Calibration method, automated scanning system, and storage medium

Abstract

The application provides a calibration method, an automatic scanning system and a storage medium, which are applied to an automatic scanning system including a mechanical arm and a scanner. The method includes: detecting a reference object by using an end effector of the mechanical arm to obtain detection data; obtaining motion compensation of a motion execution mechanism of the mechanical arm based on the detection data and a true value of the reference object; scanning the reference object by using the mechanical arm carrying the scanner based on the motion compensation of the motion execution mechanism to obtain scanning data; and completing calibration of the scanner based on the scanning data and the true value of the reference object. The calibration accuracy of the scanner can be improved by the method.

Description

Technical Field

[0001] This application relates to the field of 3D scanning, and more particularly to a calibration method, an automated scanning system, and a storage medium. Background Technology

[0002] In existing automated scanning system calibration scenarios, the robotic arm relies on contact tools such as probes to independently complete positioning accuracy calibration, while the optical tracker requires non-contact self-calibration and accuracy verification using a dedicated calibration plate and reflector. This dual-track separate calibration mode requires executing two independent and incompatible processes, resulting in lengthy calibration cycles and cumbersome operation steps. Furthermore, existing solutions typically simply mount the scanner to the end of the robotic arm, ignoring the offset of the scanner's optical center, lens distortion, and installation errors, which significantly reduces the calibration efficiency and scanning accuracy of the automated scanning system. Summary of the Invention

[0003] This application discloses a calibration method, an automated scanning system, and a storage medium, which solves the technical problem that the dual-track separate calibration mode used in related technologies affects the calibration efficiency and scanning accuracy of the automated scanning system.

[0004] This application provides a calibration method for an automated scanning system, the automated scanning system including a robotic arm and a scanner. The method includes: using the end effector of the robotic arm to probe a reference object and obtain probe data; obtaining motion compensation for the motion actuator of the robotic arm based on the probe data and the true value of the reference object; using the robotic arm to carry the scanner to scan the reference object based on the motion compensation of the motion actuator and obtain scan data; and calibrating the scanner based on the scan data and the true value of the reference object.

[0005] In some embodiments of this application, obtaining motion compensation for the motion actuator of the robotic arm based on the probe data and the true value of the reference object includes: when the reference object is a reference sphere, fitting the probe data based on the feature constraints corresponding to the reference sphere to obtain fitting data in the mechanical coordinate system corresponding to the robotic arm; determining the model diameter of the sphere model corresponding to the reference sphere in the mechanical coordinate system and the virtual position of the virtual center of the sphere model in the mechanical coordinate system based on the fitting data in the mechanical coordinate system; and determining the motion compensation based on the diameter deviation between the model diameter in the mechanical coordinate system and the true diameter of the reference sphere, and the position deviation between the virtual position in the mechanical coordinate system and the center position of the reference sphere.

[0006] In some embodiments of this application, the calibration of the scanner based on the scan data and the true value of the reference object includes: when the reference object is a reference sphere, fitting the scan data based on the feature constraints corresponding to the reference sphere to obtain the fitted data in the scanning coordinate system of the scanner; determining the model diameter of the spherical model corresponding to the reference sphere in the scanning coordinate system based on the fitted data in the scanning coordinate system of the scanner; and completing the calibration of the scanner if the diameter deviation between the model diameter in the scanning coordinate system and the true diameter of the reference sphere is less than a preset deviation threshold.

[0007] In some embodiments of this application, the automated scanning system includes a tracker. After calibrating the scanner, the method further includes: using the tracker to track a marker on the scanner to obtain the pose of the marker; fixing the relative position between the marker and the scanner; based on the pose of the marker, converting the scanning data in the scanner coordinate system of the scanner to the tracking coordinate system of the tracker; and calibrating the rigid body transformation relationship between the corresponding local coordinate system of the marker and the scanning coordinate system based on the scanning data in the tracking coordinate system and the true value.

[0008] In some embodiments of this application, the step of calibrating the rigid body transformation relationship between the local coordinate system and the scanning coordinate system of the marker based on the scan data in the tracking coordinate system and the true value includes: when the reference object is a reference sphere, fitting the scan data in the tracking coordinate system based on the feature constraints corresponding to the reference sphere to obtain the fitted data in the tracking coordinate system; determining the model diameter of the spherical model corresponding to the reference sphere in the tracking coordinate system based on the fitted data in the tracking coordinate system; and completing the calibration of the rigid body transformation relationship between the local coordinate system and the scanning coordinate system if the diameter deviation between the model diameter in the tracking coordinate system and the true diameter of the reference sphere is less than a preset deviation threshold.

[0009] In some embodiments of this application, the reference object includes multiple reference spheres, and the true value includes the true diameter of each reference sphere and the center-to-center distance between any two reference spheres. The method further includes: determining the virtual distance between any two spherical models; calculating the distance difference between the virtual distance and the center-to-center distance between the two reference spheres; correspondingly, if the diameter deviation between the model diameter in the tracking coordinate system and the true diameter of the reference sphere is less than a preset deviation threshold, the rigid body transformation relationship between the local coordinate system and the scanning coordinate system is calibrated, including: if the diameter deviation between each model diameter in the tracking coordinate system and the corresponding true diameter is less than the preset deviation threshold, and the distance difference is less than a preset distance deviation value, the rigid body transformation relationship between the local coordinate system and the scanning coordinate system is calibrated.

[0010] In some embodiments of this application, the method further includes: using the robotic arm to carry a calibrated scanner to scan the reference object to obtain target scanning data; using the tracker to track a marker on the calibrated scanner to obtain the tracking pose corresponding to the marker; based on the tracking pose, converting the target scanning data in the scanning coordinate system to the tracking coordinate system; and determining the global compensation of the automated scanning system based on the target scanning data in the tracker coordinate system and the true value.

[0011] In some embodiments of this application, the reference object includes multiple reference spheres, and the true value includes the true diameter corresponding to each reference sphere and the center-to-center distance between any two reference spheres. The determination of the global compensation of the automated scanning system based on the target scanning data in the tracker coordinate system and the true value includes: determining the virtual diameter and virtual center of the sphere model corresponding to each reference sphere based on the target scanning data in the tracker coordinate system; calculating the difference between the virtual diameter corresponding to each sphere model and the corresponding true diameter to obtain multiple deviation values; calculating the distance between the virtual centers corresponding to any two sphere models to obtain multiple spacing values; calculating the difference between each spacing value and the corresponding center-to-center distance to obtain multiple spacing deviation values; and determining the global compensation based on the multiple deviation values ​​and the multiple spacing deviation values.

[0012] This application also provides an automated scanning system, comprising: a robotic arm including an end effector and a motion actuator, the motion actuator being used to carry the end effector to probe a reference object to obtain probe data, or the motion actuator being used to carry a scanner; the scanner being used to scan the reference object; a tracker being used to track a marker on the scanner; and an electronic device including a processor and a memory, the processor being used to implement the calibration method when executing a computer program stored in the memory.

[0013] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the calibration method described above.

[0014] The calibration method provided in this application utilizes the end effector of a robotic arm to probe a reference object, obtaining probe data. This probe data, along with the true values ​​of the reference object, allows for motion compensation of the robotic arm's actuator, thereby ensuring the robotic arm's accuracy. Based on the determined motion compensation of the robotic arm's actuator, a scanner carried by the robotic arm is used to scan the reference object, achieving high-precision scanning and obtaining scan data. By comparing the scan data with the true values ​​of the reference object, errors in the scanner's equipment parameters are eliminated, improving the scanner's calibration accuracy. This achieves the calibration of the scanner and, to a certain extent, enhances the final scanning accuracy and overall calibration efficiency of the automated scanning system. Attached Figure Description

[0015] Figure 1 This is a schematic diagram illustrating an application scenario of the calibration method provided in the embodiments of this application.

[0016] Figure 2 This is a flowchart of the calibration method provided in the embodiments of this application.

[0017] Figure 3 This is a schematic diagram of the robotic arm detection reference object provided in the embodiments of this application.

[0018] Figure 4 This is a schematic diagram of a robotic arm carrying a scanner provided in an embodiment of this application.

[0019] Figure 5 This is a schematic diagram illustrating the process of calibrating the rigid body transformation relationship between the local coordinate system and the scan coordinate system of the marker provided in the embodiments of this application.

[0020] Figure 6 This is a schematic diagram illustrating the application of the automated scanning system provided in the embodiments of this application.

[0021] Figure 7 This is a schematic diagram illustrating the determination of global compensation provided in an embodiment of this application.

[0022] Figure 8 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0023] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0024] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0025] In the calibration scenarios of existing automated scanning systems, large workpieces without markings are scanned using a scanner. An optical tracker can locate the scanner in real time (e.g., a handheld scanner) to obtain the three-dimensional data scanned by the scanner. This type of technology is widely used in the automotive, shipbuilding and aviation industries.

[0026] Optical trackers are typically used in conjunction with robotic arms. The robotic arms rely on contact tools such as probes to independently complete positioning accuracy calibration, while the optical trackers require non-contact self-calibration and accuracy verification using dedicated calibration plates and reflectors. This dual-track, separate calibration mode requires the execution of two independent and incompatible processes, resulting in lengthy calibration cycles and cumbersome operation steps.

[0027] Although the robotic arm and optical tracker can achieve high independent accuracy after calibration, the final scanning accuracy of the system is limited by the accuracy of the end-effector scanner itself and its collaborative accuracy with the robotic arm. Existing solutions typically simply mount the scanner to the end of the robotic arm, assuming that the accuracy of the robotic arm can be fully transferred to the scanner, while ignoring the offset of the scanner's optical center, lens distortion, and installation errors. This greatly reduces the actual scanning accuracy and overall calibration efficiency of the automated scanning system.

[0028] To address the technical problem of the dual-track separate calibration mode used in related technologies affecting the calibration efficiency and scanning accuracy of automated scanning systems, this application proposes a calibration method, an automated scanning system, and a storage medium. Utilizing a compensated high-precision robotic arm as a motion reference, it directly and automatically performs in-situ calibration of the end-effector scanner, deeply integrating the scanner calibration process with the high-precision positioning capability of the robotic arm. This method avoids the cumbersome dual-track calibration process, significantly shortens the overall system calibration cycle, and simplifies operation steps. Simultaneously, this scheme can accurately compensate for scanner optical center offset, lens distortion, and installation errors, thereby significantly improving the final scanning accuracy and overall calibration efficiency of the automated scanning system. The application scenarios of this calibration method are described below.

[0029] Figure 1 This is a schematic diagram illustrating an application scenario of the calibration method provided in the embodiments of this application. For example... Figure 1 As shown, the automated scanning system includes an electronic device 10, a robotic arm 20, a scanner 30, and a tracker 40.

[0030] The electronic device 10 is communicatively connected to the robotic arm 20, the scanner 30, and the tracker 40. The communication connections can be wired or wireless. Wired connections can include one or more of the following: Universal Serial Bus (USB), Controller Area Network (CAN), etc. Wireless connections can include one or more of the following: Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication networks, Frequency Modulation (FM), Near Field Communication (NFC), Infrared (IR), etc.

[0031] Electronic device 10 may include devices with communication functions such as laptops, tablets, programmable logic controllers (PLCs), and human-machine interfaces (HMIs) with touch input capabilities, or devices simulated by virtual machines or simulators.

[0032] Electronic device 10 can be used to receive data sent by robotic arm 20, scanner 30, and tracker 40 to perform motion compensation of robotic arm 20, calibration of scanner 30, and calibration of tracker 40. Electronic device 10 can also send instructions, such as control instructions, to robotic arm 20, scanner 30, and tracker 40 to control one or more of them to perform corresponding operations.

[0033] The robotic arm 20 can be a robotic arm on a parallel robot, a composite robot, a serial articulated robot, a flexible continuum robot, etc. The robotic arm 20 includes a motion actuator 210 and an end effector 220. The end effector 220 can be assembled and operate in conjunction with the motion actuator 210, or it can be detached from the motion actuator 210. The motion actuator 210 with the end effector 220 removed can be connected to other devices, such as a scanner 30.

[0034] The motion actuator 210 can be the robotic arm body or a motion mechanism on the robotic arm body. For example, when the motion actuator 210 is the robotic arm body, it can be a flexible continuous robotic arm. When the motion actuator 210 is a motion mechanism of the robotic arm body, it can be a serial robotic arm, a parallel mechanism, etc.

[0035] The end effector 220 can be a probe, a sensor, or a vision sensor (such as a camera).

[0036] The scanner 30 may include, but is not limited to, oral scanning devices, facial scanning devices, CT (Computed Tomography) scanning devices or CBCT (Cone Beam Computer Tomography) scanning devices, professional scanners, industrial scanners, etc. Oral scanning devices include intraoral scanners and extraoral scanners. The scanner 30 may be a handheld scanning device or a fixed scanning device. The scanner 30 can measure a specified object to achieve three-dimensional reconstruction. For example, the specified object may be teeth, a face, a body, industrial products, industrial equipment, cultural relics, works of art, prostheses, medical instruments, buildings, and other items or scenes. This application does not impose specific limitations in this regard.

[0037] The scanner 30 may include a marker 310, which may be a ball cage with multiple ball plates, each ball plate having multiple marker points. The scanner 30 may be mounted at the end of a motion actuator 210, which controls the movement of the scanner 30, allowing the scanner 30 to scan a reference object (such as a reference ball) during its movement.

[0038] Tracker 40 can be an optical tracker. Tracker 40 can identify marker points on the ball disk through a binocular camera system to track marker 310.

[0039] The illustration Figure 1 This is merely an example of an application scenario and does not constitute a limitation on the application scenario. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, electronic device 10 may also include input / output devices, network access devices, etc.

[0040] Figure 2 This is a flowchart of the calibration method provided in the embodiments of this application, applied in an automated scanning system (e.g., Figure 1 In an automated scanning system, the order of steps in this flowchart can be changed, and some steps can be omitted, depending on different requirements.

[0041] Step S201: Use the end effector of the robotic arm to probe the reference object and obtain probe data.

[0042] In some embodiments of this application, the end effector may be a probe to fix the reference object at any position. The reference object may be a sphere (such as a reference ball), a cylinder, a deep hole, a polyhedron, or other objects with a smooth surface. This application does not limit the type, material, or quantity of the reference object.

[0043] Electronic devices can send detection commands to a robotic arm. In response, the robotic arm uses a probe to detect a reference object, thereby obtaining detection data. This data can include the position of the end effector after it comes into contact with the surface of the reference object. The following section combines... Figure 3 Describe it.

[0044] Combination Figure 3 As shown, the robotic arm 20 includes a motion actuator 210, and an end effector 220 is provided at the end of the motion actuator 210. The end effector 220 is used to move a reference object (such as...) Figure 3 The reference object M is used for detection. Detection data is obtained by detecting multiple locations of the reference object M. Figure 3 This is merely an example and is not intended to be limiting. To avoid errors, one can... Figure 3 Based on this, multiple reference objects are set up so that the end effector 220 can detect multiple positions corresponding to each reference object, thereby obtaining the detection data corresponding to each reference object.

[0045] Step S202: Based on the detection data and the true value of the reference object, obtain the motion compensation for the motion actuator of the robotic arm.

[0046] In some embodiments of this application, taking a reference object as a reference sphere as an example, the true value of the reference object may include the true diameter and the position of the center of the sphere.

[0047] The feature constraints corresponding to the reference sphere may include one or more of the following constraints: center-to-point distance constraint, radius consistency constraint, normal vector direction constraint, symmetry constraint, and curvature constraint. This application does not limit the type of feature constraints.

[0048] The probe data is fitted based on one or more of the following constraints: center-to-point distance constraint, radius consistency constraint, normal vector direction constraint, symmetry constraint, and curvature constraint. The fitting method may include one or a combination of methods such as RANSAC (Random Sample Consensus) point cloud fitting algorithm, Least Squares Method (LS), Geometric Algebra Method, Robust Least Squares (RLS), Density-Based Spatial Clustering of Applications with Noise (DBSCAN), K-Means Clustering, and Maximum Likelihood Estimation Sample Consensus (MLESAC). This application does not limit the specific methods used.

[0049] The fitting data in the mechanical coordinate system corresponding to the robotic arm is obtained by obtaining the fitting detection data. The fitting data in the mechanical coordinate system represents the spherical surface data corresponding to the spherical model corresponding to the reference sphere. Based on the fitting data in the mechanical coordinate system, the model diameter corresponding to the spherical model in the mechanical coordinate system and the coordinate value of the virtual center of the spherical model in the mechanical coordinate system can be calculated. This coordinate value is recorded as the virtual position of the virtual center of the spherical model in the mechanical coordinate system.

[0050] Calculate the diameter deviation between the model diameter and the actual diameter of the reference sphere in the mechanical coordinate system, and the positional deviation between the virtual position and the center position of the reference sphere in the mechanical coordinate system. If the diameter deviation and / or positional deviation in the mechanical coordinate system are greater than or equal to a preset deviation threshold, the motion compensation of the motion actuator can be calculated based on the diameter deviation and / or positional deviation in the mechanical coordinate system.

[0051] If the diameter deviation and / or position deviation in the mechanical coordinate system are less than a preset deviation threshold, the motion compensation of the motion actuator can be recorded as 0. Furthermore, to improve the positioning accuracy of the robotic arm, when the diameter deviation and / or position deviation in the mechanical coordinate system are less than the preset deviation threshold, the motion compensation of the motion actuator can also be calculated based on the diameter deviation and / or position deviation in the mechanical coordinate system.

[0052] After determining the motion compensation of the motion actuator, the motion compensation of the motion actuator is deployed in the control system of the robotic arm so as to calibrate the joint motion data of the corresponding motion actuator and improve the operating accuracy of the motion actuator.

[0053] In other embodiments of this application, if multiple reference spheres exist, the true value of the reference object may include the true diameter of each reference sphere, the center position of each reference sphere, and the distance between the centers of any two reference spheres. The motion compensation of the motion actuator can be calculated based on the true diameter of each reference sphere, the center position of each reference sphere, and the distance between the centers of any two reference spheres.

[0054] In one example, assuming there are reference spheres A and B, the true values ​​may include the true diameter A corresponding to reference sphere A, the center position A corresponding to reference sphere A, the true diameter B corresponding to reference sphere B, the center position B corresponding to reference sphere B, and the true center distance AB between the center positions A and B.

[0055] Based on the fitted data in the mechanical coordinate system, the model diameter A corresponding to reference sphere A, the virtual position A of the virtual center of the sphere model corresponding to reference sphere A, the model diameter B corresponding to reference sphere B, the virtual position B of the virtual center of the sphere model corresponding to reference sphere B, and the virtual center distance AB between virtual position A and virtual position B are determined.

[0056] Calculate the diameter deviation A between the actual diameter A and the model diameter A, the diameter deviation B between the actual diameter B and the model diameter B, the positional deviation A between the center position A and the virtual position A, the positional deviation B between the center position B and the virtual position B, and the difference AB between the actual center distance AB and the virtual center distance AB.

[0057] The motion compensation of the motion actuator is calculated based on the diameter deviation value A, diameter deviation value B, position deviation value A, position deviation value B, and difference AB.

[0058] Step S203: Based on the motion compensation of the motion actuator, the reference object is scanned using a robotic arm carrying a scanner to obtain scan data.

[0059] In some embodiments of this application, operation based on motion compensation of the motion actuators ensures the accuracy of subsequent operations of the robotic arm. In one example, the robotic arm includes at least two end effectors. After receiving motion compensation from the motion actuators, the electronic device can send a replacement command to the robotic arm to replace any one end effector with a scanner. In response to the replacement command, the robotic arm uses any one end effector (such as a gripper) to replace the other end effector (such as a probe) with a scanner.

[0060] In another example, the electronic device communicates with at least two robotic arms. The robotic arm with motion compensation deployed with motion actuators is referred to as the target robotic arm, and the robotic arm without motion compensation deployed with motion actuators is referred to as the assembly robotic arm. After receiving motion compensation from the motion actuators of the target robotic arm, the electronic device sends a replacement command to the assembly robotic arm. In response to the replacement command, the assembly robotic arm disassembles the end effector of the target robotic arm and then installs a scanner at the end of the target robotic arm.

[0061] In another example, the electronic device includes a display device that can be used to display prompts. After receiving motion compensation from the motion actuator, the electronic device can display prompts for replacing the end effector via the display device, allowing the user to replace the end effector with a scanner based on the prompts.

[0062] The electronic device receives a replacement completion command from the robotic arm and / or scanner, or, after polling the robotic arm's motion actuators and confirming a physical connection with the scanner, sends control commands to the robotic arm. Combined with... Figure 4 The diagram shown illustrates the replacement of the end effector with a scanner, for example, as shown below. Figure 4 The robotic arm 20 shown responds to control commands and uses the motion actuator 210 to carry the scanner 30 to a reference object (such as...). Figure 4 The M shown is used to scan, thereby obtaining scan data in the scan coordinate system.

[0063] This application does not limit the number of reference objects scanned by the scanner.

[0064] Step S204: Based on the scan data and the true value of the reference object, complete the calibration of the scanner.

[0065] In some embodiments of this application, when the reference object is a reference sphere, the true value of the reference object may include the true diameter and center position of the reference sphere. The scan data is fitted based on the feature constraints corresponding to the reference sphere to obtain the fitted data in the scanner's scanning coordinate system. The method of fitting the scan data can refer to the method of fitting the probe data in step S202 described above, and will not be repeated here.

[0066] The fitted data in the scanner's scanning coordinate system can represent the spherical surface data of the spherical model corresponding to the reference sphere in the scanning coordinate system. Using the fitted data in the scanning coordinate system, the position of the virtual center of the sphere model in the scanning coordinate system can be calculated, and the diameter of the sphere model in the scanning coordinate system can be obtained from the center position.

[0067] If the diameter deviation between the model diameter in the scanning coordinate system and the actual diameter of the reference sphere is greater than or equal to a preset deviation threshold, it indicates that the scanner's device parameters, such as binocular extrinsic parameters, need to be optimized. The scanner's device parameters can be optimized based on the diameter deviation value. If the diameter deviation between the model diameter in the scanning coordinate system and the actual diameter of the reference sphere is less than the preset deviation threshold, it indicates that the scanner's scanning accuracy has met the preset accuracy requirements, and the scanner calibration is complete.

[0068] In other embodiments of this application, if multiple reference spheres exist, the true value of the reference object may include the true diameter of each reference sphere, the center position of each reference sphere, and the distance between the centers of any two reference spheres. The scanner can be calibrated based on the true diameter of each reference sphere and the true distance between the centers of any two reference spheres.

[0069] In one example, assuming there are reference spheres A and B, the true values ​​may include the true diameter A corresponding to reference sphere A, the true diameter B corresponding to reference sphere B, and the true center distance AB between the center positions A and B.

[0070] Based on the fitted data in the scanning coordinate system, the model diameter A corresponding to reference sphere A, the virtual position A of the virtual center of the sphere model corresponding to reference sphere A, the model diameter B corresponding to reference sphere B, the virtual position B of the virtual center of the sphere model corresponding to reference sphere B, and the virtual center distance AB between virtual position A and virtual position B are determined.

[0071] Calculate the diameter deviation A between the actual diameter A and the model diameter A, the diameter deviation B between the actual diameter B and the model diameter B, and the difference AB between the actual sphere center distance AB and the virtual sphere center distance AB.

[0072] If the diameter deviation value A, diameter deviation value B, and difference value AB are all less than the corresponding preset thresholds, the scanner calibration is complete. If one or more of the diameter deviation values ​​A, B, and AB are greater than or equal to the corresponding preset thresholds, the scanner's binocular extrinsic parameters can be optimized based on one or more of the diameter deviation values ​​A, B, and AB.

[0073] Through the above embodiments, the end effector of the robotic arm probes the reference object to obtain probe data. Using this probe data and the true value of the reference object, motion compensation is obtained for the robotic arm's motion actuator, thus ensuring the robotic arm's accuracy. Based on the determined motion compensation for the robotic arm's motion actuator, the robotic arm carries a scanner to scan the reference object, achieving high-precision scanning and obtaining scan data. Based on the scan data and the true value of the reference object, errors in the scanner's equipment parameters are eliminated, improving the scanner's calibration accuracy. This achieves scanner calibration and, to a certain extent, improves the final scanning accuracy and overall calibration efficiency of the automated scanning system.

[0074] By utilizing a compensated high-precision robotic arm as a motion reference, in-situ calibration of the end effector scanner is performed directly and automatically, deeply integrating the scanner calibration process with the robotic arm's high-precision positioning capabilities. This method avoids the cumbersome dual-track calibration process, significantly shortens the overall system calibration cycle, and simplifies operation steps. Simultaneously, this scheme can accurately compensate for scanner optical center shift, lens distortion, and installation errors, thereby significantly improving the final scanning accuracy and overall calibration efficiency of the automated scanning system.

[0075] Furthermore, using a reference object to calibrate the scanner's equipment parameters avoids errors introduced by calibration using marker points. This is because, after calibration, the scanner no longer uses the camera / sensor that identifies marker points during operation, but instead switches to laser emission (usually line laser or point laser). Therefore, the marker point calibration mode used during calibration differs somewhat from the laser scanning mode used in actual applications. By scanning a reference object for calibration using the above embodiments, these errors can be avoided, thereby improving the accuracy of subsequent scans.

[0076] Figure 5 This is a schematic flowchart illustrating the calibration process for the rigid transformation relationship between the local coordinate system and the scanning coordinate system of the marker provided in this application embodiment. The automated scanning system also includes a tracker, and the scanner includes the marker, with the row pair position between the scanner and the marker fixed. After calibrating the scanner, the rigid transformation relationship between the local coordinate system and the scanning coordinate system of the marker can be calibrated using the tracker, such as... Figure 5 As shown, the steps include the following.

[0077] Step S501: Use a tracker to track the marker of the scanner to obtain the pose of the marker.

[0078] In some embodiments of this application, the relative position between the marker and the scanner is fixed. The marker can be a spherical frame on the scanner, with multiple marker points set on the spherical frame. The tracker obtains the marker pose corresponding to the marker on the calibrated scanner by tracking the marker points on the spherical frame.

[0079] Step S502: Based on the pose of the marker, the scanning data in the scanner coordinate system of the scanner is converted to the tracking coordinate system of the tracker.

[0080] In some embodiments of this application, a transformation relationship is pre-defined, including a first target transformation relationship and a second target transformation relationship. The first target transformation relationship is the transformation relationship between the scanning coordinate system and the local coordinate system of the marker, and the second target transformation relationship is the transformation relationship between the local coordinate system and the tracking coordinate system. Based on the marker pose, the scan data in the scanner's scanning coordinate system is transformed to the local coordinate system corresponding to the marker using the pre-defined first target transformation relationship, and the scan data in the local coordinate system is transformed to the tracking coordinate system using the second target transformation relationship.

[0081] In some embodiments of this application, a first target transformation relationship is predefined. This can be a randomly set initial transformation relationship or an initial transformation relationship set based on empirical values. This application does not limit this.

[0082] In some embodiments of this application, the scanner includes a marker with marker points. When the scanner moves within the field of view of the tracker, the tracker can identify the marker points on the marker, track the marker's pose by identifying these marker points, and establish a transformation relationship between the marker's local coordinate system and the tracking coordinate system—that is, a second target transformation relationship. This second target transformation relationship allows the position of any point on the marker in the local coordinate system to be converted to its position in the tracker's coordinate system. The second target transformation relationship is obtained based on the calculated rotation matrix and translation vector.

[0083] In one example, taking a spherical frame as the marker and marker points as spherical disk marker points, multiple spherical disks are set on the spherical frame, and multiple spherical disk marker points are set on each spherical disk. The tracker identifies the spherical disk marker points and obtains the coordinates of each spherical disk marker point in the tracking coordinate system, denoted as the first point set. The coordinates of the spherical disk marker points in the local coordinate system are predefined and denoted as the second point set. The rotation matrix and translation vector are calculated using the first and second point sets. The calculation methods include, but are not limited to, one or more of the following algorithms: Kabsch algorithm, SVD decomposition method, quaternion solution method, ICP algorithm and its variants (such as GICP, PP-ICP), Gauss-Newton method, Levenberg-Marquardt algorithm, Gauss-Helmert model, total least squares (TLS), and RANSAC-assisted axis fitting.

[0084] In some embodiments of this application, after initially determining the first target transformation relationship and the second target transformation relationship, using the local coordinate system as the transformation medium, the scanning data in the scanning coordinate system can be transformed to the local coordinate system according to the first target transformation relationship. Then, the scanning data in the local coordinate system is transformed to the tracking coordinate system according to the second target transformation relationship.

[0085] Step S503: Based on the scan data and the true value in the tracking coordinate system, complete the calibration of the rigid body transformation relationship between the local coordinate system and the scan coordinate system of the marker.

[0086] In some embodiments of this application, since the first target transformation relationship is randomly defined or an initial value set based on empirical values, the scan data in the tracking coordinate system may suffer from geometric distortion, positional offset, or orientation errors. To solve these problems, the first target transformation relationship can be optimized / updated by comparing the scan data in the tracking coordinate system with the actual values ​​corresponding to the reference object, thereby achieving the purpose of relative coordinate system calibration between the local coordinate system and the scan coordinate system.

[0087] In some embodiments of this application, when the reference object is a reference sphere, the scan data in the tracking coordinate system is fitted according to the feature constraints corresponding to the reference sphere to obtain the fitted data in the tracking coordinate system. The method of fitting the scan data can refer to the method of fitting the probe data in step S202 described above, and will not be repeated here.

[0088] Based on the fitted data in the tracking coordinate system, determine the model diameter of the sphere model corresponding to the reference sphere in the tracking coordinate system. If the diameter deviation between the model diameter in the tracking coordinate system and the true diameter of the reference sphere is less than a preset deviation threshold, the rigid body transformation relationship between the local coordinate system and the scanning coordinate system is calibrated. If the diameter deviation between the model diameter in the tracking coordinate system and the true diameter of the reference sphere is greater than or equal to the preset deviation threshold, it indicates that the first target transformation relationship needs to be optimized / updated. The diameter deviation value can be used to optimize / update the first target transformation relationship, and then based on the optimized / updated first target transformation relationship, continue to execute the above steps S502 and S503 to complete the calibration of the rigid body transformation relationship between the local coordinate system and the scanning coordinate system.

[0089] In other embodiments of this application, if the reference object includes multiple reference spheres, the true value may include the distance between the centers of any two reference spheres and the true diameter corresponding to each reference sphere.

[0090] In the tracking coordinate system, the virtual distance between any two sphere models is determined based on the virtual center of the corresponding sphere model. The difference between the virtual distance and the distance between the centers of the two corresponding reference spheres is calculated. In one example, assuming there are reference spheres A and B, the true values ​​may include the true diameter A corresponding to reference sphere A, the true diameter B corresponding to reference sphere B, and the true center distance AB between center positions A and B. The virtual distance AB between sphere model A corresponding to reference sphere A and sphere model B corresponding to reference sphere B is calculated, and the difference between the virtual distance AB and the center distance AB is calculated.

[0091] After determining the model diameter and distance difference for each sphere model, the rigid body transformation relationship between the local coordinate system and the scan coordinate system can be calibrated based on each model diameter and distance difference. Specifically, if the diameter deviation between each model diameter and its corresponding true diameter in the tracking coordinate system is less than a preset deviation threshold, and the distance difference is less than a preset distance deviation value, the rigid body transformation relationship between the local coordinate system and the scan coordinate system is calibrated. If the diameter deviation between any model diameter and its corresponding true diameter in the tracking coordinate system is greater than or equal to a preset deviation threshold, or the distance difference is greater than or equal to a preset distance deviation value, it indicates that the first target transformation relationship needs to be optimized / updated. The diameter deviation and distance difference can be used to optimize / update the first target transformation relationship to complete the calibration of the rigid body transformation relationship between the local coordinate system and the scan coordinate system.

[0092] To better understand, Figure 5 The illustrated embodiment will be discussed below in conjunction with... Figure 6 Describe it. For example... Figure 6As shown, a robotic arm 20 is placed within the field of view of the tracker 40. Within the field of view, the motion actuator 210 of the robotic arm 20 carries the scanner 30 and moves it around multiple reference objects M. During the movement, the tracker 40 tracks the pose of the markers 310 on the scanner 30.

[0093] The compensated motion actuator 210 carries the calibrated scanner 30 to move around multiple reference objects M. Based on preset transformation relationships (including a first target transformation relationship and a second target transformation relationship), the scan data corresponding to each reference object M scanned by the calibrated scanner 30 is transformed into the tracking coordinate system of the tracking scanner 30, thereby obtaining multiple scan data in the tracking coordinate system. Based on at least one scan data in the tracking coordinate system and the true value, the rigid body transformation relationship between the corresponding local coordinate system and the scanning coordinate system of the marker is calibrated. A detailed description of the calibration of the rigid body transformation relationship between the corresponding local coordinate system and the scanning coordinate system of the marker based on at least one scan data in the tracking coordinate system and the true value can be found in step S503, and will not be repeated here.

[0094] Through the above embodiments, by combining the compensated robotic arm, the calibrated scanner, and the reference object to calibrate the rigid body transformation relationship between the local coordinate system and the scanning coordinate system, calibration accuracy can be ensured. Furthermore, compared to calibration using marker points, calibration using a reference object reduces the error between the calibration mode and the operating mode. Therefore, after calibration, the scanner no longer uses the camera / sensor that identifies marker points during operation, but switches to laser emitter operation (usually a line laser or point laser). Thus, there is a certain error between the marker point calibration mode used in the calibration process and the laser scanning mode used in actual applications. Through the above embodiments, scanning the reference object for calibration can avoid this type of error, thereby improving the calibration accuracy of the automated scanning system and reducing system errors.

[0095] Figure 7 This is a schematic diagram illustrating the determination of global compensation provided in an embodiment of this application. After calibrating the rigid body transformation relationship between the local coordinate system and the scan coordinate system corresponding to the marker, since multiple actuators are involved, global compensation can be calculated to improve global accuracy in order to avoid accumulated errors, such as... Figure 7 As shown, the steps include the following.

[0096] Step S701: Use a robotic arm to carry a calibrated scanner to scan the reference object and obtain target scanning data.

[0097] In some embodiments of this application, after calibrating the rigid body transformation relationship between the local coordinate system and the scanning coordinate system of the marker, the electronic device can control a robotic arm to carry a calibrated scanner to scan around the reference object, thereby obtaining target scanning data in the scanning coordinate system. The reference object can be a reference sphere.

[0098] Step S702: Use a tracker to track the marker on the calibrated scanner to obtain the tracking pose corresponding to the marker.

[0099] In some embodiments of this application, the relative position between the marker and the scanner is fixed. The marker can be a spherical frame on the scanner, with multiple marker points on the spherical frame. The tracker obtains the pose corresponding to the marker on the calibrated scanner by tracking the marker points on the spherical frame, and records it as the tracking pose.

[0100] Step S703: Based on the tracking pose, the target scanning data in the scanning coordinate system is converted to the tracking coordinate system.

[0101] In some embodiments of this application, after the rigid body transformation relationship between the local coordinate system and the scanning coordinate system of the marker is calibrated, the target transformation relationship is obtained. The target transformation relationship includes the rigid body transformation relationship between the local coordinate system and the scanning coordinate system, as well as the transformation relationship between the scanning coordinate system and the tracking coordinate system.

[0102] Based on the tracking pose, the target scanning data in the scanning coordinate system is transformed to the local coordinate system using the target transformation relationship, and then the target scanning data in the local coordinate system is transformed to the tracking coordinate system to obtain the target scanning data in the tracking coordinate system.

[0103] Step S704: Based on the target scanning data and the actual value in the tracker coordinate system, determine the global compensation of the automated scanning system.

[0104] In some embodiments of this application, taking a reference object as a reference sphere as an example, the true value includes the true diameter of the reference sphere. Target scanning data in the tracking coordinate system is fitted to obtain target fitted data. Based on the target fitted data, the target virtual diameter of the target virtual model corresponding to the reference sphere is determined. The target deviation value between the true diameter and the target virtual diameter is calculated, and global compensation is calculated based on the target deviation value.

[0105] In other embodiments of this application, combined with Figure 6As shown, the reference object includes multiple reference spheres. The true values ​​include the true diameter of each reference sphere and the center-to-center distance between any two reference spheres. Based on the true diameter of each reference sphere and the center-to-center distance between any two reference spheres, the global compensation of the automated scanning system is calculated. Specifically, based on the target scanning data in the tracker coordinate system, the virtual diameter and virtual center of the sphere model corresponding to each reference sphere are determined. The difference between the virtual diameter and the corresponding true diameter of each sphere model is calculated, resulting in multiple deviation values. The distance between the virtual centers of any two sphere models is calculated, resulting in multiple spacing values. The difference between each spacing value and the corresponding center-to-center distance is calculated, resulting in multiple spacing deviation values. Based on the multiple deviation values ​​and the multiple spacing deviation values, the global compensation is determined. The global compensation is then used to compensate the automated scanning system.

[0106] In one example, assuming there are reference spheres A and B, the true values ​​may include the true diameter A corresponding to reference sphere A, the true diameter B corresponding to reference sphere B, and the center-to-center distance AB between the center positions A and B.

[0107] Based on the target scanning data in the tracking coordinate system, determine the virtual diameter A corresponding to reference sphere A, the virtual position A of the virtual center of the sphere model corresponding to reference sphere A, the virtual diameter B corresponding to reference sphere B, the virtual position B of the virtual center of the sphere model corresponding to reference sphere B, and the distance AB between virtual positions A and B. Calculate the deviation A between the actual diameter A and virtual diameter A, the deviation B between the actual diameter B and virtual diameter B, and the difference AB between the center distance AB and the distance AB. Based on the deviation A, deviation B, and difference AB, calculate global compensation.

[0108] Through the above embodiments, after completing the calibration of the robotic arm, the scanner, and the rigid body transformation relationship between the local coordinate system and the scanning coordinate system, error compensation is performed on the calibrated automated scanning system. This can improve the subsequent scanning accuracy of the automated scanning system and avoid cumulative errors and system errors that occur when multiple actuators cooperate.

[0109] Figure 8 This is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. For example... Figure 8 As shown, the electronic device 10 may include a display device 100, a communication module 101, a memory 102, a processor 103, an input / output (I / O) interface 104, and a bus 105. The processor 103 is coupled to the display device 100, the communication module 101, the memory 102, and the I / O interface 104 via the bus 105.

[0110] The display device 100 may be a touch screen, specifically a touch-sensitive liquid crystal display device. Alternatively, the display device 100 may be a non-touch screen. The display device 100 is used to display scan data.

[0111] Communication module 101 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions such as Universal Serial Bus (USB) and Controller Area Network (CAN). The wireless communication module may provide one or more wireless communication solutions such as Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication networks, Frequency Modulation (FM), Near Field Communication (NFC), and Infrared (IR).

[0112] The memory 102 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by the processor 103, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, as well as user and application data.

[0113] Random access memory can include static random-access memory (SRAM), dynamic random-access memory (DRAM), synchronous dynamic random-access memory (SDRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.

[0114] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 103. Non-volatile memory can include disk storage devices and flash memory.

[0115] Memory 102 is used to store one or more computer programs. The one or more computer programs are configured to be executed by processor 103. The one or more computer programs include multiple instructions that, when executed by processor 103, can implement a calibration method performed on electronic device 10.

[0116] In other embodiments, the electronic device 10 also includes an external memory interface for connecting to an external memory to expand the storage capacity of the electronic device 10.

[0117] Processor 103 may include one or more processing units, such as an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). These different processing units may be independent devices or integrated into one or more processors.

[0118] The processor 103 provides computing and control capabilities; for example, the processor 103 is used to execute computer programs stored in the memory 102 to implement the calibration method described above.

[0119] I / O interface 104 is used to provide a channel for user input or output. For example, I / O interface 104 can be used to connect various input and output devices, such as mouse, keyboard, touch device, display screen, etc., so that users can enter information or visualize information.

[0120] Bus 105 is used at least to provide a channel for communication between communication modules 101, memory 102, processor 103, and I / O interface 104 in electronic device 10.

[0121] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device 10. In other embodiments of this application, the electronic device 10 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0122] This application also provides a computer-readable storage medium storing a computer program, which includes program instructions. When the program instructions are executed, the method implemented can refer to the methods in the above embodiments of this application.

[0123] The computer-readable storage medium can be the internal memory of the electronic device described in the above embodiments, such as the hard disk or memory of the electronic device. Alternatively, the computer-readable storage medium can be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the electronic device.

[0124] In some embodiments, a computer-readable storage medium may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function, etc.; and the stored data area may store data created based on the use of the electronic device, etc.

[0125] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0126] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0127] In the embodiments provided in this application, it should be understood that the disclosed apparatus / terminal devices and methods can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0128] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0129] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A calibration method applied to an automated scanning system, characterized in that, The automated scanning system includes a robotic arm, a scanner, and a tracker; the method includes: The end effector of the robotic arm is used to probe a reference object to obtain probe data, which includes the position of the end effector after it comes into contact with the surface of the reference object. Based on the detection data and the true value of the reference object, motion compensation for the motion actuator of the robotic arm is obtained; Based on the motion compensation of the motion actuator, the robotic arm carrying the scanner scans the reference object to obtain scan data; Based on the scanned data and the true value of the reference object, the scanner is calibrated. The tracker tracks the marker on the scanner to obtain the pose of the marker; the relative position between the marker and the scanner is fixed. Based on the pose of the marker, the scanning data in the scanning coordinate system of the scanner is converted to the tracking coordinate system of the tracker; Based on the scan data in the tracking coordinate system and the true value, the rigid body transformation relationship between the local coordinate system of the marker and the scanning coordinate system is calibrated.

2. The calibration method according to claim 1, characterized in that, The motion compensation for the motion actuator of the robotic arm, based on the detected data and the true value of the reference object, includes: When the reference object is a reference sphere, the detection data is fitted based on the feature constraints corresponding to the reference sphere to obtain the fitted data in the mechanical coordinate system corresponding to the robotic arm. Based on the fitted data in the mechanical coordinate system, the model diameter of the sphere model corresponding to the reference sphere in the mechanical coordinate system is determined, as well as the virtual position of the virtual center of the sphere model in the mechanical coordinate system. The motion compensation is determined based on the diameter deviation between the model diameter in the mechanical coordinate system and the actual diameter of the reference sphere, and the position deviation between the virtual position in the mechanical coordinate system and the center position of the reference sphere.

3. The calibration method according to claim 1, characterized in that, The calibration of the scanner based on the scanned data and the true value of the reference object includes: When the reference object is a reference sphere, the scan data is fitted based on the feature constraints corresponding to the reference sphere to obtain the fitted data in the scanning coordinate system of the scanner; Based on the fitted data in the scanning coordinate system of the scanner, the diameter of the sphere model corresponding to the reference sphere in the scanning coordinate system is determined; If the diameter deviation between the model diameter in the scanning coordinate system and the actual diameter of the reference sphere is less than a preset deviation threshold, the calibration of the scanner is completed.

4. The calibration method according to claim 1, characterized in that, The process of calibrating the rigid body transformation relationship between the local coordinate system of the marker and the scanning coordinate system based on the scan data in the tracking coordinate system and the true value includes: When the reference object is a reference sphere, the scanning data in the tracking coordinate system is fitted based on the feature constraints corresponding to the reference sphere to obtain the fitted data in the tracking coordinate system. Based on the fitted data in the tracking coordinate system, the diameter of the sphere model corresponding to the reference sphere in the tracking coordinate system is determined. If the diameter deviation between the model diameter in the tracking coordinate system and the actual diameter of the reference sphere is less than a preset deviation threshold, the rigid body transformation relationship between the local coordinate system and the scanning coordinate system is calibrated.

5. The calibration method according to claim 4, characterized in that, The reference object includes multiple reference spheres, and the true values ​​include the true diameter of each reference sphere and the distance between the centers of any two reference spheres. The method further includes: Determine the virtual distance between any two sphere models; Calculate the distance difference between the virtual distance and the distance between the centers of any two reference spheres; Accordingly, if the diameter deviation between the model diameter in the tracking coordinate system and the true diameter of the reference sphere is less than a preset deviation threshold, the calibration of the rigid body transformation relationship between the local coordinate system and the scanning coordinate system is completed, including: If the diameter deviation between each model diameter and the corresponding true diameter in the tracking coordinate system is less than the preset deviation threshold, and the distance difference is less than the preset distance deviation value, the rigid body transformation relationship between the local coordinate system and the scanning coordinate system is calibrated.

6. The calibration method according to claim 1, characterized in that, The method further includes: The reference object is scanned using the robotic arm carrying a calibrated scanner to obtain target scan data; The tracker is used to track the marker on the calibrated scanner to obtain the tracking pose corresponding to the marker. Based on the tracking pose, the target scanning data in the scanning coordinate system is converted to the tracking coordinate system; Based on the target scanning data in the tracker's coordinate system and the actual value, the global compensation of the automated scanning system is determined.

7. The calibration method according to claim 6, characterized in that, The reference object includes multiple reference spheres, and the true value includes the true diameter of each reference sphere and the center-to-center distance between any two reference spheres. The determination of the global compensation of the automated scanning system based on the target scanning data in the tracker coordinate system and the true value includes: Based on the target scanning data in the coordinate system of the tracker, determine the virtual diameter and virtual center of the sphere model corresponding to each reference sphere; Calculate the difference between the virtual diameter and the corresponding real diameter for each sphere model to obtain multiple deviation values; Calculate the distance between the virtual centers of any two sphere models to obtain multiple spacing values; Calculate the difference between each spacing value and the corresponding distance to the center of the sphere to obtain multiple spacing deviation values; The global compensation is determined based on the plurality of deviation values ​​and the plurality of spacing deviation values.

8. An automated scanning system, characterized in that, The automated scanning system includes: A robotic arm includes an end effector and a motion actuator. The motion actuator carries the end effector to probe a reference object to obtain probe data, or it carries a scanner to move. The probe data includes the position of the end effector after it comes into contact with the surface of the reference object. The scanner is used to scan the reference object; A tracker for tracking the markers on the scanner; An electronic device includes a processor and a memory, the memory storing a computer program, the processor implementing the calibration method as described in any one of claims 1 to 7 when executing the computer program.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction that, when executed by a processor, implements the calibration method as described in any one of claims 1 to 7.

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