Motion Vector Calibration Method and System

Abstract

This invention provides a motion vector calibration method and system, relating to the field of calibration control technology. The method utilizes a special calibrated solid target with multiple protrusions to calibrate the motion vector of a laser measurement device. It can construct a two-stage nonlinear calculation model and combine global coarse optimization and local fine optimization to achieve high-precision calibration and reconstruction of the moving vector, realizing real-time compensation for measurement errors. In addition, the method is simple and efficient, avoiding frequent recalibration and simplifying the operation process.

Description

Technical Field

[0001] This invention relates to the field of calibration and control technology, and in particular to a motion vector calibration method and system. Background Technology

[0002] Existing laser measurement equipment primarily works by projecting a laser plane onto the surface of the object being measured, creating several laser stripes on the surface. These stripes are then scanned to obtain a complete measurement result. For line-scan laser measurement equipment, relative motion with the object is also required to generate point clouds or other positional data through line-by-line scanning. Since the object's contour point cloud is scanned by the line-scan laser and a motion module, the relationship between the laser plane coordinate system and the direction of motion of the linear module needs to be precisely calibrated to unify the line-by-line scanned 3D point cloud into a single coordinate system, resulting in a high-precision 3D point cloud contour.

[0003] In existing technologies, when calibrating the motion of laser measuring equipment, it is often assumed that the laser plane is perpendicular to the direction of the motion vector, which has certain errors compared to the complex on-site measurement environment in real-world scenarios. In addition, during actual operation, the laser measuring equipment is mainly installed on the object being measured using relatively crude assembly methods, making it difficult to guarantee accuracy. Moreover, multiple calibration data collections from multiple angles are required, making the testing process cumbersome and time-consuming, and manually selected feature points are also prone to errors. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a motion vector calibration method and system. This method uses a special calibrated solid target with multiple protrusions to calibrate the motion vector of a laser measurement device, thereby achieving real-time compensation for measurement errors, avoiding frequent recalibration, and simplifying the operation process. In addition, this method can construct a two-stage nonlinear calculation model, and combine global coarse optimization and local fine optimization to achieve high-precision calibration and reconstruction of the moving vector, thereby solving the above-mentioned problems existing in the prior art.

[0005] In a first aspect, embodiments of the present invention provide a motion vector calibration method, which is used in the calibration process of a laser measuring device; the method includes:

[0006] A stereo target corresponding to the laser measuring device is obtained, and the first coordinate system corresponding to the laser measuring device and the second coordinate system corresponding to the stereo target are determined respectively; wherein, the stereo target is provided with multiple protrusions, and the surface of the protrusions is provided with multiple reflective parts;

[0007] When the stereo target is detected to be placed at the corresponding calibration position of the laser measuring device, the laser measuring device is controlled to project a strip laser onto the stereo target and move according to the preset trajectory parameters.

[0008] The laser stripes formed in each reflector are acquired in real time, the intersection points of adjacent laser stripes are determined, and the first position coordinates and the second position coordinates of the intersection points in the first coordinate system and the second coordinate system are acquired respectively.

[0009] The motion vector of the laser measuring device under the trajectory parameters is determined based on the first and second position coordinates.

[0010] Optionally, the laser stripes formed in each reflector are acquired in real time, and the intersection points of adjacent laser stripes are determined, including:

[0011] Real-time acquisition of the laser stripes contained in each reflective part;

[0012] After performing linear fitting on the laser stripes based on the laser plane corresponding to the laser stripe, the laser reflection line corresponding to the laser stripe is obtained;

[0013] The intersection point of adjacent laser stripes is determined by the corresponding intersection position of adjacent laser reflection lines in the laser plane.

[0014] Optionally, obtain the first and second position coordinates of the intersection point in the first and second coordinate systems, respectively, including:

[0015] The first intersection point corresponding to adjacent laser stripes is obtained based on the trajectory parameters, and the first position coordinates of the first intersection point in the laser plane are obtained based on the first coordinate system.

[0016] Based on the second coordinate system, obtain the first plane and the second plane corresponding to adjacent reflective parts in the three-dimensional target, and obtain the second intersection point of the first plane, the second plane and the laser plane;

[0017] Obtain the second position coordinates corresponding to the second intersection point based on the second coordinate system.

[0018] Optionally, the step of determining the motion vector of the laser measuring device under the trajectory parameters based on the first position coordinates and the second position coordinates includes:

[0019] Initialize and obtain the attitude matrix and position matrix of the second coordinate system in the first coordinate system based on the first and second position coordinates;

[0020] A three-plane intersection constraint model corresponding to the laser measurement device is constructed using the attitude matrix and position matrix;

[0021] The movement vector corresponding to the laser measurement device is determined by trajectory parameters;

[0022] The motion vector of the laser measurement device is solved based on the three-plane intersection constraint model and the moving vector.

[0023] Optionally, the step of initializing and obtaining the attitude matrix and position matrix of the second coordinate system in the first coordinate system based on the first and second position coordinates includes:

[0024] Based on the second position coordinates, obtain the first plane and the second plane corresponding to adjacent reflective parts in the stereo target;

[0025] Obtain the intersection line between the first plane and the second plane, and determine the direction vector corresponding to the intersection line based on the cross product of the first direction vector corresponding to the first plane and the second direction vector corresponding to the second plane;

[0026] The pose data corresponding to the intersection line when it is transformed from the second coordinate system to the first coordinate system is determined using the direction vector and the first position coordinates;

[0027] Initialize and obtain the pose matrix and position matrix based on the pose data.

[0028] Optionally, the steps of constructing the three-plane intersection constraint model corresponding to the laser measurement device using the attitude matrix and position matrix include:

[0029] Construct a three-plane intersection constraint model using the following formula:

[0030] ;

[0031] in, Let this be the first coordinate system; This is the second coordinate system; The attitude matrix; It is a position matrix; This is the normal vector of the laser plane corresponding to the strip laser; Let be any point in the direction vector of the intersection line; The first direction vector of the first plane; This is the second direction vector corresponding to the second plane; The slope of the laser stripe in the first plane in the first coordinate system; This represents the slope of the laser stripe in the second plane under the first coordinate system. The intercept of the laser stripe in the first plane in the first coordinate system; The intercept of the laser stripe in the second plane in the first coordinate system is given.

[0032] Optionally, the first residual function corresponding to the constraint model is:

[0033] ;

[0034] in, The number of intersections, Let x be the x-axis coordinate of the i-th intersection point in the first coordinate system; Let be the z-axis coordinate of the i-th intersection point in the first coordinate system; Let be the slope of the laser stripe at the i-th intersection point in the first plane of the first coordinate system; Let be the slope of the laser stripe at the i-th intersection point in the second plane in the first coordinate system; Let be the intercept of the laser stripe at the i-th intersection point in the first plane of the first coordinate system; Let be the intercept of the laser stripe at the i-th intersection point in the second plane of the first coordinate system.

[0035] Optionally, the step of determining the movement vector corresponding to the laser measurement device through trajectory parameters includes:

[0036] The number of movements and the distance moved by the laser measuring device are obtained based on the trajectory parameters.

[0037] The movement points corresponding to adjacent laser measurement devices are obtained based on the number of movements and the movement distance.

[0038] Obtain the position matrix corresponding to the moving point, and determine the movement vector based on the difference between the position matrices of adjacent moving points.

[0039] Optionally, the steps for solving the motion vector corresponding to the laser measurement device based on the three-plane intersection constraint model and the moving vector include:

[0040] The three-plane intersection constraint model is determined as the first calculation model, and the first attitude matrix and the first position matrix in the first calculation model are solved using the first residual function;

[0041] After updating the three-plane intersection constraint model by moving vector, the constraint update model corresponding to the laser measurement device is obtained, and the second residual function corresponding to the constraint update model is obtained.

[0042] The first attitude matrix and the first position matrix are input into the second residual function, and the second residual function is used to solve for multiple sets of second position matrices corresponding to the constraint update model.

[0043] The motion vector corresponding to the laser measurement device is determined based on the difference between adjacent second position matrices.

[0044] Secondly, the present invention provides a motion vector calibration system for the calibration process of laser measurement equipment; the system includes:

[0045] An initialization module is used to acquire the stereo target corresponding to the laser measuring device and to determine the first coordinate system corresponding to the laser measuring device and the second coordinate system corresponding to the stereo target; wherein, the stereo target is provided with multiple protrusions, and the surface of the protrusions is provided with multiple reflective parts;

[0046] The laser irradiation control module is used to control the laser measuring device to project a strip laser onto the stereo target when the stereo target is detected to be placed at the corresponding calibration position of the laser measuring device, and to control the laser measuring device to move according to the preset trajectory parameters.

[0047] The coordinate parameter acquisition module is used to acquire the laser stripes formed in each reflector in real time, determine the intersection point of adjacent laser stripes, and acquire the first position coordinates and the second position coordinates of the intersection point in the first coordinate system and the second coordinate system, respectively.

[0048] The motion vector determination module is used to determine the motion vector of the laser measuring device under the trajectory parameters based on the first position coordinates and the second position coordinates.

[0049] Thirdly, embodiments of the present invention also provide a laser measurement device, which includes a processor and a memory. The memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the steps of the motion vector calibration method provided in the first aspect.

[0050] This invention provides a motion vector calibration method and system. During the calibration of the motion vector of a laser scanning device, the method first acquires a stereo target corresponding to the laser measuring device and determines a first coordinate system corresponding to the laser measuring device and a second coordinate system corresponding to the stereo target. The stereo target has multiple protrusions, and the surfaces of the protrusions have multiple reflective parts. When the stereo target is detected to be placed at the calibration position corresponding to the laser measuring device, the laser measuring device is controlled to project a stripe laser onto the stereo target and move according to preset trajectory parameters. Then, laser stripes formed in each reflective part are acquired in real time, the intersection points of adjacent laser stripes are determined, and the first and second position coordinates of the intersection points in the first and second coordinate systems are acquired respectively. Finally, the motion vector of the laser measuring device under the trajectory parameters is determined based on the first and second position coordinates. This method utilizes a special calibrated solid target with multiple protrusions to calibrate the motion vector of a laser measurement device. It can construct a two-stage nonlinear calculation model and combine global coarse optimization and local fine optimization to achieve high-precision calibration and reconstruction of the moving vector, thus realizing real-time compensation for measurement errors. In addition, the method is simple and efficient, avoiding frequent recalibration and simplifying the operation process.

[0051] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0052] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0053] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0054] Figure 1 A flowchart of a motion vector calibration method provided in an embodiment of the present invention;

[0055] Figure 2 This is a schematic diagram illustrating the correspondence between a stereo target and a laser measurement device in a motion vector calibration method provided by an embodiment of the present invention.

[0056] Figure 3 In step S103 of the motion vector calibration method provided in this embodiment of the invention, a flowchart is used to obtain the laser stripes formed in each reflector in real time and determine the intersection point of adjacent laser stripes.

[0057] Figure 4 A flowchart of step S103 in a motion vector calibration method provided in an embodiment of the present invention;

[0058] Figure 5 A flowchart of step S104 in a motion vector calibration method provided in an embodiment of the present invention;

[0059] Figure 6 A flowchart of step S501 in a motion vector calibration method provided in an embodiment of the present invention;

[0060] Figure 7 A flowchart of step S503 in a motion vector calibration method provided in an embodiment of the present invention;

[0061] Figure 8 A flowchart of step S504 in a motion vector calibration method provided in an embodiment of the present invention;

[0062] Figure 9 A flowchart of another motion vector calibration method provided in an embodiment of the present invention;

[0063] Figure 10 This is a schematic diagram of a motion vector calibration system provided in an embodiment of the present invention;

[0064] Figure 11 This is a schematic diagram of the structure of a laser measurement device provided in an embodiment of the present invention.

[0065] icon:

[0066] 1010 - Initialization module; 1020 - Laser irradiation control module; 1030 - Coordinate parameter acquisition module; 1040 - Motion vector determination module;

[0067] 101 - Processor; 102 - Memory; 103 - Bus; 104 - Communication interface. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0069] To facilitate understanding of this embodiment, a motion vector calibration method disclosed in this embodiment of the invention will first be described. This method is used in the calibration process of laser measurement equipment, such as... Figure 1 As shown, the method includes:

[0070] Step S101: Obtain the stereo target corresponding to the laser measuring device, and determine the first coordinate system corresponding to the laser measuring device and the second coordinate system corresponding to the stereo target respectively; wherein, the stereo target is provided with multiple protrusions, and the surface of the protrusions is provided with multiple reflective parts.

[0071] First, a stereo target specifically designed for laser measurement equipment calibration is acquired. The core feature of this target is the presence of multiple regularly distributed protrusions, each with multiple highly reflective surfaces. This reflective design ensures that clear and identifiable laser stripes are formed after laser projection, providing a reliable basis for subsequent feature extraction. Simultaneously, two key coordinate systems need to be established and defined: one is the first coordinate system (i.e., the laser measurement coordinate system) based on the laser measurement equipment itself, directly related to the parameters of the laser plane; the other is the second coordinate system (i.e., the target coordinate system) based on the stereo target. Due to the fixed structure of the target, this coordinate system provides a stable reference. The clear division of these two coordinate systems is a fundamental prerequisite for subsequent coordinate transformation and motion vector calculation.

[0072] Step S102: When the stereo target is detected to be placed at the corresponding calibration position of the laser measuring device, control the laser measuring device to project a strip laser onto the stereo target and control the laser measuring device to move according to the preset trajectory parameters.

[0073] The position detection device confirms that the stereo target has been accurately placed at the preset calibration position of the laser measuring equipment. This position must meet the requirement that the laser plane can completely cover all protrusions of the target to ensure the comprehensiveness of the calibration data. After the target is positioned, the system will trigger the laser measuring equipment to perform two core operations: first, project a stripe laser onto the surface of the stereo target, so that the laser forms clear laser stripes on the reflective surface of the target's protrusions; second, control the laser measuring equipment to move smoothly according to preset trajectory parameters (including movement speed, step length, path direction, etc.). This movement process is consistent with the movement state during actual measurement to ensure the matching of calibration results with the actual application scenario.

[0074] Step S103: Real-time acquisition of the laser stripes formed in each reflector, determination of the intersection points of adjacent laser stripes, and acquisition of the first position coordinates and the second position coordinates of the intersection points in the first coordinate system and the second coordinate system, respectively.

[0075] During the movement of the laser measurement equipment, the system acquires real-time image data of laser stripes formed on each reflective part of the target surface, and accurately extracts the stripe features through image processing algorithms. Because the target protrusions are regularly distributed, the laser stripes on adjacent protrusions form distinct intersections. These intersections are characterized by stable positions and high recognizability, making them key feature points in the calibration process. For each extracted intersection, the system calculates and obtains its first position coordinates in the first coordinate system (laser measurement coordinate system) and its second position coordinates in the second coordinate system (target coordinate system) using the laser measurement equipment's sensing module and the target's reference parameters, forming a one-to-one coordinate data pair.

[0076] Step S104: Determine the motion vector of the laser measuring device under the trajectory parameters based on the first position coordinates and the second position coordinates.

[0077] Based on the large number of intersection point coordinate data pairs obtained in step S103, a coordinate mapping relationship between the first and second coordinate systems is established. Since the motion vector of the laser measuring device is directly reflected in the positional change of its coordinate system relative to the target coordinate system, a mathematical correlation model between the motion vector and coordinate changes can be constructed by performing correlation analysis and calculations on multiple sets of coordinate data pairs. Combining the preset trajectory parameter constraints, the coordinate mapping relationship is substituted into the solution, ultimately determining the complete motion vector information of the laser measuring device under the current trajectory parameters. This motion vector will serve as the core parameter of the subsequent point cloud data coordinate system.

[0078] like Figure 2As shown, the stereo target has multiple alumina ceramic plates continuously placed on its surface. These alumina ceramic plates are custom-machined with a surface roughness of 0.001 mm, exhibiting excellent optical reflectivity. Alumina ceramics possess the physical characteristics of low absorption and high diffuse reflectivity for linear lasers. When laser light irradiates its surface, most of the laser energy is effectively reflected to the photosensitive unit of the laser measurement equipment, thus significantly improving the signal-to-noise ratio and measurement accuracy of the data acquisition.

[0079] Because the spatial pose relationships between the planes on a 3D target can be precise to micrometers, the intersection lines of these planes are not parallel in space. When a linearly scanned laser plane illuminates the various planes of the target, multiple laser intersection lines can be formed.

[0080] A laser line scan camera is fixed on a motion platform and moved to its initial position. The target remains stationary. The motion platform is controlled to move along a predetermined trajectory (usually a straight line at a constant speed). Simultaneously, at fixed intervals, the intersection line formed by the laser plane projected from the line scan camera onto the 3D calibration target is acquired. Optionally, the laser stripes formed in each reflector are acquired in real time, and the intersection points of adjacent laser stripes are determined, such as... Figure 3 As shown, it includes:

[0081] Step S301: Real-time acquisition of the laser stripes contained in each reflective part.

[0082] Utilizing the high-frame-rate image acquisition unit on the laser measurement equipment, continuous monitoring and data acquisition are performed on the reflective surfaces of each protruding part of the stereo target, acquiring in real time a complete laser stripe image formed on each reflective part by the laser plane projection. During the acquisition process, the equipment's motion state must be synchronized to ensure that the stripe image and the movement trajectory of the measurement equipment are consistent in timing, avoiding the loss or misalignment of stripe information due to acquisition delays, and providing continuous and complete raw data for subsequent feature extraction.

[0083] Step S302: After performing linear fitting on the laser stripe based on the laser plane corresponding to the stripe laser, the laser reflection line corresponding to the laser stripe is obtained.

[0084] For the original laser stripe image acquired in step S301, firstly, image preprocessing algorithms (such as grayscale enhancement, threshold segmentation, and noise filtering) are used to remove invalid information such as ambient light interference and reflection clutter, highlighting the contour features of the laser stripes. Subsequently, based on the spatial geometric characteristics of the laser plane, the laser plane corresponding to the stripe laser is used as the fitting benchmark, and straight line fitting operations are performed on the preprocessed stripe pixels. Through iterative solutions using optimization algorithms such as the least squares method, the laser reflection lines that can accurately represent the spatial direction of the stripes are finally obtained, transforming the two-dimensional stripe image into straight line parameters with clear geometric meaning.

[0085] Step S303: Determine the intersection point of adjacent laser stripes based on the corresponding intersection positions of adjacent laser reflection lines in the laser plane.

[0086] By combining the distribution pattern of the protrusions on the 3D target, the laser reflection lines corresponding to spatially adjacent reflective parts are identified and screened. Since all laser reflection lines are located in the same laser plane, based on the geometric principle of intersecting spatial lines, the equations of the two adjacent laser reflection lines are substituted into the equations of the two lines within this unified spatial dimension of the laser plane to solve the problem simultaneously. The precise intersection coordinates of the two reflection lines are calculated, and these coordinates are the actual intersection points of the corresponding adjacent laser stripes in space. This provides core feature points for subsequently obtaining the position information of the intersection point in the dual coordinate system.

[0087] Optionally, obtain the first and second position coordinates of the intersection point in the first and second coordinate systems, respectively, such as... Figure 4 As shown, it includes:

[0088] Step S401: Obtain the first intersection point corresponding to adjacent laser stripes based on the trajectory parameters, and obtain the first position coordinates of the first intersection point in the laser plane based on the first coordinate system.

[0089] First, based on the trajectory parameters preset by the laser measurement equipment (including step length, instantaneous attitude, and motion sequence information), the intersection point of adjacent laser stripes in the current motion frame is located, and this intersection point with a clear motion sequence relationship is defined as the first intersection point. Then, using the first coordinate system as a reference, and utilizing the imaging module parameters of the laser measurement equipment (such as camera intrinsic parameters and lens distortion coefficients) and the spatial equation of the laser plane, perspective transformation and 3D reconstruction calculations are performed on the image pixel coordinates of the first intersection point. Finally, the 3D position coordinates of the first intersection point within the laser plane and belonging to the first coordinate system are obtained, i.e., the first position coordinates.

[0090] Step S402: Based on the second coordinate system, obtain the first plane and the second plane corresponding to the adjacent reflective parts in the three-dimensional target, and obtain the second intersection point of the first plane, the second plane and the laser plane.

[0091] Based on the design blueprint and precise measurement data of the 3D target, in the second coordinate system (with the fixed reference point of the target as the origin), the spatial planes containing the two reflecting parts that form adjacent laser stripes, namely the first plane and the second plane, are accurately extracted, and their plane equations are established. Since the laser stripes are essentially the intersection lines of the laser plane and the surface of the reflecting part, solving the laser plane equations simultaneously with the equations of the first and second planes yields the spatial straight line equations of the two intersection lines; the unique intersection point of these two intersection lines in the second coordinate system is the second intersection point used for coordinate matching.

[0092] Step S403: Obtain the second position coordinates corresponding to the second intersection point based on the second coordinate system.

[0093] Using the second coordinate system as a fixed reference frame, the equations of the two intersecting lines obtained in step S402 are substituted into the spatial geometric solution model. The three-dimensional coordinates of the second intersection point are calculated through matrix operations or analytical geometry methods. This value represents the absolute position of the second intersection point in the target coordinate system, i.e., the second position coordinates. Through this step, a one-to-one correspondence between the coordinates of the same physical feature point (stripe intersection point) in the dual coordinate system is achieved, providing core data pairs for the subsequent calculation of motion vectors.

[0094] Optionally, step S104, which determines the motion vector of the laser measuring device under the trajectory parameters based on the first and second position coordinates, is as follows: Figure 5 As shown, it includes:

[0095] Step S501: Initialize and obtain the attitude matrix and position matrix of the second coordinate system in the first coordinate system based on the first and second position coordinates.

[0096] First, based on multiple sets of one-to-one corresponding first and second position coordinates as foundational data, and combined with the known structural parameters of the 3D target (such as the spacing between protrusions and the positional accuracy of the reflective parts), two key correlation matrices are initialized: the attitude matrix and the position matrix. The attitude matrix quantifies the spatial rotational attitude of the second coordinate system relative to the first coordinate system (covering rotation angle information along the X, Y, and Z axes), while the position matrix characterizes the three-dimensional spatial coordinates of the origin of the second coordinate system within the first coordinate system. The initialization process can employ a coarse-matching algorithm to quickly determine the approximate range of the matrices, providing reliable initial values ​​for subsequent precise optimization.

[0097] Step S502: Construct a three-plane intersection constraint model corresponding to the laser measurement device using the attitude matrix and position matrix.

[0098] Using the attitude matrix (denoted as R) and position matrix (denoted as T) obtained in step S501 as core transformation parameters, a three-plane intersection constraint model for coordinate mapping is constructed. The core constraint relationship of this model is: after rotating the attitude matrix and translating the position matrix, the result of the second position coordinate (denoted as P2) of any feature point (i.e., R×P2+T) should be highly consistent with the corresponding first position coordinate (denoted as P1), and the error should be controlled within the laser measurement accuracy threshold. Through this model, the coordinate association of the two coordinate systems is transformed into explicit mathematical constraints, providing a theoretical basis for solving the motion vector.

[0099] Step S503: Determine the movement vector corresponding to the laser measurement device through trajectory parameters.

[0100] The motion control parameter library of the laser measurement equipment is accessed to extract preset trajectory parameters, including the direction vector of the motion path, the step size per unit time, and the changes in equipment posture between adjacent scan frames. Combining these parameters with the physical characteristics of the equipment's motion, these discrete trajectory parameters are transformed into continuous spatial vector expressions, yielding the initial movement vector of the laser measurement equipment in the first coordinate system. This vector reflects the macroscopic trend of the equipment's motion, providing a fundamental reference for subsequent accurate solutions.

[0101] Step S504: Solve for the motion vector corresponding to the laser measurement device based on the constraint model and the motion vector.

[0102] The initial movement vector obtained in step S503 is substituted into the constraint model constructed in step S502, and a nonlinear optimization algorithm (such as the Gauss-Newton method or the Levenberg-Marquardt algorithm) is used to iteratively correct the movement vector. The iterative process aims to minimize the coordinate mapping error, continuously adjusting the movement vector parameters until the error between the theoretical coordinates output by the model and the actual acquired first position coordinates converges to a preset threshold. The final output vector that satisfies the constraint conditions is the precise motion vector of the laser measurement device under the current trajectory parameters.

[0103] Optionally, step S501, which initializes and obtains the attitude matrix and position matrix corresponding to the second coordinate system in the first coordinate system based on the first and second position coordinates, is as follows: Figure 6 As shown, it includes:

[0104] Step S601: Obtain the first plane and the second plane corresponding to adjacent reflective parts in the stereo target based on the second position coordinates.

[0105] Using the second coordinate system as a fixed reference, and utilizing the acquired second position coordinates (coordinates of the stripe intersection points in the target coordinate system), the two target reflectors forming adjacent laser stripes are located. Combining the precise design parameters of the stereo target (such as the surface flatness of the reflector and installation reference), a plane fitting operation is performed on the second position coordinate data of each reflector. The least squares method is used to solve for the spatial plane equations of the two reflectors, i.e., the mathematical expressions for the first and second planes, providing a foundation for subsequent spatial geometric calculations.

[0106] Step S602: Obtain the intersection line between the first plane and the second plane, and determine the direction vector corresponding to the intersection line based on the cross product of the first direction vector corresponding to the first plane and the second direction vector corresponding to the second plane.

[0107] First, the equations of the first and second planes obtained in step S601 are analyzed. The normal vector of the first plane is extracted as the first direction vector, and the normal vector of the second plane is extracted as the second direction vector. The normal vector directly reflects the spatial orientation of the planes and is the core parameter for calculating the direction of the intersection line. According to the principles of spatial geometry, the direction of the intersection line of the two planes is perpendicular to the normal vectors of both planes. Therefore, the cross product operation is performed on the first and second direction vectors. The direction of the cross product result is the direction vector of the intersection line of the two planes, thus completing the quantification of the spatial orientation of the intersection line.

[0108] Step S603: Use the direction vector and the first position coordinates to determine the pose data corresponding to the intersection line when it is transformed from the second coordinate system to the first coordinate system.

[0109] Using the intersection direction vector obtained in step S602 as the attitude reference, and combining it with the three-dimensional information of the corresponding intersection feature points in the first position coordinates (coordinates of the fringe intersection points in the laser measurement coordinate system), a spatial model of the intersection line in the first coordinate system is constructed. A coordinate mapping algorithm is used to establish the correspondence between the intersection lines in the two coordinate systems, and the complete pose data of the intersection lines when transformed from the second coordinate system to the first coordinate system is obtained. This data includes two parts: first, the position information of the intersection lines (such as the coordinates of the midpoint of the intersection lines in the first coordinate system); and second, the attitude information of the intersection lines (such as the representation of the direction vector in the first coordinate system).

[0110] Step S604: Initialize and obtain the pose matrix and position matrix based on the pose data.

[0111] In layman's terms, the initialization here uses a constraint model and a heuristic random search algorithm to find initial values ​​for an attitude matrix and a position matrix. Subsequent nonlinear optimization calculations yield the first set of attitude and position matrices. Specifically, the pose data obtained in step S603 is decoupled: the attitude information (the transformation relationship of the intersection direction vectors) is converted into a rotation matrix form, serving as the initial value of the attitude matrix to represent the rotation state of the second coordinate system relative to the first coordinate system; the position information (the coordinate mapping relationship of the intersection feature points) is converted into a translation vector form, serving as the initial value of the position matrix to represent the position of the origin of the second coordinate system relative to the first coordinate system. The two initialized matrices must satisfy the basic coordinate transformation relationship to provide a reliable starting point for subsequent constraint model construction.

[0112] Optionally, step S503, which determines the movement vector corresponding to the laser measuring device through trajectory parameters, such as... Figure 7 As shown, it includes:

[0113] Step S701: Obtain the number of movements and movement distance of the laser measuring device based on the trajectory parameters.

[0114] By analyzing the preset trajectory parameters of the laser measurement equipment, two key indicators characterizing the motion state were selected: the number of movements and the movement distance. The number of movements corresponds to the total number of measurement frames required for the equipment to complete one full calibration scan, with each frame corresponding to an independent laser projection and data acquisition action. The movement distance clarifies the spatial displacement (including directional attributes) between two adjacent measurement frames when the equipment moves along the preset path. Together, these two parameters constitute the basic quantitative basis for the equipment's motion, providing data support for subsequent movement point positioning.

[0115] Step S702: Obtain the movement points corresponding to adjacent laser measurement devices based on the number of movements and the movement distance.

[0116] Using the number of movements as an index, the actual spatial working position of the laser measuring device in each measurement frame is defined as a "moving point." This moving point represents the vector of each movement of the laser measuring device in the coordinate system of the laser measuring device. Each moving point is bound to the acquired data and timing information of the corresponding measurement frame. Combining the moving distance obtained in step S701, and according to the timing sequence of the device's movement, the spatial positional relationship between two adjacent measurement frames is associated, accurately locking two adjacent moving points in the continuous movement state. Their positional changes directly reflect the movement characteristics of the device within a short distance.

[0117] Step S703: Obtain the position matrix corresponding to the moving point, and determine the movement vector based on the difference between the position matrices of adjacent moving points.

[0118] Retrieve the position matrix dataset initialized in the previous steps, and extract the position matrices corresponding to two adjacent moving points in the first coordinate system (laser measurement coordinate system); this matrix records the spatial translation information of the moving point relative to the origin of the first coordinate system. By calculating the difference between the position matrix of the latter moving point and the position matrix of the former moving point, the resulting vector is the spatial displacement representation of the device moving from the former to the latter, thereby determining the movement vector of the laser measurement device within the adjacent frame interval.

[0119] Optionally, step S504, which involves solving for the motion vector corresponding to the laser measurement device based on the three-plane intersection constraint model and the moving vector, is as follows: Figure 8 As shown, it includes:

[0120] Step S801: Determine the three-plane intersection constraint model as the first calculation model, and use the first residual function to solve the first attitude matrix and the first position matrix in the first calculation model.

[0121] The constraint model constructed above is directly defined as the first computational model, which is a coarse optimization model based on the coordinate correspondence of the two coordinate systems. To quantify the model error, a first residual function is introduced, the core objective of which is to minimize the deviation between the "result of the second position coordinates after rotation of the attitude matrix and translation of the position matrix" and the "first position coordinates". The first residual function is solved using a nonlinear optimization algorithm (such as the Gauss-Newton method) to obtain the first attitude matrix and the first position matrix that satisfy the error convergence condition, providing high-precision initial parameters for subsequent fine optimization.

[0122] Step S802: After updating the three-plane intersection constraint model by moving vector, the constraint update model corresponding to the laser measurement device is obtained, and the second residual function corresponding to the constraint update model is obtained.

[0123] The movement vector determined in step S503 is substituted into the first calculation model, and the parameter range and coordinate mapping relationship of the constraint model are iteratively updated to form a constraint update model (refined optimization model) that adapts to the actual movement trend of the equipment. Simultaneously, a second residual function matching the constraint update model is constructed. This function, based on the first residual function, incorporates the movement trend constraint corresponding to the movement vector, further improving the accuracy of parameter solving. The model is updated by adding a new constraint condition to the three-plane intersection constraint model. This constraint condition constrains the distance of the movement vector, which theoretically makes the solution more stable.

[0124] Step S803: Input the first attitude matrix and the first position matrix into the second residual function, and use the second residual function to solve for multiple sets of second position matrices corresponding to the constraint update model.

[0125] The first attitude matrix and the first position matrix obtained in step S801 are used as initial input parameters and substituted into the second residual function. Combined with the motion sequence of the laser measurement device (such as each measurement frame), multiple sets of second position matrices are solved through iterative calculation. Each set of matrices corresponds to the spatial translation state of the device in a motion phase. Multiple sets of data can completely cover the entire process of the device's motion along the trajectory parameters, avoiding errors caused by single data.

[0126] Step S804: Determine the motion vector corresponding to the laser measurement device based on the difference results of adjacent second position matrices.

[0127] The multiple sets of second position matrices obtained in step S803 are sorted according to the motion time sequence, and the difference between adjacent sets of second position matrices is calculated. This difference vector accurately represents the spatial displacement change (including direction and distance) of the laser measuring device in adjacent motion stages. After integration, it becomes the final motion vector corresponding to the device under the current trajectory parameters, which can be directly used for the coordinate system one of subsequent point cloud data.

[0128] like Figure 9Another motion vector calibration method is shown, which uses... Figure 2 The coordinate system in the model is processed. A first coordinate system is established at the far end of the laser measuring equipment. Establish a second coordinate system at the corner of the 3D target. At the same time, the laser plane intersects with the three-dimensional target. , , , .

[0129] In coordinate system Below, any two planes in the three-dimensional target can be obtained. and The plane parametric equations are as follows:

[0130] ;

[0131] in, and Representing planes respectively and plane , and Represents the normal vector of a plane. and Represents the plane intercept.

[0132] According to the above formula, the plane and Direction vector in and Perform a cross product to obtain a plane. and Intersection Direction vector .

[0133] At the same time, in the direction vector Determine any point on This can represent the complete Parametric equations: .in, This represents the dependent variable.

[0134] Combining unknowns and The coordinate system can be The lower plane and Intersection Transform to coordinate system In, it is represented as : ;in, and Representing coordinate systems In coordinate system The posture and position within.

[0135] In coordinate system The known laser plane equation is: That is, the normal vector of the laser plane is .so, With plane Intersection calculation:

[0136] ;

[0137] ;

[0138] In the formula, Represents a straight line Points on to plane Distance and direction The ratio. Based on the above formula, the plane... ,flat Intersection with the laser plane as follows:

[0139] ;

[0140] intersection The x-coordinate is: ;

[0141] intersection The y-coordinate is: ;

[0142] intersection The z-coordinate is: ;

[0143] Partial laser line imaging obtained by moving the laser measurement equipment reflects the imaging results at different distances between the stereo target and the laser measurement equipment; the equations of any two adjacent laser beam lines in the figure are respectively (the reference coordinate system is the plane XOY in the coordinate system A of the laser line scanning camera, i.e., plane). ):

[0144] ;

[0145] By solving the equations of the two lines simultaneously, we can obtain the intersection point of the two laser beams. This is an intersection point in a two-dimensional plane, but because the laser plane... Therefore, the three-dimensional spatial representation of the intersection point can be determined:

[0146] ;

[0147] This intersection point also corresponds to the plane. ,flat With laser plane The intersection points are thus used to construct a nonlinear optimization constraint model using the above formula:

[0148] ;

[0149] in, Let this be the first coordinate system; This is the second coordinate system; The attitude matrix; It is a position matrix; This is the normal vector of the laser plane corresponding to the strip laser; Let be any point in the direction vector of the intersection line; The first direction vector of the first plane; This is the second direction vector corresponding to the second plane; The slope of the laser stripe in the first plane in the first coordinate system; This represents the slope of the laser stripe in the second plane under the first coordinate system. The intercept of the laser stripe in the first plane in the first coordinate system; The intercept of the laser stripe in the second plane in the first coordinate system is given.

[0150] In the nonlinear optimization section, to address the potential local optima during the solution process, we employ a combined optimization strategy of differential evolution and least squares algorithms. This is because using least squares alone can easily lead to getting trapped in local optima, resulting in insufficient accuracy; while differential evolution alone, although possessing strong global search capabilities, has limited computational precision and slow convergence speed, providing only a coarse solution.

[0151] Differential Evolutionary Algorithm is a heuristic stochastic search algorithm that first considers the dimensions of decision variables. Population size Randomize the initial population:

[0152] ;

[0153] Then, for each individual Randomly select three other different individuals from the population. , , Perform differential mutation:

[0154] ;

[0155] in A mutated individual, The differential weights determine the search step size. After performing the differential mutation operation, a crossover operation is performed to transform the mutated individuals. With the current individual Crossover is performed to generate experimental individuals. :

[0156] ;

[0157] For crossover probability, Randomization ensures that at least one dimension crosses over. The experimental individuals are then... With the current individual A competition is conducted, comparing the residuals by inputting the set parameters, and then iteratively calculating the solution. The coarse solution obtained by the differential evolution algorithm is then input into the least squares algorithm and gradient descent to obtain a more accurate solution vector.

[0158] In this model, the unknowns are respectively , With a total of 6 degrees of freedom unknowns, only 3 or more spatial points are needed to determine the unknowns. Here, 4 spatial points are chosen for calculation to ensure accuracy. Based on the nonlinear constraint model, the residuals of both the differential evolution algorithm and the least squares algorithm are set as follows:

[0159] ;

[0160] in, The number of intersections, Let x be the x-axis coordinate of the i-th intersection point in the first coordinate system; Let be the z-axis coordinate of the i-th intersection point in the first coordinate system; Let be the slope of the laser stripe at the i-th intersection point in the first plane of the first coordinate system; Let be the slope of the laser stripe at the i-th intersection point in the second plane in the first coordinate system; Let be the intercept of the laser stripe at the i-th intersection point in the first plane of the first coordinate system; Let be the intercept of the laser stripe at the i-th intersection point in the second plane of the first coordinate system.

[0161] Line laser profilometer Move the same distance each time mm, thus obtaining multiple optimization results. , Theoretically, the motion vector is:

[0162] ;

[0163] However, the translation vector obtained simply by subtraction is often affected by noise and jitter, resulting in insufficient numerical accuracy. Therefore, we established a second nonlinear optimization constraint model:

[0164] ;

[0165] The second nonlinear optimization uses only the least squares algorithm to improve the optimization rate, and the residual is set as follows:

[0166]

[0167] Multiple sets obtained after the second optimization The difference between each pair of groups is used to accurately solve for the movement vector through subtraction. The final result is the movement vector (direction (x, y, z)) of the moving module represented in the coordinate system A of the online laser profilometer; that is, after calibrating the position data T of the profilometer in different sets of test data, the difference of the position data is calculated to form a three-dimensional vector, which serves as the direction of the moving module.

[0168] As can be seen from the above motion vector calibration method, this method uses a special calibrated solid target with multiple protrusions to calibrate the motion vector of the laser measurement equipment. It can construct a two-stage nonlinear calculation model and combine global coarse optimization and local fine optimization to achieve high-precision calibration and reconstruction of the moving vector, realizing real-time compensation for measurement errors. In addition, the method is simple and efficient, avoids frequent recalibration, and simplifies the operation process.

[0169] Corresponding to the above embodiments of the motion vector calibration method, this embodiment of the invention also provides a motion vector calibration system, which is used in the calibration process of laser measurement equipment, such as... Figure 10 As shown, the system includes:

[0170] The initialization module 1010 is used to acquire the stereo target corresponding to the laser measuring device and to determine the first coordinate system corresponding to the laser measuring device and the second coordinate system corresponding to the stereo target respectively; wherein, the stereo target is provided with multiple protrusions, and the surface of the protrusions is provided with multiple reflective parts;

[0171] The laser irradiation control module 1020 is used to control the laser measuring device to project a strip laser onto the stereo target when the stereo target is detected to be placed at the corresponding calibration position of the laser measuring device, and to control the laser measuring device to move according to the preset trajectory parameters.

[0172] The coordinate parameter acquisition module 1030 is used to acquire the laser stripes formed in each reflector in real time, determine the intersection point of adjacent laser stripes, and acquire the first position coordinates and the second position coordinates of the intersection point in the first coordinate system and the second coordinate system respectively.

[0173] The motion vector determination module 1040 is used to determine the motion vector of the laser measuring device under the trajectory parameters based on the first position coordinates and the second position coordinates.

[0174] As can be seen from the above motion vector calibration system, the system uses a special calibrated solid target with multiple protrusions to calibrate the motion vector of the laser measurement equipment. It can construct a two-stage nonlinear calculation model and combine global coarse optimization and local fine optimization to achieve high-precision calibration and reconstruction of the moving vector, realizing real-time compensation for measurement errors. In addition, the system has a simple and efficient execution process, which can avoid frequent recalibration and simplify the operation process.

[0175] The motion vector calibration system provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned motion vector calibration method embodiment. For the sake of brevity, any parts not mentioned in the system embodiment can be referred to the corresponding content in the aforementioned motion vector calibration method embodiment.

[0176] This embodiment also provides a laser measurement device, the structural schematic diagram of which is shown below. Figure 11 As shown, the device includes a processor 101 and a memory 102; wherein, the memory 102 is used to store one or more computer instructions, which are executed by the processor to implement the steps of the motion vector calibration method described above.

[0177] Figure 11 The laser measurement device shown also includes a bus 103 and a communication interface 104. The processor 101, the communication interface 104 and the memory 102 are connected through the bus 103.

[0178] The memory 102 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. The bus 103 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 11 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0179] The communication interface 104 is used to connect to at least one user terminal and other network units through a network interface, and to send encapsulated IPv4 packets or IPv4 packets to the user terminal through the network interface.

[0180] Processor 101 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 101 or by instructions in software form. The processor 101 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this disclosure can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 102. The processor 101 reads the information in memory 102 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0181] This invention also provides a storage medium storing a computer program, which, when run by a processor, executes the steps of the motion vector calibration method described in the foregoing embodiments.

[0182] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, devices, and methods can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0183] 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.

[0184] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0185] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0186] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, 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 the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for calibrating motion vectors, characterized in that, The method is used for the calibration process of laser measurement equipment; the method includes: A stereo target corresponding to the laser measuring device is obtained, and a first coordinate system corresponding to the laser measuring device and a second coordinate system corresponding to the stereo target are determined respectively; wherein, the stereo target is provided with multiple protrusions, and the surface of the protrusions is provided with multiple reflective parts; When the stereo target is detected to be placed at the calibration position corresponding to the laser measuring device, the laser measuring device is controlled to project a strip laser onto the stereo target, and the laser measuring device is controlled to move according to the preset trajectory parameters; The laser stripes formed in each of the reflective parts are acquired in real time, the intersection points of adjacent laser stripes are determined, and the first position coordinates and the second position coordinates of the intersection points in the first coordinate system and the second coordinate system are acquired respectively. The motion vector of the laser measuring device under the trajectory parameters is determined based on the first position coordinates and the second position coordinates. The step of determining the motion vector of the laser measuring device under the trajectory parameters based on the first position coordinates and the second position coordinates includes: Initialize and obtain the attitude matrix and position matrix of the second coordinate system in the first coordinate system based on the first position coordinates and the second position coordinates; The three-plane intersection constraint model of the laser measurement device is constructed using the attitude matrix and the position matrix; The movement vector corresponding to the laser measurement device is determined by the trajectory parameters. Based on the three-plane intersection constraint model and the moving vector, the motion vector corresponding to the laser measurement device is solved; The steps of initializing and obtaining the attitude matrix and position matrix of the second coordinate system in the first coordinate system based on the first position coordinates and the second position coordinates include: Based on the second position coordinates, obtain the first plane and the second plane corresponding to adjacent reflective parts in the stereo target; Obtain the intersection line between the first plane and the second plane, and determine the direction vector corresponding to the intersection line based on the cross product of the first direction vector corresponding to the first plane and the second direction vector corresponding to the second plane; The pose data corresponding to the intersection line when it is transformed from the second coordinate system to the first coordinate system is determined using the direction vector and the first position coordinates; Initialize and obtain the pose matrix and the position matrix based on the pose data; The steps for constructing the three-plane intersection constraint model corresponding to the laser measurement device using the attitude matrix and the position matrix include: The three-plane intersection constraint model is constructed using the following formula: ； in, Let this be the first coordinate system; This is the second coordinate system; The attitude matrix; The position matrix; The normal vector of the laser plane corresponding to the strip laser; Let be any point in the direction vector of the intersection line; The first direction vector of the first plane; This is the second direction vector corresponding to the second plane; The slope of the laser stripe in the first plane in the first coordinate system; The slope of the laser stripe in the second plane under the first coordinate system; The intercept of the laser stripe in the first plane in the first coordinate system; The intercept of the laser stripe in the second plane in the first coordinate system is given.

2. The motion vector calibration method according to claim 1, characterized in that, Real-time acquisition of laser stripes formed in each of the reflective parts, and determination of the intersection points of adjacent laser stripes, including: The laser stripes contained in each of the reflective parts are acquired in real time; After performing a straight line fitting process on the laser stripe based on the laser plane corresponding to the laser stripe, the laser reflection line corresponding to the laser stripe is obtained; The intersection point of adjacent laser stripes is determined based on the intersection position of adjacent laser reflection lines within the laser plane.

3. The motion vector calibration method according to claim 2, characterized in that, Obtaining the first and second position coordinates of the intersection point in the first and second coordinate systems, respectively, includes: Based on the trajectory parameters, the first intersection point corresponding to the adjacent laser stripes is obtained, and based on the first coordinate system, the first position coordinates of the first intersection point in the laser plane are obtained. Based on the second coordinate system, obtain the first plane and the second plane corresponding to adjacent reflective parts in the stereo target, and obtain the second intersection point of the first plane, the second plane and the laser plane; The second position coordinates corresponding to the second intersection point are obtained based on the second coordinate system.

4. The motion vector calibration method according to claim 1, characterized in that, The first residual function corresponding to the three-plane intersection constraint model is: ； in, The number of intersection points. Let x be the x-axis coordinate of the i-th intersection point in the first coordinate system; Let be the z-axis coordinate of the i-th intersection point in the first coordinate system; Let be the slope of the laser stripe at the i-th intersection point in the first plane in the first coordinate system; Let be the slope of the laser stripe at the i-th intersection point in the second plane in the first coordinate system; The intercept of the laser stripe at the i-th intersection point in the first plane in the first coordinate system; The intercept of the laser stripe at the i-th intersection point in the second plane in the first coordinate system is given by the value of t.

5. The motion vector calibration method according to claim 4, characterized in that, The step of determining the movement vector corresponding to the laser measurement device using the trajectory parameters includes: The number of movements and the distance moved by the laser measuring device are obtained based on the trajectory parameters. Based on the number of movements and the movement distance, obtain the movement points corresponding to adjacent laser measurement devices; Obtain the position matrix corresponding to the moving point, and determine the movement vector based on the difference between the position matrices of adjacent moving points.

6. The motion vector calibration method according to claim 5, characterized in that, The steps for solving the motion vector corresponding to the laser measurement device based on the three-plane intersection constraint model and the moving vector include: The three-plane intersection constraint model is determined as the first calculation model, and the first attitude matrix and the first position matrix in the first calculation model are solved using the first residual function; After updating the three-plane intersection constraint model through the moving vector, the constraint update model corresponding to the laser measurement device is obtained, and the second residual function corresponding to the constraint update model is obtained. The first attitude matrix and the first position matrix are input into the second residual function, and the second residual function is used to solve for multiple sets of second position matrices corresponding to the constraint update model; The motion vector corresponding to the laser measurement device is determined based on the difference between adjacent second position matrices.

7. A motion vector calibration system, characterized in that, The system is used for the calibration process of laser measurement equipment; the system includes: An initialization module is used to acquire the stereo target corresponding to the laser measuring device, and to determine the first coordinate system corresponding to the laser measuring device and the second coordinate system corresponding to the stereo target; wherein, the stereo target is provided with multiple protrusions, and the surface of the protrusions is provided with multiple reflective parts; The laser irradiation control module is used to control the laser measuring device to project a strip laser onto the stereo target when the stereo target is detected to be placed at the calibration position corresponding to the laser measuring device, and to control the laser measuring device to move according to preset trajectory parameters. The coordinate parameter acquisition module is used to acquire the laser stripes formed in each of the reflective parts in real time, determine the intersection points of adjacent laser stripes, and acquire the first position coordinates and the second position coordinates of the intersection points in the first coordinate system and the second coordinate system, respectively. A motion vector determination module is used to determine the motion vector of the laser measuring device under the trajectory parameters based on the first position coordinates and the second position coordinates. The motion vector determination module is specifically used for: initializing and obtaining the attitude matrix and position matrix of the second coordinate system in the first coordinate system based on the first position coordinates and the second position coordinates; constructing a three-plane intersection constraint model corresponding to the laser measuring device using the attitude matrix and the position matrix; determining the movement vector corresponding to the laser measuring device through the trajectory parameters; and solving for the motion vector corresponding to the laser measuring device based on the three-plane intersection constraint model and the movement vector. The motion vector determination module, in the process of initializing and obtaining the attitude matrix and position matrix of the second coordinate system in the first coordinate system based on the first and second position coordinates, is specifically used for: obtaining the first plane and the second plane corresponding to adjacent reflective parts in the stereo target based on the second position coordinates; obtaining the intersection line between the first plane and the second plane, and determining the direction vector corresponding to the intersection line according to the cross product of the first direction vector corresponding to the first plane and the second direction vector corresponding to the second plane; using the direction vector and the first position coordinates to determine the pose data corresponding to the intersection line when it is transformed from the second coordinate system to the first coordinate system; and initializing and obtaining the attitude matrix and the position matrix according to the pose data. In the process of constructing the three-plane intersection constraint model corresponding to the laser measurement device using the attitude matrix and the position matrix, the motion vector determination module is specifically used to: construct the three-plane intersection constraint model using the following formula: ； in, Let this be the first coordinate system; This is the second coordinate system; The attitude matrix; The position matrix; The normal vector of the laser plane corresponding to the strip laser; Let be any point in the direction vector of the intersection line; The first direction vector of the first plane; This is the second direction vector corresponding to the second plane; The slope of the laser stripe in the first plane in the first coordinate system; The slope of the laser stripe in the second plane under the first coordinate system; The intercept of the laser stripe in the first plane in the first coordinate system; The intercept of the laser stripe in the second plane in the first coordinate system is given.

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