Optical calibration system calibration method, optical simulation unit and optical calibration system

Abstract

The invention relates to the technical field of optics, in particular to an optical calibration system calibration method, an optical simulation unit and an optical calibration system.The method comprises the steps that the optical simulation unit is transferred to a preset fixing station; determining a first relative pose relation of the vision measurement module relative to the calibration piece and determining a second relative pose relation of the optical measurement module relative to the calibration piece; and determining a system calibration relationship between the vision measurement module and the optical measurement module based on the first relative pose relationship and the second relative pose relationship. The invention mainly aims to provide a calibration method of an optical calibration system, which is used for calibrating the position of an optical device in the optical calibration system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of optical technology, in particular to an optical calibration system calibration method, an optical simulation unit and an optical calibration system. BACKGROUND

[0002] In the active alignment assembly process of an optical module (such as an optical-mechanical waveguide system in augmented reality glasses), the relative positional relationship between a visual measurement module and an optical measurement module needs to be determined first to establish a unified spatial coordinate reference. The necessity lies in that when the relative positional relationship is determined, the theoretical alignment position required by the waveguide and the optical machine is uniquely determined in the system.

[0003] In the prior art, the determination of the relationship between the above two modules usually relies on a known, high-precision standard optical module sample, that is, an almost ideal optical-mechanical waveguide assembly. During calibration, the standard sample is placed in the system, and the sample pose measured by the visual measurement module at this time is recorded while the standard sample reaches the best optical performance state, thereby establishing the mapping relationship between the "optimal optics" and the "spatial coordinates".

[0004] However, the standard sample itself as a physical assembly inevitably has machining errors and assembly errors. For example, when the optical machine and the waveguide are fixed by adhesion, the curing deformation of the adhesive will introduce assembly errors such as "adhesive deviation". These errors cause the deviation between the physical state of the standard sample and its absolute theoretical position. Therefore, the relationship between the two modules calibrated based on the non-ideal sample is essentially a mapping containing errors, which directly limits the upper limit of the final calibration accuracy of the entire active alignment system. SUMMARY

[0005] The main purpose of the present application is to provide an optical calibration system calibration method for calibrating the position of an optical device in an optical calibration system.

[0006] To achieve the above purpose, the optical calibration system calibration method provided by the present application is applied to an optical calibration system, the optical calibration system comprising a preset fixed station, a visual measurement module for spatial positioning and an optical measurement module for optical performance measurement, characterized in that an optical simulation unit is provided, the optical simulation unit comprising a fixing member and a calibration member, the fixing member being integrally formed, and the calibration member having a reference optical axis, the method comprising: moving the fixing member to the preset fixed station; determining a first relative pose relationship of the visual measurement module relative to the reference optical axis; determining a second relative pose relationship of the optical measurement module relative to the reference optical axis; Based on the first relative pose relationship and the second relative pose relationship, the system calibration relationship between the visual measurement module and the optical measurement module is determined.

[0007] The present invention also proposes an optical simulation unit, which includes a fixing component and a calibration component. The fixing component is integrally formed, and the calibration component is observable relative to the fixing component. The fixing component has an integrally formed positioning simulation feature, which is used to simulate the positioning features of waveguides and optomechanics. The calibration component has a reference optical axis.

[0008] The present invention also proposes an optical calibration system for implementing the calibration method described in any one of the above-mentioned methods. The optical calibration system includes a control module for executing the calibration method described in any one of the above-mentioned methods.

[0009] In this technical solution, by employing an independent and structurally simple optical simulation unit as a pure geometric and optical reference, the problem of limited system calibration accuracy caused by reliance on standard optical module samples containing inherent processing and assembly errors in traditional solutions can be completely solved. Specifically, this method uses an optical simulation unit composed of an integrally molded fixture and a calibration component with a reference optical axis to replace expensive and imperfect standard samples. The integrally molded fixture fundamentally eliminates assembly errors such as glue misalignment in traditional assemblies, ensuring that the positioning simulation features on it have high-precision and stable geometric relationships; while the calibration component provides a clear optical axis direction reference. In the calibration process, the features on the fixture are first measured by the vision measurement module, and combined with its preset relationship with the reference optical axis, the first relative pose relationship of the visual coordinate system relative to the reference optical axis is calculated; simultaneously, the optical measurement module adjusts its own pose so that its optical axis directly coincides with the reference optical axis of the calibration component, thereby obtaining the second relative pose relationship. Since both the vision measurement module and the optical measurement module have established relationships with the same reference optical axis, the system calibration relationship between the two is uniquely determined. In this method, the calibration foundation is changed from "measuring an imperfect functional entity" to "measuring a known ideal benchmark," thereby cutting off the error propagation chain at the source and significantly improving the theoretical accuracy limit of the system calibration. At the same time, the simulation unit has a simple structure and is easy to manufacture, which greatly reduces costs and improves the reliability and efficiency of the calibration process. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0011] Figure 1 A first flowchart illustrating an embodiment of the calibration method for the optical calibration system provided by the present invention; Figure 2 A second flowchart illustrating an embodiment of the calibration method for the optical calibration system provided by the present invention; Figure 3 A third flowchart illustrating an embodiment of the calibration method for the optical calibration system provided by the present invention; Figure 4 A fourth flowchart illustrating an embodiment of the calibration method for the optical calibration system provided by the present invention; Figure 5 A fifth flowchart illustrating an embodiment of the calibration method for the optical calibration system provided by the present invention; Figure 6 A sixth flowchart illustrating an embodiment of the calibration method for the optical calibration system provided by the present invention; Figure 7 A seventh flowchart illustrating an embodiment of the calibration method for the optical calibration system provided by the present invention; Figure 8 This is a schematic diagram of an embodiment of the optical simulation unit used in the optical calibration system provided by the present invention.

[0012] Explanation of icon numbers: 10. Preset fixed station; 11. Fixture; 12. Calibration component; 13. Positioning simulation feature; 14. Teleconverter; 20. Visual Measurement Module; 30. Optical measurement module.

[0013] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0015] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0016] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0017] The main objective of this invention is to provide a calibration method for an optical calibration system, used to calibrate the position of optical components in the optical calibration system.

[0018] To achieve the above objectives, the optical calibration system calibration method proposed in this invention is applied to an optical calibration system. The optical calibration system includes a preset fixed station 10, a vision measurement module 20 for spatial positioning, and an optical measurement module 30 for optical performance measurement. Its key feature is the provision of an optical simulation unit, which includes a fixing component 11 and a calibration component 12. The fixing component 11 is integrally formed, and the calibration component 12 has a reference optical axis. (See also...) Figure 1 The methods include: S10: Move the fastener 11 to the preset fixed station 10; S20: Determine the first relative pose relationship of the visual measurement module 20 with respect to the reference optical axis; S30: Determine the second relative pose relationship of the optical measurement module 30 with respect to the reference optical axis; S40: Based on the first relative pose relationship and the second relative pose relationship, determine the system calibration relationship between the visual measurement module 20 and the optical measurement module 30.

[0019] In step 10, the control module (e.g., industrial computer, PLC or motion controller) first receives a transfer control command from the operator input or the upper production management system. The command contains the target position and path information for moving the optical simulation unit from the initial position (e.g., material rack, loading platform) to the preset fixed station 10. Subsequently, the control module performs path planning and kinematic calculations according to the command to generate specific drive signals.

[0020] Specifically, the control module sends the drive signal to the connected power and transmission mechanism, i.e., the motion unit. The motion unit is typically including, but is not limited to, a high-precision multi-axis robotic arm, a linear motor module, or a precision slide. Its end is equipped with an actuator (such as a pneumatic gripper or a vacuum suction cup) for gripping or adsorbing. Under the drive of the control module, the motion unit controls the actuator at its end to grip or adsorb the optical simulation unit.

[0021] Subsequently, the motion unit moves the optical simulation unit smoothly and precisely above the preset fixed station 10 according to the planned path, and finally places it on the precise mounting interface of the station (such as a positioning pin hole, a finely ground surface, or a standardized fixture). The preset fixed station 10 is usually designed with a mechanical constraint mechanism with high repeatability (such as a tapered pin or an elastic positioning component) to ensure that the physical position and attitude of the optical simulation unit remain highly consistent each time it is placed.

[0022] In step 20, the "positioning simulation feature 13" on the integrally molded fixture 11 is measured by the vision measurement module 20 (such as a combination of a camera and a laser rangefinder). Since the design geometric relationship between these features and the "reference optical axis" is known precisely in advance, the system can calculate the spatial attitude and positional relationship between the observation coordinate system of the vision measurement module 20 and the "reference optical axis" through coordinate transformation based on the actual coordinates of the measured features, i.e., the "first relative pose relationship". This essentially completes the calibration of the "what the vision system sees" with an ideal "optical direction".

[0023] In step 30, the optical measurement module 30 is controlled to observe and image the "reference optical axis" of the calibration component 12, and the pitch and yaw attitudes (Tip and Tilt) of the optical measurement module 30 are actively adjusted so that its own optical axis coincides with the "reference optical axis". When the two optical axes are aligned, the spatial attitude of the optical measurement module 30 relative to this absolute optical reference is determined.

[0024] In step 40, since both the visual measurement module 20 (S20) and the optical measurement module 30 (S30) have established spatial relationships with the same "reference optical axis," the relative spatial position and attitude relationship between the two modules, i.e., the "system calibration relationship," can be calculated through mathematical transfer and synthesis. This relationship quantifies the mapping rule of "what observation state the optical system is in when the visual system reports a certain spatial coordinate." Thus, the optical calibration system obtains an internally unified, high-precision coordinate transformation reference, enabling visual positioning commands and optical performance feedback to be accurately interpreted and executed within the same spatial context, thereby solving the system-level error problem caused by relying on imperfect physical references.

[0025] In this technical solution, by employing an independent and structurally simple optical simulation unit as a pure geometric and optical reference, the problem of limited system calibration accuracy caused by reliance on standard optical module samples containing inherent processing and assembly errors in traditional solutions can be completely solved. Specifically, this method uses an optical simulation unit composed of an integrally molded fixture 11 and a calibration component 12 with a reference optical axis to replace expensive and imperfect standard samples. The integrally molded fixture 11 fundamentally eliminates assembly errors such as glue misalignment in traditional assemblies, ensuring that the positioning simulation features 13 on it have high-precision and stable geometric relationships; while the calibration component 12 provides a clear optical axis direction reference. In the calibration process, the features on the fixture 11 are first measured by the vision measurement module 20, and combined with its preset relationship with the reference optical axis, the first relative pose relationship of the visual coordinate system relative to the reference optical axis is calculated; simultaneously, the optical measurement module 30 adjusts its own pose so that its optical axis directly coincides with the reference optical axis of the calibration component 12, thereby obtaining the second relative pose relationship. Since both the visual measurement module 20 and the optical measurement module 30 have established a relationship with the same reference optical axis, the system calibration relationship between them can be uniquely determined. In this method, the calibration basis is changed from "measuring an actual optical module with errors" to "measuring a low-error optical simulation unit," thereby reducing the sources of error and improving the theoretical accuracy limit of the optical system calibration. At the same time, the simulation unit has a simple structure and is easy to manufacture, which greatly reduces costs and improves the reliability and efficiency of the calibration process.

[0026] In one embodiment of the present invention, the fixing member 11 is provided with an integrally formed positioning simulation feature 13, which is used to simulate the positioning features of the waveguide and the optomechanic. Please refer to [link to relevant documentation]. Figure 1 Step 20 includes: S21: Acquire the image capture information of the positioning simulation feature 13 by the visual measurement module 20; S22: Based on the captured information, determine the position information of the visual measurement module 20 relative to the positioning simulation feature 13; S23: Based on the preset position information of the positioning simulation feature 13 relative to the reference optical axis, determine the first relative pose relationship of the visual measurement module 20 relative to the reference optical axis.

[0027] First, it needs to be explained that the positioning simulation feature 13 refers to a physical mark (such as a circular, cross-shaped, or patterned recess or protrusion) with a specific shape and size integrally formed on the fixture 11. It is used to simulate, in terms of geometric dimensions and spatial location, the physical features (such as Fiducial points) used for visual positioning on real optomechanical and waveguide products. These features themselves do not possess any optical function; their purpose is to provide a known, low-assembly-error mechanical reference for identification and measurement by the vision measurement module 20. Since the positioning simulation feature 13 is directly formed on the fixture 11 in an integral manner, there is at least no assembly error, reducing the source of "assembly error" compared to the positioning feature system formed after assembling real optomechanical and waveguide products.

[0028] In step S21, "acquiring the image capture information of the positioning simulation feature 13 by the visual measurement module 20" refers to a comprehensive data acquisition operation performed by the visual measurement module 20 (which typically includes components such as a high-resolution camera and a laser rangefinder). The visual measurement module 20, driven by the control unit, observes the optical simulation unit located at a fixed position. Specifically, the camera captures a clear two-dimensional image containing all the positioning simulation features 13 from a specific angle, while the laser rangefinder simultaneously scans or performs point measurements on the feature area to obtain its depth information. The "image capture information" output in this step is a comprehensive dataset that integrates two-dimensional pixel coordinates and three-dimensional depth information, providing the raw data foundation for subsequent spatial calculations.

[0029] In step S22, "determining the position information of the visual measurement module 20 relative to the positioning simulation feature 13 based on the shooting information" is a calculation process from raw data to spatial relationships. The control processing module receives the "shooting information" and uses the camera's intrinsic parameters (such as focal length and distortion parameters) and extrinsic parameters (installation position and attitude), combined with the depth data from the laser rangefinder, to accurately calculate the three-dimensional spatial coordinates (X, Y, Z) of each positioning simulation feature 13 in the visual measurement module 20's own coordinate system and its surface normal direction through triangulation or coordinate transformation algorithms. The resulting "position information" is essentially a precise description of the spatial distribution of all reference marker points on the fixing component 11, with the visual measurement module 20 as the reference frame.

[0030] In step S23, "determining the first relative pose relationship between the visual measurement module 20 and the reference optical axis based on the preset position information of the positioning simulation feature 13 relative to the reference optical axis" is a step to realize the transformation from "measuring mechanical point" to "associating optical axis". The "preset position information" is the precise geometric relationship between the positioning simulation feature 13 and the reference optical axis of the calibration component 12, which is determined and stored in the optical calibration system during the design of the optical simulation unit, such as vector distance and angle. The control processing module compares the measured "position information" of the positioning simulation feature 13 calculated in step S22 with the corresponding "preset position information" in the database and performs spatial geometric calculations (usually involving the calculation of rotation matrix and translation vector) to obtain the angular deviation relationship between the coordinate center of the visual measurement module 20 and the coupling center of the waveguide on the rotation axis under the optical calibration system.

[0031] In one embodiment of the present invention, please refer to Figure 3 Step 30 includes: S31: Adjust the orientation of the optical measurement module 30 relative to the calibration component 12; S32: When the optical axis of the optical measurement module 30 coincides with the reference optical axis of the calibration component 12, the second relative pose relationship of the optical measurement module 30 relative to the reference optical axis is determined.

[0032] Step 31 involves performing an active optical axis alignment operation. This step is not a simple mechanical movement, but a closed-loop control process based on real-time optical feedback. The control module controls the optical measurement module 30 (such as a colorimeter or MTF camera) to continuously observe the calibration element 12 (e.g., crosshairs) in its imaging field of view and analyze the position and shape of the calibration element 12 on the imaging plane. Based on this analysis, the system generates control commands to drive the precision adjustment mechanism of the optical measurement module 30 (typically with tip and tip degrees of freedom) to correct its spatial orientation. The ultimate goal is to ensure that the optical receiving axis (optical axis) of the optical measurement module 30 is strictly parallel or coincident with the fixed "reference optical axis" defined by the calibration element 12 in the spatial direction.

[0033] For step 32, when the optical axis of the optical measurement module 30 coincides with the reference optical axis of the calibration component 12, the control system drives the vision measurement module 20 to acquire the optical measurement module 30 and determine the second relative pose relationship of the optical measurement module 30 with respect to the reference optical axis. The purpose is to achieve the ideal alignment state at the instant the optical axis of the optical measurement module 30 and the reference optical axis of the calibration component 12 are aligned, and to record the remaining spatial pose relationship between the two that cannot be eliminated by the aforementioned adjustments in this state, especially the deviation in the rotation (Roll / W) direction around the optical axis. At this time, although the two optical axes are aligned in the pitch and yaw directions, due to the inherent small tolerances in the processing and installation of the calibration component 12 itself, the physical axis represented by its "reference optical axis" may have an inherent deviation in rotation angle from the theoretical optical axis of an "ideal waveguide." The system uses the vision measurement module 20 (whose coordinate system has been associated with the reference optical axis through step S20) or other sensors to perform precise measurements on the calibration component 12 in this aligned state, resolving this angular component of rotation around the axis. This captured, specific rotation angle information is the essence of the "second relative pose relationship".

[0034] Further, please refer to Figure 4 Step 31 includes: S311: Acquire the imaging results of the calibration piece 12 in the optical measurement module 30; S312: Based on the imaging results, obtain the angular deviations of the optical measurement module 30 and the reference optical axis on the pitch and yaw axes; S313: Adjust the optical attitude of the optical measurement module 30 in the optical calibration system according to the angular deviation of the pitch axis and yaw axis, so that the optical axis of the optical measurement module 30 coincides with the optical axis of the calibration component 12.

[0035] In step 311, "acquiring the imaging result of the calibration element 12 in the optical measurement module 30" refers to the optical measurement module 30 (such as a colorimeter or MTF camera) acting as an image sensor to perform a directional signal acquisition and conversion. The control module controls the optical measurement module 30 to focus and expose the calibration element 12 (such as a transmission or reflection crosshair) on the calibration element 12. This process converts the invisible spatial "optical axis" direction information into a specific two-dimensional digital image signal that can be processed by subsequent electronic circuits and software on the photoelectric sensor (such as a CCD or CMOS) inside the optical measurement module 30.

[0036] In step 312, "based on the imaging results, obtaining the angular deviations between the optical measurement module 30 and the reference optical axis on the pitch and yaw axes" is a real-time image analysis and spatial geometry calculation process. The control module of the optical calibration system digitally processes the imaging results and determines the center coordinates of the calibration component 12 (such as the intersection of crosshairs) in the current image plane through image recognition algorithms (such as edge detection and center fitting). Subsequently, the control module compares the measured center coordinates with the center coordinates corresponding to the optical axis of the optical measurement module 30. Based on the pixel offsets of the two in the horizontal and vertical directions of the image, combined with the pre-calibrated internal optical parameters of the optical measurement module 30 (such as pixel size and equivalent focal length), the control module calculates in real time the specific angular deviation values ​​of the current optical axis direction of the optical measurement module 30 relative to the reference optical axis direction in the pitch (Tip / U) and yaw (Tilt / V) dimensions through a geometric optical model.

[0037] In step 313, "adjusting the optical attitude of the optical measurement module 30 in the optical calibration system according to the angular deviation of the pitch and yaw axes so that the optical axis of the optical measurement module 30 coincides with the optical axis of the calibration component 12" is a control process based on error feedback. The control module controls the motion control unit in the optical calibration system to receive the real-time angular deviation signal calculated in step S312, use it as input, and generate corresponding drive commands through a preset control algorithm (such as PID control). The drive commands are sent to the pose adjustment mechanism that drives the optical measurement module 30, such as an electrically controlled adjustment frame with pitch and yaw degrees of freedom. The mechanism generates displacement or rotation according to the commands, dynamically correcting the orientation of the optical measurement module 30 in space. This adjustment process is usually carried out iteratively, continuously observing the imaging results, calculating new deviations, and driving the adjustment until the alignment error between the imaging center of the calibration component 12 and the theoretical center of the image plane is less than a preset threshold, thereby substantially achieving the coincidence of the two optical axes in the pitch and yaw directions.

[0038] In one embodiment of the present invention, please refer to Figure 5 Step 32 includes: S321: When the optical axis of the optical measurement module 30 coincides with the reference optical axis of the calibration component 12, the vision measurement module 20 is controlled to acquire a position image containing the calibration component 12 and the optical measurement module 30. S322: Based on the position image, determine the attitude of the optical measurement module 30 on the rotation axis relative to the calibrator 12 as the second relative pose relationship.

[0039] In step 321, when the optical axis of the optical measurement module 30 coincides with the reference optical axis of the calibration component 12, "controlling the vision measurement module 20 to acquire a position image containing the calibration component 12 and the optical measurement module 30" means that the air module instructs the vision measurement module 20 (whose coordinate system has been established with the reference optical axis through step S20) to perform a high-resolution image acquisition of the entire observation scene in the current precise positioning state. The image captured in this step simultaneously contains a clear image of the calibration component 12 (such as the crosshairs) and some observable mechanical features of the optical measurement module 30. The purpose of this "position image" is to provide a unified visual reference frame containing two key elements (optical reference and measurement tool) for subsequent accurate relative pose analysis.

[0040] In step 322, the control module processes the "position image" acquired in step 321. First, it precisely identifies and positions the direction of the crosshair pattern on the calibration component 12 in the image (e.g., by fitting the crosshairs to calculate the angle between them and the image coordinate axes). This direction represents the actual orientation of the reference optical axis observed in the coordinate system of the vision measurement module 20. Simultaneously, the system identifies the image orientation of specific mechanical features on the optical measurement module 30. By calculating the angle between these two sets of feature directions in the image plane and combining it with the calibrated internal parameters of the vision measurement module 20, the control module calculates the specific angular deviation value between the optical measurement module 30 and the calibration component 12 around the optical axis (i.e., the rotation axis). This quantified angular deviation value characterizes the fixed rotational alignment state between the coordinate system and the ideal optical reference after the optical measurement tool completes its own optical axis calibration.

[0041] In one embodiment of the present invention, please refer to Figure 6 After step 22, the following also includes: S23: Based on the captured information, obtain the actual position of the positioning simulation feature 13 under the optical calibration system; S24: Obtain the theoretical position of the waveguide under the optical calibration system by pre-setting the size relationship.

[0042] In step 23, the "position information" obtained in step S22, with the vision measurement module 20 itself as the reference frame, is received. The system's control processing module uses the calibrated installation pose parameters of the vision measurement module 20 in the global coordinate system of the optical calibration system (i.e., the "world coordinate system," whose origin is usually associated with the preset fixed station 10) to uniformly transform the three-dimensional coordinates of the positioning simulation feature 13 in the vision module coordinate system to the global world coordinate system "under the optical calibration system." The resulting "actual position" refers to the unique and absolute three-dimensional spatial coordinates of each positioning simulation feature 13 in the system's global coordinate system.

[0043] Step 24 is a calculation process that uses a known design model to derive the position of an ideal optical element from a physical measurement point. The "preset dimensional relationship" is a three-dimensional geometric relationship (such as a fixed displacement vector and direction) stored in the system between the positioning simulation feature 13 used to simulate the waveguide and the theoretical optical position of an "ideal waveguide" (usually its coupling zone center or theoretical optical axis point). This relationship originates from the design drawings of the optical simulation unit and serves as the basis for its manufacturing. In this step, the system takes the "actual position" of the positioning simulation feature 13 in the global coordinate system obtained in step S221 as input, and superimposes it with the corresponding "preset dimensional relationship" (performing vector addition and possible rotation transformations) to calculate a new spatial point coordinate in the same global coordinate system. This calculated coordinate position is defined as the "theoretical position of the waveguide in the optical calibration system." The significance of this step lies in the fact that, through the actual position of an easily measurable and highly accurate mechanical feature, combined with an invariant design relationship, the theoretical position of an optical element that is difficult to directly physically realize is indirectly "reproduced."

[0044] At this time, based on "using calibration component 12 as a calibration bridge to determine the relative positional relationship between visual measurement module 20 and optical measurement module 30 in the optical calibration system", when the optical module composed of the actual waveguide and optomechanical component to be calibrated is calibrated, since the theoretical position of the waveguide is known, the control system can directly place the waveguide to be calibrated on the theoretical position. At the same time, the theoretical position of the waveguide and the positions of visual measurement module 20 and optical measurement module 30 at this time are also in a calibrated binding state. When the optomechanical component to be calibrated is placed in the initial calibration position, the obtained image quality test results can reflect whether the current optomechanical component and waveguide are in the optimal relative position for optical performance.

[0045] In one embodiment of the present invention, please refer to Figure 7 After step 321, the following also includes: S323: Based on the position image, obtain the angular deviation of the optical measurement module 30 and the reference optical axis on the rotation axis; S324: Adjust the position of the optical-mechanical relative waveguide in the optical calibration system according to the angular deviation.

[0046] In step 323, the control module extracts a quantified rotation angle value from the analysis results of the "position image". The value of this angle deviation is ΔW, which not only reflects the possible around-axis installation deviation of the calibration component 12 itself, but also defines the systematic rotation amount that needs to be compensated in order to achieve the best match between the measurement reference of the optical measurement module 30 and the ideal optical theoretical coordinate system.

[0047] In step 324, "adjusting the optical engine" does not occur in the current calibration step, but rather refers to using the ΔW parameter obtained in step 323 as a preset command and applying it to the pose control logic of the subsequent real optical engine. Specifically, when actively aligning with real materials of the same specifications, after the real waveguide has been guided to the determined "theoretical position" by the vision module, the control will directly call the stored ΔW parameter to command and drive the motion mechanism of the real optical engine, so that the optical engine performs a ΔW rotation compensation around its own optical axis when initially placed. This allows the vision measurement module 20 to obtain an image information showing that when the pattern of the optical engine is transmitted to the optical measurement module 30 through the waveguide, the optical axis of the pattern of the optical engine coincides with that of the pattern of the optical measurement module 30.

[0048] This invention also proposes an optical simulation unit, please refer to... Figure 8 The optical simulation unit includes a fixing component 11 and a calibration component 12. The fixing component 11 is integrally formed, and the calibration component 12 can be observed relative to the fixing component 11. The fixing component 11 is provided with an integrally formed positioning simulation feature 13, which is used to simulate the positioning features of the waveguide and the optomechanical system. The calibration component 12 has a reference optical axis.

[0049] Specifically, the fixture 11 is integrally molded to fundamentally eliminate assembly errors. It has an integrally molded positioning simulation feature 13, which is used to simulate the visual positioning features of the real waveguide and optomechanical system in terms of geometric dimensions and spatial position, thereby providing a known and stable mechanical reference. The calibration component 12 is set on the fixture 11 in a defined manner and has a clear reference optical axis. The core requirement for its setting is to ensure that the reference optical axis of the calibration component 12 coincides with the target optical path, i.e., the "test optical axis", which is intended to be simulated by the simulation unit. Based on this, the specific location of the calibration component 12 on the fixture 11 is not limited. In designing the optical simulation unit, the relationship between the optical axis of the calibration component 12 and the positioning simulation feature 13 is preset, i.e., the optical axis and positioning feature settings corresponding to the optical module formed by the actual waveguide-optical mechanism.

[0050] Furthermore, the optical simulation unit also includes a teleconverter 14. Both the calibration component 12 and the teleconverter 14 are disposed in the fixing component 11, and the teleconverter 14 is located on the light-emitting surface side of the calibration component 12. The calibration component 12 and the teleconverter 14 are arranged on the same optical axis.

[0051] In this embodiment, the fixing member 11 is provided with a precision limiting cavity. The calibration member 12 and the teleconverter 14 are sequentially installed and fixed in this cavity. The teleconverter 14 is located on the light-emitting surface side of the calibration member 12 to ensure that the optical axis of the teleconverter 14, the reference optical axis of the calibration member 12, and the "test optical axis" simulated by the fixing member 11 are coaxially aligned. This integrated design ensures that the relative positional relationship between the teleconverter 14 (as part of the optical system) and the reference optical axis is permanently determined during production assembly, avoiding installation errors that may be introduced during each calibration as independent components. When the optical simulation unit is used for calibration, the teleconverter 14 can pre-adjust the image of the calibration member 12 (such as the crosshairs) to the optimal working distance of the optical measurement module 30, ensuring that the optical measurement module 30 can obtain a clear and stable optical reference image, thereby guaranteeing the accuracy and reliability of the optical axis alignment of the optical measurement module 30.

[0052] The present invention also proposes an optical calibration system for implementing any of the above calibration methods. The optical calibration system includes a control module for executing any of the above calibration methods. Since the specific steps of the optical calibration system calibration method refer to the above embodiments, and since the optical calibration system proposed in the invention adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here.

[0053] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

Claims

1. A calibration method for an optical calibration system, applied to an optical calibration system, the optical calibration system comprising a preset fixed station, a vision measurement module for spatial positioning, and an optical measurement module for optical performance measurement, characterized in that, An optical simulation unit is provided, the optical simulation unit including a fixing component and a calibration component, the fixing component being integrally formed, the method comprising: The fastener is moved to the preset fixed position; Determine the first relative pose relationship between the vision measurement module and the calibration element; Determine the second relative pose relationship between the optical measurement module and the calibration element; Based on the first relative pose relationship and the second relative pose relationship, the system calibration relationship between the visual measurement module and the optical measurement module is determined.

2. The method as described in claim 1, characterized in that, The fixing component is provided with an integrally formed positioning simulation feature, which is used to simulate the positioning features of the waveguide and optomechanic. The step of determining the first relative pose relationship of the vision measurement module relative to the reference optical axis includes: The visual measurement module captures information about the location simulation features. Based on the captured information, the position information of the visual measurement module relative to the positioning simulation feature is determined; Based on the preset position information of the positioning simulation features relative to the reference optical axis, the first relative pose relationship between the visual measurement module and the calibration component is determined.

3. The method as described in claim 2, characterized in that, The step of determining the second relative pose relationship of the optical measurement module with respect to the reference optical axis includes: Adjust the orientation of the optical measurement module relative to the calibration component; When the optical axis of the optical measurement module coincides with the reference optical axis of the calibration component, a second relative pose relationship between the optical measurement module and the calibration component is determined.

4. The method as described in claim 3, characterized in that, The step of adjusting the attitude of the optical measurement module relative to the calibration component includes: Obtain the imaging results of the calibration component in the optical measurement module; Based on the imaging results, the angular deviations between the optical measurement module and the reference optical axis on the pitch and yaw axes are obtained; Based on the angular deviation between the pitch axis and the yaw axis, the optical attitude of the optical measurement module in the optical calibration system is adjusted so that the optical axis of the optical measurement module coincides with the optical axis of the calibration component.

5. The method as described in claim 4, characterized in that, The step of determining the second relative pose relationship between the optical measurement module and the calibration component when the optical axis of the optical measurement module coincides with the reference optical axis of the calibration component includes: When the optical axis of the optical measurement module coincides with the reference optical axis of the calibration component, the vision measurement module is controlled to acquire a position image containing the calibration component and the optical measurement module. Based on the position image, the orientation of the angular deviation between the optical measurement module and the calibration component on the rotation axis is determined as the second relative pose relationship.

6. The method as described in claim 5, characterized in that, After determining the position information of the visual measurement module relative to the positioning simulation feature based on the captured information, the method further includes: Based on the captured information, the actual position of the positioning simulation feature under the optical calibration system is obtained; By pre-setting the dimensional relationships, the theoretical position of the waveguide under the optical calibration system is obtained.

7. The method according to claim 6, characterized in that, After the step of controlling the vision measurement module to acquire a position image including the calibration piece and the optical measurement module, the method further includes: Based on the position image, the angular deviation between the optical measurement module and the reference optical axis on the rotation axis is obtained; Based on the angular deviation, adjust the position of the optomechanic relative to the theoretical position of the waveguide under the optical calibration system.

8. An optical simulation unit, characterized in that, The optical simulation unit includes a fixing component and a calibration component. The fixing component is integrally formed, and the calibration component is observable relative to the fixing component. The fixing component has an integrally formed positioning simulation feature, which is used to simulate the positioning features of waveguides and optomechanics. The calibration component has a reference optical axis.

9. The optical simulation unit as described in claim 8, characterized in that, The optical simulation unit also includes a teleconverter. Both the calibration component and the teleconverter are disposed in the fixing component, and the teleconverter is located on the light-emitting surface side of the calibration component. The calibration component and the teleconverter are arranged on the same optical axis.

10. An optical calibration system for implementing the calibration method according to any one of claims 1 to 7, characterized in that, The optical calibration system includes a control module for performing the calibration method as described in any one of claims 1 to 7.

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