Optical position calibration system and calibration method

Abstract

The invention provides an optical position calibration system. The optical position calibration system comprises a calibration block, a visual device and a probe, and the reference assembly is fixed to the calibration block, and the reference assembly is used for sequentially calibrating the visual device and the probe so as to determine the position relation between the visual device and the probe. The invention further provides an optical position calibration method, the sensor is fixed on the fixing block, the cross point of light rays emitted by the sensor is used as a unified reference object to calibrate the visual device and the probe respectively, under common reference, the position precision between the probe and the visual device is improved, and the accuracy of the position between the probe and the visual device is improved. And the detection precision and the detection precision of the detection device are improved.

Description

Technical Field

[0001] This invention relates to the field of detection technology, and in particular to an optical position calibration system and calibration method. Background Technology

[0002] PCB (Printed Circuit Board), also known as printed circuit board, is a crucial component in the electronics industry. Almost every electronic device, from small items like watches and calculators to large ones like computers, communication devices, CNC machining equipment, and military weapon systems, relies on PCBs for the electrical interconnection of integrated circuits and other electronic components. Surface Mount Technology (SMT) is a process that mounts leadless or short-lead surface mount components onto the surface of a PCB using adhesive dispensing.

[0003] In the dispensing process, probe-based calibration devices are typically used for calibration. However, due to usage scenarios and other factors, the required calibration accuracy is often low. To ensure dispensing accuracy, some dispensing equipment incorporates CCD vision inspection cameras. These cameras are used to inspect the dispensing quality after application, thereby ensuring product processing quality. However, with the introduction of a CCD vision inspection camera, the positional relationship between the probe and the camera becomes uncertain. In applications requiring high precision in this relationship, existing products lack the necessary accuracy to meet the requirements. Summary of the Invention

[0004] The purpose of this invention is to provide an optical position calibration system and calibration method to at least solve the problem that the dispensing industry, which has high precision requirements, lacks probe and camera position calibration functions.

[0005] To solve the above-mentioned technical problems, the present invention provides an optical position calibration system, comprising:

[0006] Calibration blocks, vision devices, and probes;

[0007] A reference component is fixed to the calibration block and is used to sequentially calibrate the vision device and the probe to determine the positional relationship between the vision device and the probe.

[0008] Optionally, the reference component is a sensor, and there is at least one set of sensors, wherein the light rays emitted by the sensors may intersect at a single point.

[0009] Optionally, in the optical position calibration system, the light emitted by the sensor is located in the same plane.

[0010] Optionally, in the optical position calibration system, the sensors are in two sets, with each pair of sensors perpendicular to each other.

[0011] Optionally, in the optical position calibration system, the calibration block includes a base, a fixing block is fixed on the base, and the reference component is fixed to the fixing block.

[0012] Optionally, in the optical position calibration system, the calibration block further includes a cover plate, which is fixed above the base and has an opening corresponding to the position of the fixing block, and the fixing block is located in the opening.

[0013] Optionally, in the optical position calibration system, an extension opening is provided on the outer side of the cover plate opening, and the extension opening is provided in multiple groups, each group being symmetrically arranged at an angle and corresponding to the reference component.

[0014] Optionally, in the optical position calibration system, the vision device includes a camera and a lens, the lens being used to acquire images and project the acquired images onto the camera.

[0015] Optionally, in the optical position calibration system, the vision device and the probe are mounted on a moving platform, which is slidably connected to a Z-axis guide rail, an X-axis guide rail, and a Y-axis guide rail in sequence. The X-axis guide rail, the Y-axis guide rail, and the Z-axis guide rail are used to control the movement of the probe and the vision device.

[0016] The present invention also provides an optical position calibration method, applied to an optical position calibration system, including a calibration block, a sensor, a vision device, and a probe; the probe is moved to the point where the light rays of the fiber optic sensor intersect, and the position of the probe is recorded;

[0017] Move the vision device so that the camera of the vision device is on the same vertical line as the intersection of the center of the camera calibration hole and the light emitted by the fiber optic sensor; take a picture and record the position of the camera.

[0018] The positional relationship between the probe and the vision device is calculated based on the recording positions of the probe and the camera.

[0019] Optionally, in the optical position calibration method, the position coordinates of the probe and the camera include calculating the movement paths of the probe and the camera on the X-axis guide rail, Y-axis guide rail, and Z-axis guide rail, respectively, when moving the probe and the camera.

[0020] This invention provides an optical position calibration system and method. By fixing a reference component on a calibration block, and in an optional embodiment using the intersection of light rays emitted by the sensor as a reference, the positions of the vision device and the probe are calibrated sequentially. This solves the problem that probe-type calibration devices, which require high positional accuracy of the camera and probe, cannot meet the user's precision requirements in environments where such calibration is necessary. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the calibration block of the optical position calibration system provided in an embodiment of the present invention;

[0023] Figure 2 This is a top view of the calibration block structure of the optical position calibration system provided in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the probe calibration structure of the optical position calibration system provided in an embodiment of the present invention;

[0025] Figure 4 This is a top view of the probe calibration structure of the optical calibration system provided in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of the optical position calibration system vision device during calibration provided in an embodiment of the present invention;

[0027] Figure 6 This is a top view of the structure of the optical calibration system vision device provided in an embodiment of the present invention.

[0028] The symbols in the diagram are as follows:

[0029] 10 - Calibration block; 30 - Probe; 40 - Fiber optic sensor;

[0030] 110-Base; 120-Cover plate; 111-Fixing block; 121-Extension opening; 210-Camera; 220-Lens; 230-Ring light source; 240-Camera calibration hole. Detailed Implementation

[0031] The optical position calibration system and calibration method proposed in this invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and use non-precise scales, only used to facilitate and clarify the illustration of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structure. In particular, different figures may emphasize different aspects and sometimes use different scales.

[0032] It should be noted that the terms "first," "second," etc., used in the specification, claims, and drawings of this invention are used to distinguish similar objects in order to describe embodiments of the invention, and are not used to describe a specific order or sequence. It should be understood that such uses of terminology are interchangeable where appropriate. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] like Figure 1 As shown, the optical position calibration system of this invention includes a calibration block 10, a vision device, and a probe 30; a reference component is used to sequentially calibrate the vision device and the probe 30 to determine the positional relationship between them. By fixing the reference component on the calibration block 10 as a unified reference calibration point, the vision device and probe 10 are sequentially moved to the reference point to calibrate the positional relationship between them. In this embodiment, the reference component is a sensor. By fixing the sensor in the calibration block 10, the light emitted by the sensor converges to a cross-fixed point. Using this cross-fixed point as a unified reference, the positions of the probe 30 and the vision device are calibrated respectively, improving calibration accuracy under a unified reference standard. The sensor can be a fiber optic sensor, a photoelectric sensor, or a laser sensor, etc. In this embodiment, a fiber optic sensor 40 is used as an example.

[0034] Furthermore, at least one set of fiber optic sensors 40 are positioned at a certain angle, with all their emitting surfaces facing inward, so that the emitted light rays converge to a single point in the same plane. Since the fiber optic sensors 40 are fixed to the calibration block 10, the intersection point of the converged light rays from the fiber optic sensors 40 is a fixed point. Using this fixed intersection point as a fixed reference, the positions of the probe 30 and the vision device are calibrated respectively, ensuring that the positions of the probe 30 and the vision device are the same after movement. Based on the calibrated movement paths of the probe 30 and the vision device, the positional relationship between the probe 30 and the vision device can be accurately obtained. When the fiber optic sensors 40 are in a set, the angle between the two fiber optic sensors 40 can be any angle other than 180 degrees symmetrically set. The emitted light rays between them can intersect and converge to a single point as a reference point, avoiding the situation where the two fiber optic sensors are at a 180-degree angle and the two sets of light rays emit in parallel, thus preventing the formation of an intersection point.

[0035] In this embodiment, the fiber optic sensors 40 are arranged in two sets, with each pair of fiber optic sensors 40 arranged perpendicularly and symmetrically to each other. The light emitted from each pair of symmetrical fiber optic sensors 40 is parallel and lies on the same straight line, and the emitted light rays converge into a straight line, such as... Figure 1As shown, the light rays emitted by the two sets of four fiber optic sensors 40 intersect perpendicularly in a "cross" shape, converging at a single fixed intersection point. When calibrating the camera, the point where the center of the calibration aperture 240 of the moving vision device is concentric with the intersection point of the light rays is the camera calibration point. Otherwise, as... Figure 2 As shown, the distance between the intersection point of two light rays with the camera calibration hole 240 and the center of the camera calibration hole 240 can be used to determine whether the camera position calibration is complete. In other words, when the camera is calibrated, the intersection point of the camera calibration hole 240 and the fiber optic sensor 40 coincides, and the distances (radii) from the intersection points of the four mutually perpendicular light rays with the calibration hole 240 to the center of the hole are all equal. This indicates that the camera position calibration is complete, accurate, and unique. If the system calculates that the distances between the radii of the four light rays are not equal, it indicates that there may be an error in the calibration position, and the calibration position coordinates need to be readjusted. It should be noted that in this embodiment, the probe and vision device are calibrated by fixing the fiber optic sensor in the calibration block and using the intersection point of its emitted light rays as a unified fixed reference. The reference is not limited to the intersection point of the light rays emitted by the fiber optic sensor; calibration points can be set directly on the calibration block or other fixed calibration points can be set. No specific limitation is made here, and all are within the scope of protection of this application. This embodiment uses fixing the fiber optic sensor in the fixed block as an example for illustration.

[0036] Furthermore, the calibration block 10 includes a base 110 and a cover plate 120. A certain height space is provided around the base 110, and the cover plate 120 covers the base 110 and is fixed to it by bolts or other means. A fixing block 111 is fixed on the base 110, and the fiber optic sensor 40 is fixed to the fixing block 111, thus fixing the fiber optic sensor 40 to the calibration block 10. After the cover plate 120 is closed onto the base 110, an opening is provided corresponding to the position of the fixing block 111. The fixing block 111 is located within the opening; that is, the fixing block 111 is fixed to the base 110, and the upper end of the fixing block 111 is located within the opening of the cover plate 120. The edge of the opening of the cover plate 120 engages with the upper part of the fixing block 111, further strengthening the fixation. The fixing block 111 can be fixed to the base 110 by means of bolts, glue, welding, etc. The specific method is not limited. In this embodiment, the fixing block is fixed to the base 110 by bolts. The bolts are located in the middle of two adjacent fiber optic sensors 40. While not affecting the emission of light by the fiber optic sensor 40, the four bolts can very stably fix the fixing block 111 to the base 110.

[0037] Furthermore, the upper part of the fixing block 111 is provided with multiple grooves, the shape of which is consistent with the structure of the fiber optic sensor 40, for placing the fiber optic sensor 40 so that it is precisely placed and fixed within the grooves. The depth of the grooves is less than the thickness of the fiber optic sensor 40, so that when the fiber optic sensor 40 is placed within the grooves, the light emitted by it is located above the upper surface of the fixing block 111. Furthermore, the bottoms of the grooves are parallel and located on the same horizontal plane, so that when the fiber optic sensor 40 is placed within the grooves, the light emitted by the fiber optic sensor 40 forms a light intersection point on the same plane above the fixing block 111. The fiber optic sensor 40 can also be fixed within the grooves by clamping, snapping, or other methods, and is not limited to placing its bottom within the grooves.

[0038] In this embodiment, as Figure 1 and Figure 2 As shown, the top of the fixing block 111 is circular, and the cover plate 120 also has a circular opening, so that the top of the fixing block 111 fits perfectly into the circular opening of the cover plate 120. Two sets of fiber optic sensors 40 are fixed perpendicularly to each other in the grooves of the fixing block 111. The four fiber optic sensors 40 are located in the same plane, so that all the light emitted by them is in the same plane. The light emitted by two symmetrical fiber optic sensors 40 coincides into a straight line, and the light emitted by two sets of fiber optic sensors 40 converges into two perpendicular light rays. The intersection point of the light rays is concentric with the center of the fixing block 111. The four fiber optic sensors 40 are located at the edge of the fixing block 111, at a certain distance from the intersection point of the light rays. When the camera is calibrated, the fiber optic sensors 40 will not block the image of the camera calibration hole on the fixing block 111. The shape of the fixing block can be square, triangular, or other shapes, and the position of the fiber optic sensors can be adjusted according to the shape of the fixing block.

[0039] The cover plate 120 has a circular opening with multiple extension openings 121 along the side of the fiber optic sensor 40 facing away from the emitted light. Besides corresponding to each fiber optic sensor 40, the other extension openings 121 are spaced at angular intervals. These extension openings 121 can be used to place the fixing block 111 at multiple angles. When the fixing block 111 is rotated by a certain angle, all four fiber optic sensors 40 can correspond to an extension opening. Furthermore, when the fixing block 111 or the fiber optic sensor 40 needs to be replaced or disassembled, this can be done through the extension openings 121, making the process faster and more convenient.

[0040] The vision device is used for image detection, such as... Figure 4As shown, the vision device includes a camera 210, a lens 220, and a ring light source 230. The lens 220 is adapted to and mounted on the camera 210. Both the camera 210 and the ring light source 230 are mounted on a moving platform connected to a motion track. The lens 220 is located directly above the ring light source 230. The ring light source 230 can be replaced by a coaxial light source or a dome light source. The ring light source 230 is used for supplementary lighting, and the lens 220 is used for image acquisition. The camera 210 converts light signals into ordered electrical signals to achieve beam transformation (modulation) and image the screen under test onto the photosensitive surface of the image sensor. The lens 220 is detachably mounted on the camera 210 and is used to adjust the sharpness of the images captured by the camera 220. That is, depending on the different PCB boards, lenses 220 with different pixel counts can be used for adjustment to ensure that the single FOV of the PCB remains at the required pixel count.

[0041] When the optical position calibration system is used for dispensing inspection, the dispensing mechanism (not shown in the figure) is mounted on the moving platform via a lifting mechanism. This lifting mechanism allows for high-precision control of the dispensing mechanism's movement, adjusting the dispensing height according to the different positions on the PCB board. The moving platform, vision device, dispensing mechanism, and lifting mechanism are all connected to the computer signal. The motion track includes an X-axis track, a Y-axis track, and a Z-axis track. These tracks control the movement of the moving platform in the left-right, front-back, and up-down directions. The moving platform is a conventional method in PCB board dispensing, and its specific structure will not be described in detail in this embodiment. During operation, an external transmission mechanism transports the PCB board directly below the camera 210. The moving platform then drives the camera 210 to capture images of the PCB board, which are transmitted to the computer to obtain an image of the PCB.

[0042] The mobile platform also includes a probe 30, which is used to point to the dispensing position of the dispensing mechanism. Using the probe 30 to indicate the dispensing position ensures accuracy and facilitates monitoring by operators. The calibration block 10 is located below the mobile platform. The vision device and probe 30 can be moved above the calibration block 10 via the X-axis, Y-axis, and Z-axis tracks for position calibration. The positional relationship between the vision device and probe 30 is determined by calculation. Alternatively, with the mobile platform stationary, the calibration block 10 can be moved to below the probe and vision device, aligning the intersection of the light rays with the centers of the calibration holes on the probe and camera, respectively. The position coordinates of the two sets of calibration blocks 10 are recorded, and the positional relationship between the probe 20 and the vision device is calculated using the difference in position coordinates.

[0043] in, Figure 3 This is a structural diagram showing the position between probe 30 and calibration block 10 during calibration. Figure 4 This is a top view when the probe 30 is calibrated. As can be seen from the figure, when calibrating the probe 30, the position of the probe 30 is moved above the calibration block 10. When calibrating, the position of the probe 30 points to the light intersection point of the fiber optic sensor 40 on the same vertical line. It can be seen from the top view that the probe 30 coincides with the light intersection point in the vertical direction. At this time, the position is the same as the position when the camera 210 is calibrated, and the position calibration of the probe 30 is completed. Figure 5 This is the position structure diagram between the vision device and the calibration block 10 when calibrating. Figure 6 This is a top view when the vision device is calibrated. As can be seen from the figure, the camera 210, the lens 220, and the annular light source 230 are located directly above the calibration block 10. At this time, the center of the calibration circular hole of the camera 210 and the light intersection point of the fiber optic sensor 40 are on the same vertical line, and the position calibration of the vision device is completed. When the precise position between the probe and the vision device is calculated, the dispensing position can be quickly and accurately determined, and the sheet material after dispensing can be photographed and detected, improving the processing and detection efficiency.

[0044] When the optical position calibration system is used for semiconductor dispensing detection, it is usually used in the semiconductor packaging process. Among them, dispensing is an important step in the chip packaging process. Dispensing can ensure the bonding and fixation between the chip and the PCB substrate. The entire picture of the PCB board can be captured, and the dispensing quality of the PCB board is detected by the camera 210. During the process of extracting the chip, the dispensing mechanism first dispenses the glue onto the PCB board, and then after sucking the chip, the suction nozzle is moved by the robotic arm to suck and transport the chip onto the PCB board for bonding. The vision device installed on the dispensing mechanism is used to take pictures and identify the optical image at the bonding place between the chip and the PCB board. The vision device takes pictures of the glue bonding place between the chip and the PCB board, and compares the taken picture with the pre-set picture. If the taken position matches the pre-set position, it is qualified; if a certain position in the pre-set position is missing in the taken positions, it means there is a missing dispensing position. The vision device compares the size of the dispensing area with the size of the pre-set dispensing position area. If the size of the dispensing area is the same as the size of the pre-set dispensing position area, the dispensing amount is qualified; if the dispensing area is smaller than the pre-set dispensing position area, the dispensing amount is unqualified. The chip is laser marked by the laser marking device, and the unqualified chip is marked as a defective product and a warning is issued.

[0045] The vision device is fixedly connected to a fixed plate (not shown in the figure). The fixed plate is slidably connected to the Z-axis linear module, which is slidably connected to the slider of the X-axis linear module, and the X-axis linear module is slidably connected to the slider of the Y-axis linear module. A dispensing head is mounted on the fixed plate, and dispensing is achieved at different locations on the PCB board through the movement of the X-axis, Y-axis, and Z-axis linear modules. When acquiring data from the PCB board, the camera 210 of the vision device detects the quality of the dispensing. The fixed plate also includes a probe 30, which is used to point to the dispensing position of the dispensing mechanism. Using the probe 30 to indicate the dispensing position ensures the accuracy of the dispensing position and facilitates monitoring of the dispensing position by the operator.

[0046] The calibration block 10 is located below the fixed plate and is used to calibrate the vision device and the probe 30 respectively. The fixed plate is moved above the calibration block 10 by the X-axis linear module, Y-axis linear module and Z-axis linear module, or the calibration block 10 is moved below the probe 30 and the vision device respectively. The calibration hole 210 of the camera 210 of the vision device is concentric with the intersection point of the light rays of the fiber optic sensor 40. The probe 30 is also moved to be concentric with the intersection point of the light rays of the fiber optic sensor 40. The movement positions of the camera and the probe are calculated respectively to calibrate the precise positional relationship between the two, thereby improving the detection accuracy and processing efficiency.

[0047] The optical position calibration system can also be used in other detection devices. It uses the calibration block 10 as a unified reference to calibrate the position of the camera and probe. In working environments with high precision requirements, it is simple to operate and can meet the needs of precise use.

[0048] The present invention also provides an optical position calibration method for use in an optical position calibration system, including a calibration block 10, an optical fiber sensor 40, a vision device, and a probe 30. The method includes: moving the probe 30 to a position above the optical fiber sensor 40, aligning the probe 30 with the light beam intersection point of the optical fiber sensor 40, and recording the position coordinates of the probe 30 at this time.

[0049] Move the vision device until the center of the camera calibration hole 240 is located at the intersection of the light rays emitted by the fiber optic sensor 40. In the vertical direction, the center of the camera calibration hole 240 and the intersection of the light rays emitted by the fiber optic sensor 40 are on the same straight line. After the movement and calibration are completed, take a picture of the PCB board through the vision device to detect the dispensing quality and record the position coordinates of the vision device at this time.

[0050] The positional relationship between the probe 30 and the vision device is calculated based on their recorded position coordinates. Once the positional relationship is accurately determined, the probe and vision device can be moved quickly and precisely to perform detection and inspection processes in the dispensing stage, improving detection accuracy and efficiency. The position coordinates of the probe 30 and the vision device include calculating the movement paths of the X-axis, Y-axis, and Z-axis tracks when moving the probe 30 and the vision device. The position coordinates of the probe 30 and the vision device during calibration are calculated based on these movement paths, and the positional relationship between them is calculated based on the difference between their position coordinates.

[0051] Alternatively, while keeping the probe 30 and vision device stationary, the calibration block 10 can be moved below the probe 30 and vision device respectively to calibrate them, and the position coordinates of the calibration block 10 after the two movements can be recorded. This method is also applicable to calculating the positional relationship between the probe 30 and vision device by moving the calibration block 10.

[0052] Furthermore, an automatic calibration program can be added to the system to control the probe 30 and the vision device to move on the X-axis, Y-axis, and Z-axis tracks respectively, moving them above the calibration block 10. The positions of the probe 30 and the vision device are identified by sensors or other means. When the probe 30 or the vision device moves to the intersection of the optical fiber sensor 40's light beams, the system receives the signal and the software calculates the position coordinates, movement path, and positional relationship between the probe 30 and the vision device, achieving automated calibration. This optical positioning calibration method is applicable to various types of detection equipment and can automatically, efficiently, and accurately calibrate the probe's position.

[0053] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to mutually. In addition, the different parts between embodiments can also be combined with each other, and this invention does not limit this.

[0054] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. An optical position calibration system, characterized in that, include: Calibration blocks, vision devices, and probes; A reference component is fixed to the calibration block and is used to sequentially calibrate the vision device and the probe to determine the positional relationship between the vision device and the probe.

2. The optical position calibration system according to claim 1, characterized in that, The reference component is a sensor, and there is at least one set of sensors. The light rays emitted by the sensors can intersect at a single point.

3. The optical position calibration system according to claim 2, characterized in that, The light emitted by the sensor is in the same plane.

4. The optical position calibration system according to claim 2, characterized in that, The sensors are in two sets, with each pair of sensors perpendicular to each other.

5. The optical position calibration system according to claim 1, characterized in that, The calibration block includes a base, on which a fixing block is fixed, and the reference component is fixed to the fixing block.

6. The optical position calibration system according to claim 5, characterized in that, The calibration block also includes a cover plate, which is fixed above the base and has an opening at the location of the fixing block, with the fixing block located inside the opening.

7. The optical position calibration system according to claim 6, characterized in that, The cover plate opening has an extension opening on its outer side. The extension opening is a set of multiple groups, each set is symmetrically arranged at an angle and corresponds to the reference component.

8. The optical position calibration system according to claim 1, characterized in that, The vision device includes a camera and a lens, the lens being used to capture images and project the captured images onto the camera.

9. The optical position calibration system according to claim 1, characterized in that, The vision device and the probe are mounted on a moving platform, which is slidably connected to the Z-axis guide rail, the X-axis guide rail and the Y-axis guide rail in sequence. The X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail are used to control the movement of the probe and the vision device.

10. An optical position calibration method, applied to an optical position calibration system, comprising a calibration block, a sensor, a vision device, and a probe, characterized in that, Move the probe to the point where the light rays from the sensor intersect, and record the position of the probe; Move the vision device so that the camera of the vision device is on the same vertical line as the intersection of the center of the camera calibration hole and the light emitted by the sensor; take a picture and record the position of the camera. The positional relationship between the probe and the vision device is calculated based on the calibrated positions of the probe and the camera.

11. The optical position calibration method according to claim 10, characterized in that, The position coordinates of the probe and the camera include calculating the movement paths of the probe and the camera on the X-axis guide rail, Y-axis guide rail, and Z-axis guide rail, respectively.

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