Computer vision measurement equipment azimuth reference calibration device and method

Abstract

The invention relates to an azimuth information measurement and transmission system based on computer vision, in particular to an azimuth reference calibration device and method for computer vision measurement equipment, and aims to solve the problem that a method and a device for calibrating the azimuth reference of the vision measurement equipment in the system are lacked at present. And the measurement result of the vision measurement equipment cannot be directly applied to the azimuth transmission system. The calibration device comprises an orientation physical datum piece, a calibration table, a reference datum piece and angle measurement equipment, the orientation physical datum piece is arranged outside the vision measurement equipment to represent the orientation datum of the vision measurement equipment, and the calibration table is used for being erected on the side, along the optical axis of the vision measurement equipment, of the vision measurement equipment to represent the orientation datum of the vision measurement equipment. Comprising a base as well as a collimation measurement cooperative target and an imaging measurement cooperative target which are arranged on the base, and the reference piece is used for measuring the azimuth included angle of the azimuth physical datum piece relative to the collimation measurement cooperative target in cooperation with the angle measurement equipment.

Description

Technical Field

[0001] This invention relates to a computer vision-based orientation information measurement and transmission system, specifically to a computer vision measurement device and method for orientation reference calibration. Background Technology

[0002] Visual measurement equipment typically consists of an optical imaging lens, an imaging sensing module, and a data processing and communication module. The imaging sensing module is usually a photoelectric imaging detector, with visible light imaging detectors primarily including charge-coupled devices (CCDs) and complementary metal-oxide-semiconductor (CMOS) detectors. The data processing and communication module is typically an electronic data processing device. When measuring pose information such as azimuth angle, visual measurement equipment uses a central perspective projection model to establish a measurement coordinate system, such as... Figure 1 As shown, the z-axis direction is the direction of the optical axis 20 of the vision measurement device, the x-axis direction is parallel to the horizontal direction of the imaging sensing module 22, and the y-axis direction is parallel to the vertical direction of the imaging sensing module 22. An equation set is established through the collinearity relationship between the object and the image. By solving the equation set, the pose change of the object under test can be measured.

[0003] When visual measurement equipment is applied to a computer vision-based orientation information measurement and transmission system, the visual measurement equipment, together with other pose measurement equipment, forms a pose measurement and transmission system. It is necessary to transfer the mathematical model orientation reference of the visual measurement equipment to the physical reference of the visual measurement equipment so that other pose measurement equipment can perform measurement and transmission. However, at present, there is a lack of methods and devices for calibrating the orientation reference of the visual measurement equipment itself in the system, and the measurement results of the visual measurement equipment cannot be directly applied to the orientation transmission system. Summary of the Invention

[0004] The purpose of this invention is to solve the technical problem that there is currently a lack of methods and devices for calibrating the orientation reference of the visual measurement equipment in the system, and that the measurement results of the visual measurement equipment cannot be directly applied to the orientation transfer system. The invention provides a device and method for calibrating the orientation reference of a computer vision measurement equipment.

[0005] To achieve the above objectives, the technical solution provided by this invention is as follows:

[0006] A computer vision measurement equipment orientation reference calibration device is used to calibrate the orientation reference of the vision measurement equipment itself, and its special feature is:

[0007] This includes azimuth physical reference components, calibration platforms, reference reference components, and angle measuring equipment;

[0008] The orientation physical reference component is set outside the vision measurement device to characterize the orientation reference of the vision measurement device itself;

[0009] The calibration stand is used to be set up on one side of the visual measurement equipment along the optical axis of the visual measurement equipment, including a base and collimation measurement cooperative target and imaging measurement cooperative target set on the base;

[0010] The reference datum is set up next to the calibration table and the vision measurement equipment;

[0011] Angle measuring equipment is used to measure the azimuth angle between a physical reference component and a reference reference component, as well as the azimuth angle between the reference reference component and the collimation measurement target.

[0012] Furthermore, the upper surface of the base is flat, and both the collimation measurement cooperative target and the imaging measurement cooperative target are set on the upper surface of the base.

[0013] Furthermore, a horizontal reference surface is provided on the upper surface of the base, which is used to place horizontal measuring instruments; a leveling mechanism is provided at the bottom of the base, which is used to adjust the posture of the base so that the upper surface of the base is in a horizontal state.

[0014] Furthermore, the leveling mechanism includes a base and three sets of adjustment components. The base is located below the pedestal, and the three sets of adjustment components are arranged in a triangular pattern.

[0015] Each adjustment assembly includes a screw, an upper nut, and a lower nut. The upper end of the screw is connected to the bottom of the base, and the lower part of the screw passes through a through hole provided on the base. The upper nut and the lower nut are threadedly connected to the screw. The lower surface of the upper nut abuts against the upper surface of the base, and the upper surface of the lower nut abuts against the lower surface of the base.

[0016] Furthermore, the imaging measurement target consists of four cylindrical countersunk holes set on the upper surface of the base, with the four cylindrical countersunk holes arranged in a rectangular pattern.

[0017] Furthermore, the angle measuring device uses an autocollimating theodolite, and the reference reference is a plane mirror.

[0018] Furthermore, the orientation physical reference component adopts a plane mirror or a right-angle prism;

[0019] Collimation measurement of the target uses a plane mirror or a cube mirror.

[0020] Meanwhile, the present invention also provides a method for calibrating the orientation reference of a computer vision measurement device, which is based on the above-mentioned computer vision measurement device orientation reference calibration device, and is characterized by including the following steps:

[0021] S1. Set a physical reference component for orientation on the outside of the visual measurement equipment;

[0022] S2. Use measuring equipment to measure the azimuth angle between the collimating measurement cooperative target and the imaging measurement cooperative target, and record it as follows: ;

[0023] S3. Set up the calibration platform and visual measurement equipment. Use the visual measurement equipment to perform imaging measurements on the cooperative target, and measure the azimuth angle between the cooperative target and the azimuth reference of the mathematical model of the visual measurement equipment, and record it as . ;

[0024] S4. Set up a reference reference point, and use an angle measuring device to measure the azimuth angle between the physical reference point and the reference reference point, and the azimuth angle between the reference reference point and the collimation measurement target, and record them as follows: and ;

[0025] S5. Calculate the initial azimuth angle between the physical reference component and the azimuth reference of the visual measurement equipment mathematical model according to the following formula. This enables the calibration of the orientation reference of the visual measurement equipment itself.

[0026] ;

[0027] Steps S1 and S2 can be performed sequentially or simultaneously.

[0028] Furthermore, step S2 specifically includes:

[0029] The azimuth angle between the working plane normal of the collimation measurement cooperative target and the preset azimuth reference of the imaging measurement cooperative target is measured using a spatial coordinate measuring device and recorded as follows: .

[0030] Furthermore, step S3 specifically includes:

[0031] S3.1 Set up the calibration platform, fill the four cylindrical countersunk holes with filler material, and make the upper surface of the filler material in the four cylindrical countersunk holes flush with the upper surface of the base. The color of the filler material is different from the color of the upper surface of the base.

[0032] S3.2 Adjust the posture of the base so that the upper surface of the base is horizontal;

[0033] S3.3. Set up the visual measurement equipment above the calibration platform, and establish the measurement coordinate system of the visual measurement equipment as follows: ,in, The axis refers to the optical axis of the vision measurement equipment, which points vertically downwards. The axis is parallel to the lateral direction of the imaging sensing module of the vision measurement device, serving as the orientation reference for the mathematical model of the vision measurement device. The axis conforms to the right-hand rule;

[0034] S3.4. Use a vision measurement device to perform imaging measurement on the imaging measurement cooperative target to obtain the three-dimensional attitude angle values ​​of the imaging measurement cooperative target relative to the measurement coordinate system of the vision measurement device. The three-dimensional attitude angle values ​​include pitch angle, roll angle and azimuth angle.

[0035] S3.5 If the pitch and roll angles measured in step S3.4 do not exceed the preset values ​​for pitch and roll angles, then the optical axis of the vision measurement device is considered to be perpendicular to the upper surface of the base. The azimuth angle measured in step S3.4 is recorded as the azimuth angle between the preset azimuth reference of the imaging measurement cooperative target and the azimuth reference of the mathematical model of the vision measurement device. Then proceed to step S4; otherwise, adjust the orientation of the visual measurement device according to the measurement results of step S3.4, and then return to step S3.4.

[0036] Steps S3.2 and S3.3 can be performed sequentially or simultaneously.

[0037] Further, step S3.2 specifically involves placing a level measuring instrument on a horizontal reference surface and adjusting the posture of the base through a leveling mechanism to ensure that the upper surface of the base is horizontal.

[0038] Furthermore, step S4 specifically includes:

[0039] S4.1, Set up the reference reference component;

[0040] S4.2 Select an autocollimating theodolite as the angle measuring device. Set up the autocollimating theodolite at the first position, aim at the azimuth physical reference and the reference reference respectively, and measure the azimuth angle between the working surface normal of the azimuth physical reference and the working surface normal of the reference reference, and record it as . ;

[0041] S4.3. Set up the autocollimating theodolite at the second position, aim at the collimation measurement cooperative target and the reference reference, and measure the azimuth angle between the working surface normal of the reference reference and the working surface normal of the collimation measurement cooperative target, and record it as . ;

[0042] S4.4 Calculate the azimuth angle between the working plane normal of the azimuth physical reference component and the working plane normal of the collimation measurement cooperative target using the following formula. :

[0043] ;

[0044] Steps S4.2 and S4.3 can be performed sequentially or simultaneously.

[0045] Step S5 specifically involves calculating the initial azimuth angle between the working surface normal of the azimuth physical reference component and the mathematical model azimuth reference of the visual measurement device, according to the following formula. This enables the calibration of the orientation reference of the visual measurement equipment itself.

[0046] .

[0047] Compared with the prior art, the present invention has the following beneficial technical effects:

[0048] 1. The computer vision measurement equipment orientation reference calibration device and method of the present invention characterizes the orientation reference of the vision measurement equipment itself through an orientation physical reference component, and through a designed calibration platform, and by using an angle measuring device and a reference component, can realize rapid and high-precision calibration of the orientation reference of the vision measurement equipment itself, and can directly apply the measurement results of the vision measurement equipment to the orientation transfer system.

[0049] 2. In the computer vision measurement equipment orientation reference calibration device and method of the present invention, by setting both the collimation measurement cooperative target and the imaging measurement cooperative target on the upper surface of the base, the collimation measurement cooperative target and the imaging measurement cooperative target are designed and installed on the same working surface, which can accurately calibrate the orientation information between the two, thereby improving the overall calibration accuracy.

[0050] 3. In the computer vision measurement equipment orientation reference calibration device and method of the present invention, by setting a horizontal reference plane and a leveling mechanism, a horizontal measuring instrument can be placed on the horizontal reference plane, and the upper surface of the base can be made horizontal by the leveling mechanism, which can improve the calibration accuracy.

[0051] 4. In the computer vision measurement equipment orientation reference calibration device and method of the present invention, by setting four cylindrical countersunk holes distributed in a rectangular pattern on the upper surface of the base as imaging measurement cooperative targets, the calibration accuracy of the orientation information between the collimation measurement cooperative target and the imaging measurement cooperative target can be higher, thereby improving the overall calibration accuracy.

[0052] 5. The computer vision measurement equipment orientation reference calibration device and method of the present invention uses an autocollimating theodolite as an angle measuring device and a plane mirror as a reference reference. It can be adapted to visual measurement equipment with different working distances and can also be used to aim and measure different types of orientation physical references. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the structure of an existing vision measurement device;

[0054] Figure 2 This is a schematic diagram of an embodiment of a computer vision measurement equipment orientation reference calibration device according to the present invention;

[0055] Figure 3 This is a schematic diagram of the structure of the visual measurement device and the orientation physical reference component in an embodiment of the computer vision measurement equipment orientation reference calibration device of the present invention;

[0056] Figure 4 This is a schematic diagram of the main structure of the calibration platform in an embodiment of the orientation reference calibration device for a computer vision measurement equipment according to the present invention;

[0057] Figure 5 for Figure 4 Top view.

[0058] The annotations in the attached figures are explained as follows:

[0059] 1-Angle measuring device, 2-Visual measuring device, 20-Optical axis of visual measuring device, 21-Imaging optical lens, 22-Imaging sensing module, 23-Data processing and communication module, 24-Azimuth physical reference component, 3-Calibration platform, 31-Collimation measurement cooperative target, 32-Imaging measurement cooperative target, 33-Horizontal reference plane, 34-Base, 35-Screw, 36-Upper nut, 37-Base, 38-Lower nut, 4-Reference reference component. Detailed Implementation

[0060] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0061] In the description of this invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0062] like Figure 2 As shown in the embodiment of this application, a computer vision measurement equipment orientation reference calibration device is provided, including an orientation physical reference component 24, a calibration platform 3, a reference reference component 4, and an angle measuring device 1.

[0063] like Figure 3 As shown, the orientation physical reference component 24 is disposed outside the vision measurement device 2 to characterize the orientation reference of the vision measurement device 2 itself. The orientation physical reference component 24 is a plane mirror, which is smaller in size and easier to install, and the working surface normal of the plane mirror theoretically points towards the vision measurement device 2. In other embodiments, the orientation physical reference element 24 may also be a right-angle prism or the like, in the opposite direction of the axis.

[0064] like Figure 2 , Figure 4 and Figure 5 As shown, the calibration platform 3 is used to mount the visual measurement device 2 below the optical axis 20 of the visual measurement device. The calibration platform 3 includes a base 34, a collimation measurement cooperative target 31, and an imaging measurement cooperative target 32. The upper surface of the base 34 is a plane, and both the collimation measurement cooperative target 31 and the imaging measurement cooperative target 32 ​​are set on the upper surface of the base 34. The collimation measurement cooperative target 31 is used to assist the angle measurement device 1 in aiming measurement. The collimation measurement cooperative target 31 and the orientation physical reference 24 are located on the same side of the optical axis 20 of the visual measurement device. The collimation measurement cooperative target 31 is a cubic mirror. In other embodiments, the collimation measurement cooperative target 31 can also be a plane mirror, etc. The imaging measurement cooperative target 32 ​​is used to assist the visual measurement of the visual measurement device 2. The imaging measurement cooperative target 32 ​​has four coplanar points, which are four rectangularly distributed cylindrical countersunk holes set on the upper surface of the base 34. The cylindrical countersunk holes are formed by machining. The preset orientation reference of the imaging measurement cooperative target 32 ​​is... Figure 5 As shown Shaft, four cylindrical countersunk holes about Axisymmetry. The collimation measurement cooperative target 31 and the imaging measurement cooperative target 32 ​​are designed to work on the base 34 with a common working surface. The imaging measurement cooperative target 32 ​​is designed as four cylindrical countersunk holes distributed in a rectangular shape. The orientation information between the collimation measurement cooperative target 31 and the imaging measurement cooperative target 32 ​​can be accurately calibrated by a spatial coordinate measuring device, thereby improving the overall calibration accuracy.

[0065] A high-precision ground horizontal reference surface 33 is also provided on the upper surface of the base 34. The horizontal reference surface 33 serves as the horizontal reference for the imaging measurement cooperative target 32 ​​and is used to place the horizontal measuring instrument. A leveling mechanism is provided at the bottom of the base 34. In this embodiment, the leveling mechanism includes a base 37 and three sets of adjustment components. The base 37 is located below the base 34. The three sets of adjustment components are triangularly distributed. Each set of adjustment components includes a screw 35, an upper nut 36, and a lower nut 38. The upper end of the screw 35 is connected to the bottom of the base 34, and the lower part of the screw 35 passes through a through hole provided on the base 37. The upper nut 36 and the lower nut 38 are both threadedly connected to the screw 35. The lower surface of the upper nut 36 abuts against the upper surface of the base 37, and the upper surface of the lower nut 38 abuts against the lower surface of the base 37. A horizontal reference surface 33 is designed on the upper surface of the base 34. A horizontal measuring instrument can be placed on the horizontal reference surface 33, and the posture of the base 34 can be adjusted by the leveling mechanism to make the upper surface of the base 34 horizontal, which can improve the overall calibration accuracy.

[0066] Angle measuring device 1 uses an autocollimating theodolite. For example... Figure 2As shown, the reference reference 4 is mounted next to the calibration platform 3 and the visual measurement device 2, and is located on the side of the visual measurement device 2 facing away from the azimuth physical reference 24. The reference reference 4 serves as a reference for the angle measurement device 1 to measure the azimuth information between the collimating target 31 and the azimuth physical reference 24. The reference reference 4 is a plane mirror, and the aperture of the plane mirror is sufficient to ensure that the autocollimating theodolite is within the measurement range during both aiming operations. Using the autocollimating theodolite and the plane mirror for calibration operations can accommodate visual measurement devices 2 at different working distances, and can also be used to aim and measure different types of azimuth physical reference 24. In other embodiments, the reference reference 4 can also be an autocollimating theodolite, etc.

[0067] This application embodiment also provides a method for calibrating the orientation reference of a computer vision measurement device, which uses the above-mentioned computer vision measurement device orientation reference calibration device and includes the following steps:

[0068] S1. Set the orientation physical reference component 24 outside the visual measurement device 2;

[0069] S2. Using high-precision spatial coordinate measuring equipment, measure the azimuth angle between the working surface normal of the collimation measurement cooperative target 31 and the preset azimuth reference of the imaging measurement cooperative target 32, and record it as... ;

[0070] Steps S1 and S2 can be performed sequentially or simultaneously. In this embodiment, step S1 is executed first, followed by step S2. In other embodiments, step S2 can be executed first, followed by step S1, or steps S1 and S2 can be executed simultaneously.

[0071] S3. The azimuth angle between the preset azimuth reference of the imaging measurement cooperative target 32 ​​and the azimuth reference of the mathematical model of the visual measurement device 2 is as follows:

[0072] S3.1 Set up calibration platform 3, fill the four cylindrical countersunk holes with plaster, and make the upper surface of the plaster in the four cylindrical countersunk holes flush with the upper surface of base 34. The color of the plaster is different from the color of the upper surface of base 34.

[0073] In this embodiment, filling the four cylindrical countersunk holes helps to ensure the measurement accuracy of the subsequent step S3.4;

[0074] S3.2 Place a two-dimensional inclinometer on the horizontal reference plane 33, and adjust the attitude of the base 34 through the leveling mechanism so that the upper surface of the base 34 is in a horizontal state.

[0075] In other embodiments, other level measuring instruments such as a level may also be placed on the horizontal reference plane 33;

[0076] S3.3. Set up the visual measurement device 2 above the calibration platform 3, and set the measurement coordinate system of the visual measurement device 2 as follows: ,in, The axis is the optical axis 20 of the vision measurement device 2, and its direction is vertically downward. The axis is parallel to the lateral direction of the imaging sensing module 22 of the vision measurement device 2, serving as the orientation reference for the mathematical model of the vision measurement device 2. The axis conforms to the right-hand rule, such as Figure 3 As shown, The axis is perpendicular to the paper and points outwards;

[0077] Steps S3.2 and S3.3 can be performed sequentially or simultaneously. In this embodiment, step S3.2 is executed first, followed by step S3.3. In other embodiments, step S3.3 can be executed first, followed by step S3.2, or steps S3.2 and S3.3 can be executed simultaneously.

[0078] S3.4. Use the visual measurement device 2 to perform imaging measurement on the imaging measurement cooperative target 32 ​​to obtain the three-dimensional attitude angle values ​​of the imaging measurement cooperative target 32 ​​relative to the measurement coordinate system of the visual measurement device 2. The three-dimensional attitude angle values ​​include pitch angle, roll angle and azimuth angle.

[0079] In this embodiment, the imaging optical lens 21 projects the image of the imaging measurement cooperative target 32 ​​onto the imaging sensing module 22. The imaging sensing module 22 converts the light signal into digital image information that can be processed. The data processing and communication module 23 processes and calculates the received image information. The algorithm adopts the mature P4P pose measurement algorithm, which can simultaneously obtain the pitch angle, roll angle and azimuth angle of the imaging measurement cooperative target 32 ​​relative to the measurement coordinate system of the visual measurement device 2.

[0080] S3.5 If the pitch and roll angles measured in step S3.4 do not exceed the preset values ​​for pitch and roll angles, then the optical axis 20 of the vision measurement device is considered to be perpendicular to the upper surface of the base 34, and the azimuth angle measured in step S3.4 is recorded as the azimuth angle between the preset azimuth reference of the imaging measurement cooperative target 32 ​​and the azimuth reference of the mathematical model of the vision measurement device 2. Then proceed to step S4; otherwise, adjust the orientation of the visual measurement device 2 according to the measurement results of step S3.4, and then return to step S3.4.

[0081] In this embodiment, the preset values ​​of the pitch angle and roll angle are both set to 1′ according to actual needs. In other embodiments, the preset value of the pitch angle can also be set to 0, 2′ or 3′, etc., according to actual needs, and the preset value of the roll angle can also be set to 0, 2′ or 3′, etc., according to actual needs.

[0082] S4. The azimuth angle between the working surface normal of the physical reference component 24 and the working surface normal of the collimation measurement cooperative target 31 is as follows:

[0083] S4.1, Erect reference reference component 4;

[0084] S4.2 Select an autocollimating theodolite as the angle measuring device 1. Set up the autocollimating theodolite at the first position. Use the autocollimating theodolite to aim at the azimuth physical reference component 24 and the reference reference component 4 respectively. Measure the azimuth angle between the working surface normal of the azimuth physical reference component 24 and the working surface normal of the reference reference component 4, and record it as... ;

[0085] S4.3. Set up the autocollimating theodolite at the second position, keeping the position of the reference reference 4 unchanged. Use the autocollimating theodolite to aim at the collimation measurement cooperative target 31 and the reference reference 4 respectively, and measure the azimuth angle between the working surface normal of the reference reference 4 and the working surface normal of the collimation measurement cooperative target 31, and record it as . ;

[0086] S4.4 Calculate the azimuth angle between the working plane normal of the azimuth physical reference component 24 and the working plane normal of the collimation measurement cooperative target 31 according to the following formula. :

[0087] ;

[0088] Steps S4.2 and S4.3 can be performed sequentially or simultaneously. In this embodiment, step S4.2 is executed first, followed by step S4.3. In other embodiments, step S4.3 can be executed first, followed by step S4.2, or steps S4.2 and S4.3 can be executed simultaneously.

[0089] S5. Calculate the initial azimuth angle between the working surface normal of the azimuth physical reference component 24 and the mathematical model azimuth reference of the visual measurement device 2 according to the following formula. This enables the calibration of the orientation reference of the visual measurement device 2 itself.

[0090] .

[0091] By using the above-mentioned computer vision measurement equipment orientation reference calibration device and method, rapid and high-precision calibration of the orientation reference of the vision measurement equipment 2 itself can be achieved.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present invention.

Claims

1. A computer vision measurement equipment orientation reference calibration device, used to calibrate the orientation reference of the vision measurement equipment (2) itself, characterized in that: It includes a azimuth physical reference (24), a calibration platform (3), a reference reference (4), and an angle measuring device (1); The orientation physical reference component (24) is disposed outside the visual measurement device (2) to characterize the orientation reference of the visual measurement device (2) itself; The calibration platform (3) is used to be mounted on one side of the visual measurement device (2) along the optical axis (20) of the visual measurement device, including a base (34) and a collimation measurement cooperative target (31) and an imaging measurement cooperative target (32) set on the base (34). The reference reference (4) is mounted next to the calibration table (3) and the visual measurement device (2); The angle measuring device (1) is used to measure the azimuth angle of the azimuth physical reference (24) relative to the reference reference (4), and the azimuth angle of the reference reference (4) relative to the collimation measurement cooperative target (31).

2. The orientation reference calibration device for computer vision measurement equipment according to claim 1, characterized in that: The upper surface of the base (34) is a plane, and the collimation measurement cooperative target (31) and the imaging measurement cooperative target (32) are both set on the upper surface of the base (34).

3. The orientation reference calibration device for computer vision measurement equipment according to claim 2, characterized in that: A horizontal reference surface (33) is also provided on the upper surface of the base (34), which is used to place a horizontal measuring instrument; a leveling mechanism is provided at the bottom of the base (34), which is used to adjust the posture of the base (34) so ​​that the upper surface of the base (34) is in a horizontal state.

4. The orientation reference calibration device for computer vision measurement equipment according to claim 3, characterized in that: The leveling mechanism includes a base (37) and three sets of adjustment components. The base (37) is located below the base (34), and the three sets of adjustment components are arranged in a triangular pattern. Each set of adjustment components includes a screw (35), an upper nut (36) and a lower nut (38). The upper end of the screw (35) is connected to the bottom of the base (34), and the lower part of the screw (35) passes through a through hole provided on the base (37). The upper nut (36) and the lower nut (38) are threadedly connected to the screw (35). The lower surface of the upper nut (36) abuts against the upper surface of the base (37), and the upper surface of the lower nut (38) abuts against the lower surface of the base (37).

5. The orientation reference calibration device for computer vision measurement equipment according to claim 1, characterized in that: The imaging measurement cooperative target (32) consists of four cylindrical sink holes set on the upper surface of the base (34), and the four cylindrical sink holes are distributed in a rectangular pattern.

6. The orientation reference calibration device for computer vision measurement equipment according to claim 1, characterized in that: The angle measuring device (1) is an autocollimating theodolite, and the reference reference (4) is a plane mirror.

7. The orientation reference calibration device for computer vision measurement equipment according to claim 1, characterized in that: The orientation physical reference component (24) is a plane mirror or a right-angle prism; The collimation measurement target (31) is a plane mirror or a cubic mirror.

8. A method for calibrating the orientation reference of a computer vision measurement device, based on the orientation reference calibration device for a computer vision measurement device according to any one of claims 1-7, characterized in that, Includes the following steps: S1. Set an orientation physical reference (24) outside the visual measurement device (2). S2. Use measuring equipment to measure the azimuth angle between the collimation measurement cooperative target (31) and the imaging measurement cooperative target (32), and record it as . ; S3. Set up the calibration platform (3) and the visual measurement device (2). Use the visual measurement device (2) to perform imaging measurement on the imaging measurement cooperative target (32), and measure the azimuth angle between the imaging measurement cooperative target (32) and the azimuth reference of the mathematical model of the visual measurement device (2), and record it as S3. ; S4. Set up the reference reference (4), and use the angle measuring device (1) to measure the azimuth angle between the azimuth physical reference (24) and the reference reference (4), and the azimuth angle between the reference reference (4) and the collimation measurement cooperative target (31), and record them as follows: and ; S5. Calculate the initial azimuth angle of the azimuth physical reference component (24) relative to the visual measurement device (2) mathematical model azimuth reference according to the following formula. This enables the calibration of the orientation reference of the visual measurement device (2) itself. ； Steps S1 and S2 can be performed sequentially or simultaneously.

9. The method for calibrating the orientation reference of a computer vision measurement device according to claim 8, characterized in that, Step S2 is as follows: The azimuth angle between the working plane normal of the collimation measurement cooperative target (31) and the preset azimuth reference of the imaging measurement cooperative target (32) is measured using a spatial coordinate measuring device and recorded as follows: .

10. The method for calibrating the orientation reference of a computer vision measurement device according to claim 9, characterized in that, Step S3 is as follows: S3.

1. Set up the calibration platform (3), fill the four cylindrical countersunk holes with filler, and make the upper surface of the filler in the four cylindrical countersunk holes flush with the upper surface of the base (34). The color of the filler is different from the color of the upper surface of the base (34). S3.2 Adjust the posture of the base (34) so ​​that the upper surface of the base (34) is in a horizontal state; S3.

3. Set up the visual measurement device (2) above the calibration platform (3), and set the measurement coordinate system of the visual measurement device (2) as follows: ,in, The axis is the optical axis (20) of the vision measurement device (2), and its direction is vertically downward. The axis is parallel to the lateral direction of the imaging sensing module (22) of the visual measurement device (2), serving as the orientation reference for the mathematical model of the visual measurement device (2). The axis conforms to the right-hand rule; S3.

4. Use the visual measurement device (2) to perform imaging measurement on the imaging measurement cooperative target (32) to obtain the three-dimensional attitude angle values ​​of the imaging measurement cooperative target (32) relative to the measurement coordinate system of the visual measurement device (2). The three-dimensional attitude angle values ​​include pitch angle, roll angle and azimuth angle. S3.5 If the pitch angle and roll angle measured in step S3.4 do not exceed the preset values ​​of pitch angle and roll angle, then the optical axis (20) of the vision measurement device is considered to be perpendicular to the upper surface of the base (34), and the azimuth angle measured in step S3.4 is recorded as the azimuth angle between the preset azimuth reference of the imaging measurement cooperative target (32) and the azimuth reference of the mathematical model of the vision measurement device (2). Then proceed to step S4; otherwise, adjust the orientation of the visual measurement device (2) according to the measurement results of step S3.4, and then return to step S3.

4. Steps S3.2 and S3.3 can be performed sequentially or simultaneously.

11. The method for calibrating the orientation reference of a computer vision measurement device according to claim 10, characterized in that, Step S3.2 specifically involves placing a level measuring instrument on the horizontal reference plane (33) and adjusting the posture of the base (34) through the leveling mechanism so that the upper surface of the base (34) is in a horizontal state.

12. The method for calibrating the orientation reference of a computer vision measurement device according to claim 10, characterized in that, Step S4 is as follows: S4.1, Erect the reference reference component (4); S4.2 Select an autocollimating theodolite as the angle measuring device (1). Set up the autocollimating theodolite at the first position and aim at the azimuth physical reference (24) and the reference reference (4) respectively. Measure the azimuth angle between the working surface normal of the azimuth physical reference (24) and the working surface normal of the reference reference (4), and record it as . ; S4.

3. Set up the autocollimating theodolite at the second position, aim at the collimation measurement cooperative target (31) and the reference reference (4) respectively, and measure the azimuth angle between the working surface normal of the reference reference (4) and the working surface normal of the collimation measurement cooperative target (31), and record it as . ; S4.4 Calculate the azimuth angle between the working plane normal of the azimuth physical reference component (24) and the working plane normal of the collimation measurement cooperative target (31) according to the following formula. : ； Steps S4.2 and S4.3 can be performed sequentially or simultaneously. Step S5 specifically involves calculating the initial azimuth angle between the working surface normal of the azimuth physical reference component (24) and the mathematical model azimuth reference of the visual measurement device (2) according to the following formula. This enables the calibration of the orientation reference of the visual measurement device (2) itself. 。

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