above object, the present application also proposes a single-point calibration device, which includes:

[0027] An acquisition module for acquiring the first point height measured by a 3D laser sensor for the current measurement point in the standard part, and the second point height measured by an OMM for the current measurement point;

[0028] A compensation module for compensating the 3D laser sensor based on the first point height and the second point height to obtain the compensated point height of the 3D laser sensor for the current measurement point;

[0029] A calibration module for performing single-point calibration on the 3D laser sensor based on the compensated point height.

[0030] In addition, to achieve the above object, the present application also proposes a single-point calibration device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. The computer program is configured to implement the steps of the single-point calibration method as described above.

[0031] In addition, to achieve the above object, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the steps of the single-point calibration method as described above.

[0032] In addition, to achieve the above object, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the single-point calibration method as described above.

[0033] One or more technical solutions proposed by the present application have at least the following technical effects:

[0034] Measure the same measurement points of the standard part through a 3D laser sensor and an OMM respectively, 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 for the standard part are the same, reduce the calibration error caused by different points, and then perform single-point compensation on the 3D laser sensor according to the first point height and the second point height 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 calibrating the 3D laser sensor is improved. Description of the Drawings

[0035] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with this application, and are used together with the specification to explain the principles of this application.

[0036] In order to more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 It is a schematic flowchart provided for the first embodiment of the single-point calibration method of this application;

[0038] Figure 2 It is a schematic overall implementation flowchart provided for the single-point calibration method of this application;

[0039] Figure 3 It is a schematic flowchart provided for the second embodiment of the single-point calibration method of this application;

[0040] Figure 4 It is a schematic flowchart provided for the third embodiment of the single-point calibration method of this application;

[0041] Figure 5 It is a schematic module structure diagram of the single-point calibration device in the embodiment of this application;

[0042] Figure 6 It is a schematic device structure diagram of the hardware operating environment involved in the single-point calibration method in the embodiment of this application.

[0043] The realization of the purpose of this application, functional features and advantages will be further described with reference to the embodiments and the drawings. Detailed Embodiments

[0044] It should be understood that the specific embodiments described here are only used to explain the technical solutions of this application and are not used to limit this application.

[0045] To better understand the technical solution of the present application, the following will be described in detail in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0046] 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 calibrated at a single point.

[0047] In this embodiment, for the convenience of description, the following will be described with the calibration device as the execution subject.

[0048] Since to ensure measurement accuracy, before measuring the flatness of a product, it is necessary to first calibrate the 3D laser sensor using the standard detection device OMM to ensure that the measurement of the 3D laser sensor for the product meets the standard. Currently, when calibrating the 3D laser sensor, it is usually to first measure the flatness of the product using the OMM and the 3D laser sensor respectively, and then combine the flatness measured by the two to perform calibration compensation on the 3D laser sensor. However, this compensation method is easily affected by the overall size fluctuation of the flatness of the product, resulting in a low accuracy of calibrating the 3D laser sensor.

[0049] The present application provides a solution. By measuring the same measurement point of the standard part using the 3D laser sensor and the OMM respectively, the first point height measured by the 3D laser sensor for the current measurement point and the second point height measured by the OMM for the current measurement point are obtained to ensure that the points measured by the OMM and the 3D laser sensor for the standard part are the same, reducing the calibration error caused by different points. Then, according to the first point height and the second point height, the 3D laser sensor is compensated at a single point to obtain the compensated point height for calibrating and compensating 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 calibrating the 3D laser sensor is improved.

[0050] 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, a calibration device, etc. that can implement the above functions. The following will be described with the calibration device as an example for this embodiment and the following embodiments.

[0051] Based on this, the embodiment of the present application provides a single-point calibration method, referring to Figure 1, Figure 1 It is a schematic flowchart of the first embodiment of the single-point calibration method of this application.

[0052] In this embodiment, the single-point calibration method includes steps S10 to S30:

[0053] Step S10, obtain 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;

[0054] It should be noted that the 3D laser sensor is a sensor that uses laser technology to obtain the three-dimensional information of the surface of the object to be measured. By emitting laser beams and receiving the reflected laser signals, the distance information of each point on the surface of the object is calculated, so as to realize 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 measurement. 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 perform compensation. The first point height is the height value of the current measurement point measured by the 3D laser sensor. The OMM is a high-precision optical measurement device used to obtain the precise geometric information of the object surface. 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.

[0055] It can be understood that in order to reduce the calibration error caused by different points, the first point height and the second point height of the 3D laser sensor and the OMM for the current measurement point in the standard part can be obtained, so as to provide accurate data basis for subsequent error analysis and sensor compensation according to the first point height and the second point height.

[0056] Optionally, before step S10, the single-point calibration method further includes:

[0057] Select a preset number of standard parts from the preset standard part set. The standard parts include a preset sub-number of lower limit standard parts exceeding the lower limit of the flatness standard fluctuation, a preset sub-number of upper limit standard parts exceeding the upper limit of the flatness standard fluctuation, a preset sub-number of median standard parts located at the median of the flatness standard fluctuation, a preset sub-number of lower limit close standard parts located closest to the lower limit within the flatness standard fluctuation, and a preset sub-number of upper limit close standard parts located closest to the upper limit within the flatness standard fluctuation.

[0058] It should be noted that the preset standard part set is a group of standard parts pre-selected for calibrating and verifying the performance of measuring equipment. These standard parts have known precise geometric features, such as flatness, dimensions, etc., and are used to compare and calibrate the accuracy of the sensor measurement results. Preset quantity: refers to the quantity of standard parts preset during the calibration process, for example, 10. Flatness standard fluctuation: refers to the allowable deviation range of the flatness of the standard part. The lower limit standard part is the standard part whose flatness exceeds the lower limit of the flatness standard fluctuation. The upper limit standard part is the standard part whose flatness exceeds the upper limit of the flatness standard fluctuation. The median standard part is the standard part whose flatness is at the median of the flatness standard fluctuation. The lower limit close standard part is the standard part whose flatness is within the flatness standard fluctuation and closest to the lower limit. The upper limit close standard part is the standard part whose flatness is within the flatness standard fluctuation and closest to the upper limit. The preset sub - quantity is the quantity among the lower limit standard part, upper limit standard part, median standard part, lower limit close standard part, and upper limit close standard part selected from the standard parts.

[0059] In specific implementation, according to the working principle of 3D line scanning and the calibration requirements, a corresponding detection program is written. This program should include all steps of the calibration process, as well as functions for data acquisition, processing, and analysis.

[0060] Step S20: Based on the height of the first point position and the height of the second point position, compensate the 3D laser sensor to obtain the compensated point position height of the 3D laser sensor for the current measurement point.

[0061] It should be noted that compensation is a process of adjusting or correcting the output value of the 3D laser sensor to eliminate or reduce measurement errors, so that the measurement results of the measuring equipment are closer to the true value and improve the measurement accuracy. The compensated point position height is the height value of the current measurement point obtained by the 3D laser sensor after compensation processing. Among them, this value is obtained by comparing and adjusting the height of the first point position and the height of the second point position to be closer to the true height of the current measurement point.

[0062] It can be understood that by compensating the 3D laser sensor through the height of the first point position and the height of the second point position, the measurement errors of the 3D laser sensor at the current measurement point can be effectively eliminated or reduced, and a more accurate compensated point position height can be obtained to improve the accuracy of single - point calibration of the 3D laser sensor.

[0063] Furthermore, step S20 further includes:

[0064] Calculate the difference between the height of the first point position and the height of the second point position to obtain the measurement error of the 3D laser sensor for the current measurement point.

[0065] Based on the measurement error of the measurement point, compensate the 3D laser sensor to obtain the compensated point height of the current measurement point.

[0066] 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. This difference reflects the measurement accuracy deviation of the sensor at the current measurement point.

[0067] 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 is quantified, providing an accurate data basis for subsequent compensation and calibration, making the compensation process more targeted and effective.

[0068] Optionally, after obtaining the measurement error, the 3D laser sensor can also be compensated and adjusted according to the magnitude and direction of the error. For example, if the measurement error is positive, it means the sensor measurement value is too high, then the measurement value is reduced by adjusting the sensor parameters or compensation model; if the error is negative, it means the sensor measurement value is too low, then the measurement value is increased through compensation, so that the measurement result after compensation will be closer to the true value, thus significantly improving the measurement accuracy of the sensor.

[0069] It can be understood that by analyzing the magnitude, stability of the measurement error and its relationship with the measurement conditions, the 3D laser sensor can be improved targeted. For example, if it is found that the error is related to the installation position of the sensor, the installation structure of the sensor can be optimized; if it is found that the error is related to the performance of the laser emission and reception 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.

[0070] In a specific implementation, by calculating the difference between the first point height and the second point height to determine the measurement error of the 3D laser sensor at the current measurement point, analyzing the magnitude and direction of the measurement error, and judging 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, adjusting the laser emission power, reception sensitivity, data processing algorithm, etc., so that the output value of the sensor is closer to the true value to obtain the compensated point height of the 3D laser sensor for the current measurement point.

[0071] Step S30, perform single-point calibration on the 3D laser sensor based on the compensated point height.

[0072] It should be noted that single-point calibration is a process of calibrating and adjusting a measuring device at specific measurement points, so that the measurement results of the device at these points meet the predetermined accuracy requirements and ensure that the measurement performance of the device at these points conforms to the application requirements.

[0073] It can be understood that by directly compensating and adjusting each measurement point through single-point calibration, measurement errors can be precisely eliminated, making the measurement results of the 3D laser sensor at each measurement point closer to the true value.

[0074] It can be understood that by separately compensating and adjusting each measurement point through single-point calibration, being unaffected by overall dimensional fluctuations, the measurement results of each measurement point can be ensured to be stable and reliable, thereby improving the stability of the overall measurement.

[0075] In the specific implementation, refer to Figure 2 to obtain the OMM measurement of the MSOP, write the 3D measurement program according to the MSOP. Mainly ensure the consistency of the measurement points according to this step. Select 10 standard parts, 2 below the lower limit, 2 above the upper limit, 2 close to the lower limit, 2 close to the upper limit, and 2 at the median of the specifications to ensure the uniformity of data distribution. Use the 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 OMM measurement result to verify the calibration effect and ensure that the measurement result after compensation meets the preset accuracy requirements. If the calibration error is less than or equal to 0.015 mm, the calibration process ends and the calibration result is qualified (OK). If the calibration error is greater than 0.015 mm, the calibration result is unqualified (NG), and it is necessary to return to the step of "using the OMM and 3D line scan to measure the flatness and point height of the selected standard parts respectively" to re-measure and compensate the 3D laser sensor until the accuracy requirements are met.

[0076] Among them, 3D line scan is the process of the 3D laser sensor laser scanning the product.

[0077] This embodiment provides a single-point calibration method. By using a 3D laser sensor and an OMM to measure the same measurement points of a standard part respectively, 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 are obtained, so as to ensure that the measurement points of the OMM and the 3D laser sensor for the standard part are the same, reduce the calibration error caused by different points, and then perform single-point compensation on the 3D laser sensor according to the first point height and the second point height to obtain the compensated point height, so as to perform calibration compensation on 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 calibrating the 3D laser sensor is improved.

[0078] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as in the above-mentioned first embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 3 , step S30 further includes steps S31 to S34:

[0079] Step S31, perform a single-point test on the 3D laser sensor based on the compensated point height;

[0080] Step S32, verify the calibrated 3D laser sensor and determine the calibration error of the 3D laser sensor;

[0081] Step S33, determine whether the calibration error meets the preset accuracy requirement;

[0082] Step S34, if the preset accuracy requirement is not met, then execute the steps of obtaining the first point height of the current measurement point measured by the 3D laser sensor for the standard part and the second point height of the current measurement point measured by the OMM until the calibration error meets the preset accuracy requirement, and complete the single-point calibration of the 3D laser sensor.

[0083] It should be noted that the single-point test is a 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 reaches the predetermined accuracy requirement, and perform necessary adjustments and optimizations on 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 3D laser sensor during the measurement process after calibration. 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 preset during the calibration process.

[0084] It can be understood that the height of the compensation point has considered the compensation of measurement errors. Therefore, calibration based on this can further eliminate the tiny errors caused by the characteristics of the sensor itself or external environmental factors, making the measurement result of the sensor at this point closer to the true value.

[0085] It can be understood that by verifying the calibrated 3D laser sensor, its calibration effect can be accurately evaluated, and the magnitude and direction of the calibration error can be determined. If the calibration error does not meet the preset accuracy requirements, by re-acquiring the height of the first point and the height of the second point 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 device is always under control.

[0086] Furthermore, step S32 further includes:

[0087] Obtain the measurement height of the flatness measurement of the standard part by the calibrated 3D laser sensor;

[0088] Based on the measurement height and the height of the second point, determine the calibration error of the 3D laser sensor.

[0089] It should be noted that the calibrated 3D laser sensor after calibration is the 3D laser sensor adjusted and calibrated through the calibration process. Flatness measurement is the measurement of the flatness of the object surface. The measurement height is the height value of each point on the surface of the standard part obtained when the 3D laser sensor performs flatness measurement on the standard part.

[0090] It can be understood that by comparing the measurement height obtained by the 3D laser sensor with the height of the second point obtained by OMM and calculating the difference between the two, the calibration error is obtained, so as to judge whether the calibration of the 3D laser sensor meets the preset accuracy requirements, and further enable the calibrated 3D laser sensor to meet higher precision.

[0091] It can be understood that by performing flatness measurement and error calculation on the calibrated 3D laser sensor, its calibration effect can be accurately evaluated, and the magnitude and direction of the calibration error can be determined to ensure that the measurement accuracy of the 3D laser sensor reaches the preset accuracy requirements.

[0092] Based on the first embodiment and the second embodiment of the present application, in the third embodiment of the present application, the same or similar content as the above embodiments can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 4 , after step S30, the single-point calibration method further includes steps S01~S02:

[0093] Step S01: After obtaining the compensated point heights of all measurement points on the standard part by the 3D laser sensor, based on each of the compensated point heights, perform a plane fitting on the standard part to determine the fitting plane of the standard part.

[0094] Step S02: Based on the fitting plane, detect the overall calibration result of the 3D laser sensor.

[0095] It should be noted that in the measurement and calibration process, plane fitting refers to the process of using mathematical methods to analyze a set of three-dimensional point data to determine the best-fitting plane. This fitting plane can be used to evaluate the distribution of measurement points and the measurement accuracy of the sensor. The fitting plane is the plane that best matches a set of measurement points obtained through the plane fitting process. Among them, 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 calibrating the 3D laser sensor. Among them, the overall calibration result can be determined by comparing the fitting plane with the actual flatness of the standard part.

[0096] It can be understood that through plane fitting, the comprehensive measurement performance of the 3D laser sensor at all measurement points can be evaluated more precisely, thereby improving the calibration accuracy.

[0097] It can be understood that by calculating the single-point error and then performing flatness fitting, the problem of large measurement differences caused by inconsistent size fluctuations due to unstable incoming materials is solved, thereby achieving high-precision calibration and high-precision measurement, effectively controlling the outflow of defective products, and meeting the high-precision detection requirements of customers.

[0098] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the single-point calibration method of this application. Based on this technical concept, more forms of simple transformations are within the protection scope of this application.

[0099] This application also provides a single-point calibration device. Please refer to Figure 5 , the single-point calibration device includes:

[0100] An acquisition module 10, configured to acquire the first point height measured by the 3D laser sensor for the current measurement point on the standard part, and the second point height measured by the OMM for the current measurement point;

[0101] A compensation module 20, configured to compensate the 3D laser sensor based on the first point height and the second point height to obtain the compensated point height of the 3D laser sensor for the current measurement point;

[0102] A calibration module 30, configured to perform single-point calibration on the 3D laser sensor based on the compensated point height.

[0103] Optionally, the calibration module 30 is further configured to perform a single-point test on the 3D laser sensor based on the height of the compensation point; verify the calibrated 3D laser sensor, determine the calibration error of the 3D laser sensor; determine whether the calibration error meets the preset accuracy requirement; if the preset accuracy requirement is not met, then perform 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, and complete the single-point calibration of the 3D laser sensor.

[0104] Optionally, the calibration module 30 is further configured to obtain the measurement height of the 3D laser sensor for performing flatness measurement on the standard part after calibration; determine the calibration error of the 3D laser sensor based on the measurement height and the second point height.

[0105] Optionally, the calibration module 30 is further configured 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 of the compensation point heights to determine the fitting plane of the standard part; detect the overall calibration result of the 3D laser sensor based on the fitting plane.

[0106] Optionally, the compensation module 20 is further configured to calculate the difference between the first point height and the second point height to obtain the measurement error of the 3D laser sensor for the current measurement point; compensate the 3D laser sensor based on the measurement error of the measurement point to obtain the compensation point height of the current measurement point.

[0107] Optionally, the acquisition module 10 is further configured to select a preset number of standard parts from a preset standard part set, where the standard parts include a preset sub-number of lower limit standard parts exceeding the lower limit of the flatness standard fluctuation, a preset sub-number of upper limit standard parts exceeding the upper limit of the flatness standard fluctuation, a preset sub-number of median standard parts located at the median of the flatness standard fluctuation, a preset sub-number of lower limit close standard parts located closest to the lower limit within the flatness standard fluctuation, and a preset sub-number of upper limit close standard parts located closest to the upper limit within the flatness standard fluctuation.

[0108] The single-point calibration device provided by the present application adopts the single-point calibration method in the above embodiment, and can solve the technical problem of low calibration accuracy of the 3D laser sensor. Compared with the prior art, the beneficial effects of the single-point calibration device provided by the present application are the same as those 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 above embodiment, and will not be elaborated here.

[0109] The present application provides a single-point calibration device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the single-point calibration method in the first embodiment above.

[0110] Refer to the following Figure 6 , which shows a schematic structural diagram of a single-point calibration device suitable for implementing the embodiments of the present application. The single-point calibration device in the embodiments 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 terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The single-point calibration device shown is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0111] As Figure 6As 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 into a random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the single-point calibration device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the single-point calibration device to communicate with other devices wirelessly or wiredly 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 shown systems. More or fewer systems may be implemented or had alternatively.

[0112] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. 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 contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above functions defined in the methods of the embodiments disclosed in the present application are executed.

[0113] The single-point calibration device provided by the present application adopts the single-point calibration method in the above embodiments and can solve the technical problem of relatively low accuracy in calibrating a 3D laser sensor. Compared with the prior art, the beneficial effects of the single-point calibration device provided by the present application are the same as those of the single-point calibration method provided by the above embodiments, and other technical features in the single-point calibration device are the same as those disclosed in the method of the previous embodiment, and will not be elaborated here.

[0114] It should be understood that each part 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 a suitable manner in any one or more embodiments or examples.

[0115] As described above, the above are only specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0116] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the single-point calibration method in the above embodiments.

[0117] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or combined with an instruction execution system, device, or device. The program code contained on the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0118] The above computer-readable storage medium can be included in the single-point calibration device; it can also exist separately without being assembled into the single-point calibration device.

[0119] The above computer-readable storage medium carries one or more programs, which, when executed by the single-point calibration device, cause the single-point calibration device to: obtain the first point height of the current measurement point in the standard part measured by the 3D laser sensor, and the second point height of the current measurement point measured by the OMM; based on the first point height and the second point height, compensate the 3D laser sensor to obtain the compensated point height of the 3D laser sensor for the current measurement point; and based on the compensated point height, perform single-point calibration on the 3D laser sensor.

[0120] Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partially on the user's computer, execute as a stand-alone software package, execute partially on the user's computer and partially on a remote computer, or execute entirely on the 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 (for example, by connecting through an Internet service provider using the Internet).

[0121] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0122] The modules described in the embodiments of the present application may be implemented in software or in hardware. In some cases, the name of the module does not constitute a limitation on the unit itself.

[0123] The readable storage medium provided by this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for executing the above single-point calibration method, which can solve the technical problem of low accuracy in calibrating 3D laser sensors. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the single-point calibration method provided by the above embodiments, and will not be elaborated here.

[0124] This application also provides a computer program product, including a computer program, and the steps of the single-point calibration method as described above are implemented when the computer program is executed by a processor.

[0125] The computer program product provided by this application can solve the technical problem of low accuracy in calibrating 3D laser sensors. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as those of the single-point calibration method provided by the above embodiments, and will not be elaborated here.

[0126] The above are only partial embodiments of this application, and thus do not limit the patent scope of this application. Any equivalent structural transformation made under the technical concept of this application by using the content of the specification and drawings of this application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of this 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; 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, and the single-point calibration of the 3D laser sensor is completed.

2. The method according to claim 1, 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.

3. 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.

4. 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.

5. 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.

6. A single-point calibration device, characterized in that: The device comprises: an acquisition module, used to acquire a first point height measured by a 3D laser sensor for a current measurement point in a standard part, and a second point height measured by an 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; A calibration module, used for performing single-point calibration on the 3D laser sensor based on the compensation point height; The calibration module 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, and the single-point calibration of the 3D laser sensor is completed.

7. 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 5.

8. 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 5 are implemented.

9. 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 5 are implemented.

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