Device calibration method and device, device calibration system and storage medium

Abstract

Embodiments of the present application provide a device calibration method, device calibration apparatus, device calibration system and storage medium. The method comprises: determining a motion position and a motion posture of a motion device, the motion device being provided with a calibrator; controlling the motion device to move based on the motion position and the motion posture; in the motion process of the motion device, collecting, by an optical device, mark information of a first optical mark on the calibrator; and calibrating the optical device based on the mark information. The present application can improve the calibration efficiency of the optical device.

Description

Technical Field

[0001] This application belongs to the field of 3D scanning technology, and in particular relates to a device calibration method, apparatus, device calibration system and storage medium. Background Technology

[0002] Trackers, as core equipment for high-precision measurement, have irreplaceable application prospects in fields such as aerospace, high-end equipment manufacturing, and precision engineering measurement. However, the calibration process of trackers is complex and inefficient. Summary of the Invention

[0003] This application provides a device calibration method, apparatus, device calibration system, and storage medium to improve the problem of low calibration efficiency of optical devices.

[0004] In a first aspect, embodiments of this application provide a device calibration method, which includes: determining the motion position and motion posture of a moving device, and installing a calibrator on the moving device; controlling the motion of the moving device based on the motion position and motion posture; collecting marking information of a first optical mark on the calibrator through an optical device during the motion of the moving device; and calibrating the optical device based on the marking information.

[0005] In some embodiments, the motion device includes: a robotic arm with a calibrator mounted at the end of the robotic arm; or, the motion device includes: a robotic arm and a mobile device, the robotic arm being mounted on the mobile device with a calibrator mounted at the end of the robotic arm.

[0006] In some embodiments, determining the motion position and motion posture of the motion device includes: acquiring a second optical mark on the motion device through an optical device to determine the relative positional relationship between the optical device and the motion device; and determining the motion position and motion posture of the motion device based on the preset calibration parameters corresponding to the optical device and the relative positional relationship.

[0007] In some embodiments, determining the relative positional relationship between the optical device and the moving device by acquiring a second optical mark on the moving device through an optical device includes: acquiring multiple images including at least a portion of the second optical mark through the optical device; reconstructing the target three-dimensional coordinates of the second optical mark based on the coordinate system of the optical device based on the multiple images; and determining the relative positional relationship between the optical device and the moving device based on the target three-dimensional coordinates and the actual three-dimensional coordinates of the second optical mark based on the coordinate system of the moving device.

[0008] In some embodiments, the motion position and motion attitude of the motion device are determined based on the preset calibration parameters and relative position relationship of the optical device, including: determining the motion attitude of the calibrator on the motion device and the calibration position of the optical device according to the preset calibration parameters of the optical device; and determining the motion position of the motion device based on the calibration position and relative position relationship.

[0009] In some embodiments, before acquiring the marking information of the first optical mark on the calibrator through an optical device, the method further includes: during the movement of the motion device, if the first optical mark of the calibrator does not reach a preset optical position, determining an optical position deviation based on the actual optical position of the first optical mark and the preset optical position; determining compensation information for the motion device based on the optical position deviation, the compensation information including at least one of motion position compensation and motion posture compensation; and controlling the movement of the motion device based on the motion position, motion posture, and compensation information.

[0010] In some embodiments, calibrating an optical device based on marking information includes: determining the internal and / or external parameters of the optical device based on the marking information and the design data corresponding to the first optical mark.

[0011] Secondly, embodiments of this application provide a device calibration apparatus, comprising: a position determination module for determining the motion position and motion posture of a moving device, wherein the moving device is equipped with a calibrator; a motion control module for controlling the motion of the moving device based on the motion position and motion posture; an information acquisition module for controlling an optical device to acquire marking information of a first optical mark on the calibrator during the motion of the moving device; and a calibration processing module for calibrating the optical device based on the marking information.

[0012] Thirdly, embodiments of this application provide a device calibration system, which includes: a motion device for moving based on a motion position and a motion posture, a calibrator mounted on the motion device, and the calibrator having a first optical mark; an optical device for collecting marking information of the first optical mark on the calibrator; and an electronic device for performing a device calibration method as described above based on the marking information.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the device calibration method as described above.

[0014] The device calibration method provided in this application determines the motion position and motion posture of a moving device; controls the movement of the moving device based on the motion position and motion posture; during the movement of the moving device, the marking information of the first optical mark on the calibrator is collected by an optical device; and the optical device is calibrated based on the marking information. By using this application, by determining the motion position and motion posture of the moving device and controlling its movement based on the motion position and motion posture, the optical device can quickly collect the marking information of the first optical mark on the calibrator of the moving device, thereby improving the calibration efficiency of the optical device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the 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.

[0016] Figure 1 This is a schematic diagram illustrating an application scenario of the device calibration method provided in some embodiments of this application.

[0017] Figure 2 This is a schematic flowchart of a device calibration method provided in some embodiments of this application.

[0018] Figure 3 This is a schematic diagram of the planned path provided in some embodiments of this application.

[0019] Figure 4 This is a flowchart illustrating a motion compensation determination method provided in some embodiments of this application.

[0020] Figure 5 This is a schematic diagram of the structure of a device calibration apparatus provided in some embodiments of this application.

[0021] Figure 6 These are schematic diagrams of the structure of electronic devices provided in some embodiments of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application's specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It should be understood that, unless otherwise stated, "at least one" means one or more. "More than one" means two or more. For example, at least one of a, b, or c can represent seven cases: a, b, c, a and b, a and c, b and c, and a, b, and c.

[0025] As a core device for high-precision measurement, trackers have irreplaceable application prospects in aerospace, high-end equipment manufacturing, and precision engineering measurement. Tracker calibration is a necessary prerequisite and core step for achieving high-precision measurement. As a spatial measurement device based on vision principles, the essence of a tracker is to convert the two-dimensional pixel information captured by an image sensor into the three-dimensional spatial coordinates of the measured point by constructing a rigorous mathematical model. However, factors such as inherent distortion of optical lenses, installation deviations between cameras, structural thermal deformation caused by temperature changes, and mechanical drift due to prolonged use all introduce systematic errors. If these errors are not compensated for through calibration, the mathematical model of the tracker will deviate from the actual physical system, leading to distorted measurement data.

[0026] However, in order to cover the entire measurement field of view, it is usually necessary to collect a large amount of marker point data in three-dimensional space. The operation process is cumbersome and time-consuming, and the calibration process of the tracker is complicated and inefficient.

[0027] In view of the above problems, this application determines the motion position and motion posture of the motion device, and controls the motion of the motion device based on the motion position and motion posture, so that the optical device can quickly collect the marking information of the first optical mark of the calibrator on the motion device, thereby improving the calibration efficiency of the optical device.

[0028] Figure 1 These are schematic diagrams illustrating application scenarios of the device calibration methods provided in some embodiments of this application. For example... Figure 1 As shown, the equipment calibration method is applied to the equipment calibration system 10, which includes an electronic device 11, a motion device 12, and an optical device 13. The electronic device 11 is communicatively connected to the motion device 12, and also communicatively connected to the optical device 13. Through the coordinated operation of the electronic device 11, the motion device 12, and the optical device 13, the automated calibration of the optical device 13 is achieved.

[0029] The communication connection includes wired and wireless communication connections. Wired communication connections can include one or more of the following: Universal Serial Bus (USB), Controller Area Network (CAN), etc. Wireless communication connections can include one or more of the following: Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication networks, Frequency Modulation (FM), Near Field Communication (NFC), Infrared (IR), etc.

[0030] Electronic device 11 may include devices with communication functions such as laptops, tablets, programmable logic controllers (PLCs), and human-machine interfaces (HMIs) with touch input capabilities, or devices simulated by virtual machines or simulators.

[0031] The motion device 12 can represent a device capable of generating controllable mechanical motion. Since the calibration of the optical device 13 is performed in three-dimensional space, the motion device 12 needs to cover a large number of different positions and postures. Therefore, in some embodiments, the motion device 12 may include a robotic arm 121 and a mobile device 122, with the robotic arm 121 mounted on the mobile device 122 and a calibrator 123 mounted at the end effector of the robotic arm 121. The mobile device 122 may include an Automated Guided Vehicle (AGV). In other embodiments, if the robotic arm 121 has a large stroke and can cover a wide three-dimensional operating space, the motion device 12 may include a robotic arm 121 with a calibrator 123 mounted at the end effector. This application describes an example where the motion device 12 includes a robotic arm 121 and a mobile device 122.

[0032] The robotic arm 121 can be a robotic arm on a parallel robot, a composite robot, a serial articulated robot, a flexible continuum robot, etc. The robotic arm 121 has a multi-axis structure; for example, the robotic arm 121 can be configured as a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm, a six-axis robotic arm, a seven-axis robotic arm, etc.

[0033] The robotic arm 121 includes a motion actuator and an end effector. The end effector can be assembled and operate in conjunction with the motion actuator, or it can be detached from the motion actuator. The motion actuator can be the robotic arm body or a motion mechanism on the robotic arm body. For example, when the motion actuator is the robotic arm body, it can be a flexible continuous robotic arm. When the motion actuator is a motion mechanism of the robotic arm body, it can be a serial robotic arm, a parallel mechanism, etc. The end effector can include mechanical locking mechanisms such as mechanical grippers or suction cups such as suction cups. Taking a six-axis robotic arm as an example, the six-axis robotic arm includes six independently rotating joints. The axes of the six joints are arranged in a specific order, enabling the end effector of the robotic arm to obtain six degrees of freedom of motion in three-dimensional space, that is, to independently control the position and orientation of the end effector in three-dimensional space.

[0034] The robotic arm 121 assembles the calibrator 123 via an end effector; for example, the calibrator 123 is mounted on the end effector via a fixture. The calibrator 123 can characterize a reference object with known geometric dimensions for calibrating the optical device 13. The calibrator 123 may include a calibration rod, the surface of which is affixed with a plurality of first optical marks. The first optical marks may include marker points, and the marker points 1231 may be circular in shape. The size of the marker points 1231 can be set according to actual needs; for example, the size of the marker points 1231 may be 6 mm, 8 mm, 12 mm, etc.

[0035] In some embodiments, the optical device 13 can refer to any three-dimensional measurement device with image acquisition capabilities. For example, the optical device 13 can be a binocular tracker, a multi-view tracker, etc., without limitation. This application uses a binocular tracker as an example to illustrate the optical device 13. The binocular tracker includes two camera devices, which are used to acquire images. The positional relationship between the two camera devices can be set according to actual needs, without limitation.

[0036] The optical device 13 is fixed at a designated position, and the motion device 12 moves within the tracking range of the optical device 13 based on a determined motion position and posture. During the movement of the motion device 12, the optical device 13 collects the marking information of multiple first optical markers in the calibrator 123 on the motion device 12, and sends the marking information of the multiple first optical markers to the electronic device 11. The electronic device 11 performs automatic calibration of the optical device 13 based on the marking information.

[0037] Furthermore, multiple reference points can be set along the planned path of the motion device 12. These reference points (not shown in the figure) allow the motion device 12 to determine its own position, thereby improving its walking accuracy. Reference points may include straight rods, and the number of reference points can be set according to actual needs; for example, there can be five reference points, but this is not limited.

[0038] Based on the equipment calibration system 10, the motion position and motion posture of the motion device 12 are determined. Based on the motion position and motion posture, the motion device 12 is controlled to move, so that the optical device 13 can quickly collect the marking information of the first optical mark of the calibrator 123 on the motion device 12, thereby improving the calibration efficiency of the optical device 13.

[0039] To more clearly illustrate the device calibration method provided in the embodiments of this application, the device calibration method of this application will be described in detail below through multiple embodiments. It should be noted that multiple embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0040] Figure 2 This is a schematic flowchart illustrating a device calibration method provided in some embodiments of this application. For example... Figure 2 As shown, the equipment calibration method is applied to the equipment calibration system (e.g., Figure 1 The equipment calibration system 10 in the middle. Figure 2 As shown, the device calibration method may include the following steps.

[0041] S11, Determine the motion position and motion posture of the motion equipment, and install a calibrator on the motion equipment.

[0042] In the case of motion equipment including a robotic arm and a mobile device, the motion position can represent the position that the mobile device will reach in the next moment in the planned path, and the motion posture can represent the spatial position and direction that the robotic arm will reach in the next moment. By determining the motion position of the mobile device and the motion posture of the robotic arm, the first optical mark of the calibrator on the motion equipment reaches the preset optical position, which refers to the three-dimensional coordinates of the calibrator that are set in advance.

[0043] In the case of motion devices including robotic arms, motion position can characterize the position of the robotic arm in three-dimensional space at the next moment, and motion posture can characterize the orientation of the robotic arm in three-dimensional space at the next moment.

[0044] In some embodiments, the optical device pre-generates preset calibration parameters, which are used to indicate the motion position of the mobile device and the motion posture of the robotic arm in the motion device. The preset calibration parameters may include multiple calibration positions based on the optical device coordinate system and motion parameters of the robotic arm. Based on multiple calibration positions, the motion position of the mobile device based on the motion device coordinate system can be determined, and based on the motion parameters of the robotic arm, the motion posture of the robotic arm can be determined. The number of calibration positions can be set according to the calibration accuracy; for example, the number of calibration positions can be 1800, 1500, 900, etc., and is not limited here.

[0045] Please see Figure 3 , Figure 3 This is a schematic diagram of the planned path provided in some embodiments of this application. For example... Figure 3 As shown, the polygonal area represents the tracking range of the optical device. Based on multiple calibration positions using the optical device's coordinate system, path planning is performed on the moving device within the tracking range to obtain the planned path. The planned path can be set according to actual needs; for example, the planned path can include a straight path, a circular path, or a path of other shapes. This embodiment uses a circular path as an example for illustration. By setting the planned path to a circular path, the total travel time of the moving device can be shortened, thereby reducing the calibration time required.

[0046] In some embodiments, since the calibration position is based on three-dimensional coordinates in the optical device coordinate system, in order to realize path planning for the moving device, the calibration position needs to be converted into three-dimensional coordinates in the moving device coordinate system, i.e., the motion position. Based on this, the relative positional relationship between the optical device and the moving device needs to be determined, and based on the relative positional relationship, the calibration position is converted into three-dimensional coordinates in the moving device coordinate system. For example, determining the motion position and motion attitude of the moving device includes: acquiring a second optical mark on the moving device through the optical device to determine the relative positional relationship between the optical device and the moving device; and determining the motion position and motion attitude of the moving device based on the preset calibration parameters corresponding to the optical device and the relative positional relationship.

[0047] In some embodiments, a second optical mark may be attached to the surface of the motion device. For example, a second optical mark may be attached to the surface of a mobile device. The second optical mark may include a marker point, which may be circular in shape. The size of the marker point can be set according to actual needs; for example, the size of the marker point may be 6 mm, 8 mm, 12 mm, etc. The motion device is controlled to move to multiple preset positions. During the movement of the motion device, the second optical mark on the motion device is acquired by an optical device to obtain the three-dimensional coordinates of the second optical mark in the coordinate system of the optical device (hereinafter referred to as "target three-dimensional coordinates" for ease of description). Based on the known actual three-dimensional coordinates and target three-dimensional coordinates of the second optical mark in the coordinate system of the motion device, the relative positional relationship between the optical device and the motion device can be determined. The preset position refers to the three-dimensional coordinates based on the coordinate system of the motion device that are set in advance.

[0048] In other embodiments, the surface of the mobile device may not be attached to the second optical marker, and the robotic arm may be kept stationary, allowing the mobile device, robotic arm, and calibrator to move as a rigid body. In this way, the moving device can be controlled to move to multiple preset positions. During the movement of the moving device, the first optical marker on the moving device is acquired through an optical device, obtaining the three-dimensional coordinates of the first optical marker in the optical device's coordinate system. Based on the known actual three-dimensional coordinates of the first optical marker in the moving device's coordinate system and the three-dimensional coordinates of the first optical marker in the optical device's coordinate system, the relative positional relationship between the optical device and the moving device can be determined. The preset position refers to a pre-set three-dimensional coordinate based on the moving device's coordinate system.

[0049] This application embodiment acquires a second optical mark on a moving device using an optical device, determines the relative positional relationship between the optical device and the moving device, and determines the movement position and posture of the moving device based on the preset calibration parameters corresponding to the optical device and the relative positional relationship, thereby improving the accuracy of the automated movement of the moving device and thus improving the accuracy of the optical device calibration.

[0050] The preset calibration parameters can include multiple calibration positions based on the optical device coordinate system and the motion parameters of the robotic arm. Based on the multiple calibration positions and their relative positions in the optical device coordinate system, the position of the calibration position in the motion device coordinate system (hereinafter referred to as "motion position" for ease of description) can be determined. Based on the motion parameters of the robotic arm, the motion posture of the robotic arm in three-dimensional space can be determined. Therefore, based on the preset calibration parameters and their relative positions corresponding to the optical device, the motion position and motion posture of the motion device are determined, including: determining the motion posture of the calibrator on the motion device and the calibration position of the optical device according to the preset calibration parameters corresponding to the optical device; and determining the motion position of the motion device based on the calibration position and its relative position.

[0051] This application embodiment can determine the motion position and motion posture of the motion device by presetting calibration parameters and relative position relationships. By controlling the motion device to move based on the motion position and motion posture, the first optical mark of the calibrator on the motion device reaches the preset optical position, thereby improving the accuracy of the automated motion of the motion device and thus improving the accuracy of optical device calibration.

[0052] In some embodiments, based on the known actual three-dimensional coordinates of the second optical marker in the motion device coordinate system and the target three-dimensional coordinates of the second optical marker in the optical device coordinate system, the transformation matrix between the optical device coordinate system and the motion device coordinate system, i.e., the relative positional relationship, can be determined. For example, determining the relative positional relationship between the optical device and the motion device by acquiring the second optical marker on the motion device through the optical device includes: acquiring multiple images including at least a portion of the second optical marker through the optical device; reconstructing the target three-dimensional coordinates of the second optical marker in the optical device coordinate system based on the multiple images; and determining the relative positional relationship between the optical device and the motion device based on the target three-dimensional coordinates and the actual three-dimensional coordinates of the second optical marker in the motion device coordinate system.

[0053] Each image includes at least a portion of a second optical marker. The image plane coordinates of the second optical marker in each image are extracted. Based on the principle of multi-view geometry, and utilizing the relative pose relationship between the camera calibration parameters of the optical device and multiple images, the three-dimensional coordinates of the second optical marker in the optical device coordinate system are calculated through triangulation or bundle adjustment. The camera calibration parameters characterize the intrinsic properties of the optical imaging system of the optical device, including interior orientation elements and lens distortion coefficients describing its distortion characteristics, such as principal point coordinates, equivalent focal length, radial distortion, and eccentric distortion. The method for determining the three-dimensional coordinates of the second optical marker in the optical device coordinate system can refer to relevant technologies and is not limited here.

[0054] Based on the target's three-dimensional coordinates and the actual three-dimensional coordinates of the second optical mark in the motion device coordinate system, the rigid body transformation parameters between the optical device coordinate system and the motion device coordinate system, i.e., the relevant positional relationship, are determined by solving the absolute orientation problem.

[0055] This application embodiment acquires multiple images including at least a portion of the second optical marker using an optical device, and reconstructs the target three-dimensional coordinates of the second optical marker based on the optical device coordinate system based on the multiple images, which can improve the accuracy of the target three-dimensional coordinate determination; and this application determines the relative positional relationship between the optical device and the motion device based on the target three-dimensional coordinates and the actual three-dimensional coordinates of the second optical marker based on the motion device coordinate system, thereby achieving data alignment in the two coordinate systems.

[0056] S12 controls the movement of the motion device based on the motion position and motion posture.

[0057] A first motion command is sent to the mobile device in the motion device, instructing the mobile device to move to a motion position. A second motion command is also sent to the robotic arm in the motion device, instructing the robotic arm to rotate according to the motion posture. The mobile device moves to the motion position according to the first motion command, and the robotic arm rotates according to the motion posture. Through the coordinated movement of the mobile device and the robotic arm, the first optical mark of the calibrator reaches a preset optical writing position. The preset optical position refers to a position pre-set for calibrating the optical device.

[0058] S13, During the movement of the motion equipment, the marking information of the first optical mark on the calibrator is collected by the optical device.

[0059] The motion device is controlled to move within the tracking range of the optical device. During the movement of the motion device, if the first optical mark of the calibrator on the motion device reaches a preset optical position, the optical device collects and records the marking information of the first optical mark; if the first optical mark of the calibrator on the motion device does not reach the preset optical position, the optical device does not need to record the marking information of the first optical mark in this case. The marking information includes the three-dimensional coordinates of the first optical mark in the coordinate system of the optical device, the mark number of the first optical mark, and other information.

[0060] S14, calibrate the optical equipment based on the marking information.

[0061] Based on the marking information, optical devices can be calibrated. For example, calibrating an optical device based on the marking information includes: determining the internal and / or external parameters of the optical device based on the marking information and the design data corresponding to the first optical mark.

[0062] The design data corresponding to the first optical markers may include the geometric relationships between them, such as the spacing, angle, and length of the calibration rod. The internal parameters of the optical device describe the physical optical characteristics of the camera, while the external parameters describe the camera's position and orientation in three-dimensional space. Internal parameters may include principal point coordinates, equivalent focal length, and distortion coefficients. External parameters include rotation matrices and translation vectors. The rotation matrix describes the orientation of the optical device's coordinate system relative to the world coordinate system, and the translation vector describes the position of the optical center in the optical device's coordinate system within the world coordinate system.

[0063] Based on the three-dimensional coordinates of the first optical marker in the optical device coordinate system and the fixed geometric constraints between the first optical markers (such as spacing, included angle, length of calibration rod, etc.), the internal and / or external parameters of the optical device are solved by constructing a collinearity conditional variance or absolute orientation model and using least squares or bundle adjustment.

[0064] The device calibration method provided in this application determines the motion position and motion posture of the moving device, and controls the motion of the moving device based on the motion position and motion posture, so that the optical device can quickly collect the marking information of the first optical mark of the calibrator on the moving device, thereby improving the calibration efficiency of the optical device.

[0065] In some embodiments, due to motion errors of the motion device, such as the accumulated error of the mobile device itself, or due to human touching of the motion device, obstacles appearing during movement, etc., the first optical mark on the calibrator may not be able to accurately reach the preset optical position. In this case, motion compensation of the motion device is required so that the first optical mark can reach the preset optical position. Figure 4 This is a flowchart illustrating the motion compensation determination method provided in some embodiments of this application, such as... Figure 4 As shown, it includes the following steps: S21, during the movement of the motion device, if the first optical mark of the calibrator does not reach the preset optical position, the optical position deviation is determined based on the actual optical position of the first optical mark and the preset optical position.

[0066] In some embodiments, if the first optical mark of the calibrator does not reach the preset optical position, it indicates that the calibration information acquisition conditions are not currently met, and it is not necessary to record the marking information of the first optical mark in this situation using the optical device. The preset optical position refers to the three-dimensional coordinates of the first optical mark in the optical device coordinate system when the optical device is calibrated. If the first optical mark of the calibrator reaches the preset optical position, it indicates that the calibration information acquisition conditions are currently met, and the marking information of the first optical mark in this situation is acquired and recorded using the optical device.

[0067] In some embodiments, an optical position deviation is determined based on a preset optical position and the actual optical position of a first optical mark in the calibrator relative to the optical device coordinate system. The optical position deviation may include the spatial distance between the preset optical position and the actual optical position.

[0068] S22, Based on optical position deviation, determine the compensation information of the motion device, the compensation information including at least one of motion position compensation and motion posture compensation.

[0069] In some embodiments, based on optical position deviation, compensation information for the motion device can be determined through a preset algorithm model. The compensation information includes at least one of motion position compensation and motion posture compensation, that is, by controlling the mobile device to move and / or controlling the robotic arm to rotate, the first optical mark of the calibrator reaches the preset optical position.

[0070] S23 controls the movement of the motion device based on the motion position, motion posture, and compensation information.

[0071] In the device calibration method provided in this application embodiment, when the first optical mark of the calibrator does not reach the preset optical position, motion compensation is performed on the moving device so that the first optical mark accurately reaches the preset optical position, thereby improving the accuracy of calibration.

[0072] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a device calibration apparatus provided in some embodiments of this application. In some embodiments, the device calibration apparatus 20 may include multiple functional modules composed of computer program segments. The computer programs of each program segment in the device calibration apparatus 20 may be stored in the memory of the electronic device 11 and executed by at least one processor to perform (see details). Figure 2 (Description) The functions calibrated by the equipment.

[0073] In some embodiments, the device calibration apparatus 20 can be divided into multiple functional modules according to the functions it performs. These functional modules may include: a position determination module 201, a motion control module 202, an information acquisition module 203, and a calibration processing module 204. As used in this application, a module refers to a series of computer program segments that can be executed by at least one processor and perform a fixed function, and which are stored in memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0074] The position determination module 201 can be used to determine the movement position and movement posture of the motion device, which is equipped with a calibrator.

[0075] The motion control module 202 can be used to control the motion of the motion device based on the motion position and the motion posture.

[0076] The information acquisition module 203 can be used to control the optical device to acquire the marking information of the first optical mark on the calibrator during the movement of the motion device.

[0077] The calibration processing module 204 can be used to calibrate the optical device based on the marking information.

[0078] It is understood that the equipment calibration device 20 and the equipment calibration method in the above embodiments belong to the same inventive concept. The specific implementation of each module of the equipment calibration device 20 corresponds to each step of the equipment calibration method in the above embodiments, and will not be repeated here.

[0079] The module division described above is a logical functional division, and other division methods may be used in actual implementation. Furthermore, the functional modules in the various embodiments of this application can be integrated into the same processing unit, or each module can exist physically separately, or two or more modules can be integrated into the same unit. The integrated modules described above can be implemented in hardware or in a combination of hardware and software functional modules.

[0080] then Figure 1 Description of electronic device 11, Figure 6 These are schematic diagrams of the structure of electronic devices provided in some embodiments of this application. For example... Figure 6 As shown, the electronic device 11 includes a memory 111, at least one processor 112, and at least one communication bus 113. The processor 112 is used to implement a device calibration method when executing a computer program stored in the memory 111. The at least one communication bus 113 is configured to enable communication between the memory 111 and the processor 112.

[0081] In some embodiments of this application, the electronic device 11 may also be connected to a client device, which includes, but is not limited to, any electronic product that can interact with the user via a keyboard, mouse, remote control, touchpad or voice control device, such as a personal computer, tablet computer, smartphone, digital camera, etc.

[0082] It should be noted that electronic device 11 is only an example. Other existing or future electronic products that are suitable for this application should also be included within the scope of protection of this application and are incorporated herein by reference.

[0083] In some embodiments, the electronic device 11 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0084] In some embodiments, the memory 111 stores a computer program that, when executed by the processor 112, implements all or part of the steps in a device calibration method. The memory 111 includes a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0085] Furthermore, the computer-readable storage medium may primarily include a stored program area and a stored data area, wherein the stored program area may store the operating system, an application program required for at least one function, etc.; and the stored data area may store data created based on the use of the electronic device 11, etc.

[0086] In some embodiments, at least one processor 112 is the control unit of the electronic device 11, connecting various components of the electronic device 11 via various interfaces and lines. It executes programs or modules stored in the memory 111 and calls data stored in the memory 111 to perform various functions and process data. For example, when at least one processor 112 executes a computer program stored in the memory, it implements all or part of the steps of the device calibration method in the embodiments of this application; or it implements all or part of the functions of the three-dimensional scanning device. At least one processor 112 may be composed of integrated circuits, such as a single-packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips.

[0087] The integrated unit implemented as a software functional module described above can be stored in a computer-readable storage medium. This software functional module, stored in a storage medium, includes several instructions to cause an electronic device (which may be a personal computer, electronic device, or network device, etc.) or processor to execute portions of the methods of the various embodiments of this application.

[0088] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0089] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0090] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0091] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other elements or, and the singular does not exclude the plural. Multiple elements or devices recited in the specification may also be implemented by a single element or device through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A method for calibrating equipment, characterized in that, The equipment calibration method includes: Determine the motion position and motion posture of the motion equipment, wherein the motion equipment is equipped with a calibrator; Based on the motion position and the motion posture, control the motion of the motion device; During the movement of the motion device, the marking information of the first optical mark on the calibrator is collected by an optical device; The optical device is calibrated based on the aforementioned marking information.

2. The equipment calibration method as described in claim 1, characterized in that, The motion device includes: A robotic arm, the calibrator being fitted at the end of the robotic arm; Alternatively, a robotic arm and a mobile device, wherein the robotic arm is mounted on the mobile device and the calibrator is mounted at the end of the robotic arm.

3. The equipment calibration method as described in claim 1, characterized in that, Determining the motion position and motion posture of the motion equipment includes: The relative positional relationship between the optical device and the moving device is determined by acquiring a second optical mark on the moving device using the optical device. Based on the preset calibration parameters corresponding to the optical device and the relative position relationship, the motion position and motion posture of the motion device are determined.

4. The equipment calibration method as described in claim 3, characterized in that, The step of acquiring a second optical mark on the moving device through the optical device and determining the relative positional relationship between the optical device and the moving device includes: Multiple images, including at least a portion of the second optical markers, are acquired using the optical device; Based on the multiple images, the target three-dimensional coordinates of the second optical mark are reconstructed based on the optical device coordinate system; The relative positional relationship between the optical device and the moving device is determined based on the target's three-dimensional coordinates and the actual three-dimensional coordinates of the second optical mark in the motion device coordinate system.

5. The equipment calibration method as described in claim 3, characterized in that, The step of determining the motion position and motion posture of the motion device based on the preset calibration parameters corresponding to the optical device and the relative position relationship includes: Based on the preset calibration parameters corresponding to the optical device, determine the motion posture of the calibrator on the motion device and the calibration position of the optical device; The motion position of the motion device is determined based on the calibrated position and the relative position relationship.

6. The equipment calibration method as described in claim 1, characterized in that, Before acquiring the marking information of the first optical mark on the calibrator via an optical device, the method further includes: During the movement of the motion device, if the first optical mark of the calibrator does not reach the preset optical position, the optical position deviation is determined based on the actual optical position of the first optical mark and the preset optical position. Based on the optical position deviation, compensation information for the motion device is determined, and the compensation information includes at least one of compensation for the motion position and compensation for the motion posture. The motion device is controlled to move based on the motion position, the motion posture, and the compensation information.

7. The equipment calibration method as described in claim 1, characterized in that, The calibration of the optical device based on the marking information includes: Based on the marking information and the design data corresponding to the first optical mark, the internal and / or external parameters of the optical device are determined.

8. A device calibration apparatus, characterized in that, The equipment calibration device includes: A position determination module is used to determine the movement position and posture of the motion device, wherein the motion device is equipped with a calibrator; A motion control module is used to control the movement of the motion device based on the motion position and the motion posture; An information acquisition module is used to control an optical device to acquire marking information of a first optical mark on a calibrator during the movement of the motion device. The calibration processing module is used to calibrate the optical device based on the marking information.

9. A device calibration system, characterized in that, The equipment calibration system includes: A motion device for performing motion based on motion position and motion posture, wherein the motion device is equipped with a calibrator and the calibrator is provided with a first optical mark; An optical device for collecting the marking information of the first optical mark on the calibrator; An electronic device for performing the device calibration method as described in any one of claims 1 to 7 based on the identification information.

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

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